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- rlink interface support from Lou Deluxe <lou.openocd012@fixit.nospammail.net>
[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 /* system includes */
31 #include <errno.h>
32 #include <string.h>
33 #include <usb.h>
34
35 /* project specific includes */
36 #include "log.h"
37 #include "types.h"
38 #include "jtag.h"
39 #include "configuration.h"
40 #include "rlink.h"
41 #include "st7.h"
42 #include "ep1_cmd.h"
43 #include "dtc_cmd.h"
44
45
46 /* 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. */
47 #undef AUTOMATIC_BUSY_LED
48
49 /* This feature may require derating the speed due to reduced hold time. */
50 #undef USE_HARDWARE_SHIFTER_FOR_TMS
51
52
53 #define INTERFACE_NAME "RLink"
54
55 #define USB_IDVENDOR (0x138e)
56 #define USB_IDPRODUCT (0x9000)
57
58 #define USB_EP1OUT_ADDR (0x01)
59 #define USB_EP1OUT_SIZE (16)
60 #define USB_EP1IN_ADDR (USB_EP1OUT_ADDR | 0x80)
61 #define USB_EP1IN_SIZE (USB_EP1OUT_SIZE)
62
63 #define USB_EP2OUT_ADDR (0x02)
64 #define USB_EP2OUT_SIZE (64)
65 #define USB_EP2IN_ADDR (USB_EP2OUT_ADDR | 0x80)
66 #define USB_EP2IN_SIZE (USB_EP2OUT_SIZE)
67 #define USB_EP2BANK_SIZE (512)
68
69 #define USB_TIMEOUT_MS (3 * 1000)
70
71 #define DTC_STATUS_POLL_BYTE (ST7_USB_BUF_EP0OUT + 0xff)
72
73
74 /* Symbolic names for some pins */
75 #define ST7_PA_NJTAG_TRST ST7_PA1
76 #define ST7_PA_NRLINK_RST ST7_PA3
77 #define ST7_PA_NLINE_DRIVER_ENABLE ST7_PA5
78
79 /* mask for negative-logic pins */
80 #define ST7_PA_NUNASSERTED (0 \
81 | ST7_PA_NJTAG_TRST \
82 | ST7_PA_NRLINK_RST \
83 | ST7_PA_NLINE_DRIVER_ENABLE \
84 )
85
86 #define ST7_PD_NBUSY_LED ST7_PD0
87 #define ST7_PD_NERROR_LED ST7_PD1
88 #define ST7_PD_NRUN_LED ST7_PD7
89
90 #define ST7_PE_ADAPTER_SENSE_IN ST7_PE3
91 #define ST7_PE_ADAPTER_SENSE_OUT ST7_PE4
92
93 static usb_dev_handle *pHDev;
94
95
96 /*
97 * ep1 commands are up to USB_EP1OUT_SIZE bytes in length.
98 * This function takes care of zeroing the unused bytes before sending the packet.
99 * Any reply packet is not handled by this function.
100 */
101 static
102 int
103 ep1_generic_commandl(
104 usb_dev_handle *pHDev,
105 size_t length,
106 ...
107 ) {
108 uint8_t usb_buffer[USB_EP1OUT_SIZE];
109 uint8_t *usb_buffer_p;
110 va_list ap;
111 int usb_ret;
112
113 if(length > sizeof(usb_buffer)) {
114 length = sizeof(usb_buffer);
115 }
116
117 usb_buffer_p = usb_buffer;
118
119 va_start(ap, length);
120 while(length > 0) {
121 *usb_buffer_p++ = va_arg(ap, int);
122 length--;
123 }
124
125 memset(
126 usb_buffer_p,
127 0,
128 sizeof(usb_buffer) - (usb_buffer_p - usb_buffer)
129 );
130
131 usb_ret = usb_bulk_write(
132 pHDev,
133 USB_EP1OUT_ADDR,
134 usb_buffer, sizeof(usb_buffer),
135 USB_TIMEOUT_MS
136 );
137
138 return(usb_ret);
139 }
140
141
142
143 #if 0
144 static
145 ssize_t
146 ep1_memory_read(
147 usb_dev_handle *pHDev,
148 uint16_t addr,
149 size_t length,
150 uint8_t *buffer
151 ) {
152 uint8_t usb_buffer[USB_EP1OUT_SIZE];
153 int usb_ret;
154 size_t remain;
155 ssize_t count;
156
157 usb_buffer[0] = EP1_CMD_MEMORY_READ;
158 memset(
159 usb_buffer + 4,
160 0,
161 sizeof(usb_buffer) - 4
162 );
163
164 remain = length;
165 count = 0;
166
167 while(remain) {
168 if(remain > sizeof(usb_buffer)) {
169 length = sizeof(usb_buffer);
170 } else {
171 length = remain;
172 }
173
174 usb_buffer[1] = addr >> 8;
175 usb_buffer[2] = addr;
176 usb_buffer[3] = length;
177
178 usb_ret = usb_bulk_write(
179 pHDev, USB_EP1OUT_ADDR,
180 usb_buffer, sizeof(usb_buffer),
181 USB_TIMEOUT_MS
182 );
183
184 if(usb_ret < sizeof(usb_buffer)) {
185 break;
186 }
187
188 usb_ret = usb_bulk_read(
189 pHDev, USB_EP1IN_ADDR,
190 buffer, length,
191 USB_TIMEOUT_MS
192 );
193
194 if(usb_ret < length) {
195 break;
196 }
197
198 addr += length;
199 buffer += length;
200 count += length;
201 remain -= length;
202 }
203
204 return(count);
205 }
206 #endif
207
208
209
210 static
211 ssize_t
212 ep1_memory_write(
213 usb_dev_handle *pHDev,
214 uint16_t addr,
215 size_t length,
216 uint8_t const *buffer
217 ) {
218 uint8_t usb_buffer[USB_EP1OUT_SIZE];
219 int usb_ret;
220 size_t remain;
221 ssize_t count;
222
223 usb_buffer[0] = EP1_CMD_MEMORY_WRITE;
224
225 remain = length;
226 count = 0;
227
228 while(remain) {
229 if(remain > (sizeof(usb_buffer) - 4)) {
230 length = (sizeof(usb_buffer) - 4);
231 } else {
232 length = remain;
233 }
234
235 usb_buffer[1] = addr >> 8;
236 usb_buffer[2] = addr;
237 usb_buffer[3] = length;
238 memcpy(
239 usb_buffer + 4,
240 buffer,
241 length
242 );
243 memset(
244 usb_buffer + 4 + length,
245 0,
246 sizeof(usb_buffer) - 4 - length
247 );
248
249 usb_ret = usb_bulk_write(
250 pHDev, USB_EP1OUT_ADDR,
251 usb_buffer, sizeof(usb_buffer),
252 USB_TIMEOUT_MS
253 );
254
255 if(usb_ret < sizeof(usb_buffer)) {
256 break;
257 }
258
259 addr += length;
260 buffer += length;
261 count += length;
262 remain -= length;
263 }
264
265 return(count);
266 }
267
268
269 #if 0
270 static
271 ssize_t
272 ep1_memory_writel(
273 usb_dev_handle *pHDev,
274 uint16_t addr,
275 size_t length,
276 ...
277 ) {
278 uint8_t buffer[USB_EP1OUT_SIZE - 4];
279 uint8_t *buffer_p;
280 va_list ap;
281 size_t remain;
282
283 if(length > sizeof(buffer)) {
284 length = sizeof(buffer);
285 }
286
287 remain = length;
288 buffer_p = buffer;
289
290 va_start(ap, length);
291 while(remain > 0) {
292 *buffer_p++ = va_arg(ap, int);
293 remain--;
294 }
295
296 return(ep1_memory_write(pHDev, addr, length, buffer));
297 }
298 #endif
299
300
301 #define DTCLOAD_COMMENT (0)
302 #define DTCLOAD_ENTRY (1)
303 #define DTCLOAD_LOAD (2)
304 #define DTCLOAD_RUN (3)
305 #define DTCLOAD_LUT_START (4)
306 #define DTCLOAD_LUT (5)
307
308 #define DTC_LOAD_BUFFER ST7_USB_BUF_EP2UIDO
309
310 /* This gets set by the DTC loader */
311 static uint8_t dtc_entry_download;
312
313
314 /* The buffer is specially formatted to represent a valid image to load into the DTC. */
315 static
316 int
317 dtc_load_from_buffer(
318 usb_dev_handle *pHDev,
319 const u8 *buffer,
320 size_t length
321 ) {
322 struct header_s {
323 u8 type;
324 u8 length;
325 };
326
327 int usb_err;
328 struct header_s *header;
329 u8 lut_start = 0xc0;
330
331 dtc_entry_download = 0;
332
333 /* Stop the DTC before loading anything. */
334 usb_err = ep1_generic_commandl(
335 pHDev, 1,
336 EP1_CMD_DTC_STOP
337 );
338 if(usb_err < 0) return(usb_err);
339
340 while(length) {
341 if(length < sizeof(*header)) {
342 LOG_ERROR("Malformed DTC image\n");
343 exit(1);
344 }
345
346 header = (struct header_s *)buffer;
347 buffer += sizeof(*header);
348 length -= sizeof(*header);
349
350 if(length < header->length + 1) {
351 LOG_ERROR("Malformed DTC image\n");
352 exit(1);
353 }
354
355 switch(header->type) {
356 case DTCLOAD_COMMENT:
357 break;
358
359 case DTCLOAD_ENTRY:
360 /* store entry addresses somewhere */
361 if(!strncmp("download", buffer + 1, 8)) {
362 dtc_entry_download = buffer[0];
363 }
364 break;
365
366 case DTCLOAD_LOAD:
367 /* Send the DTC program to ST7 RAM. */
368 usb_err = ep1_memory_write(
369 pHDev,
370 DTC_LOAD_BUFFER,
371 header->length + 1, buffer
372 );
373 if(usb_err < 0) return(usb_err);
374
375 /* Load it into the DTC. */
376 usb_err = ep1_generic_commandl(
377 pHDev, 3,
378 EP1_CMD_DTC_LOAD,
379 (DTC_LOAD_BUFFER >> 8),
380 DTC_LOAD_BUFFER
381 );
382 if(usb_err < 0) return(usb_err);
383
384 break;
385
386 case DTCLOAD_RUN:
387 usb_err = ep1_generic_commandl(
388 pHDev, 3,
389 EP1_CMD_DTC_CALL,
390 buffer[0],
391 EP1_CMD_DTC_WAIT
392 );
393 if(usb_err < 0) return(usb_err);
394
395 break;
396
397 case DTCLOAD_LUT_START:
398 lut_start = buffer[0];
399 break;
400
401 case DTCLOAD_LUT:
402 usb_err = ep1_memory_write(
403 pHDev,
404 ST7_USB_BUF_EP0OUT + lut_start,
405 header->length + 1, buffer
406 );
407 if(usb_err < 0) return(usb_err);
408 break;
409
410 default:
411 LOG_ERROR("Invalid DTC image record type: 0x%02x\n", header->type);
412 exit(1);
413 break;
414 }
415
416 buffer += (header->length + 1);
417 length -= (header->length + 1);
418 }
419
420 return(0);
421 }
422
423
424 /*
425 * Start the DTC running in download mode (waiting for 512 byte command packets on ep2).
426 */
427 static
428 int
429 dtc_start_download(
430 ) {
431 int usb_err;
432 u8 ep2txr;
433
434 /* set up for download mode and make sure EP2 is set up to transmit */
435 usb_err = ep1_generic_commandl(
436 pHDev, 7,
437
438 EP1_CMD_DTC_STOP,
439 EP1_CMD_SET_UPLOAD,
440 EP1_CMD_SET_DOWNLOAD,
441 EP1_CMD_MEMORY_READ, /* read EP2TXR for its data toggle */
442 ST7_EP2TXR >> 8,
443 ST7_EP2TXR,
444 1
445 );
446 if(usb_err < 0) return(usb_err);
447
448 /* read back ep2txr */
449 usb_err = usb_bulk_read(
450 pHDev, USB_EP1IN_ADDR,
451 &ep2txr, 1,
452 USB_TIMEOUT_MS
453 );
454 if(usb_err < 0) return(usb_err);
455
456 usb_err = ep1_generic_commandl(
457 pHDev, 13,
458
459 EP1_CMD_MEMORY_WRITE, /* preinitialize poll byte */
460 DTC_STATUS_POLL_BYTE >> 8,
461 DTC_STATUS_POLL_BYTE,
462 1,
463 0x00,
464 EP1_CMD_MEMORY_WRITE, /* set EP2IN to return data */
465 ST7_EP2TXR >> 8,
466 ST7_EP2TXR,
467 1,
468 (ep2txr & ST7_EP2TXR_DTOG_TX) | ST7_EP2TXR_STAT_VALID,
469 EP1_CMD_DTC_CALL, /* start running the DTC */
470 dtc_entry_download,
471 EP1_CMD_DTC_GET_CACHED_STATUS
472 );
473 if(usb_err < 0) return(usb_err);
474
475 /* wait for completion */
476 usb_err = usb_bulk_read(
477 pHDev, USB_EP1IN_ADDR,
478 &ep2txr, 1,
479 USB_TIMEOUT_MS
480 );
481
482 return(usb_err);
483 }
484
485
486 static
487 int
488 dtc_run_download(
489 usb_dev_handle *pHDev,
490 u8 *command_buffer,
491 int command_buffer_size,
492 u8 *reply_buffer,
493 int reply_buffer_size
494 ) {
495 u8 ep2_buffer[USB_EP2IN_SIZE];
496 int usb_err;
497 int i;
498
499 LOG_DEBUG(": %d/%d\n", command_buffer_size, reply_buffer_size);
500
501 usb_err = usb_bulk_write(
502 pHDev,
503 USB_EP2OUT_ADDR,
504 command_buffer, USB_EP2BANK_SIZE,
505 USB_TIMEOUT_MS
506 );
507 if(usb_err < 0) return(usb_err);
508
509
510 /* Wait for DTC to finish running command buffer */
511 for(i = 5;;) {
512 usb_err = ep1_generic_commandl(
513 pHDev, 4,
514
515 EP1_CMD_MEMORY_READ,
516 DTC_STATUS_POLL_BYTE >> 8,
517 DTC_STATUS_POLL_BYTE,
518 1
519 );
520 if(usb_err < 0) return(usb_err);
521
522 usb_err = usb_bulk_read(
523 pHDev,
524 USB_EP1IN_ADDR,
525 ep2_buffer, 1,
526 USB_TIMEOUT_MS
527 );
528 if(usb_err < 0) return(usb_err);
529
530 if(ep2_buffer[0] & 0x01) break;
531
532 if(!--i) {
533 LOG_ERROR("%s, %d: too many retries waiting for DTC status\n",
534 __FILE__, __LINE__
535 );
536 return(-ETIMEDOUT);
537 }
538 }
539
540
541 if(!reply_buffer) reply_buffer_size = 0;
542 if(reply_buffer_size) {
543 usb_err = usb_bulk_read(
544 pHDev,
545 USB_EP2IN_ADDR,
546 ep2_buffer, sizeof(ep2_buffer),
547 USB_TIMEOUT_MS
548 );
549
550 if(usb_err < (int)sizeof(ep2_buffer)) {
551 LOG_ERROR("%s, %d: Read of endpoint 2 returned %d\n",
552 __FILE__, __LINE__, usb_err
553 );
554 return(usb_err);
555 }
556
557 memcpy(reply_buffer, ep2_buffer, reply_buffer_size);
558
559 }
560
561 return(usb_err);
562 }
563
564
565 /*
566 * 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.
567 */
568
569 typedef
570 struct dtc_reply_queue_entry_s {
571 struct dtc_reply_queue_entry_s *next;
572 jtag_command_t *cmd; /* the command that resulted in this entry */
573
574 struct {
575 u8 *buffer; /* the scan buffer */
576 int size; /* size of the scan buffer in bits */
577 int offset; /* how many bits were already done before this? */
578 int length; /* how many bits are processed in this operation? */
579 enum scan_type type; /* SCAN_IN/SCAN_OUT/SCAN_IO */
580 } scan;
581 } dtc_reply_queue_entry_t;
582
583
584 /*
585 * The dtc_queue consists of a buffer of pending commands and a reply queue.
586 * rlink_scan and tap_state_run add to the command buffer and maybe to the reply queue.
587 */
588
589 static
590 struct {
591 dtc_reply_queue_entry_t *rq_head;
592 dtc_reply_queue_entry_t *rq_tail;
593 int cmd_index;
594 int reply_index;
595 u8 cmd_buffer[USB_EP2BANK_SIZE];
596 } dtc_queue;
597
598
599 /*
600 * 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.
601 */
602
603 static
604 struct {
605 int length;
606 u32 buffer;
607 } tap_state_queue;
608
609
610
611 static
612 int
613 dtc_queue_init(
614 ) {
615 dtc_queue.rq_head = NULL;
616 dtc_queue.rq_tail = NULL;
617 dtc_queue.cmd_index = 0;
618 dtc_queue.reply_index = 0;
619 return(0);
620 }
621
622
623 static
624 inline
625 dtc_reply_queue_entry_t *
626 dtc_queue_enqueue_reply(
627 enum scan_type type,
628 u8 *buffer,
629 int size,
630 int offset,
631 int length,
632 jtag_command_t *cmd
633 ) {
634 dtc_reply_queue_entry_t *rq_entry;
635
636 rq_entry = malloc(sizeof(dtc_reply_queue_entry_t));
637 if(rq_entry != NULL) {
638 rq_entry->scan.type = type;
639 rq_entry->scan.buffer = buffer;
640 rq_entry->scan.size = size;
641 rq_entry->scan.offset = offset;
642 rq_entry->scan.length = length;
643 rq_entry->cmd = cmd;
644 rq_entry->next = NULL;
645
646 if(dtc_queue.rq_head == NULL)
647 dtc_queue.rq_head = rq_entry;
648 else
649 dtc_queue.rq_tail->next = rq_entry;
650
651 dtc_queue.rq_tail = rq_entry;
652 }
653
654 return(rq_entry);
655 }
656
657
658 /*
659 * 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.
660 * The queue is automatically run by append when it is necessary to get space for the append.
661 */
662
663 static
664 int
665 dtc_queue_run(
666 ) {
667 dtc_reply_queue_entry_t *rq_p, *rq_next;
668 int retval;
669 int usb_err;
670 int bit_cnt;
671 int x;
672 u8 *dtc_p, *tdo_p;
673 u8 dtc_mask, tdo_mask;
674 u8 reply_buffer[USB_EP2IN_SIZE];
675
676 retval = ERROR_OK;
677
678 if(dtc_queue.cmd_index < 1) return(retval);
679
680 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = DTC_CMD_STOP;
681
682 /* run the cmd */
683 if(dtc_queue.rq_head == NULL) {
684 usb_err = dtc_run_download(pHDev,
685 dtc_queue.cmd_buffer, dtc_queue.cmd_index,
686 NULL, 0
687 );
688 if(usb_err < 0) {
689 LOG_ERROR("dtc_run_download: %s\n", usb_strerror());
690 exit(1);
691 }
692 } else {
693 usb_err = dtc_run_download(pHDev,
694 dtc_queue.cmd_buffer, dtc_queue.cmd_index,
695 reply_buffer, dtc_queue.reply_index
696 );
697 if(usb_err < 0) {
698 LOG_ERROR("dtc_run_download: %s\n", usb_strerror());
699 exit(1);
700 } else {
701 /* process the reply, which empties the reply queue and frees its entries */
702 dtc_p = reply_buffer;
703
704 /* 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. */
705
706 for(
707 rq_p = dtc_queue.rq_head;
708 rq_p != NULL;
709 rq_p = rq_next
710 ) {
711 tdo_p = rq_p->scan.buffer + (rq_p->scan.offset / 8);
712 tdo_mask = 1 << (rq_p->scan.offset % 8);
713
714
715 bit_cnt = rq_p->scan.length;
716 if(bit_cnt >= 8) {
717 /* bytes */
718
719 dtc_mask = 1 << (8 - 1);
720
721 for(
722 ;
723 bit_cnt;
724 bit_cnt--
725 ) {
726 if(*dtc_p & dtc_mask) {
727 *tdo_p |= tdo_mask;
728 } else {
729 *tdo_p &=~ tdo_mask;
730 }
731
732 dtc_mask >>= 1;
733 if(dtc_mask == 0) {
734 dtc_p++;
735 dtc_mask = 1 << (8 - 1);
736 }
737
738 tdo_mask <<= 1;
739 if(tdo_mask == 0) {
740 tdo_p++;
741 tdo_mask = 1;
742 }
743 }
744 } else {
745 /* extra bits or last bit */
746
747 x = *dtc_p++;
748 if((
749 rq_p->scan.type == SCAN_IN
750 ) && (
751 rq_p->scan.offset != rq_p->scan.size - 1
752 )) {
753 /* extra bits were sent as a full byte with padding on the end */
754 dtc_mask = 1 << (8 - 1);
755 } else {
756 dtc_mask = 1 << (bit_cnt - 1);
757 }
758
759 for(
760 ;
761 bit_cnt;
762 bit_cnt--
763 ) {
764 if(x & dtc_mask) {
765 *tdo_p |= tdo_mask;
766 } else {
767 *tdo_p &=~ tdo_mask;
768 }
769
770 dtc_mask >>= 1;
771
772 tdo_mask <<= 1;
773 if(tdo_mask == 0) {
774 tdo_p++;
775 tdo_mask = 1;
776 }
777
778 }
779 }
780
781 if((rq_p->scan.offset + rq_p->scan.length) >= rq_p->scan.size) {
782 /* feed scan buffer back into openocd and free it */
783 if(jtag_read_buffer(rq_p->scan.buffer, rq_p->cmd->cmd.scan) != ERROR_OK) {
784 retval = ERROR_JTAG_QUEUE_FAILED;
785 }
786 free(rq_p->scan.buffer);
787 }
788
789 rq_next = rq_p->next;
790 free(rq_p);
791 }
792 dtc_queue.rq_head = NULL;
793 dtc_queue.rq_tail = NULL;
794 }
795
796 }
797
798
799 /* reset state for new appends */
800 dtc_queue.cmd_index = 0;
801 dtc_queue.reply_index = 0;
802
803 return(retval);
804 }
805
806
807
808 static
809 int
810 tap_state_queue_init(
811 ) {
812 tap_state_queue.length = 0;
813 tap_state_queue.buffer = 0;
814 return(0);
815 }
816
817
818 static
819 int
820 tap_state_queue_run(
821 ) {
822 int i;
823 int bits;
824 u8 byte;
825 int retval;
826
827 retval = 0;
828 if(!tap_state_queue.length) return(retval);
829 bits = 1;
830 byte = 0;
831 for(i = tap_state_queue.length; i--;) {
832
833 byte <<= 1;
834 if(tap_state_queue.buffer & 1) {
835 byte |= 1;
836 }
837 if((bits >= 8) || !i) {
838 byte <<= (8 - bits);
839
840 /* make sure there's room for stop, byte op, and one byte */
841 if(dtc_queue.cmd_index >= (sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))) {
842 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
843 DTC_CMD_STOP;
844 dtc_queue_run();
845 }
846
847 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
848 if(bits == 8) {
849 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
850 DTC_CMD_SHIFT_TMS_BYTES(1);
851 } else {
852 #endif
853 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
854 DTC_CMD_SHIFT_TMS_BITS(bits);
855 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
856 }
857 #endif
858
859 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
860 byte;
861
862 byte = 0;
863 bits = 1;
864 } else {
865 bits++;
866 }
867
868 tap_state_queue.buffer >>= 1;
869 }
870 retval = tap_state_queue_init();
871 return(retval);
872 }
873
874
875 static
876 int
877 tap_state_queue_append(
878 u8 tms
879 ) {
880 int retval;
881
882 if(tap_state_queue.length >= sizeof(tap_state_queue.buffer) * 8) {
883 retval = tap_state_queue_run();
884 if(retval != 0) return(retval);
885 }
886
887 if(tms) {
888 tap_state_queue.buffer |= (1 << tap_state_queue.length);
889 }
890 tap_state_queue.length++;
891
892 return(0);
893 }
894
895
896 static
897 void rlink_end_state(enum tap_state state)
898 {
899 if (tap_move_map[state] != -1)
900 end_state = state;
901 else
902 {
903 LOG_ERROR("BUG: %i is not a valid end state", state);
904 exit(-1);
905 }
906 }
907
908
909 static
910 void rlink_state_move(void) {
911
912 int i=0, tms=0;
913 u8 tms_scan = TAP_MOVE(cur_state, end_state);
914
915 for (i = 0; i < 7; i++)
916 {
917 tms = (tms_scan >> i) & 1;
918 tap_state_queue_append(tms);
919 }
920
921 cur_state = end_state;
922 }
923
924 static
925 void rlink_path_move(pathmove_command_t *cmd)
926 {
927 int num_states = cmd->num_states;
928 int state_count;
929 int tms = 0;
930
931 state_count = 0;
932 while (num_states)
933 {
934 if (tap_transitions[cur_state].low == cmd->path[state_count])
935 {
936 tms = 0;
937 }
938 else if (tap_transitions[cur_state].high == cmd->path[state_count])
939 {
940 tms = 1;
941 }
942 else
943 {
944 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", jtag_state_name(cur_state), jtag_state_name(cmd->path[state_count]));
945 exit(-1);
946 }
947
948 tap_state_queue_append(tms);
949
950 cur_state = cmd->path[state_count];
951 state_count++;
952 num_states--;
953 }
954
955 end_state = cur_state;
956 }
957
958
959 static
960 void rlink_runtest(int num_cycles)
961 {
962 int i;
963
964 enum tap_state saved_end_state = end_state;
965
966 /* only do a state_move when we're not already in RTI */
967 if (cur_state != TAP_IDLE)
968 {
969 rlink_end_state(TAP_IDLE);
970 rlink_state_move();
971 }
972
973 /* execute num_cycles */
974 for (i = 0; i < num_cycles; i++)
975 {
976 tap_state_queue_append(0);
977 }
978
979 /* finish in end_state */
980 rlink_end_state(saved_end_state);
981 if (cur_state != end_state)
982 rlink_state_move();
983 }
984
985
986 /* (1) assert or (0) deassert reset lines */
987 static
988 void rlink_reset(int trst, int srst)
989 {
990 u8 bitmap;
991 int usb_err;
992
993 bitmap = ((~(ST7_PA_NLINE_DRIVER_ENABLE)) & ST7_PA_NUNASSERTED);
994
995 if(trst) {
996 bitmap &= ~ST7_PA_NJTAG_TRST;
997 }
998 if(srst) {
999 bitmap &= ~ST7_PA_NRLINK_RST;
1000 }
1001
1002 usb_err = ep1_generic_commandl(
1003 pHDev, 5,
1004
1005 EP1_CMD_MEMORY_WRITE,
1006 ST7_PADR >> 8,
1007 ST7_PADR,
1008 1,
1009 bitmap
1010 );
1011 if(usb_err < 0) {
1012 LOG_ERROR("%s: %s\n", __func__, usb_strerror());
1013 exit(1);
1014 }
1015 }
1016
1017
1018 static
1019 int
1020 rlink_scan(
1021 jtag_command_t *cmd,
1022 enum scan_type type,
1023 u8 *buffer,
1024 int scan_size
1025 ) {
1026 int ir_scan;
1027 enum tap_state saved_end_state;
1028 int byte_bits;
1029 int extra_bits;
1030 int chunk_bits;
1031 int chunk_bytes;
1032 int x;
1033
1034 int tdi_bit_offset;
1035 u8 tdi_mask, *tdi_p;
1036 u8 dtc_mask;
1037 dtc_reply_queue_entry_t *rq_entry;
1038
1039 if(scan_size < 1) {
1040 LOG_ERROR("scan_size cannot be less than 1 bit\n");
1041 exit(1);
1042 }
1043
1044 ir_scan = cmd->cmd.scan->ir_scan;
1045
1046 /* Move to the proper state before starting to shift TDI/TDO. */
1047 if (!(
1048 (!ir_scan && (cur_state == TAP_DRSHIFT))
1049 ||
1050 (ir_scan && (cur_state == TAP_IRSHIFT))
1051 )) {
1052 saved_end_state = end_state;
1053 rlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
1054 rlink_state_move();
1055 rlink_end_state(saved_end_state);
1056 }
1057
1058 tap_state_queue_run();
1059
1060
1061 #if 0
1062 printf("scan_size = %d, type=0x%x\n", scan_size, type);
1063 {
1064 int i;
1065
1066 /* clear unused bits in scan buffer for ease of debugging */
1067 /* (it makes diffing output easier) */
1068 buffer[scan_size / 8] &= ((1 << ((scan_size - 1) % 8) + 1) - 1);
1069
1070 printf("before scan:");
1071 for(i = 0; i < (scan_size + 7) / 8; i++) {
1072 printf(" %02x", buffer[i]);
1073 }
1074 printf("\n");
1075 }
1076 #endif
1077
1078 /* The number of bits that can be shifted as complete bytes */
1079 byte_bits = (int)(scan_size - 1) / 8 * 8;
1080 /* The number of bits left over, not counting the last bit */
1081 extra_bits = (scan_size - 1) - byte_bits;
1082
1083 tdi_bit_offset = 0;
1084 tdi_p = buffer;
1085 tdi_mask = 1;
1086
1087 if(extra_bits && (type == SCAN_OUT)) {
1088 /* Schedule any extra bits into the DTC command buffer, padding as needed */
1089 /* For SCAN_OUT, this comes before the full bytes so the (leading) padding bits will fall off the end */
1090 /* make sure there's room for stop, byte op, and one byte */
1091 if(
1092 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))
1093 ) {
1094 dtc_queue_run();
1095 }
1096
1097 x = 0;
1098 dtc_mask = 1 << (extra_bits - 1);
1099
1100 while(extra_bits--) {
1101 if(*tdi_p & tdi_mask) {
1102 x |= dtc_mask;
1103 }
1104
1105 dtc_mask >>= 1;
1106
1107 tdi_mask <<= 1;
1108 if(tdi_mask == 0) {
1109 tdi_p++;
1110 tdi_mask = 1;
1111 }
1112 }
1113
1114 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1115 DTC_CMD_SHIFT_TDI_BYTES(1);
1116
1117 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1118 }
1119
1120 /* Loop scheduling full bytes into the DTC command buffer */
1121 while(byte_bits) {
1122 if(type == SCAN_IN) {
1123 /* make sure there's room for stop and byte op */
1124 x = (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1));
1125 } else {
1126 /* make sure there's room for stop, byte op, and at least one byte */
1127 x = (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1));
1128 }
1129
1130 if(type != SCAN_OUT) {
1131 /* make sure there's room for at least one reply byte */
1132 x |= (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1));
1133 }
1134
1135 if(x) {
1136 dtc_queue_run();
1137 }
1138
1139 chunk_bits = byte_bits;
1140 /* we can only use up to 16 bytes at a time */
1141 if(chunk_bits > (16 * 8)) chunk_bits = (16 * 8);
1142
1143 if(type != SCAN_IN) {
1144 /* how much is there room for, considering stop and byte op? */
1145 x = (sizeof(dtc_queue.cmd_buffer) - (dtc_queue.cmd_index + 1 + 1)) * 8;
1146 if(chunk_bits > x) chunk_bits = x;
1147 }
1148
1149 if(type != SCAN_OUT) {
1150 /* how much is there room for in the reply buffer? */
1151 x = (USB_EP2IN_SIZE - dtc_queue.reply_index) * 8;
1152 if(chunk_bits > x) chunk_bits = x;
1153 }
1154
1155 /* so the loop will end */
1156 byte_bits -= chunk_bits;
1157
1158 if(type != SCAN_OUT) {
1159 if(dtc_queue_enqueue_reply(
1160 type, buffer, scan_size, tdi_bit_offset,
1161 chunk_bits,
1162 cmd
1163 ) == NULL) {
1164 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1165 exit(1);
1166 }
1167
1168 tdi_bit_offset += chunk_bits;
1169 }
1170
1171 /* chunk_bits is a multiple of 8, so there are no rounding issues. */
1172 chunk_bytes = chunk_bits / 8;
1173
1174 switch(type) {
1175 case SCAN_IN:
1176 x = DTC_CMD_SHIFT_TDO_BYTES(chunk_bytes);
1177 break;
1178 case SCAN_OUT:
1179 x = DTC_CMD_SHIFT_TDI_BYTES(chunk_bytes);
1180 break;
1181 default:
1182 x = DTC_CMD_SHIFT_TDIO_BYTES(chunk_bytes);
1183 break;
1184 }
1185 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1186
1187 if(type != SCAN_IN) {
1188 x = 0;
1189 dtc_mask = 1 << (8 - 1);
1190
1191 while(chunk_bits--) {
1192 if(*tdi_p & tdi_mask) {
1193 x |= dtc_mask;
1194 }
1195
1196 dtc_mask >>= 1;
1197 if(dtc_mask == 0) {
1198 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1199 dtc_queue.reply_index++;
1200 x = 0;
1201 dtc_mask = 1 << (8 - 1);
1202 }
1203
1204 tdi_mask <<= 1;
1205 if(tdi_mask == 0) {
1206 tdi_p++;
1207 tdi_mask = 1;
1208 }
1209 }
1210 }
1211 }
1212
1213 if(extra_bits && (type != SCAN_OUT)) {
1214 /* Schedule any extra bits into the DTC command buffer */
1215 /* make sure there's room for stop, byte op, and one byte */
1216 if(
1217 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))
1218 ||
1219 (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1))
1220 ) {
1221 dtc_queue_run();
1222 }
1223
1224 if(dtc_queue_enqueue_reply(
1225 type, buffer, scan_size, tdi_bit_offset,
1226 extra_bits,
1227 cmd
1228 ) == NULL) {
1229 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1230 exit(1);
1231 }
1232
1233 tdi_bit_offset += extra_bits;
1234
1235 if(type == SCAN_IN) {
1236 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1237 DTC_CMD_SHIFT_TDO_BYTES(1);
1238
1239 } else {
1240 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1241 DTC_CMD_SHIFT_TDIO_BITS(extra_bits);
1242
1243 x = 0;
1244 dtc_mask = 1 << (8 - 1);
1245
1246 while(extra_bits--) {
1247 if(*tdi_p & tdi_mask) {
1248 x |= dtc_mask;
1249 }
1250
1251 dtc_mask >>= 1;
1252
1253 tdi_mask <<= 1;
1254 if(tdi_mask == 0) {
1255 tdi_p++;
1256 tdi_mask = 1;
1257 }
1258 }
1259
1260 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1261 }
1262
1263 dtc_queue.reply_index++;
1264 }
1265
1266 /* Schedule the last bit into the DTC command buffer */
1267 {
1268 /* make sure there's room for stop, and bit pair command */
1269 if(
1270 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1))
1271 ||
1272 (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1))
1273 ) {
1274 dtc_queue_run();
1275 }
1276
1277 if(type == SCAN_OUT) {
1278 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1279 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 0);
1280
1281 } else {
1282 if(dtc_queue_enqueue_reply(
1283 type, buffer, scan_size, tdi_bit_offset,
1284 1,
1285 cmd
1286 ) == NULL) {
1287 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1288 exit(1);
1289 }
1290
1291 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1292 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 1);
1293
1294 dtc_queue.reply_index++;
1295 }
1296 }
1297
1298 /* Move to pause state */
1299 tap_state_queue_append(0);
1300 cur_state = ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE;
1301 if (cur_state != end_state) rlink_state_move();
1302
1303 return(0);
1304 }
1305
1306
1307 static
1308 int rlink_execute_queue(void)
1309 {
1310 jtag_command_t *cmd = jtag_command_queue; /* currently processed command */
1311 int scan_size;
1312 enum scan_type type;
1313 u8 *buffer;
1314 int retval, tmp_retval;
1315
1316 /* return ERROR_OK, unless something goes wrong */
1317 retval = ERROR_OK;
1318
1319 #ifndef AUTOMATIC_BUSY_LED
1320 /* turn LED on */
1321 ep1_generic_commandl(pHDev, 2,
1322 EP1_CMD_SET_PORTD_LEDS,
1323 ~(ST7_PD_NBUSY_LED)
1324 );
1325 #endif
1326
1327 while (cmd)
1328 {
1329 switch (cmd->type)
1330 {
1331 case JTAG_END_STATE:
1332 case JTAG_RUNTEST:
1333 case JTAG_STATEMOVE:
1334 case JTAG_PATHMOVE:
1335 case JTAG_SCAN:
1336 break;
1337
1338 default:
1339 /* some events, such as resets, need a queue flush to ensure consistency */
1340 tap_state_queue_run();
1341 dtc_queue_run();
1342 break;
1343 }
1344
1345 switch (cmd->type)
1346 {
1347 case JTAG_END_STATE:
1348 #ifdef _DEBUG_JTAG_IO_
1349 LOG_DEBUG("end_state: %i", cmd->cmd.end_state->end_state);
1350 #endif
1351 if (cmd->cmd.end_state->end_state != -1)
1352 rlink_end_state(cmd->cmd.end_state->end_state);
1353 break;
1354 case JTAG_RESET:
1355 #ifdef _DEBUG_JTAG_IO_
1356 LOG_DEBUG("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1357 #endif
1358 if ((cmd->cmd.reset->trst == 1) || (cmd->cmd.reset->srst && (jtag_reset_config & RESET_SRST_PULLS_TRST)))
1359 {
1360 cur_state = TAP_RESET;
1361 }
1362 rlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1363 break;
1364 case JTAG_RUNTEST:
1365 #ifdef _DEBUG_JTAG_IO_
1366 LOG_DEBUG("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, cmd->cmd.runtest->end_state);
1367 #endif
1368 if (cmd->cmd.runtest->end_state != -1)
1369 rlink_end_state(cmd->cmd.runtest->end_state);
1370 rlink_runtest(cmd->cmd.runtest->num_cycles);
1371 break;
1372 case JTAG_STATEMOVE:
1373 #ifdef _DEBUG_JTAG_IO_
1374 LOG_DEBUG("statemove end in %i", cmd->cmd.statemove->end_state);
1375 #endif
1376 if (cmd->cmd.statemove->end_state != -1)
1377 rlink_end_state(cmd->cmd.statemove->end_state);
1378 rlink_state_move();
1379 break;
1380 case JTAG_PATHMOVE:
1381 #ifdef _DEBUG_JTAG_IO_
1382 LOG_DEBUG("pathmove: %i states, end in %i", cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1383 #endif
1384 rlink_path_move(cmd->cmd.pathmove);
1385 break;
1386 case JTAG_SCAN:
1387 #ifdef _DEBUG_JTAG_IO_
1388 LOG_DEBUG("%s scan end in %i", (cmd->cmd.scan->ir_scan) ? "IR" : "DR", cmd->cmd.scan->end_state);
1389 #endif
1390 if (cmd->cmd.scan->end_state != -1)
1391 rlink_end_state(cmd->cmd.scan->end_state);
1392 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
1393 type = jtag_scan_type(cmd->cmd.scan);
1394 if(rlink_scan(cmd, type, buffer, scan_size) != ERROR_OK) {
1395 retval = ERROR_FAIL;
1396 }
1397 break;
1398 case JTAG_SLEEP:
1399 #ifdef _DEBUG_JTAG_IO_
1400 LOG_DEBUG("sleep %i", cmd->cmd.sleep->us);
1401 #endif
1402 jtag_sleep(cmd->cmd.sleep->us);
1403 break;
1404 default:
1405 LOG_ERROR("BUG: unknown JTAG command type encountered");
1406 exit(-1);
1407 }
1408 cmd = cmd->next;
1409 }
1410
1411 /* Flush the DTC queue to make sure any pending reads have been done before exiting this function */
1412 tap_state_queue_run();
1413 tmp_retval = dtc_queue_run();
1414 if(tmp_retval != ERROR_OK) {
1415 retval = tmp_retval;
1416 }
1417
1418 #ifndef AUTOMATIC_BUSY_LED
1419 /* turn LED onff */
1420 ep1_generic_commandl(pHDev, 2,
1421 EP1_CMD_SET_PORTD_LEDS,
1422 ~0
1423 );
1424 #endif
1425
1426 return retval;
1427 }
1428
1429
1430 /* 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. */
1431
1432 static
1433 int rlink_speed(int speed)
1434 {
1435 int i;
1436
1437 if(speed == 0) {
1438 /* fastest speed */
1439 speed = rlink_speed_table[rlink_speed_table_size - 1].prescaler;
1440 }
1441
1442 for(i = rlink_speed_table_size; i--; ) {
1443 if(rlink_speed_table[i].prescaler == speed) {
1444 if(dtc_load_from_buffer(pHDev, rlink_speed_table[i].dtc, rlink_speed_table[i].dtc_size) != 0) {
1445 LOG_ERROR("An error occurred while trying to load DTC code for speed \"%d\".\n", speed);
1446 exit(1);
1447 }
1448
1449 if(dtc_start_download() < 0) {
1450 LOG_ERROR("%s, %d: starting DTC: %s",
1451 __FILE__, __LINE__,
1452 usb_strerror()
1453 );
1454 exit(1);
1455 }
1456
1457 return ERROR_OK;
1458 }
1459 }
1460
1461 LOG_ERROR("%d is not a supported speed", speed);
1462 return(ERROR_FAIL);
1463 }
1464
1465
1466 static
1467 int rlink_speed_div(
1468 int speed,
1469 int *khz
1470 ) {
1471 int i;
1472
1473 for(i = rlink_speed_table_size; i--; ) {
1474 if(rlink_speed_table[i].prescaler == speed) {
1475 *khz = rlink_speed_table[i].khz;
1476 return(ERROR_OK);
1477 }
1478 }
1479
1480 LOG_ERROR("%d is not a supported speed", speed);
1481 return(ERROR_FAIL);
1482 }
1483
1484
1485 static
1486 int rlink_khz(
1487 int khz,
1488 int *speed
1489 ) {
1490 int i;
1491
1492 if(khz == 0) {
1493 LOG_ERROR("RCLK not supported");
1494 return ERROR_FAIL;
1495 }
1496
1497 for(i = rlink_speed_table_size; i--; ) {
1498 if(rlink_speed_table[i].khz <= khz) {
1499 *speed = rlink_speed_table[i].prescaler;
1500 return(ERROR_OK);
1501 }
1502 }
1503
1504 LOG_WARNING("The lowest supported JTAG speed is %d KHz", rlink_speed_table[0].khz);
1505 *speed = rlink_speed_table[0].prescaler;
1506 return(ERROR_OK);
1507 }
1508
1509
1510 #if 0
1511 static
1512 int
1513 handle_dtc_directory_command(
1514 struct command_context_s *cmd_ctx,
1515 char *cmd,
1516 char **args,
1517 int argc
1518 ) {
1519 if(argc != 1) {
1520 LOG_ERROR("expected exactly one argument to rlink_dtc_directory <directory-path>");
1521 return(ERROR_INVALID_ARGUMENTS);
1522 }
1523
1524 printf("handle_dtc_directory_command called with \"%s\"\n", args[0]);
1525
1526 return(ERROR_OK);
1527 }
1528 #endif
1529
1530
1531 static
1532 int rlink_register_commands(struct command_context_s *cmd_ctx)
1533 {
1534
1535 #ifdef _DEBUG_JTAG_IO_
1536 LOG_DEBUG("rlink_register_commands called with cmd_ctx=%p\n", cmd_ctx);
1537 #endif
1538
1539 #if 0
1540 register_command(
1541 cmd_ctx, NULL,
1542 "rlink_dtc_directory",
1543 handle_dtc_directory_command,
1544 COMMAND_CONFIG,
1545 "The directory in which to search for DTC load images"
1546 );
1547 #endif
1548
1549 return ERROR_OK;
1550 }
1551
1552
1553 static
1554 int rlink_init(void)
1555 {
1556 struct usb_bus *busses;
1557 struct usb_bus *bus;
1558 int c, i, a, j, retries,len;
1559 int found=0;
1560 int success=0;
1561 u8 reply_buffer[USB_EP1IN_SIZE];
1562
1563 usb_init();
1564 usb_find_busses();
1565 usb_find_devices();
1566
1567 busses = usb_get_busses();
1568
1569 for(bus = busses; bus; bus = bus->next)
1570 {
1571 struct usb_device *dev;
1572
1573 for(dev = bus->devices; dev; dev = dev->next)
1574 {
1575 if( (dev->descriptor.idVendor == USB_IDVENDOR) && (dev->descriptor.idProduct == USB_IDPRODUCT) )
1576 {
1577 found = 1;
1578 LOG_DEBUG("Found device on bus.\n");
1579
1580 do
1581 {
1582 if( dev->descriptor.bNumConfigurations > 1 )
1583 {
1584 LOG_ERROR("Whoops! NumConfigurations is not 1, don't know what to do...\n");
1585 break;
1586 }
1587 if( dev->config->bNumInterfaces > 1 )
1588 {
1589 LOG_ERROR("Whoops! NumInterfaces is not 1, don't know what to do...\n");
1590 break;
1591 }
1592
1593 pHDev=usb_open(dev);
1594 if( !pHDev )
1595 LOG_ERROR ("Failed to open device.\n");
1596 else
1597 {
1598 LOG_DEBUG("Opened device, pHDev = %p\n",pHDev);
1599
1600 retries = 3;
1601 do
1602 {
1603 i = usb_claim_interface(pHDev,0);
1604 if(i)
1605 {
1606 LOG_ERROR("usb_claim_interface: %s", usb_strerror());
1607 #ifdef LIBUSB_HAS_DETACH_KERNEL_DRIVER_NP
1608 j = usb_detach_kernel_driver_np(pHDev, 0);
1609 if(j)
1610 LOG_ERROR("detach kernel driver: %s", usb_strerror());
1611 #endif
1612 }
1613 else
1614 {
1615 LOG_DEBUG("interface claimed!\n");
1616 break;
1617 }
1618 } while(--retries);
1619
1620 if(!i)
1621 {
1622 if( usb_set_altinterface(pHDev,0) )
1623 {
1624 LOG_ERROR("Failed to set interface.\n");
1625 break;
1626 }
1627 else
1628 success=1;
1629 }
1630 }
1631 } while(0);
1632 }
1633 }
1634 }
1635
1636 if( !found )
1637 {
1638 LOG_ERROR("No device found on bus.\n");
1639 exit(1);
1640 }
1641
1642 if( !success )
1643 {
1644 LOG_ERROR("Initialisation failed.");
1645 exit(1);
1646 }
1647
1648
1649 /* 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. */
1650 /* 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. */
1651 for(i = 0; i < 5; i++) {
1652 j = ep1_generic_commandl(
1653 pHDev, 1,
1654 EP1_CMD_GET_FWREV
1655 );
1656 if(j < USB_EP1OUT_SIZE) {
1657 LOG_ERROR("USB write error: %s", usb_strerror());
1658 return(ERROR_FAIL);
1659 }
1660 j = usb_bulk_read(
1661 pHDev, USB_EP1IN_ADDR,
1662 reply_buffer, sizeof(reply_buffer),
1663 200
1664 );
1665 if(j != -ETIMEDOUT) break;
1666 }
1667
1668 if(j < (int)sizeof(reply_buffer)) {
1669 LOG_ERROR("USB read error: %s", usb_strerror());
1670 return(ERROR_FAIL);
1671 }
1672 LOG_DEBUG(INTERFACE_NAME" firmware version: %d.%d.%d\n", reply_buffer[0], reply_buffer[1], reply_buffer[2]);
1673
1674 if((reply_buffer[0] != 0) || (reply_buffer[1] != 0) || (reply_buffer[2] != 3)) {
1675 LOG_WARNING("The rlink device is not of the version that the developers have played with. It may or may not work.\n");
1676 }
1677
1678 /* Probe port E for adapter presence */
1679 ep1_generic_commandl(
1680 pHDev, 16,
1681 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 0 */
1682 ST7_PEDR >> 8,
1683 ST7_PEDR,
1684 3,
1685 0x00,
1686 ST7_PE_ADAPTER_SENSE_OUT,
1687 ST7_PE_ADAPTER_SENSE_OUT,
1688 EP1_CMD_MEMORY_READ, /* Read back */
1689 ST7_PEDR >> 8,
1690 ST7_PEDR,
1691 1,
1692 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 1 */
1693 ST7_PEDR >> 8,
1694 ST7_PEDR,
1695 1,
1696 ST7_PE_ADAPTER_SENSE_OUT
1697 );
1698
1699 usb_bulk_read(
1700 pHDev, USB_EP1IN_ADDR,
1701 reply_buffer, 1,
1702 USB_TIMEOUT_MS
1703 );
1704
1705 if((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) != 0) {
1706 LOG_WARNING("target detection problem\n");
1707 }
1708
1709 ep1_generic_commandl(
1710 pHDev, 11,
1711 EP1_CMD_MEMORY_READ, /* Read back */
1712 ST7_PEDR >> 8,
1713 ST7_PEDR,
1714 1,
1715 EP1_CMD_MEMORY_WRITE, /* float port E */
1716 ST7_PEDR >> 8,
1717 ST7_PEDR,
1718 3,
1719 0x00,
1720 0x00,
1721 0x00
1722 );
1723
1724 usb_bulk_read(
1725 pHDev, USB_EP1IN_ADDR,
1726 reply_buffer, 1,
1727 USB_TIMEOUT_MS
1728 );
1729
1730
1731 if((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) == 0) {
1732 LOG_WARNING("target not plugged in\n");
1733 }
1734
1735 /* float port A, make sure DTC is stopped, set upper 2 bits of port D, and set up port A */
1736 ep1_generic_commandl(
1737 pHDev, 15,
1738 EP1_CMD_MEMORY_WRITE,
1739 ST7_PADDR >> 8,
1740 ST7_PADDR,
1741 2,
1742 0x00,
1743 0x00,
1744 EP1_CMD_DTC_STOP,
1745 EP1_CMD_SET_PORTD_UPPER,
1746 ~(ST7_PD_NRUN_LED),
1747 EP1_CMD_MEMORY_WRITE,
1748 ST7_PADR >> 8,
1749 ST7_PADR,
1750 2,
1751 ((~(ST7_PA_NLINE_DRIVER_ENABLE)) & ST7_PA_NUNASSERTED),
1752 (ST7_PA_NLINE_DRIVER_ENABLE | ST7_PA_NRLINK_RST | ST7_PA_NJTAG_TRST)
1753 );
1754
1755 /* set LED updating mode and make sure they're unlit */
1756 ep1_generic_commandl(
1757 pHDev, 3,
1758 #ifdef AUTOMATIC_BUSY_LED
1759 EP1_CMD_LEDUE_BUSY,
1760 #else
1761 EP1_CMD_LEDUE_NONE,
1762 #endif
1763 EP1_CMD_SET_PORTD_LEDS,
1764 ~0
1765 );
1766
1767 tap_state_queue_init();
1768 dtc_queue_init();
1769 rlink_speed(jtag_speed);
1770 rlink_reset(0, 0);
1771
1772 return ERROR_OK;
1773 }
1774
1775
1776 static
1777 int rlink_quit(void)
1778 {
1779 /* stop DTC and make sure LEDs are off */
1780 ep1_generic_commandl(
1781 pHDev, 6,
1782 EP1_CMD_DTC_STOP,
1783 EP1_CMD_LEDUE_NONE,
1784 EP1_CMD_SET_PORTD_LEDS,
1785 ~0,
1786 EP1_CMD_SET_PORTD_UPPER,
1787 ~0
1788 );
1789
1790 usb_release_interface(pHDev,0);
1791 usb_close(pHDev);
1792
1793
1794 return ERROR_OK;
1795 }
1796
1797
1798 jtag_interface_t rlink_interface =
1799 {
1800 .name = "rlink",
1801 .init = rlink_init,
1802 .quit = rlink_quit,
1803 .register_commands = rlink_register_commands,
1804 .speed = rlink_speed,
1805 .speed_div = rlink_speed_div,
1806 .khz = rlink_khz,
1807 .execute_queue = rlink_execute_queue,
1808 };
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