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8f2f26fe65d8d9d0edc752b332bab90a567332f1
[openocd.git] / src / jtag / rlink / rlink.c
1 /***************************************************************************
2 * Copyright (C) 2005 by Dominic Rath *
3 * Dominic.Rath@gmx.de *
4 * *
5 * Copyright (C) 2007,2008 Øyvind Harboe *
6 * oyvind.harboe@zylin.com *
7 * *
8 * Copyright (C) 2008 Rob Brown, Lou Deluxe *
9 * rob@cobbleware.com, lou.openocd012@fixit.nospammail.net *
10 * *
11 * This program is free software; you can redistribute it and/or modify *
12 * it under the terms of the GNU General Public License as published by *
13 * the Free Software Foundation; either version 2 of the License, or *
14 * (at your option) any later version. *
15 * *
16 * This program is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
19 * GNU General Public License for more details. *
20 * *
21 * You should have received a copy of the GNU General Public License *
22 * along with this program; if not, write to the *
23 * Free Software Foundation, Inc., *
24 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
25 ***************************************************************************/
26 #ifdef HAVE_CONFIG_H
27 #include "config.h"
28 #endif
29
30 /* project specific includes */
31 #include "interface.h"
32 #include "commands.h"
33 #include "rlink.h"
34 #include "st7.h"
35 #include "ep1_cmd.h"
36 #include "dtc_cmd.h"
37
38 /* system includes */
39 #include <usb.h>
40
41
42 /* This feature is made useless by running the DTC all the time. When automatic, the LED is on whenever the DTC is running. Otherwise, USB messages are sent to turn it on and off. */
43 #undef AUTOMATIC_BUSY_LED
44
45 /* This feature may require derating the speed due to reduced hold time. */
46 #undef USE_HARDWARE_SHIFTER_FOR_TMS
47
48
49 #define INTERFACE_NAME "RLink"
50
51 #define USB_IDVENDOR (0x138e)
52 #define USB_IDPRODUCT (0x9000)
53
54 #define USB_EP1OUT_ADDR (0x01)
55 #define USB_EP1OUT_SIZE (16)
56 #define USB_EP1IN_ADDR (USB_EP1OUT_ADDR | 0x80)
57 #define USB_EP1IN_SIZE (USB_EP1OUT_SIZE)
58
59 #define USB_EP2OUT_ADDR (0x02)
60 #define USB_EP2OUT_SIZE (64)
61 #define USB_EP2IN_ADDR (USB_EP2OUT_ADDR | 0x80)
62 #define USB_EP2IN_SIZE (USB_EP2OUT_SIZE)
63 #define USB_EP2BANK_SIZE (512)
64
65 #define USB_TIMEOUT_MS (3 * 1000)
66
67 #define DTC_STATUS_POLL_BYTE (ST7_USB_BUF_EP0OUT + 0xff)
68
69
70 #define ST7_PD_NBUSY_LED ST7_PD0
71 #define ST7_PD_NRUN_LED ST7_PD1
72 /* low enables VPP at adapter header, high connects it to GND instead */
73 #define ST7_PD_VPP_SEL ST7_PD6
74 /* low: VPP = 12v, high: VPP <= 5v */
75 #define ST7_PD_VPP_SHDN ST7_PD7
76
77 /* These pins are connected together */
78 #define ST7_PE_ADAPTER_SENSE_IN ST7_PE3
79 #define ST7_PE_ADAPTER_SENSE_OUT ST7_PE4
80
81 /* Symbolic mapping between port pins and numbered IO lines */
82 #define ST7_PA_IO1 ST7_PA1
83 #define ST7_PA_IO2 ST7_PA2
84 #define ST7_PA_IO4 ST7_PA4
85 #define ST7_PA_IO8 ST7_PA6
86 #define ST7_PA_IO10 ST7_PA7
87 #define ST7_PB_IO5 ST7_PB5
88 #define ST7_PC_IO9 ST7_PC1
89 #define ST7_PC_IO3 ST7_PC2
90 #define ST7_PC_IO7 ST7_PC3
91 #define ST7_PE_IO6 ST7_PE5
92
93 /* Symbolic mapping between numbered IO lines and adapter signals */
94 #define ST7_PA_RTCK ST7_PA_IO0
95 #define ST7_PA_NTRST ST7_PA_IO1
96 #define ST7_PC_TDI ST7_PC_IO3
97 #define ST7_PA_DBGRQ ST7_PA_IO4
98 #define ST7_PB_NSRST ST7_PB_IO5
99 #define ST7_PE_TMS ST7_PE_IO6
100 #define ST7_PC_TCK ST7_PC_IO7
101 #define ST7_PC_TDO ST7_PC_IO9
102 #define ST7_PA_DBGACK ST7_PA_IO10
103
104 static usb_dev_handle *pHDev;
105
106
107 /*
108 * ep1 commands are up to USB_EP1OUT_SIZE bytes in length.
109 * This function takes care of zeroing the unused bytes before sending the packet.
110 * Any reply packet is not handled by this function.
111 */
112 static
113 int
114 ep1_generic_commandl(
115 usb_dev_handle *pHDev,
116 size_t length,
117 ...
118 ) {
119 uint8_t usb_buffer[USB_EP1OUT_SIZE];
120 uint8_t *usb_buffer_p;
121 va_list ap;
122 int usb_ret;
123
124 if (length > sizeof(usb_buffer)) {
125 length = sizeof(usb_buffer);
126 }
127
128 usb_buffer_p = usb_buffer;
129
130 va_start(ap, length);
131 while (length > 0) {
132 *usb_buffer_p++ = va_arg(ap, int);
133 length--;
134 }
135
136 memset(
137 usb_buffer_p,
138 0,
139 sizeof(usb_buffer) - (usb_buffer_p - usb_buffer)
140 );
141
142 usb_ret = usb_bulk_write(
143 pHDev,
144 USB_EP1OUT_ADDR,
145 (char *)usb_buffer, sizeof(usb_buffer),
146 USB_TIMEOUT_MS
147 );
148
149 return(usb_ret);
150 }
151
152
153
154 #if 0
155 static
156 ssize_t
157 ep1_memory_read(
158 usb_dev_handle *pHDev,
159 uint16_t addr,
160 size_t length,
161 uint8_t *buffer
162 ) {
163 uint8_t usb_buffer[USB_EP1OUT_SIZE];
164 int usb_ret;
165 size_t remain;
166 ssize_t count;
167
168 usb_buffer[0] = EP1_CMD_MEMORY_READ;
169 memset(
170 usb_buffer + 4,
171 0,
172 sizeof(usb_buffer) - 4
173 );
174
175 remain = length;
176 count = 0;
177
178 while (remain) {
179 if (remain > sizeof(usb_buffer)) {
180 length = sizeof(usb_buffer);
181 } else {
182 length = remain;
183 }
184
185 usb_buffer[1] = addr >> 8;
186 usb_buffer[2] = addr;
187 usb_buffer[3] = length;
188
189 usb_ret = usb_bulk_write(
190 pHDev, USB_EP1OUT_ADDR,
191 usb_buffer, sizeof(usb_buffer),
192 USB_TIMEOUT_MS
193 );
194
195 if (usb_ret < sizeof(usb_buffer)) {
196 break;
197 }
198
199 usb_ret = usb_bulk_read(
200 pHDev, USB_EP1IN_ADDR,
201 buffer, length,
202 USB_TIMEOUT_MS
203 );
204
205 if (usb_ret < length) {
206 break;
207 }
208
209 addr += length;
210 buffer += length;
211 count += length;
212 remain -= length;
213 }
214
215 return(count);
216 }
217 #endif
218
219
220
221 static
222 ssize_t
223 ep1_memory_write(
224 usb_dev_handle *pHDev,
225 uint16_t addr,
226 size_t length,
227 uint8_t const *buffer
228 ) {
229 uint8_t usb_buffer[USB_EP1OUT_SIZE];
230 int usb_ret;
231 size_t remain;
232 ssize_t count;
233
234 usb_buffer[0] = EP1_CMD_MEMORY_WRITE;
235
236 remain = length;
237 count = 0;
238
239 while (remain) {
240 if (remain > (sizeof(usb_buffer) - 4)) {
241 length = (sizeof(usb_buffer) - 4);
242 } else {
243 length = remain;
244 }
245
246 usb_buffer[1] = addr >> 8;
247 usb_buffer[2] = addr;
248 usb_buffer[3] = length;
249 memcpy(
250 usb_buffer + 4,
251 buffer,
252 length
253 );
254 memset(
255 usb_buffer + 4 + length,
256 0,
257 sizeof(usb_buffer) - 4 - length
258 );
259
260 usb_ret = usb_bulk_write(
261 pHDev, USB_EP1OUT_ADDR,
262 (char *)usb_buffer, sizeof(usb_buffer),
263 USB_TIMEOUT_MS
264 );
265
266 if ((size_t)usb_ret < sizeof(usb_buffer)) {
267 break;
268 }
269
270 addr += length;
271 buffer += length;
272 count += length;
273 remain -= length;
274 }
275
276 return(count);
277 }
278
279
280 #if 0
281 static
282 ssize_t
283 ep1_memory_writel(
284 usb_dev_handle *pHDev,
285 uint16_t addr,
286 size_t length,
287 ...
288 ) {
289 uint8_t buffer[USB_EP1OUT_SIZE - 4];
290 uint8_t *buffer_p;
291 va_list ap;
292 size_t remain;
293
294 if (length > sizeof(buffer)) {
295 length = sizeof(buffer);
296 }
297
298 remain = length;
299 buffer_p = buffer;
300
301 va_start(ap, length);
302 while (remain > 0) {
303 *buffer_p++ = va_arg(ap, int);
304 remain--;
305 }
306
307 return(ep1_memory_write(pHDev, addr, length, buffer));
308 }
309 #endif
310
311
312 #define DTCLOAD_COMMENT (0)
313 #define DTCLOAD_ENTRY (1)
314 #define DTCLOAD_LOAD (2)
315 #define DTCLOAD_RUN (3)
316 #define DTCLOAD_LUT_START (4)
317 #define DTCLOAD_LUT (5)
318
319 #define DTC_LOAD_BUFFER ST7_USB_BUF_EP2UIDO
320
321 /* This gets set by the DTC loader */
322 static uint8_t dtc_entry_download;
323
324
325 /* The buffer is specially formatted to represent a valid image to load into the DTC. */
326 static
327 int
328 dtc_load_from_buffer(
329 usb_dev_handle *pHDev,
330 const uint8_t *buffer,
331 size_t length
332 ) {
333 struct header_s {
334 uint8_t type;
335 uint8_t length;
336 };
337
338 int usb_err;
339 struct header_s *header;
340 uint8_t lut_start = 0xc0;
341
342 dtc_entry_download = 0;
343
344 /* Stop the DTC before loading anything. */
345 usb_err = ep1_generic_commandl(
346 pHDev, 1,
347 EP1_CMD_DTC_STOP
348 );
349 if (usb_err < 0) return(usb_err);
350
351 while (length) {
352 if (length < sizeof(*header)) {
353 LOG_ERROR("Malformed DTC image\n");
354 exit(1);
355 }
356
357 header = (struct header_s *)buffer;
358 buffer += sizeof(*header);
359 length -= sizeof(*header);
360
361 if (length < (size_t)header->length + 1) {
362 LOG_ERROR("Malformed DTC image\n");
363 exit(1);
364 }
365
366 switch (header->type) {
367 case DTCLOAD_COMMENT:
368 break;
369
370 case DTCLOAD_ENTRY:
371 /* store entry addresses somewhere */
372 if (!strncmp("download", (char *)buffer + 1, 8)) {
373 dtc_entry_download = buffer[0];
374 }
375 break;
376
377 case DTCLOAD_LOAD:
378 /* Send the DTC program to ST7 RAM. */
379 usb_err = ep1_memory_write(
380 pHDev,
381 DTC_LOAD_BUFFER,
382 header->length + 1, buffer
383 );
384 if (usb_err < 0) return(usb_err);
385
386 /* Load it into the DTC. */
387 usb_err = ep1_generic_commandl(
388 pHDev, 3,
389 EP1_CMD_DTC_LOAD,
390 (DTC_LOAD_BUFFER >> 8),
391 DTC_LOAD_BUFFER
392 );
393 if (usb_err < 0) return(usb_err);
394
395 break;
396
397 case DTCLOAD_RUN:
398 usb_err = ep1_generic_commandl(
399 pHDev, 3,
400 EP1_CMD_DTC_CALL,
401 buffer[0],
402 EP1_CMD_DTC_WAIT
403 );
404 if (usb_err < 0) return(usb_err);
405
406 break;
407
408 case DTCLOAD_LUT_START:
409 lut_start = buffer[0];
410 break;
411
412 case DTCLOAD_LUT:
413 usb_err = ep1_memory_write(
414 pHDev,
415 ST7_USB_BUF_EP0OUT + lut_start,
416 header->length + 1, buffer
417 );
418 if (usb_err < 0) return(usb_err);
419 break;
420
421 default:
422 LOG_ERROR("Invalid DTC image record type: 0x%02x\n", header->type);
423 exit(1);
424 break;
425 }
426
427 buffer += (header->length + 1);
428 length -= (header->length + 1);
429 }
430
431 return(0);
432 }
433
434
435 /*
436 * Start the DTC running in download mode (waiting for 512 byte command packets on ep2).
437 */
438 static
439 int
440 dtc_start_download(void) {
441 int usb_err;
442 uint8_t ep2txr;
443
444 /* set up for download mode and make sure EP2 is set up to transmit */
445 usb_err = ep1_generic_commandl(
446 pHDev, 7,
447
448 EP1_CMD_DTC_STOP,
449 EP1_CMD_SET_UPLOAD,
450 EP1_CMD_SET_DOWNLOAD,
451 EP1_CMD_MEMORY_READ, /* read EP2TXR for its data toggle */
452 ST7_EP2TXR >> 8,
453 ST7_EP2TXR,
454 1
455 );
456 if (usb_err < 0) return(usb_err);
457
458 /* read back ep2txr */
459 usb_err = usb_bulk_read(
460 pHDev, USB_EP1IN_ADDR,
461 (char *)&ep2txr, 1,
462 USB_TIMEOUT_MS
463 );
464 if (usb_err < 0) return(usb_err);
465
466 usb_err = ep1_generic_commandl(
467 pHDev, 13,
468
469 EP1_CMD_MEMORY_WRITE, /* preinitialize poll byte */
470 DTC_STATUS_POLL_BYTE >> 8,
471 DTC_STATUS_POLL_BYTE,
472 1,
473 0x00,
474 EP1_CMD_MEMORY_WRITE, /* set EP2IN to return data */
475 ST7_EP2TXR >> 8,
476 ST7_EP2TXR,
477 1,
478 (ep2txr & ST7_EP2TXR_DTOG_TX) | ST7_EP2TXR_STAT_VALID,
479 EP1_CMD_DTC_CALL, /* start running the DTC */
480 dtc_entry_download,
481 EP1_CMD_DTC_GET_CACHED_STATUS
482 );
483 if (usb_err < 0) return(usb_err);
484
485 /* wait for completion */
486 usb_err = usb_bulk_read(
487 pHDev, USB_EP1IN_ADDR,
488 (char *)&ep2txr, 1,
489 USB_TIMEOUT_MS
490 );
491
492 return(usb_err);
493 }
494
495
496 static
497 int
498 dtc_run_download(
499 usb_dev_handle *pHDev,
500 uint8_t *command_buffer,
501 int command_buffer_size,
502 uint8_t *reply_buffer,
503 int reply_buffer_size
504 ) {
505 uint8_t ep2_buffer[USB_EP2IN_SIZE];
506 int usb_err;
507 int i;
508
509 LOG_DEBUG(": %d/%d\n", command_buffer_size, reply_buffer_size);
510
511 usb_err = usb_bulk_write(
512 pHDev,
513 USB_EP2OUT_ADDR,
514 (char *)command_buffer, USB_EP2BANK_SIZE,
515 USB_TIMEOUT_MS
516 );
517 if (usb_err < 0) return(usb_err);
518
519
520 /* Wait for DTC to finish running command buffer */
521 for (i = 10;;) {
522 usb_err = ep1_generic_commandl(
523 pHDev, 4,
524
525 EP1_CMD_MEMORY_READ,
526 DTC_STATUS_POLL_BYTE >> 8,
527 DTC_STATUS_POLL_BYTE,
528 1
529 );
530 if (usb_err < 0) return(usb_err);
531
532 usb_err = usb_bulk_read(
533 pHDev,
534 USB_EP1IN_ADDR,
535 (char *)ep2_buffer, 1,
536 USB_TIMEOUT_MS
537 );
538 if (usb_err < 0) return(usb_err);
539
540 if (ep2_buffer[0] & 0x01) break;
541
542 if (!--i) {
543 LOG_ERROR("%s, %d: too many retries waiting for DTC status\n",
544 __FILE__, __LINE__
545 );
546 return(-ETIMEDOUT);
547 }
548 }
549
550
551 if (!reply_buffer) reply_buffer_size = 0;
552 if (reply_buffer_size) {
553 usb_err = usb_bulk_read(
554 pHDev,
555 USB_EP2IN_ADDR,
556 (char *)ep2_buffer, sizeof(ep2_buffer),
557 USB_TIMEOUT_MS
558 );
559
560 if (usb_err < (int)sizeof(ep2_buffer)) {
561 LOG_ERROR("%s, %d: Read of endpoint 2 returned %d\n",
562 __FILE__, __LINE__, usb_err
563 );
564 return(usb_err);
565 }
566
567 memcpy(reply_buffer, ep2_buffer, reply_buffer_size);
568
569 }
570
571 return(usb_err);
572 }
573
574
575 /*
576 * The dtc reply queue is a singly linked list that describes what to do with the reply packet that comes from the DTC. Only SCAN_IN and SCAN_IO generate these entries.
577 */
578
579 struct dtc_reply_queue_entry {
580 struct dtc_reply_queue_entry_s *next;
581 jtag_command_t *cmd; /* the command that resulted in this entry */
582
583 struct {
584 uint8_t *buffer; /* the scan buffer */
585 int size; /* size of the scan buffer in bits */
586 int offset; /* how many bits were already done before this? */
587 int length; /* how many bits are processed in this operation? */
588 enum scan_type type; /* SCAN_IN/SCAN_OUT/SCAN_IO */
589 } scan;
590 };
591
592
593 /*
594 * The dtc_queue consists of a buffer of pending commands and a reply queue.
595 * rlink_scan and tap_state_run add to the command buffer and maybe to the reply queue.
596 */
597
598 static
599 struct {
600 struct dtc_reply_queue_entry *rq_head;
601 struct dtc_reply_queue_entry *rq_tail;
602 uint32_t cmd_index;
603 uint32_t reply_index;
604 uint8_t cmd_buffer[USB_EP2BANK_SIZE];
605 } dtc_queue;
606
607
608 /*
609 * The tap state queue is for accumulating TAP state changes wiithout needlessly flushing the dtc_queue. When it fills or is run, it adds the accumulated bytes to the dtc_queue.
610 */
611
612 static
613 struct {
614 uint32_t length;
615 uint32_t buffer;
616 } tap_state_queue;
617
618
619
620 static
621 int
622 dtc_queue_init(void) {
623 dtc_queue.rq_head = NULL;
624 dtc_queue.rq_tail = NULL;
625 dtc_queue.cmd_index = 0;
626 dtc_queue.reply_index = 0;
627 return(0);
628 }
629
630
631 static
632 inline
633 struct dtc_reply_queue_entry *
634 dtc_queue_enqueue_reply(
635 enum scan_type type,
636 uint8_t *buffer,
637 int size,
638 int offset,
639 int length,
640 jtag_command_t *cmd
641 ) {
642 struct dtc_reply_queue_entry *rq_entry;
643
644 rq_entry = malloc(sizeof(struct dtc_reply_queue_entry));
645 if (rq_entry != NULL) {
646 rq_entry->scan.type = type;
647 rq_entry->scan.buffer = buffer;
648 rq_entry->scan.size = size;
649 rq_entry->scan.offset = offset;
650 rq_entry->scan.length = length;
651 rq_entry->cmd = cmd;
652 rq_entry->next = NULL;
653
654 if (dtc_queue.rq_head == NULL)
655 dtc_queue.rq_head = rq_entry;
656 else
657 dtc_queue.rq_tail->next = rq_entry;
658
659 dtc_queue.rq_tail = rq_entry;
660 }
661
662 return(rq_entry);
663 }
664
665
666 /*
667 * Running the queue means that any pending command buffer is run and any reply data dealt with. The command buffer is then cleared for subsequent processing.
668 * The queue is automatically run by append when it is necessary to get space for the append.
669 */
670
671 static
672 int
673 dtc_queue_run(void) {
674 struct dtc_reply_queue_entry *rq_p, *rq_next;
675 int retval;
676 int usb_err;
677 int bit_cnt;
678 int x;
679 uint8_t *dtc_p, *tdo_p;
680 uint8_t dtc_mask, tdo_mask;
681 uint8_t reply_buffer[USB_EP2IN_SIZE];
682
683 retval = ERROR_OK;
684
685 if (dtc_queue.cmd_index < 1) return(retval);
686
687 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = DTC_CMD_STOP;
688
689 /* run the cmd */
690 if (dtc_queue.rq_head == NULL) {
691 usb_err = dtc_run_download(pHDev,
692 dtc_queue.cmd_buffer, dtc_queue.cmd_index,
693 NULL, 0
694 );
695 if (usb_err < 0) {
696 LOG_ERROR("dtc_run_download: %s\n", usb_strerror());
697 exit(1);
698 }
699 } else {
700 usb_err = dtc_run_download(pHDev,
701 dtc_queue.cmd_buffer, dtc_queue.cmd_index,
702 reply_buffer, dtc_queue.reply_index
703 );
704 if (usb_err < 0) {
705 LOG_ERROR("dtc_run_download: %s\n", usb_strerror());
706 exit(1);
707 } else {
708 /* process the reply, which empties the reply queue and frees its entries */
709 dtc_p = reply_buffer;
710
711 /* The rigamarole with the masks and doing it bit-by-bit is due to the fact that the scan buffer is LSb-first and the DTC code is MSb-first for hardware reasons. It was that or craft a function to do the reversal, and that wouldn't work with bit-stuffing (supplying extra bits to use mostly byte operations), or any other scheme which would throw the byte alignment off. */
712
713 for (
714 rq_p = dtc_queue.rq_head;
715 rq_p != NULL;
716 rq_p = rq_next
717 ) {
718 tdo_p = rq_p->scan.buffer + (rq_p->scan.offset / 8);
719 tdo_mask = 1 << (rq_p->scan.offset % 8);
720
721
722 bit_cnt = rq_p->scan.length;
723 if (bit_cnt >= 8) {
724 /* bytes */
725
726 dtc_mask = 1 << (8 - 1);
727
728 for (
729 ;
730 bit_cnt;
731 bit_cnt--
732 ) {
733 if (*dtc_p & dtc_mask) {
734 *tdo_p |= tdo_mask;
735 } else {
736 *tdo_p &=~ tdo_mask;
737 }
738
739 dtc_mask >>= 1;
740 if (dtc_mask == 0) {
741 dtc_p++;
742 dtc_mask = 1 << (8 - 1);
743 }
744
745 tdo_mask <<= 1;
746 if (tdo_mask == 0) {
747 tdo_p++;
748 tdo_mask = 1;
749 }
750 }
751 } else {
752 /* extra bits or last bit */
753
754 x = *dtc_p++;
755 if ((
756 rq_p->scan.type == SCAN_IN
757 ) && (
758 rq_p->scan.offset != rq_p->scan.size - 1
759 )) {
760 /* extra bits were sent as a full byte with padding on the end */
761 dtc_mask = 1 << (8 - 1);
762 } else {
763 dtc_mask = 1 << (bit_cnt - 1);
764 }
765
766 for (
767 ;
768 bit_cnt;
769 bit_cnt--
770 ) {
771 if (x & dtc_mask) {
772 *tdo_p |= tdo_mask;
773 } else {
774 *tdo_p &=~ tdo_mask;
775 }
776
777 dtc_mask >>= 1;
778
779 tdo_mask <<= 1;
780 if (tdo_mask == 0) {
781 tdo_p++;
782 tdo_mask = 1;
783 }
784
785 }
786 }
787
788 if ((rq_p->scan.offset + rq_p->scan.length) >= rq_p->scan.size) {
789 /* feed scan buffer back into openocd and free it */
790 if (jtag_read_buffer(rq_p->scan.buffer, rq_p->cmd->cmd.scan) != ERROR_OK) {
791 retval = ERROR_JTAG_QUEUE_FAILED;
792 }
793 free(rq_p->scan.buffer);
794 }
795
796 rq_next = rq_p->next;
797 free(rq_p);
798 }
799 dtc_queue.rq_head = NULL;
800 dtc_queue.rq_tail = NULL;
801 }
802
803 }
804
805
806 /* reset state for new appends */
807 dtc_queue.cmd_index = 0;
808 dtc_queue.reply_index = 0;
809
810 return(retval);
811 }
812
813
814
815 static
816 int
817 tap_state_queue_init(void) {
818 tap_state_queue.length = 0;
819 tap_state_queue.buffer = 0;
820 return(0);
821 }
822
823
824 static
825 int
826 tap_state_queue_run(void) {
827 int i;
828 int bits;
829 uint8_t byte;
830 int retval;
831
832 retval = 0;
833 if (!tap_state_queue.length) return(retval);
834 bits = 1;
835 byte = 0;
836 for (i = tap_state_queue.length; i--;) {
837
838 byte <<= 1;
839 if (tap_state_queue.buffer & 1) {
840 byte |= 1;
841 }
842 if ((bits >= 8) || !i) {
843 byte <<= (8 - bits);
844
845 /* make sure there's room for stop, byte op, and one byte */
846 if (dtc_queue.cmd_index >= (sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))) {
847 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
848 DTC_CMD_STOP;
849 dtc_queue_run();
850 }
851
852 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
853 if (bits == 8) {
854 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
855 DTC_CMD_SHIFT_TMS_BYTES(1);
856 } else {
857 #endif
858 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
859 DTC_CMD_SHIFT_TMS_BITS(bits);
860 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
861 }
862 #endif
863
864 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
865 byte;
866
867 byte = 0;
868 bits = 1;
869 } else {
870 bits++;
871 }
872
873 tap_state_queue.buffer >>= 1;
874 }
875 retval = tap_state_queue_init();
876 return(retval);
877 }
878
879
880 static
881 int
882 tap_state_queue_append(
883 uint8_t tms
884 ) {
885 int retval;
886
887 if (tap_state_queue.length >= sizeof(tap_state_queue.buffer) * 8) {
888 retval = tap_state_queue_run();
889 if (retval != 0) return(retval);
890 }
891
892 if (tms) {
893 tap_state_queue.buffer |= (1 << tap_state_queue.length);
894 }
895 tap_state_queue.length++;
896
897 return(0);
898 }
899
900
901 static
902 void rlink_end_state(tap_state_t state)
903 {
904 if (tap_is_state_stable(state))
905 tap_set_end_state(state);
906 else
907 {
908 LOG_ERROR("BUG: %i is not a valid end state", state);
909 exit(-1);
910 }
911 }
912
913
914 static
915 void rlink_state_move(void) {
916
917 int i = 0, tms = 0;
918 uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
919 int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
920
921 for (i = 0; i < tms_count; i++)
922 {
923 tms = (tms_scan >> i) & 1;
924 tap_state_queue_append(tms);
925 }
926
927 tap_set_state(tap_get_end_state());
928 }
929
930 static
931 void rlink_path_move(struct pathmove_command *cmd)
932 {
933 int num_states = cmd->num_states;
934 int state_count;
935 int tms = 0;
936
937 state_count = 0;
938 while (num_states)
939 {
940 if (tap_state_transition(tap_get_state(), false) == cmd->path[state_count])
941 {
942 tms = 0;
943 }
944 else if (tap_state_transition(tap_get_state(), true) == cmd->path[state_count])
945 {
946 tms = 1;
947 }
948 else
949 {
950 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(cmd->path[state_count]));
951 exit(-1);
952 }
953
954 tap_state_queue_append(tms);
955
956 tap_set_state(cmd->path[state_count]);
957 state_count++;
958 num_states--;
959 }
960
961 tap_set_end_state(tap_get_state());
962 }
963
964
965 static
966 void rlink_runtest(int num_cycles)
967 {
968 int i;
969
970 tap_state_t saved_end_state = tap_get_end_state();
971
972 /* only do a state_move when we're not already in RTI */
973 if (tap_get_state() != TAP_IDLE)
974 {
975 rlink_end_state(TAP_IDLE);
976 rlink_state_move();
977 }
978
979 /* execute num_cycles */
980 for (i = 0; i < num_cycles; i++)
981 {
982 tap_state_queue_append(0);
983 }
984
985 /* finish in end_state */
986 rlink_end_state(saved_end_state);
987 if (tap_get_state() != tap_get_end_state())
988 rlink_state_move();
989 }
990
991
992 /* (1) assert or (0) deassert reset lines */
993 static
994 void rlink_reset(int trst, int srst)
995 {
996 uint8_t bitmap;
997 int usb_err;
998
999 /* Read port A for bit op */
1000 usb_err = ep1_generic_commandl(
1001 pHDev, 4,
1002 EP1_CMD_MEMORY_READ,
1003 ST7_PADR >> 8,
1004 ST7_PADR,
1005 1
1006 );
1007 if (usb_err < 0) {
1008 LOG_ERROR("%s", usb_strerror());
1009 exit(1);
1010 }
1011
1012 usb_err = usb_bulk_read(
1013 pHDev, USB_EP1IN_ADDR,
1014 (char *)&bitmap, 1,
1015 USB_TIMEOUT_MS
1016 );
1017 if (usb_err < 1) {
1018 LOG_ERROR("%s", usb_strerror());
1019 exit(1);
1020 }
1021
1022 if (trst) {
1023 bitmap &= ~ST7_PA_NTRST;
1024 } else {
1025 bitmap |= ST7_PA_NTRST;
1026 }
1027
1028 /* Write port A and read port B for bit op */
1029 /* port B has no OR, and we want to emulate open drain on NSRST, so we initialize DR to 0 and assert NSRST by setting DDR to 1. */
1030 usb_err = ep1_generic_commandl(
1031 pHDev, 9,
1032 EP1_CMD_MEMORY_WRITE,
1033 ST7_PADR >> 8,
1034 ST7_PADR,
1035 1,
1036 bitmap,
1037 EP1_CMD_MEMORY_READ,
1038 ST7_PBDDR >> 8,
1039 ST7_PBDDR,
1040 1
1041 );
1042 if (usb_err < 0) {
1043 LOG_ERROR("%s", usb_strerror());
1044 exit(1);
1045 }
1046
1047 usb_err = usb_bulk_read(
1048 pHDev, USB_EP1IN_ADDR,
1049 (char *)&bitmap, 1,
1050 USB_TIMEOUT_MS
1051 );
1052 if (usb_err < 1) {
1053 LOG_ERROR("%s", usb_strerror());
1054 exit(1);
1055 }
1056
1057 if (srst) {
1058 bitmap |= ST7_PB_NSRST;
1059 } else {
1060 bitmap &= ~ST7_PB_NSRST;
1061 }
1062
1063 /* write port B and read dummy to ensure completion before returning */
1064 usb_err = ep1_generic_commandl(
1065 pHDev, 6,
1066 EP1_CMD_MEMORY_WRITE,
1067 ST7_PBDDR >> 8,
1068 ST7_PBDDR,
1069 1,
1070 bitmap,
1071 EP1_CMD_DTC_GET_CACHED_STATUS
1072 );
1073 if (usb_err < 0) {
1074 LOG_ERROR("%s", usb_strerror());
1075 exit(1);
1076 }
1077
1078 usb_err = usb_bulk_read(
1079 pHDev, USB_EP1IN_ADDR,
1080 (char *)&bitmap, 1,
1081 USB_TIMEOUT_MS
1082 );
1083 if (usb_err < 1) {
1084 LOG_ERROR("%s", usb_strerror());
1085 exit(1);
1086 }
1087 }
1088
1089
1090 static
1091 int
1092 rlink_scan(
1093 jtag_command_t *cmd,
1094 enum scan_type type,
1095 uint8_t *buffer,
1096 int scan_size
1097 ) {
1098 bool ir_scan;
1099 tap_state_t saved_end_state;
1100 int byte_bits;
1101 int extra_bits;
1102 int chunk_bits;
1103 int chunk_bytes;
1104 int x;
1105
1106 int tdi_bit_offset;
1107 uint8_t tdi_mask, *tdi_p;
1108 uint8_t dtc_mask;
1109
1110 if (scan_size < 1) {
1111 LOG_ERROR("scan_size cannot be less than 1 bit\n");
1112 exit(1);
1113 }
1114
1115 ir_scan = cmd->cmd.scan->ir_scan;
1116
1117 /* Move to the proper state before starting to shift TDI/TDO. */
1118 if (!(
1119 (!ir_scan && (tap_get_state() == TAP_DRSHIFT))
1120 ||
1121 (ir_scan && (tap_get_state() == TAP_IRSHIFT))
1122 )) {
1123 saved_end_state = tap_get_end_state();
1124 rlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
1125 rlink_state_move();
1126 rlink_end_state(saved_end_state);
1127 }
1128
1129 tap_state_queue_run();
1130
1131
1132 #if 0
1133 printf("scan_size = %d, type = 0x%x\n", scan_size, type);
1134 {
1135 int i;
1136
1137 /* clear unused bits in scan buffer for ease of debugging */
1138 /* (it makes diffing output easier) */
1139 buffer[scan_size / 8] &= ((1 << ((scan_size - 1) % 8) + 1) - 1);
1140
1141 printf("before scan:");
1142 for (i = 0; i < (scan_size + 7) / 8; i++) {
1143 printf(" %02x", buffer[i]);
1144 }
1145 printf("\n");
1146 }
1147 #endif
1148
1149 /* The number of bits that can be shifted as complete bytes */
1150 byte_bits = (int)(scan_size - 1) / 8 * 8;
1151 /* The number of bits left over, not counting the last bit */
1152 extra_bits = (scan_size - 1) - byte_bits;
1153
1154 tdi_bit_offset = 0;
1155 tdi_p = buffer;
1156 tdi_mask = 1;
1157
1158 if (extra_bits && (type == SCAN_OUT)) {
1159 /* Schedule any extra bits into the DTC command buffer, padding as needed */
1160 /* For SCAN_OUT, this comes before the full bytes so the (leading) padding bits will fall off the end */
1161 /* make sure there's room for stop, byte op, and one byte */
1162 if (
1163 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))
1164 ) {
1165 dtc_queue_run();
1166 }
1167
1168 x = 0;
1169 dtc_mask = 1 << (extra_bits - 1);
1170
1171 while (extra_bits--) {
1172 if (*tdi_p & tdi_mask) {
1173 x |= dtc_mask;
1174 }
1175
1176 dtc_mask >>= 1;
1177
1178 tdi_mask <<= 1;
1179 if (tdi_mask == 0) {
1180 tdi_p++;
1181 tdi_mask = 1;
1182 }
1183 }
1184
1185 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1186 DTC_CMD_SHIFT_TDI_BYTES(1);
1187
1188 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1189 }
1190
1191 /* Loop scheduling full bytes into the DTC command buffer */
1192 while (byte_bits) {
1193 if (type == SCAN_IN) {
1194 /* make sure there's room for stop and byte op */
1195 x = (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1));
1196 } else {
1197 /* make sure there's room for stop, byte op, and at least one byte */
1198 x = (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1));
1199 }
1200
1201 if (type != SCAN_OUT) {
1202 /* make sure there's room for at least one reply byte */
1203 x |= (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1));
1204 }
1205
1206 if (x) {
1207 dtc_queue_run();
1208 }
1209
1210 chunk_bits = byte_bits;
1211 /* we can only use up to 16 bytes at a time */
1212 if (chunk_bits > (16 * 8)) chunk_bits = (16 * 8);
1213
1214 if (type != SCAN_IN) {
1215 /* how much is there room for, considering stop and byte op? */
1216 x = (sizeof(dtc_queue.cmd_buffer) - (dtc_queue.cmd_index + 1 + 1)) * 8;
1217 if (chunk_bits > x) chunk_bits = x;
1218 }
1219
1220 if (type != SCAN_OUT) {
1221 /* how much is there room for in the reply buffer? */
1222 x = (USB_EP2IN_SIZE - dtc_queue.reply_index) * 8;
1223 if (chunk_bits > x) chunk_bits = x;
1224 }
1225
1226 /* so the loop will end */
1227 byte_bits -= chunk_bits;
1228
1229 if (type != SCAN_OUT) {
1230 if (dtc_queue_enqueue_reply(
1231 type, buffer, scan_size, tdi_bit_offset,
1232 chunk_bits,
1233 cmd
1234 ) == NULL) {
1235 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1236 exit(1);
1237 }
1238
1239 tdi_bit_offset += chunk_bits;
1240 }
1241
1242 /* chunk_bits is a multiple of 8, so there are no rounding issues. */
1243 chunk_bytes = chunk_bits / 8;
1244
1245 switch (type) {
1246 case SCAN_IN:
1247 x = DTC_CMD_SHIFT_TDO_BYTES(chunk_bytes);
1248 break;
1249 case SCAN_OUT:
1250 x = DTC_CMD_SHIFT_TDI_BYTES(chunk_bytes);
1251 break;
1252 default:
1253 x = DTC_CMD_SHIFT_TDIO_BYTES(chunk_bytes);
1254 break;
1255 }
1256 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1257
1258 if (type != SCAN_IN) {
1259 x = 0;
1260 dtc_mask = 1 << (8 - 1);
1261
1262 while (chunk_bits--) {
1263 if (*tdi_p & tdi_mask) {
1264 x |= dtc_mask;
1265 }
1266
1267 dtc_mask >>= 1;
1268 if (dtc_mask == 0) {
1269 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1270 dtc_queue.reply_index++;
1271 x = 0;
1272 dtc_mask = 1 << (8 - 1);
1273 }
1274
1275 tdi_mask <<= 1;
1276 if (tdi_mask == 0) {
1277 tdi_p++;
1278 tdi_mask = 1;
1279 }
1280 }
1281 }
1282 }
1283
1284 if (extra_bits && (type != SCAN_OUT)) {
1285 /* Schedule any extra bits into the DTC command buffer */
1286 /* make sure there's room for stop, byte op, and one byte */
1287 if (
1288 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))
1289 ||
1290 (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1))
1291 ) {
1292 dtc_queue_run();
1293 }
1294
1295 if (dtc_queue_enqueue_reply(
1296 type, buffer, scan_size, tdi_bit_offset,
1297 extra_bits,
1298 cmd
1299 ) == NULL) {
1300 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1301 exit(1);
1302 }
1303
1304 tdi_bit_offset += extra_bits;
1305
1306 if (type == SCAN_IN) {
1307 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1308 DTC_CMD_SHIFT_TDO_BYTES(1);
1309
1310 } else {
1311 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1312 DTC_CMD_SHIFT_TDIO_BITS(extra_bits);
1313
1314 x = 0;
1315 dtc_mask = 1 << (8 - 1);
1316
1317 while (extra_bits--) {
1318 if (*tdi_p & tdi_mask) {
1319 x |= dtc_mask;
1320 }
1321
1322 dtc_mask >>= 1;
1323
1324 tdi_mask <<= 1;
1325 if (tdi_mask == 0) {
1326 tdi_p++;
1327 tdi_mask = 1;
1328 }
1329 }
1330
1331 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1332 }
1333
1334 dtc_queue.reply_index++;
1335 }
1336
1337 /* Schedule the last bit into the DTC command buffer */
1338 {
1339 /* make sure there's room for stop, and bit pair command */
1340 if (
1341 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1))
1342 ||
1343 (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1))
1344 ) {
1345 dtc_queue_run();
1346 }
1347
1348 if (type == SCAN_OUT) {
1349 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1350 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 0);
1351
1352 } else {
1353 if (dtc_queue_enqueue_reply(
1354 type, buffer, scan_size, tdi_bit_offset,
1355 1,
1356 cmd
1357 ) == NULL) {
1358 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1359 exit(1);
1360 }
1361
1362 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1363 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 1);
1364
1365 dtc_queue.reply_index++;
1366 }
1367 }
1368
1369 /* Move to pause state */
1370 tap_state_queue_append(0);
1371 tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
1372 if (tap_get_state() != tap_get_end_state()) rlink_state_move();
1373
1374 return(0);
1375 }
1376
1377
1378 static
1379 int rlink_execute_queue(void)
1380 {
1381 jtag_command_t *cmd = jtag_command_queue; /* currently processed command */
1382 int scan_size;
1383 enum scan_type type;
1384 uint8_t *buffer;
1385 int retval, tmp_retval;
1386
1387 /* return ERROR_OK, unless something goes wrong */
1388 retval = ERROR_OK;
1389
1390 #ifndef AUTOMATIC_BUSY_LED
1391 /* turn LED on */
1392 ep1_generic_commandl(pHDev, 2,
1393 EP1_CMD_SET_PORTD_LEDS,
1394 ~(ST7_PD_NBUSY_LED)
1395 );
1396 #endif
1397
1398 while (cmd)
1399 {
1400 switch (cmd->type)
1401 {
1402 case JTAG_RUNTEST:
1403 case JTAG_STATEMOVE:
1404 case JTAG_PATHMOVE:
1405 case JTAG_SCAN:
1406 break;
1407
1408 default:
1409 /* some events, such as resets, need a queue flush to ensure consistency */
1410 tap_state_queue_run();
1411 dtc_queue_run();
1412 break;
1413 }
1414
1415 switch (cmd->type)
1416 {
1417 case JTAG_RESET:
1418 #ifdef _DEBUG_JTAG_IO_
1419 LOG_DEBUG("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1420 #endif
1421 if ((cmd->cmd.reset->trst == 1) || (cmd->cmd.reset->srst && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
1422 {
1423 tap_set_state(TAP_RESET);
1424 }
1425 rlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1426 break;
1427 case JTAG_RUNTEST:
1428 #ifdef _DEBUG_JTAG_IO_
1429 LOG_DEBUG("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, cmd->cmd.runtest->end_state);
1430 #endif
1431 if (cmd->cmd.runtest->end_state != -1)
1432 rlink_end_state(cmd->cmd.runtest->end_state);
1433 rlink_runtest(cmd->cmd.runtest->num_cycles);
1434 break;
1435 case JTAG_STATEMOVE:
1436 #ifdef _DEBUG_JTAG_IO_
1437 LOG_DEBUG("statemove end in %i", cmd->cmd.statemove->end_state);
1438 #endif
1439 if (cmd->cmd.statemove->end_state != -1)
1440 rlink_end_state(cmd->cmd.statemove->end_state);
1441 rlink_state_move();
1442 break;
1443 case JTAG_PATHMOVE:
1444 #ifdef _DEBUG_JTAG_IO_
1445 LOG_DEBUG("pathmove: %i states, end in %i", cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1446 #endif
1447 rlink_path_move(cmd->cmd.pathmove);
1448 break;
1449 case JTAG_SCAN:
1450 #ifdef _DEBUG_JTAG_IO_
1451 LOG_DEBUG("%s scan end in %i", (cmd->cmd.scan->ir_scan) ? "IR" : "DR", cmd->cmd.scan->end_state);
1452 #endif
1453 if (cmd->cmd.scan->end_state != -1)
1454 rlink_end_state(cmd->cmd.scan->end_state);
1455 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
1456 type = jtag_scan_type(cmd->cmd.scan);
1457 if (rlink_scan(cmd, type, buffer, scan_size) != ERROR_OK) {
1458 retval = ERROR_FAIL;
1459 }
1460 break;
1461 case JTAG_SLEEP:
1462 #ifdef _DEBUG_JTAG_IO_
1463 LOG_DEBUG("sleep %i", cmd->cmd.sleep->us);
1464 #endif
1465 jtag_sleep(cmd->cmd.sleep->us);
1466 break;
1467 default:
1468 LOG_ERROR("BUG: unknown JTAG command type encountered");
1469 exit(-1);
1470 }
1471 cmd = cmd->next;
1472 }
1473
1474 /* Flush the DTC queue to make sure any pending reads have been done before exiting this function */
1475 tap_state_queue_run();
1476 tmp_retval = dtc_queue_run();
1477 if (tmp_retval != ERROR_OK) {
1478 retval = tmp_retval;
1479 }
1480
1481 #ifndef AUTOMATIC_BUSY_LED
1482 /* turn LED onff */
1483 ep1_generic_commandl(pHDev, 2,
1484 EP1_CMD_SET_PORTD_LEDS,
1485 ~0
1486 );
1487 #endif
1488
1489 return retval;
1490 }
1491
1492
1493 /* Using an unindexed table because it is infrequently accessed and it is short. The table must be in order of ascending speed (and descending prescaler), as it is scanned in reverse. */
1494
1495 static
1496 int rlink_speed(int speed)
1497 {
1498 int i;
1499
1500 if (speed == 0) {
1501 /* fastest speed */
1502 speed = rlink_speed_table[rlink_speed_table_size - 1].prescaler;
1503 }
1504
1505 for (i = rlink_speed_table_size; i--;) {
1506 if (rlink_speed_table[i].prescaler == speed) {
1507 if (dtc_load_from_buffer(pHDev, rlink_speed_table[i].dtc, rlink_speed_table[i].dtc_size) != 0) {
1508 LOG_ERROR("An error occurred while trying to load DTC code for speed \"%d\".\n", speed);
1509 exit(1);
1510 }
1511
1512 if (dtc_start_download() < 0) {
1513 LOG_ERROR("%s, %d: starting DTC: %s",
1514 __FILE__, __LINE__,
1515 usb_strerror()
1516 );
1517 exit(1);
1518 }
1519
1520 return ERROR_OK;
1521 }
1522 }
1523
1524 LOG_ERROR("%d is not a supported speed", speed);
1525 return(ERROR_FAIL);
1526 }
1527
1528
1529 static
1530 int rlink_speed_div(
1531 int speed,
1532 int *khz
1533 ) {
1534 int i;
1535
1536 for (i = rlink_speed_table_size; i--;) {
1537 if (rlink_speed_table[i].prescaler == speed) {
1538 *khz = rlink_speed_table[i].khz;
1539 return(ERROR_OK);
1540 }
1541 }
1542
1543 LOG_ERROR("%d is not a supported speed", speed);
1544 return(ERROR_FAIL);
1545 }
1546
1547
1548 static
1549 int rlink_khz(
1550 int khz,
1551 int *speed
1552 ) {
1553 int i;
1554
1555 if (khz == 0) {
1556 LOG_ERROR("RCLK not supported");
1557 return ERROR_FAIL;
1558 }
1559
1560 for (i = rlink_speed_table_size; i--;) {
1561 if (rlink_speed_table[i].khz <= khz) {
1562 *speed = rlink_speed_table[i].prescaler;
1563 return(ERROR_OK);
1564 }
1565 }
1566
1567 LOG_WARNING("The lowest supported JTAG speed is %d KHz", rlink_speed_table[0].khz);
1568 *speed = rlink_speed_table[0].prescaler;
1569 return(ERROR_OK);
1570 }
1571
1572
1573 #if 0
1574 static
1575 int
1576 handle_dtc_directory_command(
1577 struct command_context *cmd_ctx,
1578 char *cmd,
1579 char **args,
1580 int argc
1581 ) {
1582 if (argc != 1) {
1583 LOG_ERROR("expected exactly one argument to rlink_dtc_directory <directory-path>");
1584 return(ERROR_INVALID_ARGUMENTS);
1585 }
1586
1587 printf("handle_dtc_directory_command called with \"%s\"\n", args[0]);
1588
1589 return(ERROR_OK);
1590 }
1591 #endif
1592
1593
1594 static
1595 int rlink_register_commands(struct command_context *cmd_ctx)
1596 {
1597
1598 #ifdef _DEBUG_JTAG_IO_
1599 LOG_DEBUG("rlink_register_commands called with cmd_ctx=%p\n", cmd_ctx);
1600 #endif
1601
1602 #if 0
1603 register_command(
1604 cmd_ctx, NULL,
1605 "rlink_dtc_directory",
1606 handle_dtc_directory_command,
1607 COMMAND_CONFIG,
1608 "The directory in which to search for DTC load images"
1609 );
1610 #endif
1611
1612 return ERROR_OK;
1613 }
1614
1615
1616 static
1617 int rlink_init(void)
1618 {
1619 struct usb_bus *busses;
1620 struct usb_bus *bus;
1621 int i, j, retries;
1622 int found = 0;
1623 int success = 0;
1624 uint8_t reply_buffer[USB_EP1IN_SIZE];
1625
1626 usb_init();
1627 usb_find_busses();
1628 usb_find_devices();
1629
1630 busses = usb_get_busses();
1631
1632 for (bus = busses; bus; bus = bus->next)
1633 {
1634 struct usb_device *dev;
1635
1636 for (dev = bus->devices; dev; dev = dev->next)
1637 {
1638 if ((dev->descriptor.idVendor == USB_IDVENDOR) && (dev->descriptor.idProduct == USB_IDPRODUCT))
1639 {
1640 found = 1;
1641 LOG_DEBUG("Found device on bus.\n");
1642
1643 do
1644 {
1645 if (dev->descriptor.bNumConfigurations > 1)
1646 {
1647 LOG_ERROR("Whoops! NumConfigurations is not 1, don't know what to do...\n");
1648 break;
1649 }
1650 if (dev->config->bNumInterfaces > 1)
1651 {
1652 LOG_ERROR("Whoops! NumInterfaces is not 1, don't know what to do...\n");
1653 break;
1654 }
1655
1656 pHDev = usb_open(dev);
1657 if (!pHDev)
1658 LOG_ERROR ("Failed to open device.\n");
1659 else
1660 {
1661 LOG_DEBUG("Opened device, pHDev = %p\n",pHDev);
1662
1663 /* usb_set_configuration required under win32 */
1664 usb_set_configuration(pHDev, dev->config[0].bConfigurationValue);
1665
1666 retries = 3;
1667 do
1668 {
1669 i = usb_claim_interface(pHDev,0);
1670 if (i)
1671 {
1672 LOG_ERROR("usb_claim_interface: %s", usb_strerror());
1673 #ifdef LIBUSB_HAS_DETACH_KERNEL_DRIVER_NP
1674 j = usb_detach_kernel_driver_np(pHDev, 0);
1675 if (j)
1676 LOG_ERROR("detach kernel driver: %s", usb_strerror());
1677 #endif
1678 }
1679 else
1680 {
1681 LOG_DEBUG("interface claimed!\n");
1682 break;
1683 }
1684 } while (--retries);
1685
1686 if (!i)
1687 {
1688 if (usb_set_altinterface(pHDev,0))
1689 {
1690 LOG_ERROR("Failed to set interface.\n");
1691 break;
1692 }
1693 else
1694 success = 1;
1695 }
1696 }
1697 } while (0);
1698 }
1699 }
1700 }
1701
1702 if (!found)
1703 {
1704 LOG_ERROR("No device found on bus.\n");
1705 exit(1);
1706 }
1707
1708 if (!success)
1709 {
1710 LOG_ERROR("Initialisation failed.");
1711 exit(1);
1712 }
1713
1714
1715 /* The device starts out in an unknown state on open. As such, result reads time out, and it's not even known whether the command was accepted. So, for this first command, we issue it repeatedly until its response doesn't time out. Also, if sending a command is going to time out, we'll find that out here. */
1716 /* It must be possible to open the device in such a way that this special magic isn't needed, but, so far, it escapes us. */
1717 for (i = 0; i < 5; i++) {
1718 j = ep1_generic_commandl(
1719 pHDev, 1,
1720 EP1_CMD_GET_FWREV
1721 );
1722 if (j < USB_EP1OUT_SIZE) {
1723 LOG_ERROR("USB write error: %s", usb_strerror());
1724 return(ERROR_FAIL);
1725 }
1726 j = usb_bulk_read(
1727 pHDev, USB_EP1IN_ADDR,
1728 (char *)reply_buffer, sizeof(reply_buffer),
1729 200
1730 );
1731 if (j != -ETIMEDOUT) break;
1732 }
1733
1734 if (j < (int)sizeof(reply_buffer)) {
1735 LOG_ERROR("USB read error: %s", usb_strerror());
1736 return(ERROR_FAIL);
1737 }
1738 LOG_DEBUG(INTERFACE_NAME" firmware version: %d.%d.%d\n", reply_buffer[0], reply_buffer[1], reply_buffer[2]);
1739
1740 if ((reply_buffer[0] != 0) || (reply_buffer[1] != 0) || (reply_buffer[2] != 3)) {
1741 LOG_WARNING("The rlink device is not of the version that the developers have played with. It may or may not work.\n");
1742 }
1743
1744 /* Probe port E for adapter presence */
1745 ep1_generic_commandl(
1746 pHDev, 16,
1747 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 0 */
1748 ST7_PEDR >> 8,
1749 ST7_PEDR,
1750 3,
1751 0x00, /* DR */
1752 ST7_PE_ADAPTER_SENSE_OUT, /* DDR */
1753 ST7_PE_ADAPTER_SENSE_OUT, /* OR */
1754 EP1_CMD_MEMORY_READ, /* Read back */
1755 ST7_PEDR >> 8,
1756 ST7_PEDR,
1757 1,
1758 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 1 */
1759 ST7_PEDR >> 8,
1760 ST7_PEDR,
1761 1,
1762 ST7_PE_ADAPTER_SENSE_OUT
1763 );
1764
1765 usb_bulk_read(
1766 pHDev, USB_EP1IN_ADDR,
1767 (char *)reply_buffer, 1,
1768 USB_TIMEOUT_MS
1769 );
1770
1771 if ((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) != 0) {
1772 LOG_WARNING("target detection problem\n");
1773 }
1774
1775 ep1_generic_commandl(
1776 pHDev, 11,
1777 EP1_CMD_MEMORY_READ, /* Read back */
1778 ST7_PEDR >> 8,
1779 ST7_PEDR,
1780 1,
1781 EP1_CMD_MEMORY_WRITE, /* float port E */
1782 ST7_PEDR >> 8,
1783 ST7_PEDR,
1784 3,
1785 0x00, /* DR */
1786 0x00, /* DDR */
1787 0x00 /* OR */
1788 );
1789
1790 usb_bulk_read(
1791 pHDev, USB_EP1IN_ADDR,
1792 (char *)reply_buffer, 1,
1793 USB_TIMEOUT_MS
1794 );
1795
1796
1797 if ((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) == 0) {
1798 LOG_WARNING("target not plugged in\n");
1799 }
1800
1801 /* float ports A and B */
1802 ep1_generic_commandl(
1803 pHDev, 11,
1804 EP1_CMD_MEMORY_WRITE,
1805 ST7_PADDR >> 8,
1806 ST7_PADDR,
1807 2,
1808 0x00,
1809 0x00,
1810 EP1_CMD_MEMORY_WRITE,
1811 ST7_PBDDR >> 8,
1812 ST7_PBDDR,
1813 1,
1814 0x00
1815 );
1816
1817 /* make sure DTC is stopped, set VPP control, set up ports A and B */
1818 ep1_generic_commandl(
1819 pHDev, 14,
1820 EP1_CMD_DTC_STOP,
1821 EP1_CMD_SET_PORTD_VPP,
1822 ~(ST7_PD_VPP_SHDN),
1823 EP1_CMD_MEMORY_WRITE,
1824 ST7_PADR >> 8,
1825 ST7_PADR,
1826 2,
1827 ((~(0)) & (ST7_PA_NTRST)),
1828 (ST7_PA_NTRST),
1829 /* port B has no OR, and we want to emulate open drain on NSRST, so we set DR to 0 here and later assert NSRST by setting DDR bit to 1. */
1830 EP1_CMD_MEMORY_WRITE,
1831 ST7_PBDR >> 8,
1832 ST7_PBDR,
1833 1,
1834 0x00
1835 );
1836
1837 /* set LED updating mode and make sure they're unlit */
1838 ep1_generic_commandl(
1839 pHDev, 3,
1840 #ifdef AUTOMATIC_BUSY_LED
1841 EP1_CMD_LEDUE_BUSY,
1842 #else
1843 EP1_CMD_LEDUE_NONE,
1844 #endif
1845 EP1_CMD_SET_PORTD_LEDS,
1846 ~0
1847 );
1848
1849 tap_state_queue_init();
1850 dtc_queue_init();
1851 rlink_speed(jtag_get_speed());
1852 rlink_reset(0, 0);
1853
1854 return ERROR_OK;
1855 }
1856
1857
1858 static
1859 int rlink_quit(void)
1860 {
1861 /* stop DTC and make sure LEDs are off */
1862 ep1_generic_commandl(
1863 pHDev, 6,
1864 EP1_CMD_DTC_STOP,
1865 EP1_CMD_LEDUE_NONE,
1866 EP1_CMD_SET_PORTD_LEDS,
1867 ~0,
1868 EP1_CMD_SET_PORTD_VPP,
1869 ~0
1870 );
1871
1872 usb_release_interface(pHDev,0);
1873 usb_close(pHDev);
1874
1875
1876 return ERROR_OK;
1877 }
1878
1879
1880 struct jtag_interface rlink_interface =
1881 {
1882 .name = "rlink",
1883 .init = rlink_init,
1884 .quit = rlink_quit,
1885 .register_commands = rlink_register_commands,
1886 .speed = rlink_speed,
1887 .speed_div = rlink_speed_div,
1888 .khz = rlink_khz,
1889 .execute_queue = rlink_execute_queue,
1890 };
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