aa6eb6c0735958171fa466e4aac88b2e0be5de68
[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 √ėyvind 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 typedef
580 struct dtc_reply_queue_entry_s {
581 struct dtc_reply_queue_entry_s *next;
582 jtag_command_t *cmd; /* the command that resulted in this entry */
583
584 struct {
585 uint8_t *buffer; /* the scan buffer */
586 int size; /* size of the scan buffer in bits */
587 int offset; /* how many bits were already done before this? */
588 int length; /* how many bits are processed in this operation? */
589 enum scan_type type; /* SCAN_IN/SCAN_OUT/SCAN_IO */
590 } scan;
591 } dtc_reply_queue_entry_t;
592
593
594 /*
595 * The dtc_queue consists of a buffer of pending commands and a reply queue.
596 * rlink_scan and tap_state_run add to the command buffer and maybe to the reply queue.
597 */
598
599 static
600 struct {
601 dtc_reply_queue_entry_t *rq_head;
602 dtc_reply_queue_entry_t *rq_tail;
603 uint32_t cmd_index;
604 uint32_t reply_index;
605 uint8_t cmd_buffer[USB_EP2BANK_SIZE];
606 } dtc_queue;
607
608
609 /*
610 * 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.
611 */
612
613 static
614 struct {
615 uint32_t length;
616 uint32_t buffer;
617 } tap_state_queue;
618
619
620
621 static
622 int
623 dtc_queue_init(void) {
624 dtc_queue.rq_head = NULL;
625 dtc_queue.rq_tail = NULL;
626 dtc_queue.cmd_index = 0;
627 dtc_queue.reply_index = 0;
628 return(0);
629 }
630
631
632 static
633 inline
634 dtc_reply_queue_entry_t *
635 dtc_queue_enqueue_reply(
636 enum scan_type type,
637 uint8_t *buffer,
638 int size,
639 int offset,
640 int length,
641 jtag_command_t *cmd
642 ) {
643 dtc_reply_queue_entry_t *rq_entry;
644
645 rq_entry = malloc(sizeof(dtc_reply_queue_entry_t));
646 if (rq_entry != NULL) {
647 rq_entry->scan.type = type;
648 rq_entry->scan.buffer = buffer;
649 rq_entry->scan.size = size;
650 rq_entry->scan.offset = offset;
651 rq_entry->scan.length = length;
652 rq_entry->cmd = cmd;
653 rq_entry->next = NULL;
654
655 if (dtc_queue.rq_head == NULL)
656 dtc_queue.rq_head = rq_entry;
657 else
658 dtc_queue.rq_tail->next = rq_entry;
659
660 dtc_queue.rq_tail = rq_entry;
661 }
662
663 return(rq_entry);
664 }
665
666
667 /*
668 * 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.
669 * The queue is automatically run by append when it is necessary to get space for the append.
670 */
671
672 static
673 int
674 dtc_queue_run(void) {
675 dtc_reply_queue_entry_t *rq_p, *rq_next;
676 int retval;
677 int usb_err;
678 int bit_cnt;
679 int x;
680 uint8_t *dtc_p, *tdo_p;
681 uint8_t dtc_mask, tdo_mask;
682 uint8_t reply_buffer[USB_EP2IN_SIZE];
683
684 retval = ERROR_OK;
685
686 if (dtc_queue.cmd_index < 1) return(retval);
687
688 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = DTC_CMD_STOP;
689
690 /* run the cmd */
691 if (dtc_queue.rq_head == NULL) {
692 usb_err = dtc_run_download(pHDev,
693 dtc_queue.cmd_buffer, dtc_queue.cmd_index,
694 NULL, 0
695 );
696 if (usb_err < 0) {
697 LOG_ERROR("dtc_run_download: %s\n", usb_strerror());
698 exit(1);
699 }
700 } else {
701 usb_err = dtc_run_download(pHDev,
702 dtc_queue.cmd_buffer, dtc_queue.cmd_index,
703 reply_buffer, dtc_queue.reply_index
704 );
705 if (usb_err < 0) {
706 LOG_ERROR("dtc_run_download: %s\n", usb_strerror());
707 exit(1);
708 } else {
709 /* process the reply, which empties the reply queue and frees its entries */
710 dtc_p = reply_buffer;
711
712 /* 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. */
713
714 for(
715 rq_p = dtc_queue.rq_head;
716 rq_p != NULL;
717 rq_p = rq_next
718 ) {
719 tdo_p = rq_p->scan.buffer + (rq_p->scan.offset / 8);
720 tdo_mask = 1 << (rq_p->scan.offset % 8);
721
722
723 bit_cnt = rq_p->scan.length;
724 if (bit_cnt >= 8) {
725 /* bytes */
726
727 dtc_mask = 1 << (8 - 1);
728
729 for(
730 ;
731 bit_cnt;
732 bit_cnt--
733 ) {
734 if (*dtc_p & dtc_mask) {
735 *tdo_p |= tdo_mask;
736 } else {
737 *tdo_p &=~ tdo_mask;
738 }
739
740 dtc_mask >>= 1;
741 if (dtc_mask == 0) {
742 dtc_p++;
743 dtc_mask = 1 << (8 - 1);
744 }
745
746 tdo_mask <<= 1;
747 if (tdo_mask == 0) {
748 tdo_p++;
749 tdo_mask = 1;
750 }
751 }
752 } else {
753 /* extra bits or last bit */
754
755 x = *dtc_p++;
756 if ((
757 rq_p->scan.type == SCAN_IN
758 ) && (
759 rq_p->scan.offset != rq_p->scan.size - 1
760 )) {
761 /* extra bits were sent as a full byte with padding on the end */
762 dtc_mask = 1 << (8 - 1);
763 } else {
764 dtc_mask = 1 << (bit_cnt - 1);
765 }
766
767 for(
768 ;
769 bit_cnt;
770 bit_cnt--
771 ) {
772 if (x & dtc_mask) {
773 *tdo_p |= tdo_mask;
774 } else {
775 *tdo_p &=~ tdo_mask;
776 }
777
778 dtc_mask >>= 1;
779
780 tdo_mask <<= 1;
781 if (tdo_mask == 0) {
782 tdo_p++;
783 tdo_mask = 1;
784 }
785
786 }
787 }
788
789 if ((rq_p->scan.offset + rq_p->scan.length) >= rq_p->scan.size) {
790 /* feed scan buffer back into openocd and free it */
791 if (jtag_read_buffer(rq_p->scan.buffer, rq_p->cmd->cmd.scan) != ERROR_OK) {
792 retval = ERROR_JTAG_QUEUE_FAILED;
793 }
794 free(rq_p->scan.buffer);
795 }
796
797 rq_next = rq_p->next;
798 free(rq_p);
799 }
800 dtc_queue.rq_head = NULL;
801 dtc_queue.rq_tail = NULL;
802 }
803
804 }
805
806
807 /* reset state for new appends */
808 dtc_queue.cmd_index = 0;
809 dtc_queue.reply_index = 0;
810
811 return(retval);
812 }
813
814
815
816 static
817 int
818 tap_state_queue_init(void) {
819 tap_state_queue.length = 0;
820 tap_state_queue.buffer = 0;
821 return(0);
822 }
823
824
825 static
826 int
827 tap_state_queue_run(void) {
828 int i;
829 int bits;
830 uint8_t byte;
831 int retval;
832
833 retval = 0;
834 if (!tap_state_queue.length) return(retval);
835 bits = 1;
836 byte = 0;
837 for(i = tap_state_queue.length; i--;) {
838
839 byte <<= 1;
840 if (tap_state_queue.buffer & 1) {
841 byte |= 1;
842 }
843 if ((bits >= 8) || !i) {
844 byte <<= (8 - bits);
845
846 /* make sure there's room for stop, byte op, and one byte */
847 if (dtc_queue.cmd_index >= (sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))) {
848 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
849 DTC_CMD_STOP;
850 dtc_queue_run();
851 }
852
853 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
854 if (bits == 8) {
855 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
856 DTC_CMD_SHIFT_TMS_BYTES(1);
857 } else {
858 #endif
859 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
860 DTC_CMD_SHIFT_TMS_BITS(bits);
861 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
862 }
863 #endif
864
865 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
866 byte;
867
868 byte = 0;
869 bits = 1;
870 } else {
871 bits++;
872 }
873
874 tap_state_queue.buffer >>= 1;
875 }
876 retval = tap_state_queue_init();
877 return(retval);
878 }
879
880
881 static
882 int
883 tap_state_queue_append(
884 uint8_t tms
885 ) {
886 int retval;
887
888 if (tap_state_queue.length >= sizeof(tap_state_queue.buffer) * 8) {
889 retval = tap_state_queue_run();
890 if (retval != 0) return(retval);
891 }
892
893 if (tms) {
894 tap_state_queue.buffer |= (1 << tap_state_queue.length);
895 }
896 tap_state_queue.length++;
897
898 return(0);
899 }
900
901
902 static
903 void rlink_end_state(tap_state_t state)
904 {
905 if (tap_is_state_stable(state))
906 tap_set_end_state(state);
907 else
908 {
909 LOG_ERROR("BUG: %i is not a valid end state", state);
910 exit(-1);
911 }
912 }
913
914
915 static
916 void rlink_state_move(void) {
917
918 int i=0, tms=0;
919 uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
920 int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
921
922 for (i = 0; i < tms_count; i++)
923 {
924 tms = (tms_scan >> i) & 1;
925 tap_state_queue_append(tms);
926 }
927
928 tap_set_state(tap_get_end_state());
929 }
930
931 static
932 void rlink_path_move(pathmove_command_t *cmd)
933 {
934 int num_states = cmd->num_states;
935 int state_count;
936 int tms = 0;
937
938 state_count = 0;
939 while (num_states)
940 {
941 if (tap_state_transition(tap_get_state(), false) == cmd->path[state_count])
942 {
943 tms = 0;
944 }
945 else if (tap_state_transition(tap_get_state(), true) == cmd->path[state_count])
946 {
947 tms = 1;
948 }
949 else
950 {
951 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(cmd->path[state_count]));
952 exit(-1);
953 }
954
955 tap_state_queue_append(tms);
956
957 tap_set_state(cmd->path[state_count]);
958 state_count++;
959 num_states--;
960 }
961
962 tap_set_end_state(tap_get_state());
963 }
964
965
966 static
967 void rlink_runtest(int num_cycles)
968 {
969 int i;
970
971 tap_state_t saved_end_state = tap_get_end_state();
972
973 /* only do a state_move when we're not already in RTI */
974 if (tap_get_state() != TAP_IDLE)
975 {
976 rlink_end_state(TAP_IDLE);
977 rlink_state_move();
978 }
979
980 /* execute num_cycles */
981 for (i = 0; i < num_cycles; i++)
982 {
983 tap_state_queue_append(0);
984 }
985
986 /* finish in end_state */
987 rlink_end_state(saved_end_state);
988 if (tap_get_state() != tap_get_end_state())
989 rlink_state_move();
990 }
991
992
993 /* (1) assert or (0) deassert reset lines */
994 static
995 void rlink_reset(int trst, int srst)
996 {
997 uint8_t bitmap;
998 int usb_err;
999
1000 /* Read port A for bit op */
1001 usb_err = ep1_generic_commandl(
1002 pHDev, 4,
1003 EP1_CMD_MEMORY_READ,
1004 ST7_PADR >> 8,
1005 ST7_PADR,
1006 1
1007 );
1008 if (usb_err < 0) {
1009 LOG_ERROR("%s", usb_strerror());
1010 exit(1);
1011 }
1012
1013 usb_err = usb_bulk_read(
1014 pHDev, USB_EP1IN_ADDR,
1015 (char *)&bitmap, 1,
1016 USB_TIMEOUT_MS
1017 );
1018 if (usb_err < 1) {
1019 LOG_ERROR("%s", usb_strerror());
1020 exit(1);
1021 }
1022
1023 if (trst) {
1024 bitmap &= ~ST7_PA_NTRST;
1025 } else {
1026 bitmap |= ST7_PA_NTRST;
1027 }
1028
1029 /* Write port A and read port B for bit op */
1030 /* 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. */
1031 usb_err = ep1_generic_commandl(
1032 pHDev, 9,
1033 EP1_CMD_MEMORY_WRITE,
1034 ST7_PADR >> 8,
1035 ST7_PADR,
1036 1,
1037 bitmap,
1038 EP1_CMD_MEMORY_READ,
1039 ST7_PBDDR >> 8,
1040 ST7_PBDDR,
1041 1
1042 );
1043 if (usb_err < 0) {
1044 LOG_ERROR("%s", usb_strerror());
1045 exit(1);
1046 }
1047
1048 usb_err = usb_bulk_read(
1049 pHDev, USB_EP1IN_ADDR,
1050 (char *)&bitmap, 1,
1051 USB_TIMEOUT_MS
1052 );
1053 if (usb_err < 1) {
1054 LOG_ERROR("%s", usb_strerror());
1055 exit(1);
1056 }
1057
1058 if (srst) {
1059 bitmap |= ST7_PB_NSRST;
1060 } else {
1061 bitmap &= ~ST7_PB_NSRST;
1062 }
1063
1064 /* write port B and read dummy to ensure completion before returning */
1065 usb_err = ep1_generic_commandl(
1066 pHDev, 6,
1067 EP1_CMD_MEMORY_WRITE,
1068 ST7_PBDDR >> 8,
1069 ST7_PBDDR,
1070 1,
1071 bitmap,
1072 EP1_CMD_DTC_GET_CACHED_STATUS
1073 );
1074 if (usb_err < 0) {
1075 LOG_ERROR("%s", usb_strerror());
1076 exit(1);
1077 }
1078
1079 usb_err = usb_bulk_read(
1080 pHDev, USB_EP1IN_ADDR,
1081 (char *)&bitmap, 1,
1082 USB_TIMEOUT_MS
1083 );
1084 if (usb_err < 1) {
1085 LOG_ERROR("%s", usb_strerror());
1086 exit(1);
1087 }
1088 }
1089
1090
1091 static
1092 int
1093 rlink_scan(
1094 jtag_command_t *cmd,
1095 enum scan_type type,
1096 uint8_t *buffer,
1097 int scan_size
1098 ) {
1099 bool ir_scan;
1100 tap_state_t saved_end_state;
1101 int byte_bits;
1102 int extra_bits;
1103 int chunk_bits;
1104 int chunk_bytes;
1105 int x;
1106
1107 int tdi_bit_offset;
1108 uint8_t tdi_mask, *tdi_p;
1109 uint8_t dtc_mask;
1110
1111 if (scan_size < 1) {
1112 LOG_ERROR("scan_size cannot be less than 1 bit\n");
1113 exit(1);
1114 }
1115
1116 ir_scan = cmd->cmd.scan->ir_scan;
1117
1118 /* Move to the proper state before starting to shift TDI/TDO. */
1119 if (!(
1120 (!ir_scan && (tap_get_state() == TAP_DRSHIFT))
1121 ||
1122 (ir_scan && (tap_get_state() == TAP_IRSHIFT))
1123 )) {
1124 saved_end_state = tap_get_end_state();
1125 rlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
1126 rlink_state_move();
1127 rlink_end_state(saved_end_state);
1128 }
1129
1130 tap_state_queue_run();
1131
1132
1133 #if 0
1134 printf("scan_size = %d, type=0x%x\n", scan_size, type);
1135 {
1136 int i;
1137
1138 /* clear unused bits in scan buffer for ease of debugging */
1139 /* (it makes diffing output easier) */
1140 buffer[scan_size / 8] &= ((1 << ((scan_size - 1) % 8) + 1) - 1);
1141
1142 printf("before scan:");
1143 for(i = 0; i < (scan_size + 7) / 8; i++) {
1144 printf(" %02x", buffer[i]);
1145 }
1146 printf("\n");
1147 }
1148 #endif
1149
1150 /* The number of bits that can be shifted as complete bytes */
1151 byte_bits = (int)(scan_size - 1) / 8 * 8;
1152 /* The number of bits left over, not counting the last bit */
1153 extra_bits = (scan_size - 1) - byte_bits;
1154
1155 tdi_bit_offset = 0;
1156 tdi_p = buffer;
1157 tdi_mask = 1;
1158
1159 if (extra_bits && (type == SCAN_OUT)) {
1160 /* Schedule any extra bits into the DTC command buffer, padding as needed */
1161 /* For SCAN_OUT, this comes before the full bytes so the (leading) padding bits will fall off the end */
1162 /* make sure there's room for stop, byte op, and one byte */
1163 if (
1164 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))
1165 ) {
1166 dtc_queue_run();
1167 }
1168
1169 x = 0;
1170 dtc_mask = 1 << (extra_bits - 1);
1171
1172 while (extra_bits--) {
1173 if (*tdi_p & tdi_mask) {
1174 x |= dtc_mask;
1175 }
1176
1177 dtc_mask >>= 1;
1178
1179 tdi_mask <<= 1;
1180 if (tdi_mask == 0) {
1181 tdi_p++;
1182 tdi_mask = 1;
1183 }
1184 }
1185
1186 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1187 DTC_CMD_SHIFT_TDI_BYTES(1);
1188
1189 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1190 }
1191
1192 /* Loop scheduling full bytes into the DTC command buffer */
1193 while (byte_bits) {
1194 if (type == SCAN_IN) {
1195 /* make sure there's room for stop and byte op */
1196 x = (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1));
1197 } else {
1198 /* make sure there's room for stop, byte op, and at least one byte */
1199 x = (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1));
1200 }
1201
1202 if (type != SCAN_OUT) {
1203 /* make sure there's room for at least one reply byte */
1204 x |= (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1));
1205 }
1206
1207 if (x) {
1208 dtc_queue_run();
1209 }
1210
1211 chunk_bits = byte_bits;
1212 /* we can only use up to 16 bytes at a time */
1213 if (chunk_bits > (16 * 8)) chunk_bits = (16 * 8);
1214
1215 if (type != SCAN_IN) {
1216 /* how much is there room for, considering stop and byte op? */
1217 x = (sizeof(dtc_queue.cmd_buffer) - (dtc_queue.cmd_index + 1 + 1)) * 8;
1218 if (chunk_bits > x) chunk_bits = x;
1219 }
1220
1221 if (type != SCAN_OUT) {
1222 /* how much is there room for in the reply buffer? */
1223 x = (USB_EP2IN_SIZE - dtc_queue.reply_index) * 8;
1224 if (chunk_bits > x) chunk_bits = x;
1225 }
1226
1227 /* so the loop will end */
1228 byte_bits -= chunk_bits;
1229
1230 if (type != SCAN_OUT) {
1231 if (dtc_queue_enqueue_reply(
1232 type, buffer, scan_size, tdi_bit_offset,
1233 chunk_bits,
1234 cmd
1235 ) == NULL) {
1236 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1237 exit(1);
1238 }
1239
1240 tdi_bit_offset += chunk_bits;
1241 }
1242
1243 /* chunk_bits is a multiple of 8, so there are no rounding issues. */
1244 chunk_bytes = chunk_bits / 8;
1245
1246 switch (type) {
1247 case SCAN_IN:
1248 x = DTC_CMD_SHIFT_TDO_BYTES(chunk_bytes);
1249 break;
1250 case SCAN_OUT:
1251 x = DTC_CMD_SHIFT_TDI_BYTES(chunk_bytes);
1252 break;
1253 default:
1254 x = DTC_CMD_SHIFT_TDIO_BYTES(chunk_bytes);
1255 break;
1256 }
1257 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1258
1259 if (type != SCAN_IN) {
1260 x = 0;
1261 dtc_mask = 1 << (8 - 1);
1262
1263 while (chunk_bits--) {
1264 if (*tdi_p & tdi_mask) {
1265 x |= dtc_mask;
1266 }
1267
1268 dtc_mask >>= 1;
1269 if (dtc_mask == 0) {
1270 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1271 dtc_queue.reply_index++;
1272 x = 0;
1273 dtc_mask = 1 << (8 - 1);
1274 }
1275
1276 tdi_mask <<= 1;
1277 if (tdi_mask == 0) {
1278 tdi_p++;
1279 tdi_mask = 1;
1280 }
1281 }
1282 }
1283 }
1284
1285 if (extra_bits && (type != SCAN_OUT)) {
1286 /* Schedule any extra bits into the DTC command buffer */
1287 /* make sure there's room for stop, byte op, and one byte */
1288 if (
1289 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))
1290 ||
1291 (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1))
1292 ) {
1293 dtc_queue_run();
1294 }
1295
1296 if (dtc_queue_enqueue_reply(
1297 type, buffer, scan_size, tdi_bit_offset,
1298 extra_bits,
1299 cmd
1300 ) == NULL) {
1301 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1302 exit(1);
1303 }
1304
1305 tdi_bit_offset += extra_bits;
1306
1307 if (type == SCAN_IN) {
1308 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1309 DTC_CMD_SHIFT_TDO_BYTES(1);
1310
1311 } else {
1312 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1313 DTC_CMD_SHIFT_TDIO_BITS(extra_bits);
1314
1315 x = 0;
1316 dtc_mask = 1 << (8 - 1);
1317
1318 while (extra_bits--) {
1319 if (*tdi_p & tdi_mask) {
1320 x |= dtc_mask;
1321 }
1322
1323 dtc_mask >>= 1;
1324
1325 tdi_mask <<= 1;
1326 if (tdi_mask == 0) {
1327 tdi_p++;
1328 tdi_mask = 1;
1329 }
1330 }
1331
1332 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1333 }
1334
1335 dtc_queue.reply_index++;
1336 }
1337
1338 /* Schedule the last bit into the DTC command buffer */
1339 {
1340 /* make sure there's room for stop, and bit pair command */
1341 if (
1342 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1))
1343 ||
1344 (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1))
1345 ) {
1346 dtc_queue_run();
1347 }
1348
1349 if (type == SCAN_OUT) {
1350 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1351 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 0);
1352
1353 } else {
1354 if (dtc_queue_enqueue_reply(
1355 type, buffer, scan_size, tdi_bit_offset,
1356 1,
1357 cmd
1358 ) == NULL) {
1359 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1360 exit(1);
1361 }
1362
1363 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1364 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 1);
1365
1366 dtc_queue.reply_index++;
1367 }
1368 }
1369
1370 /* Move to pause state */
1371 tap_state_queue_append(0);
1372 tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
1373 if (tap_get_state() != tap_get_end_state()) rlink_state_move();
1374
1375 return(0);
1376 }
1377
1378
1379 static
1380 int rlink_execute_queue(void)
1381 {
1382 jtag_command_t *cmd = jtag_command_queue; /* currently processed command */
1383 int scan_size;
1384 enum scan_type type;
1385 uint8_t *buffer;
1386 int retval, tmp_retval;
1387
1388 /* return ERROR_OK, unless something goes wrong */
1389 retval = ERROR_OK;
1390
1391 #ifndef AUTOMATIC_BUSY_LED
1392 /* turn LED on */
1393 ep1_generic_commandl(pHDev, 2,
1394 EP1_CMD_SET_PORTD_LEDS,
1395 ~(ST7_PD_NBUSY_LED)
1396 );
1397 #endif
1398
1399 while (cmd)
1400 {
1401 switch (cmd->type)
1402 {
1403 case JTAG_RUNTEST:
1404 case JTAG_STATEMOVE:
1405 case JTAG_PATHMOVE:
1406 case JTAG_SCAN:
1407 break;
1408
1409 default:
1410 /* some events, such as resets, need a queue flush to ensure consistency */
1411 tap_state_queue_run();
1412 dtc_queue_run();
1413 break;
1414 }
1415
1416 switch (cmd->type)
1417 {
1418 case JTAG_RESET:
1419 #ifdef _DEBUG_JTAG_IO_
1420 LOG_DEBUG("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1421 #endif
1422 if ((cmd->cmd.reset->trst == 1) || (cmd->cmd.reset->srst && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
1423 {
1424 tap_set_state(TAP_RESET);
1425 }
1426 rlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1427 break;
1428 case JTAG_RUNTEST:
1429 #ifdef _DEBUG_JTAG_IO_
1430 LOG_DEBUG("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, cmd->cmd.runtest->end_state);
1431 #endif
1432 if (cmd->cmd.runtest->end_state != -1)
1433 rlink_end_state(cmd->cmd.runtest->end_state);
1434 rlink_runtest(cmd->cmd.runtest->num_cycles);
1435 break;
1436 case JTAG_STATEMOVE:
1437 #ifdef _DEBUG_JTAG_IO_
1438 LOG_DEBUG("statemove end in %i", cmd->cmd.statemove->end_state);
1439 #endif
1440 if (cmd->cmd.statemove->end_state != -1)
1441 rlink_end_state(cmd->cmd.statemove->end_state);
1442 rlink_state_move();
1443 break;
1444 case JTAG_PATHMOVE:
1445 #ifdef _DEBUG_JTAG_IO_
1446 LOG_DEBUG("pathmove: %i states, end in %i", cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1447 #endif
1448 rlink_path_move(cmd->cmd.pathmove);
1449 break;
1450 case JTAG_SCAN:
1451 #ifdef _DEBUG_JTAG_IO_
1452 LOG_DEBUG("%s scan end in %i", (cmd->cmd.scan->ir_scan) ? "IR" : "DR", cmd->cmd.scan->end_state);
1453 #endif
1454 if (cmd->cmd.scan->end_state != -1)
1455 rlink_end_state(cmd->cmd.scan->end_state);
1456 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
1457 type = jtag_scan_type(cmd->cmd.scan);
1458 if (rlink_scan(cmd, type, buffer, scan_size) != ERROR_OK) {
1459 retval = ERROR_FAIL;
1460 }
1461 break;
1462 case JTAG_SLEEP:
1463 #ifdef _DEBUG_JTAG_IO_
1464 LOG_DEBUG("sleep %i", cmd->cmd.sleep->us);
1465 #endif
1466 jtag_sleep(cmd->cmd.sleep->us);
1467 break;
1468 default:
1469 LOG_ERROR("BUG: unknown JTAG command type encountered");
1470 exit(-1);
1471 }
1472 cmd = cmd->next;
1473 }
1474
1475 /* Flush the DTC queue to make sure any pending reads have been done before exiting this function */
1476 tap_state_queue_run();
1477 tmp_retval = dtc_queue_run();
1478 if (tmp_retval != ERROR_OK) {
1479 retval = tmp_retval;
1480 }
1481
1482 #ifndef AUTOMATIC_BUSY_LED
1483 /* turn LED onff */
1484 ep1_generic_commandl(pHDev, 2,
1485 EP1_CMD_SET_PORTD_LEDS,
1486 ~0
1487 );
1488 #endif
1489
1490 return retval;
1491 }
1492
1493
1494 /* 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. */
1495
1496 static
1497 int rlink_speed(int speed)
1498 {
1499 int i;
1500
1501 if (speed == 0) {
1502 /* fastest speed */
1503 speed = rlink_speed_table[rlink_speed_table_size - 1].prescaler;
1504 }
1505
1506 for(i = rlink_speed_table_size; i--; ) {
1507 if (rlink_speed_table[i].prescaler == speed) {
1508 if (dtc_load_from_buffer(pHDev, rlink_speed_table[i].dtc, rlink_speed_table[i].dtc_size) != 0) {
1509 LOG_ERROR("An error occurred while trying to load DTC code for speed \"%d\".\n", speed);
1510 exit(1);
1511 }
1512
1513 if (dtc_start_download() < 0) {
1514 LOG_ERROR("%s, %d: starting DTC: %s",
1515 __FILE__, __LINE__,
1516 usb_strerror()
1517 );
1518 exit(1);
1519 }
1520
1521 return ERROR_OK;
1522 }
1523 }
1524
1525 LOG_ERROR("%d is not a supported speed", speed);
1526 return(ERROR_FAIL);
1527 }
1528
1529
1530 static
1531 int rlink_speed_div(
1532 int speed,
1533 int *khz
1534 ) {
1535 int i;
1536
1537 for(i = rlink_speed_table_size; i--; ) {
1538 if (rlink_speed_table[i].prescaler == speed) {
1539 *khz = rlink_speed_table[i].khz;
1540 return(ERROR_OK);
1541 }
1542 }
1543
1544 LOG_ERROR("%d is not a supported speed", speed);
1545 return(ERROR_FAIL);
1546 }
1547
1548
1549 static
1550 int rlink_khz(
1551 int khz,
1552 int *speed
1553 ) {
1554 int i;
1555
1556 if (khz == 0) {
1557 LOG_ERROR("RCLK not supported");
1558 return ERROR_FAIL;
1559 }
1560
1561 for(i = rlink_speed_table_size; i--; ) {
1562 if (rlink_speed_table[i].khz <= khz) {
1563 *speed = rlink_speed_table[i].prescaler;
1564 return(ERROR_OK);
1565 }
1566 }
1567
1568 LOG_WARNING("The lowest supported JTAG speed is %d KHz", rlink_speed_table[0].khz);
1569 *speed = rlink_speed_table[0].prescaler;
1570 return(ERROR_OK);
1571 }
1572
1573
1574 #if 0
1575 static
1576 int
1577 handle_dtc_directory_command(
1578 struct command_context_s *cmd_ctx,
1579 char *cmd,
1580 char **args,
1581 int argc
1582 ) {
1583 if (argc != 1) {
1584 LOG_ERROR("expected exactly one argument to rlink_dtc_directory <directory-path>");
1585 return(ERROR_INVALID_ARGUMENTS);
1586 }
1587
1588 printf("handle_dtc_directory_command called with \"%s\"\n", args[0]);
1589
1590 return(ERROR_OK);
1591 }
1592 #endif
1593
1594
1595 static
1596 int rlink_register_commands(struct command_context_s *cmd_ctx)
1597 {
1598
1599 #ifdef _DEBUG_JTAG_IO_
1600 LOG_DEBUG("rlink_register_commands called with cmd_ctx=%p\n", cmd_ctx);
1601 #endif
1602
1603 #if 0
1604 register_command(
1605 cmd_ctx, NULL,
1606 "rlink_dtc_directory",
1607 handle_dtc_directory_command,
1608 COMMAND_CONFIG,
1609 "The directory in which to search for DTC load images"
1610 );
1611 #endif
1612
1613 return ERROR_OK;
1614 }
1615
1616
1617 static
1618 int rlink_init(void)
1619 {
1620 struct usb_bus *busses;
1621 struct usb_bus *bus;
1622 int i, j, retries;
1623 int found=0;
1624 int success=0;
1625 uint8_t reply_buffer[USB_EP1IN_SIZE];
1626
1627 usb_init();
1628 usb_find_busses();
1629 usb_find_devices();
1630
1631 busses = usb_get_busses();
1632
1633 for(bus = busses; bus; bus = bus->next)
1634 {
1635 struct usb_device *dev;
1636
1637 for(dev = bus->devices; dev; dev = dev->next)
1638 {
1639 if ( (dev->descriptor.idVendor == USB_IDVENDOR) && (dev->descriptor.idProduct == USB_IDPRODUCT) )
1640 {
1641 found = 1;
1642 LOG_DEBUG("Found device on bus.\n");
1643
1644 do
1645 {
1646 if ( dev->descriptor.bNumConfigurations > 1 )
1647 {
1648 LOG_ERROR("Whoops! NumConfigurations is not 1, don't know what to do...\n");
1649 break;
1650 }
1651 if ( dev->config->bNumInterfaces > 1 )
1652 {
1653 LOG_ERROR("Whoops! NumInterfaces is not 1, don't know what to do...\n");
1654 break;
1655 }
1656
1657 pHDev=usb_open(dev);
1658 if ( !pHDev )
1659 LOG_ERROR ("Failed to open device.\n");
1660 else
1661 {
1662 LOG_DEBUG("Opened device, pHDev = %p\n",pHDev);
1663
1664 /* usb_set_configuration required under win32 */
1665 usb_set_configuration(pHDev, dev->config[0].bConfigurationValue);
1666
1667 retries = 3;
1668 do
1669 {
1670 i = usb_claim_interface(pHDev,0);
1671 if (i)
1672 {
1673 LOG_ERROR("usb_claim_interface: %s", usb_strerror());
1674 #ifdef LIBUSB_HAS_DETACH_KERNEL_DRIVER_NP
1675 j = usb_detach_kernel_driver_np(pHDev, 0);
1676 if (j)
1677 LOG_ERROR("detach kernel driver: %s", usb_strerror());
1678 #endif
1679 }
1680 else
1681 {
1682 LOG_DEBUG("interface claimed!\n");
1683 break;
1684 }
1685 } while (--retries);
1686
1687 if (!i)
1688 {
1689 if ( usb_set_altinterface(pHDev,0) )
1690 {
1691 LOG_ERROR("Failed to set interface.\n");
1692 break;
1693 }
1694 else
1695 success=1;
1696 }
1697 }
1698 } while (0);
1699 }
1700 }
1701 }
1702
1703 if ( !found )
1704 {
1705 LOG_ERROR("No device found on bus.\n");
1706 exit(1);
1707 }
1708
1709 if ( !success )
1710 {
1711 LOG_ERROR("Initialisation failed.");
1712 exit(1);
1713 }
1714
1715
1716 /* 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. */
1717 /* 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. */
1718 for(i = 0; i < 5; i++) {
1719 j = ep1_generic_commandl(
1720 pHDev, 1,
1721 EP1_CMD_GET_FWREV
1722 );
1723 if (j < USB_EP1OUT_SIZE) {
1724 LOG_ERROR("USB write error: %s", usb_strerror());
1725 return(ERROR_FAIL);
1726 }
1727 j = usb_bulk_read(
1728 pHDev, USB_EP1IN_ADDR,
1729 (char *)reply_buffer, sizeof(reply_buffer),
1730 200
1731 );
1732 if (j != -ETIMEDOUT) break;
1733 }
1734
1735 if (j < (int)sizeof(reply_buffer)) {
1736 LOG_ERROR("USB read error: %s", usb_strerror());
1737 return(ERROR_FAIL);
1738 }
1739 LOG_DEBUG(INTERFACE_NAME" firmware version: %d.%d.%d\n", reply_buffer[0], reply_buffer[1], reply_buffer[2]);
1740
1741 if ((reply_buffer[0] != 0) || (reply_buffer[1] != 0) || (reply_buffer[2] != 3)) {
1742 LOG_WARNING("The rlink device is not of the version that the developers have played with. It may or may not work.\n");
1743 }
1744
1745 /* Probe port E for adapter presence */
1746 ep1_generic_commandl(
1747 pHDev, 16,
1748 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 0 */
1749 ST7_PEDR >> 8,
1750 ST7_PEDR,
1751 3,
1752 0x00, /* DR */
1753 ST7_PE_ADAPTER_SENSE_OUT, /* DDR */
1754 ST7_PE_ADAPTER_SENSE_OUT, /* OR */
1755 EP1_CMD_MEMORY_READ, /* Read back */
1756 ST7_PEDR >> 8,
1757 ST7_PEDR,
1758 1,
1759 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 1 */
1760 ST7_PEDR >> 8,
1761 ST7_PEDR,
1762 1,
1763 ST7_PE_ADAPTER_SENSE_OUT
1764 );
1765
1766 usb_bulk_read(
1767 pHDev, USB_EP1IN_ADDR,
1768 (char *)reply_buffer, 1,
1769 USB_TIMEOUT_MS
1770 );
1771
1772 if ((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) != 0) {
1773 LOG_WARNING("target detection problem\n");
1774 }
1775
1776 ep1_generic_commandl(
1777 pHDev, 11,
1778 EP1_CMD_MEMORY_READ, /* Read back */
1779 ST7_PEDR >> 8,
1780 ST7_PEDR,
1781 1,
1782 EP1_CMD_MEMORY_WRITE, /* float port E */
1783 ST7_PEDR >> 8,
1784 ST7_PEDR,
1785 3,
1786 0x00, /* DR */
1787 0x00, /* DDR */
1788 0x00 /* OR */
1789 );
1790
1791 usb_bulk_read(
1792 pHDev, USB_EP1IN_ADDR,
1793 (char *)reply_buffer, 1,
1794 USB_TIMEOUT_MS
1795 );
1796
1797
1798 if ((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) == 0) {
1799 LOG_WARNING("target not plugged in\n");
1800 }
1801
1802 /* float ports A and B */
1803 ep1_generic_commandl(
1804 pHDev, 11,
1805 EP1_CMD_MEMORY_WRITE,
1806 ST7_PADDR >> 8,
1807 ST7_PADDR,
1808 2,
1809 0x00,
1810 0x00,
1811 EP1_CMD_MEMORY_WRITE,
1812 ST7_PBDDR >> 8,
1813 ST7_PBDDR,
1814 1,
1815 0x00
1816 );
1817
1818 /* make sure DTC is stopped, set VPP control, set up ports A and B */
1819 ep1_generic_commandl(
1820 pHDev, 14,
1821 EP1_CMD_DTC_STOP,
1822 EP1_CMD_SET_PORTD_VPP,
1823 ~(ST7_PD_VPP_SHDN),
1824 EP1_CMD_MEMORY_WRITE,
1825 ST7_PADR >> 8,
1826 ST7_PADR,
1827 2,
1828 ((~(0)) & (ST7_PA_NTRST)),
1829 (ST7_PA_NTRST),
1830 /* 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. */
1831 EP1_CMD_MEMORY_WRITE,
1832 ST7_PBDR >> 8,
1833 ST7_PBDR,
1834 1,
1835 0x00
1836 );
1837
1838 /* set LED updating mode and make sure they're unlit */
1839 ep1_generic_commandl(
1840 pHDev, 3,
1841 #ifdef AUTOMATIC_BUSY_LED
1842 EP1_CMD_LEDUE_BUSY,
1843 #else
1844 EP1_CMD_LEDUE_NONE,
1845 #endif
1846 EP1_CMD_SET_PORTD_LEDS,
1847 ~0
1848 );
1849
1850 tap_state_queue_init();
1851 dtc_queue_init();
1852 rlink_speed(jtag_get_speed());
1853 rlink_reset(0, 0);
1854
1855 return ERROR_OK;
1856 }
1857
1858
1859 static
1860 int rlink_quit(void)
1861 {
1862 /* stop DTC and make sure LEDs are off */
1863 ep1_generic_commandl(
1864 pHDev, 6,
1865 EP1_CMD_DTC_STOP,
1866 EP1_CMD_LEDUE_NONE,
1867 EP1_CMD_SET_PORTD_LEDS,
1868 ~0,
1869 EP1_CMD_SET_PORTD_VPP,
1870 ~0
1871 );
1872
1873 usb_release_interface(pHDev,0);
1874 usb_close(pHDev);
1875
1876
1877 return ERROR_OK;
1878 }
1879
1880
1881 jtag_interface_t rlink_interface =
1882 {
1883 .name = "rlink",
1884 .init = rlink_init,
1885 .quit = rlink_quit,
1886 .register_commands = rlink_register_commands,
1887 .speed = rlink_speed,
1888 .speed_div = rlink_speed_div,
1889 .khz = rlink_khz,
1890 .execute_queue = rlink_execute_queue,
1891 };