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[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 #include <stdint.h>
35
36 /* project specific includes */
37 #include "log.h"
38 #include "types.h"
39 #include "jtag.h"
40 #include "configuration.h"
41 #include "rlink.h"
42 #include "st7.h"
43 #include "ep1_cmd.h"
44 #include "dtc_cmd.h"
45
46
47 /* 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. */
48 #undef AUTOMATIC_BUSY_LED
49
50 /* This feature may require derating the speed due to reduced hold time. */
51 #undef USE_HARDWARE_SHIFTER_FOR_TMS
52
53
54 #define INTERFACE_NAME "RLink"
55
56 #define USB_IDVENDOR (0x138e)
57 #define USB_IDPRODUCT (0x9000)
58
59 #define USB_EP1OUT_ADDR (0x01)
60 #define USB_EP1OUT_SIZE (16)
61 #define USB_EP1IN_ADDR (USB_EP1OUT_ADDR | 0x80)
62 #define USB_EP1IN_SIZE (USB_EP1OUT_SIZE)
63
64 #define USB_EP2OUT_ADDR (0x02)
65 #define USB_EP2OUT_SIZE (64)
66 #define USB_EP2IN_ADDR (USB_EP2OUT_ADDR | 0x80)
67 #define USB_EP2IN_SIZE (USB_EP2OUT_SIZE)
68 #define USB_EP2BANK_SIZE (512)
69
70 #define USB_TIMEOUT_MS (3 * 1000)
71
72 #define DTC_STATUS_POLL_BYTE (ST7_USB_BUF_EP0OUT + 0xff)
73
74
75 #define ST7_PD_NBUSY_LED ST7_PD0
76 #define ST7_PD_NRUN_LED ST7_PD1
77 /* low enables VPP at adapter header, high connects it to GND instead */
78 #define ST7_PD_VPP_SEL ST7_PD6
79 /* low: VPP = 12v, high: VPP <= 5v */
80 #define ST7_PD_VPP_SHDN ST7_PD7
81
82 /* These pins are connected together */
83 #define ST7_PE_ADAPTER_SENSE_IN ST7_PE3
84 #define ST7_PE_ADAPTER_SENSE_OUT ST7_PE4
85
86 /* Symbolic mapping between port pins and numbered IO lines */
87 #define ST7_PA_IO1 ST7_PA1
88 #define ST7_PA_IO2 ST7_PA2
89 #define ST7_PA_IO4 ST7_PA4
90 #define ST7_PA_IO8 ST7_PA6
91 #define ST7_PA_IO10 ST7_PA7
92 #define ST7_PB_IO5 ST7_PB5
93 #define ST7_PC_IO9 ST7_PC1
94 #define ST7_PC_IO3 ST7_PC2
95 #define ST7_PC_IO7 ST7_PC3
96 #define ST7_PE_IO6 ST7_PE5
97
98 /* Symbolic mapping between numbered IO lines and adapter signals */
99 #define ST7_PA_RTCK ST7_PA_IO0
100 #define ST7_PA_NTRST ST7_PA_IO1
101 #define ST7_PC_TDI ST7_PC_IO3
102 #define ST7_PA_DBGRQ ST7_PA_IO4
103 #define ST7_PB_NSRST ST7_PB_IO5
104 #define ST7_PE_TMS ST7_PE_IO6
105 #define ST7_PC_TCK ST7_PC_IO7
106 #define ST7_PC_TDO ST7_PC_IO9
107 #define ST7_PA_DBGACK ST7_PA_IO10
108
109 static usb_dev_handle *pHDev;
110
111
112 /*
113 * ep1 commands are up to USB_EP1OUT_SIZE bytes in length.
114 * This function takes care of zeroing the unused bytes before sending the packet.
115 * Any reply packet is not handled by this function.
116 */
117 static
118 int
119 ep1_generic_commandl(
120 usb_dev_handle *pHDev,
121 size_t length,
122 ...
123 ) {
124 uint8_t usb_buffer[USB_EP1OUT_SIZE];
125 uint8_t *usb_buffer_p;
126 va_list ap;
127 int usb_ret;
128
129 if(length > sizeof(usb_buffer)) {
130 length = sizeof(usb_buffer);
131 }
132
133 usb_buffer_p = usb_buffer;
134
135 va_start(ap, length);
136 while(length > 0) {
137 *usb_buffer_p++ = va_arg(ap, int);
138 length--;
139 }
140
141 memset(
142 usb_buffer_p,
143 0,
144 sizeof(usb_buffer) - (usb_buffer_p - usb_buffer)
145 );
146
147 usb_ret = usb_bulk_write(
148 pHDev,
149 USB_EP1OUT_ADDR,
150 (char *)usb_buffer, sizeof(usb_buffer),
151 USB_TIMEOUT_MS
152 );
153
154 return(usb_ret);
155 }
156
157
158
159 #if 0
160 static
161 ssize_t
162 ep1_memory_read(
163 usb_dev_handle *pHDev,
164 uint16_t addr,
165 size_t length,
166 uint8_t *buffer
167 ) {
168 uint8_t usb_buffer[USB_EP1OUT_SIZE];
169 int usb_ret;
170 size_t remain;
171 ssize_t count;
172
173 usb_buffer[0] = EP1_CMD_MEMORY_READ;
174 memset(
175 usb_buffer + 4,
176 0,
177 sizeof(usb_buffer) - 4
178 );
179
180 remain = length;
181 count = 0;
182
183 while(remain) {
184 if(remain > sizeof(usb_buffer)) {
185 length = sizeof(usb_buffer);
186 } else {
187 length = remain;
188 }
189
190 usb_buffer[1] = addr >> 8;
191 usb_buffer[2] = addr;
192 usb_buffer[3] = length;
193
194 usb_ret = usb_bulk_write(
195 pHDev, USB_EP1OUT_ADDR,
196 usb_buffer, sizeof(usb_buffer),
197 USB_TIMEOUT_MS
198 );
199
200 if(usb_ret < sizeof(usb_buffer)) {
201 break;
202 }
203
204 usb_ret = usb_bulk_read(
205 pHDev, USB_EP1IN_ADDR,
206 buffer, length,
207 USB_TIMEOUT_MS
208 );
209
210 if(usb_ret < length) {
211 break;
212 }
213
214 addr += length;
215 buffer += length;
216 count += length;
217 remain -= length;
218 }
219
220 return(count);
221 }
222 #endif
223
224
225
226 static
227 ssize_t
228 ep1_memory_write(
229 usb_dev_handle *pHDev,
230 uint16_t addr,
231 size_t length,
232 uint8_t const *buffer
233 ) {
234 uint8_t usb_buffer[USB_EP1OUT_SIZE];
235 int usb_ret;
236 size_t remain;
237 ssize_t count;
238
239 usb_buffer[0] = EP1_CMD_MEMORY_WRITE;
240
241 remain = length;
242 count = 0;
243
244 while(remain) {
245 if(remain > (sizeof(usb_buffer) - 4)) {
246 length = (sizeof(usb_buffer) - 4);
247 } else {
248 length = remain;
249 }
250
251 usb_buffer[1] = addr >> 8;
252 usb_buffer[2] = addr;
253 usb_buffer[3] = length;
254 memcpy(
255 usb_buffer + 4,
256 buffer,
257 length
258 );
259 memset(
260 usb_buffer + 4 + length,
261 0,
262 sizeof(usb_buffer) - 4 - length
263 );
264
265 usb_ret = usb_bulk_write(
266 pHDev, USB_EP1OUT_ADDR,
267 (char *)usb_buffer, sizeof(usb_buffer),
268 USB_TIMEOUT_MS
269 );
270
271 if((size_t)usb_ret < sizeof(usb_buffer)) {
272 break;
273 }
274
275 addr += length;
276 buffer += length;
277 count += length;
278 remain -= length;
279 }
280
281 return(count);
282 }
283
284
285 #if 0
286 static
287 ssize_t
288 ep1_memory_writel(
289 usb_dev_handle *pHDev,
290 uint16_t addr,
291 size_t length,
292 ...
293 ) {
294 uint8_t buffer[USB_EP1OUT_SIZE - 4];
295 uint8_t *buffer_p;
296 va_list ap;
297 size_t remain;
298
299 if(length > sizeof(buffer)) {
300 length = sizeof(buffer);
301 }
302
303 remain = length;
304 buffer_p = buffer;
305
306 va_start(ap, length);
307 while(remain > 0) {
308 *buffer_p++ = va_arg(ap, int);
309 remain--;
310 }
311
312 return(ep1_memory_write(pHDev, addr, length, buffer));
313 }
314 #endif
315
316
317 #define DTCLOAD_COMMENT (0)
318 #define DTCLOAD_ENTRY (1)
319 #define DTCLOAD_LOAD (2)
320 #define DTCLOAD_RUN (3)
321 #define DTCLOAD_LUT_START (4)
322 #define DTCLOAD_LUT (5)
323
324 #define DTC_LOAD_BUFFER ST7_USB_BUF_EP2UIDO
325
326 /* This gets set by the DTC loader */
327 static uint8_t dtc_entry_download;
328
329
330 /* The buffer is specially formatted to represent a valid image to load into the DTC. */
331 static
332 int
333 dtc_load_from_buffer(
334 usb_dev_handle *pHDev,
335 const u8 *buffer,
336 size_t length
337 ) {
338 struct header_s {
339 u8 type;
340 u8 length;
341 };
342
343 int usb_err;
344 struct header_s *header;
345 u8 lut_start = 0xc0;
346
347 dtc_entry_download = 0;
348
349 /* Stop the DTC before loading anything. */
350 usb_err = ep1_generic_commandl(
351 pHDev, 1,
352 EP1_CMD_DTC_STOP
353 );
354 if(usb_err < 0) return(usb_err);
355
356 while(length) {
357 if(length < sizeof(*header)) {
358 LOG_ERROR("Malformed DTC image\n");
359 exit(1);
360 }
361
362 header = (struct header_s *)buffer;
363 buffer += sizeof(*header);
364 length -= sizeof(*header);
365
366 if(length < (size_t)header->length + 1) {
367 LOG_ERROR("Malformed DTC image\n");
368 exit(1);
369 }
370
371 switch(header->type) {
372 case DTCLOAD_COMMENT:
373 break;
374
375 case DTCLOAD_ENTRY:
376 /* store entry addresses somewhere */
377 if(!strncmp("download", (char *)buffer + 1, 8)) {
378 dtc_entry_download = buffer[0];
379 }
380 break;
381
382 case DTCLOAD_LOAD:
383 /* Send the DTC program to ST7 RAM. */
384 usb_err = ep1_memory_write(
385 pHDev,
386 DTC_LOAD_BUFFER,
387 header->length + 1, buffer
388 );
389 if(usb_err < 0) return(usb_err);
390
391 /* Load it into the DTC. */
392 usb_err = ep1_generic_commandl(
393 pHDev, 3,
394 EP1_CMD_DTC_LOAD,
395 (DTC_LOAD_BUFFER >> 8),
396 DTC_LOAD_BUFFER
397 );
398 if(usb_err < 0) return(usb_err);
399
400 break;
401
402 case DTCLOAD_RUN:
403 usb_err = ep1_generic_commandl(
404 pHDev, 3,
405 EP1_CMD_DTC_CALL,
406 buffer[0],
407 EP1_CMD_DTC_WAIT
408 );
409 if(usb_err < 0) return(usb_err);
410
411 break;
412
413 case DTCLOAD_LUT_START:
414 lut_start = buffer[0];
415 break;
416
417 case DTCLOAD_LUT:
418 usb_err = ep1_memory_write(
419 pHDev,
420 ST7_USB_BUF_EP0OUT + lut_start,
421 header->length + 1, buffer
422 );
423 if(usb_err < 0) return(usb_err);
424 break;
425
426 default:
427 LOG_ERROR("Invalid DTC image record type: 0x%02x\n", header->type);
428 exit(1);
429 break;
430 }
431
432 buffer += (header->length + 1);
433 length -= (header->length + 1);
434 }
435
436 return(0);
437 }
438
439
440 /*
441 * Start the DTC running in download mode (waiting for 512 byte command packets on ep2).
442 */
443 static
444 int
445 dtc_start_download(void) {
446 int usb_err;
447 u8 ep2txr;
448
449 /* set up for download mode and make sure EP2 is set up to transmit */
450 usb_err = ep1_generic_commandl(
451 pHDev, 7,
452
453 EP1_CMD_DTC_STOP,
454 EP1_CMD_SET_UPLOAD,
455 EP1_CMD_SET_DOWNLOAD,
456 EP1_CMD_MEMORY_READ, /* read EP2TXR for its data toggle */
457 ST7_EP2TXR >> 8,
458 ST7_EP2TXR,
459 1
460 );
461 if(usb_err < 0) return(usb_err);
462
463 /* read back ep2txr */
464 usb_err = usb_bulk_read(
465 pHDev, USB_EP1IN_ADDR,
466 (char *)&ep2txr, 1,
467 USB_TIMEOUT_MS
468 );
469 if(usb_err < 0) return(usb_err);
470
471 usb_err = ep1_generic_commandl(
472 pHDev, 13,
473
474 EP1_CMD_MEMORY_WRITE, /* preinitialize poll byte */
475 DTC_STATUS_POLL_BYTE >> 8,
476 DTC_STATUS_POLL_BYTE,
477 1,
478 0x00,
479 EP1_CMD_MEMORY_WRITE, /* set EP2IN to return data */
480 ST7_EP2TXR >> 8,
481 ST7_EP2TXR,
482 1,
483 (ep2txr & ST7_EP2TXR_DTOG_TX) | ST7_EP2TXR_STAT_VALID,
484 EP1_CMD_DTC_CALL, /* start running the DTC */
485 dtc_entry_download,
486 EP1_CMD_DTC_GET_CACHED_STATUS
487 );
488 if(usb_err < 0) return(usb_err);
489
490 /* wait for completion */
491 usb_err = usb_bulk_read(
492 pHDev, USB_EP1IN_ADDR,
493 (char *)&ep2txr, 1,
494 USB_TIMEOUT_MS
495 );
496
497 return(usb_err);
498 }
499
500
501 static
502 int
503 dtc_run_download(
504 usb_dev_handle *pHDev,
505 u8 *command_buffer,
506 int command_buffer_size,
507 u8 *reply_buffer,
508 int reply_buffer_size
509 ) {
510 u8 ep2_buffer[USB_EP2IN_SIZE];
511 int usb_err;
512 int i;
513
514 LOG_DEBUG(": %d/%d\n", command_buffer_size, reply_buffer_size);
515
516 usb_err = usb_bulk_write(
517 pHDev,
518 USB_EP2OUT_ADDR,
519 (char *)command_buffer, USB_EP2BANK_SIZE,
520 USB_TIMEOUT_MS
521 );
522 if(usb_err < 0) return(usb_err);
523
524
525 /* Wait for DTC to finish running command buffer */
526 for(i = 5;;) {
527 usb_err = ep1_generic_commandl(
528 pHDev, 4,
529
530 EP1_CMD_MEMORY_READ,
531 DTC_STATUS_POLL_BYTE >> 8,
532 DTC_STATUS_POLL_BYTE,
533 1
534 );
535 if(usb_err < 0) return(usb_err);
536
537 usb_err = usb_bulk_read(
538 pHDev,
539 USB_EP1IN_ADDR,
540 (char *)ep2_buffer, 1,
541 USB_TIMEOUT_MS
542 );
543 if(usb_err < 0) return(usb_err);
544
545 if(ep2_buffer[0] & 0x01) break;
546
547 if(!--i) {
548 LOG_ERROR("%s, %d: too many retries waiting for DTC status\n",
549 __FILE__, __LINE__
550 );
551 return(-ETIMEDOUT);
552 }
553 }
554
555
556 if(!reply_buffer) reply_buffer_size = 0;
557 if(reply_buffer_size) {
558 usb_err = usb_bulk_read(
559 pHDev,
560 USB_EP2IN_ADDR,
561 (char *)ep2_buffer, sizeof(ep2_buffer),
562 USB_TIMEOUT_MS
563 );
564
565 if(usb_err < (int)sizeof(ep2_buffer)) {
566 LOG_ERROR("%s, %d: Read of endpoint 2 returned %d\n",
567 __FILE__, __LINE__, usb_err
568 );
569 return(usb_err);
570 }
571
572 memcpy(reply_buffer, ep2_buffer, reply_buffer_size);
573
574 }
575
576 return(usb_err);
577 }
578
579
580 /*
581 * 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.
582 */
583
584 typedef
585 struct dtc_reply_queue_entry_s {
586 struct dtc_reply_queue_entry_s *next;
587 jtag_command_t *cmd; /* the command that resulted in this entry */
588
589 struct {
590 u8 *buffer; /* the scan buffer */
591 int size; /* size of the scan buffer in bits */
592 int offset; /* how many bits were already done before this? */
593 int length; /* how many bits are processed in this operation? */
594 enum scan_type type; /* SCAN_IN/SCAN_OUT/SCAN_IO */
595 } scan;
596 } dtc_reply_queue_entry_t;
597
598
599 /*
600 * The dtc_queue consists of a buffer of pending commands and a reply queue.
601 * rlink_scan and tap_state_run add to the command buffer and maybe to the reply queue.
602 */
603
604 static
605 struct {
606 dtc_reply_queue_entry_t *rq_head;
607 dtc_reply_queue_entry_t *rq_tail;
608 u32 cmd_index;
609 u32 reply_index;
610 u8 cmd_buffer[USB_EP2BANK_SIZE];
611 } dtc_queue;
612
613
614 /*
615 * 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.
616 */
617
618 static
619 struct {
620 u32 length;
621 u32 buffer;
622 } tap_state_queue;
623
624
625
626 static
627 int
628 dtc_queue_init(void) {
629 dtc_queue.rq_head = NULL;
630 dtc_queue.rq_tail = NULL;
631 dtc_queue.cmd_index = 0;
632 dtc_queue.reply_index = 0;
633 return(0);
634 }
635
636
637 static
638 inline
639 dtc_reply_queue_entry_t *
640 dtc_queue_enqueue_reply(
641 enum scan_type type,
642 u8 *buffer,
643 int size,
644 int offset,
645 int length,
646 jtag_command_t *cmd
647 ) {
648 dtc_reply_queue_entry_t *rq_entry;
649
650 rq_entry = malloc(sizeof(dtc_reply_queue_entry_t));
651 if(rq_entry != NULL) {
652 rq_entry->scan.type = type;
653 rq_entry->scan.buffer = buffer;
654 rq_entry->scan.size = size;
655 rq_entry->scan.offset = offset;
656 rq_entry->scan.length = length;
657 rq_entry->cmd = cmd;
658 rq_entry->next = NULL;
659
660 if(dtc_queue.rq_head == NULL)
661 dtc_queue.rq_head = rq_entry;
662 else
663 dtc_queue.rq_tail->next = rq_entry;
664
665 dtc_queue.rq_tail = rq_entry;
666 }
667
668 return(rq_entry);
669 }
670
671
672 /*
673 * 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.
674 * The queue is automatically run by append when it is necessary to get space for the append.
675 */
676
677 static
678 int
679 dtc_queue_run(void) {
680 dtc_reply_queue_entry_t *rq_p, *rq_next;
681 int retval;
682 int usb_err;
683 int bit_cnt;
684 int x;
685 u8 *dtc_p, *tdo_p;
686 u8 dtc_mask, tdo_mask;
687 u8 reply_buffer[USB_EP2IN_SIZE];
688
689 retval = ERROR_OK;
690
691 if(dtc_queue.cmd_index < 1) return(retval);
692
693 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = DTC_CMD_STOP;
694
695 /* run the cmd */
696 if(dtc_queue.rq_head == NULL) {
697 usb_err = dtc_run_download(pHDev,
698 dtc_queue.cmd_buffer, dtc_queue.cmd_index,
699 NULL, 0
700 );
701 if(usb_err < 0) {
702 LOG_ERROR("dtc_run_download: %s\n", usb_strerror());
703 exit(1);
704 }
705 } else {
706 usb_err = dtc_run_download(pHDev,
707 dtc_queue.cmd_buffer, dtc_queue.cmd_index,
708 reply_buffer, dtc_queue.reply_index
709 );
710 if(usb_err < 0) {
711 LOG_ERROR("dtc_run_download: %s\n", usb_strerror());
712 exit(1);
713 } else {
714 /* process the reply, which empties the reply queue and frees its entries */
715 dtc_p = reply_buffer;
716
717 /* 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. */
718
719 for(
720 rq_p = dtc_queue.rq_head;
721 rq_p != NULL;
722 rq_p = rq_next
723 ) {
724 tdo_p = rq_p->scan.buffer + (rq_p->scan.offset / 8);
725 tdo_mask = 1 << (rq_p->scan.offset % 8);
726
727
728 bit_cnt = rq_p->scan.length;
729 if(bit_cnt >= 8) {
730 /* bytes */
731
732 dtc_mask = 1 << (8 - 1);
733
734 for(
735 ;
736 bit_cnt;
737 bit_cnt--
738 ) {
739 if(*dtc_p & dtc_mask) {
740 *tdo_p |= tdo_mask;
741 } else {
742 *tdo_p &=~ tdo_mask;
743 }
744
745 dtc_mask >>= 1;
746 if(dtc_mask == 0) {
747 dtc_p++;
748 dtc_mask = 1 << (8 - 1);
749 }
750
751 tdo_mask <<= 1;
752 if(tdo_mask == 0) {
753 tdo_p++;
754 tdo_mask = 1;
755 }
756 }
757 } else {
758 /* extra bits or last bit */
759
760 x = *dtc_p++;
761 if((
762 rq_p->scan.type == SCAN_IN
763 ) && (
764 rq_p->scan.offset != rq_p->scan.size - 1
765 )) {
766 /* extra bits were sent as a full byte with padding on the end */
767 dtc_mask = 1 << (8 - 1);
768 } else {
769 dtc_mask = 1 << (bit_cnt - 1);
770 }
771
772 for(
773 ;
774 bit_cnt;
775 bit_cnt--
776 ) {
777 if(x & dtc_mask) {
778 *tdo_p |= tdo_mask;
779 } else {
780 *tdo_p &=~ tdo_mask;
781 }
782
783 dtc_mask >>= 1;
784
785 tdo_mask <<= 1;
786 if(tdo_mask == 0) {
787 tdo_p++;
788 tdo_mask = 1;
789 }
790
791 }
792 }
793
794 if((rq_p->scan.offset + rq_p->scan.length) >= rq_p->scan.size) {
795 /* feed scan buffer back into openocd and free it */
796 if(jtag_read_buffer(rq_p->scan.buffer, rq_p->cmd->cmd.scan) != ERROR_OK) {
797 retval = ERROR_JTAG_QUEUE_FAILED;
798 }
799 free(rq_p->scan.buffer);
800 }
801
802 rq_next = rq_p->next;
803 free(rq_p);
804 }
805 dtc_queue.rq_head = NULL;
806 dtc_queue.rq_tail = NULL;
807 }
808
809 }
810
811
812 /* reset state for new appends */
813 dtc_queue.cmd_index = 0;
814 dtc_queue.reply_index = 0;
815
816 return(retval);
817 }
818
819
820
821 static
822 int
823 tap_state_queue_init(void) {
824 tap_state_queue.length = 0;
825 tap_state_queue.buffer = 0;
826 return(0);
827 }
828
829
830 static
831 int
832 tap_state_queue_run(void) {
833 int i;
834 int bits;
835 u8 byte;
836 int retval;
837
838 retval = 0;
839 if(!tap_state_queue.length) return(retval);
840 bits = 1;
841 byte = 0;
842 for(i = tap_state_queue.length; i--;) {
843
844 byte <<= 1;
845 if(tap_state_queue.buffer & 1) {
846 byte |= 1;
847 }
848 if((bits >= 8) || !i) {
849 byte <<= (8 - bits);
850
851 /* make sure there's room for stop, byte op, and one byte */
852 if(dtc_queue.cmd_index >= (sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))) {
853 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
854 DTC_CMD_STOP;
855 dtc_queue_run();
856 }
857
858 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
859 if(bits == 8) {
860 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
861 DTC_CMD_SHIFT_TMS_BYTES(1);
862 } else {
863 #endif
864 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
865 DTC_CMD_SHIFT_TMS_BITS(bits);
866 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
867 }
868 #endif
869
870 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
871 byte;
872
873 byte = 0;
874 bits = 1;
875 } else {
876 bits++;
877 }
878
879 tap_state_queue.buffer >>= 1;
880 }
881 retval = tap_state_queue_init();
882 return(retval);
883 }
884
885
886 static
887 int
888 tap_state_queue_append(
889 u8 tms
890 ) {
891 int retval;
892
893 if(tap_state_queue.length >= sizeof(tap_state_queue.buffer) * 8) {
894 retval = tap_state_queue_run();
895 if(retval != 0) return(retval);
896 }
897
898 if(tms) {
899 tap_state_queue.buffer |= (1 << tap_state_queue.length);
900 }
901 tap_state_queue.length++;
902
903 return(0);
904 }
905
906
907 static
908 void rlink_end_state(tap_state_t state)
909 {
910 if (tap_is_state_stable(state))
911 tap_set_end_state(state);
912 else
913 {
914 LOG_ERROR("BUG: %i is not a valid end state", state);
915 exit(-1);
916 }
917 }
918
919
920 static
921 void rlink_state_move(void) {
922
923 int i=0, tms=0;
924 u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
925
926 for (i = 0; i < 7; i++)
927 {
928 tms = (tms_scan >> i) & 1;
929 tap_state_queue_append(tms);
930 }
931
932 tap_set_state(tap_get_end_state());
933 }
934
935 static
936 void rlink_path_move(pathmove_command_t *cmd)
937 {
938 int num_states = cmd->num_states;
939 int state_count;
940 int tms = 0;
941
942 state_count = 0;
943 while (num_states)
944 {
945 if (tap_state_transition(tap_get_state(), false) == cmd->path[state_count])
946 {
947 tms = 0;
948 }
949 else if (tap_state_transition(tap_get_state(), true) == cmd->path[state_count])
950 {
951 tms = 1;
952 }
953 else
954 {
955 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(cmd->path[state_count]));
956 exit(-1);
957 }
958
959 tap_state_queue_append(tms);
960
961 tap_set_state(cmd->path[state_count]);
962 state_count++;
963 num_states--;
964 }
965
966 tap_set_end_state(tap_get_state());
967 }
968
969
970 static
971 void rlink_runtest(int num_cycles)
972 {
973 int i;
974
975 tap_state_t saved_end_state = tap_get_end_state();
976
977 /* only do a state_move when we're not already in RTI */
978 if (tap_get_state() != TAP_IDLE)
979 {
980 rlink_end_state(TAP_IDLE);
981 rlink_state_move();
982 }
983
984 /* execute num_cycles */
985 for (i = 0; i < num_cycles; i++)
986 {
987 tap_state_queue_append(0);
988 }
989
990 /* finish in end_state */
991 rlink_end_state(saved_end_state);
992 if (tap_get_state() != tap_get_end_state())
993 rlink_state_move();
994 }
995
996
997 /* (1) assert or (0) deassert reset lines */
998 static
999 void rlink_reset(int trst, int srst)
1000 {
1001 u8 bitmap;
1002 int usb_err;
1003
1004 /* Read port A for bit op */
1005 usb_err = ep1_generic_commandl(
1006 pHDev, 4,
1007 EP1_CMD_MEMORY_READ,
1008 ST7_PADR >> 8,
1009 ST7_PADR,
1010 1
1011 );
1012 if(usb_err < 0) {
1013 LOG_ERROR("%s", usb_strerror());
1014 exit(1);
1015 }
1016
1017 usb_err = usb_bulk_read(
1018 pHDev, USB_EP1IN_ADDR,
1019 (char *)&bitmap, 1,
1020 USB_TIMEOUT_MS
1021 );
1022 if(usb_err < 1) {
1023 LOG_ERROR("%s", usb_strerror());
1024 exit(1);
1025 }
1026
1027 if(trst) {
1028 bitmap &= ~ST7_PA_NTRST;
1029 } else {
1030 bitmap |= ST7_PA_NTRST;
1031 }
1032
1033 /* Write port A and read port B for bit op */
1034 /* 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. */
1035 usb_err = ep1_generic_commandl(
1036 pHDev, 9,
1037 EP1_CMD_MEMORY_WRITE,
1038 ST7_PADR >> 8,
1039 ST7_PADR,
1040 1,
1041 bitmap,
1042 EP1_CMD_MEMORY_READ,
1043 ST7_PBDDR >> 8,
1044 ST7_PBDDR,
1045 1
1046 );
1047 if(usb_err < 0) {
1048 LOG_ERROR("%s", usb_strerror());
1049 exit(1);
1050 }
1051
1052 usb_err = usb_bulk_read(
1053 pHDev, USB_EP1IN_ADDR,
1054 (char *)&bitmap, 1,
1055 USB_TIMEOUT_MS
1056 );
1057 if(usb_err < 1) {
1058 LOG_ERROR("%s", usb_strerror());
1059 exit(1);
1060 }
1061
1062 if(srst) {
1063 bitmap |= ST7_PB_NSRST;
1064 } else {
1065 bitmap &= ~ST7_PB_NSRST;
1066 }
1067
1068 /* write port B and read dummy to ensure completion before returning */
1069 usb_err = ep1_generic_commandl(
1070 pHDev, 6,
1071 EP1_CMD_MEMORY_WRITE,
1072 ST7_PBDDR >> 8,
1073 ST7_PBDDR,
1074 1,
1075 bitmap,
1076 EP1_CMD_DTC_GET_CACHED_STATUS
1077 );
1078 if(usb_err < 0) {
1079 LOG_ERROR("%s", usb_strerror());
1080 exit(1);
1081 }
1082
1083 usb_err = usb_bulk_read(
1084 pHDev, USB_EP1IN_ADDR,
1085 (char *)&bitmap, 1,
1086 USB_TIMEOUT_MS
1087 );
1088 if(usb_err < 1) {
1089 LOG_ERROR("%s", usb_strerror());
1090 exit(1);
1091 }
1092 }
1093
1094
1095 static
1096 int
1097 rlink_scan(
1098 jtag_command_t *cmd,
1099 enum scan_type type,
1100 u8 *buffer,
1101 int scan_size
1102 ) {
1103 int ir_scan;
1104 tap_state_t saved_end_state;
1105 int byte_bits;
1106 int extra_bits;
1107 int chunk_bits;
1108 int chunk_bytes;
1109 int x;
1110
1111 int tdi_bit_offset;
1112 u8 tdi_mask, *tdi_p;
1113 u8 dtc_mask;
1114
1115 if(scan_size < 1) {
1116 LOG_ERROR("scan_size cannot be less than 1 bit\n");
1117 exit(1);
1118 }
1119
1120 ir_scan = cmd->cmd.scan->ir_scan;
1121
1122 /* Move to the proper state before starting to shift TDI/TDO. */
1123 if (!(
1124 (!ir_scan && (tap_get_state() == TAP_DRSHIFT))
1125 ||
1126 (ir_scan && (tap_get_state() == TAP_IRSHIFT))
1127 )) {
1128 saved_end_state = tap_get_end_state();
1129 rlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
1130 rlink_state_move();
1131 rlink_end_state(saved_end_state);
1132 }
1133
1134 tap_state_queue_run();
1135
1136
1137 #if 0
1138 printf("scan_size = %d, type=0x%x\n", scan_size, type);
1139 {
1140 int i;
1141
1142 /* clear unused bits in scan buffer for ease of debugging */
1143 /* (it makes diffing output easier) */
1144 buffer[scan_size / 8] &= ((1 << ((scan_size - 1) % 8) + 1) - 1);
1145
1146 printf("before scan:");
1147 for(i = 0; i < (scan_size + 7) / 8; i++) {
1148 printf(" %02x", buffer[i]);
1149 }
1150 printf("\n");
1151 }
1152 #endif
1153
1154 /* The number of bits that can be shifted as complete bytes */
1155 byte_bits = (int)(scan_size - 1) / 8 * 8;
1156 /* The number of bits left over, not counting the last bit */
1157 extra_bits = (scan_size - 1) - byte_bits;
1158
1159 tdi_bit_offset = 0;
1160 tdi_p = buffer;
1161 tdi_mask = 1;
1162
1163 if(extra_bits && (type == SCAN_OUT)) {
1164 /* Schedule any extra bits into the DTC command buffer, padding as needed */
1165 /* For SCAN_OUT, this comes before the full bytes so the (leading) padding bits will fall off the end */
1166 /* make sure there's room for stop, byte op, and one byte */
1167 if(
1168 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))
1169 ) {
1170 dtc_queue_run();
1171 }
1172
1173 x = 0;
1174 dtc_mask = 1 << (extra_bits - 1);
1175
1176 while(extra_bits--) {
1177 if(*tdi_p & tdi_mask) {
1178 x |= dtc_mask;
1179 }
1180
1181 dtc_mask >>= 1;
1182
1183 tdi_mask <<= 1;
1184 if(tdi_mask == 0) {
1185 tdi_p++;
1186 tdi_mask = 1;
1187 }
1188 }
1189
1190 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1191 DTC_CMD_SHIFT_TDI_BYTES(1);
1192
1193 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1194 }
1195
1196 /* Loop scheduling full bytes into the DTC command buffer */
1197 while(byte_bits) {
1198 if(type == SCAN_IN) {
1199 /* make sure there's room for stop and byte op */
1200 x = (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1));
1201 } else {
1202 /* make sure there's room for stop, byte op, and at least one byte */
1203 x = (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1));
1204 }
1205
1206 if(type != SCAN_OUT) {
1207 /* make sure there's room for at least one reply byte */
1208 x |= (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1));
1209 }
1210
1211 if(x) {
1212 dtc_queue_run();
1213 }
1214
1215 chunk_bits = byte_bits;
1216 /* we can only use up to 16 bytes at a time */
1217 if(chunk_bits > (16 * 8)) chunk_bits = (16 * 8);
1218
1219 if(type != SCAN_IN) {
1220 /* how much is there room for, considering stop and byte op? */
1221 x = (sizeof(dtc_queue.cmd_buffer) - (dtc_queue.cmd_index + 1 + 1)) * 8;
1222 if(chunk_bits > x) chunk_bits = x;
1223 }
1224
1225 if(type != SCAN_OUT) {
1226 /* how much is there room for in the reply buffer? */
1227 x = (USB_EP2IN_SIZE - dtc_queue.reply_index) * 8;
1228 if(chunk_bits > x) chunk_bits = x;
1229 }
1230
1231 /* so the loop will end */
1232 byte_bits -= chunk_bits;
1233
1234 if(type != SCAN_OUT) {
1235 if(dtc_queue_enqueue_reply(
1236 type, buffer, scan_size, tdi_bit_offset,
1237 chunk_bits,
1238 cmd
1239 ) == NULL) {
1240 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1241 exit(1);
1242 }
1243
1244 tdi_bit_offset += chunk_bits;
1245 }
1246
1247 /* chunk_bits is a multiple of 8, so there are no rounding issues. */
1248 chunk_bytes = chunk_bits / 8;
1249
1250 switch(type) {
1251 case SCAN_IN:
1252 x = DTC_CMD_SHIFT_TDO_BYTES(chunk_bytes);
1253 break;
1254 case SCAN_OUT:
1255 x = DTC_CMD_SHIFT_TDI_BYTES(chunk_bytes);
1256 break;
1257 default:
1258 x = DTC_CMD_SHIFT_TDIO_BYTES(chunk_bytes);
1259 break;
1260 }
1261 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1262
1263 if(type != SCAN_IN) {
1264 x = 0;
1265 dtc_mask = 1 << (8 - 1);
1266
1267 while(chunk_bits--) {
1268 if(*tdi_p & tdi_mask) {
1269 x |= dtc_mask;
1270 }
1271
1272 dtc_mask >>= 1;
1273 if(dtc_mask == 0) {
1274 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1275 dtc_queue.reply_index++;
1276 x = 0;
1277 dtc_mask = 1 << (8 - 1);
1278 }
1279
1280 tdi_mask <<= 1;
1281 if(tdi_mask == 0) {
1282 tdi_p++;
1283 tdi_mask = 1;
1284 }
1285 }
1286 }
1287 }
1288
1289 if(extra_bits && (type != SCAN_OUT)) {
1290 /* Schedule any extra bits into the DTC command buffer */
1291 /* make sure there's room for stop, byte op, and one byte */
1292 if(
1293 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))
1294 ||
1295 (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1))
1296 ) {
1297 dtc_queue_run();
1298 }
1299
1300 if(dtc_queue_enqueue_reply(
1301 type, buffer, scan_size, tdi_bit_offset,
1302 extra_bits,
1303 cmd
1304 ) == NULL) {
1305 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1306 exit(1);
1307 }
1308
1309 tdi_bit_offset += extra_bits;
1310
1311 if(type == SCAN_IN) {
1312 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1313 DTC_CMD_SHIFT_TDO_BYTES(1);
1314
1315 } else {
1316 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1317 DTC_CMD_SHIFT_TDIO_BITS(extra_bits);
1318
1319 x = 0;
1320 dtc_mask = 1 << (8 - 1);
1321
1322 while(extra_bits--) {
1323 if(*tdi_p & tdi_mask) {
1324 x |= dtc_mask;
1325 }
1326
1327 dtc_mask >>= 1;
1328
1329 tdi_mask <<= 1;
1330 if(tdi_mask == 0) {
1331 tdi_p++;
1332 tdi_mask = 1;
1333 }
1334 }
1335
1336 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1337 }
1338
1339 dtc_queue.reply_index++;
1340 }
1341
1342 /* Schedule the last bit into the DTC command buffer */
1343 {
1344 /* make sure there's room for stop, and bit pair command */
1345 if(
1346 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1))
1347 ||
1348 (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1))
1349 ) {
1350 dtc_queue_run();
1351 }
1352
1353 if(type == SCAN_OUT) {
1354 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1355 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 0);
1356
1357 } else {
1358 if(dtc_queue_enqueue_reply(
1359 type, buffer, scan_size, tdi_bit_offset,
1360 1,
1361 cmd
1362 ) == NULL) {
1363 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1364 exit(1);
1365 }
1366
1367 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1368 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 1);
1369
1370 dtc_queue.reply_index++;
1371 }
1372 }
1373
1374 /* Move to pause state */
1375 tap_state_queue_append(0);
1376 tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
1377 if (tap_get_state() != tap_get_end_state()) rlink_state_move();
1378
1379 return(0);
1380 }
1381
1382
1383 static
1384 int rlink_execute_queue(void)
1385 {
1386 jtag_command_t *cmd = jtag_command_queue; /* currently processed command */
1387 int scan_size;
1388 enum scan_type type;
1389 u8 *buffer;
1390 int retval, tmp_retval;
1391
1392 /* return ERROR_OK, unless something goes wrong */
1393 retval = ERROR_OK;
1394
1395 #ifndef AUTOMATIC_BUSY_LED
1396 /* turn LED on */
1397 ep1_generic_commandl(pHDev, 2,
1398 EP1_CMD_SET_PORTD_LEDS,
1399 ~(ST7_PD_NBUSY_LED)
1400 );
1401 #endif
1402
1403 while (cmd)
1404 {
1405 switch (cmd->type)
1406 {
1407 case JTAG_END_STATE:
1408 case JTAG_RUNTEST:
1409 case JTAG_STATEMOVE:
1410 case JTAG_PATHMOVE:
1411 case JTAG_SCAN:
1412 break;
1413
1414 default:
1415 /* some events, such as resets, need a queue flush to ensure consistency */
1416 tap_state_queue_run();
1417 dtc_queue_run();
1418 break;
1419 }
1420
1421 switch (cmd->type)
1422 {
1423 case JTAG_END_STATE:
1424 #ifdef _DEBUG_JTAG_IO_
1425 LOG_DEBUG("end_state: %i", cmd->cmd.end_state->end_state);
1426 #endif
1427 if (cmd->cmd.end_state->end_state != -1)
1428 rlink_end_state(cmd->cmd.end_state->end_state);
1429 break;
1430 case JTAG_RESET:
1431 #ifdef _DEBUG_JTAG_IO_
1432 LOG_DEBUG("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1433 #endif
1434 if ((cmd->cmd.reset->trst == 1) || (cmd->cmd.reset->srst && (jtag_reset_config & RESET_SRST_PULLS_TRST)))
1435 {
1436 tap_set_state(TAP_RESET);
1437 }
1438 rlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1439 break;
1440 case JTAG_RUNTEST:
1441 #ifdef _DEBUG_JTAG_IO_
1442 LOG_DEBUG("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, cmd->cmd.runtest->end_state);
1443 #endif
1444 if (cmd->cmd.runtest->end_state != -1)
1445 rlink_end_state(cmd->cmd.runtest->end_state);
1446 rlink_runtest(cmd->cmd.runtest->num_cycles);
1447 break;
1448 case JTAG_STATEMOVE:
1449 #ifdef _DEBUG_JTAG_IO_
1450 LOG_DEBUG("statemove end in %i", cmd->cmd.statemove->end_state);
1451 #endif
1452 if (cmd->cmd.statemove->end_state != -1)
1453 rlink_end_state(cmd->cmd.statemove->end_state);
1454 rlink_state_move();
1455 break;
1456 case JTAG_PATHMOVE:
1457 #ifdef _DEBUG_JTAG_IO_
1458 LOG_DEBUG("pathmove: %i states, end in %i", cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1459 #endif
1460 rlink_path_move(cmd->cmd.pathmove);
1461 break;
1462 case JTAG_SCAN:
1463 #ifdef _DEBUG_JTAG_IO_
1464 LOG_DEBUG("%s scan end in %i", (cmd->cmd.scan->ir_scan) ? "IR" : "DR", cmd->cmd.scan->end_state);
1465 #endif
1466 if (cmd->cmd.scan->end_state != -1)
1467 rlink_end_state(cmd->cmd.scan->end_state);
1468 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
1469 type = jtag_scan_type(cmd->cmd.scan);
1470 if(rlink_scan(cmd, type, buffer, scan_size) != ERROR_OK) {
1471 retval = ERROR_FAIL;
1472 }
1473 break;
1474 case JTAG_SLEEP:
1475 #ifdef _DEBUG_JTAG_IO_
1476 LOG_DEBUG("sleep %i", cmd->cmd.sleep->us);
1477 #endif
1478 jtag_sleep(cmd->cmd.sleep->us);
1479 break;
1480 default:
1481 LOG_ERROR("BUG: unknown JTAG command type encountered");
1482 exit(-1);
1483 }
1484 cmd = cmd->next;
1485 }
1486
1487 /* Flush the DTC queue to make sure any pending reads have been done before exiting this function */
1488 tap_state_queue_run();
1489 tmp_retval = dtc_queue_run();
1490 if(tmp_retval != ERROR_OK) {
1491 retval = tmp_retval;
1492 }
1493
1494 #ifndef AUTOMATIC_BUSY_LED
1495 /* turn LED onff */
1496 ep1_generic_commandl(pHDev, 2,
1497 EP1_CMD_SET_PORTD_LEDS,
1498 ~0
1499 );
1500 #endif
1501
1502 return retval;
1503 }
1504
1505
1506 /* 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. */
1507
1508 static
1509 int rlink_speed(int speed)
1510 {
1511 int i;
1512
1513 if(speed == 0) {
1514 /* fastest speed */
1515 speed = rlink_speed_table[rlink_speed_table_size - 1].prescaler;
1516 }
1517
1518 for(i = rlink_speed_table_size; i--; ) {
1519 if(rlink_speed_table[i].prescaler == speed) {
1520 if(dtc_load_from_buffer(pHDev, rlink_speed_table[i].dtc, rlink_speed_table[i].dtc_size) != 0) {
1521 LOG_ERROR("An error occurred while trying to load DTC code for speed \"%d\".\n", speed);
1522 exit(1);
1523 }
1524
1525 if(dtc_start_download() < 0) {
1526 LOG_ERROR("%s, %d: starting DTC: %s",
1527 __FILE__, __LINE__,
1528 usb_strerror()
1529 );
1530 exit(1);
1531 }
1532
1533 return ERROR_OK;
1534 }
1535 }
1536
1537 LOG_ERROR("%d is not a supported speed", speed);
1538 return(ERROR_FAIL);
1539 }
1540
1541
1542 static
1543 int rlink_speed_div(
1544 int speed,
1545 int *khz
1546 ) {
1547 int i;
1548
1549 for(i = rlink_speed_table_size; i--; ) {
1550 if(rlink_speed_table[i].prescaler == speed) {
1551 *khz = rlink_speed_table[i].khz;
1552 return(ERROR_OK);
1553 }
1554 }
1555
1556 LOG_ERROR("%d is not a supported speed", speed);
1557 return(ERROR_FAIL);
1558 }
1559
1560
1561 static
1562 int rlink_khz(
1563 int khz,
1564 int *speed
1565 ) {
1566 int i;
1567
1568 if(khz == 0) {
1569 LOG_ERROR("RCLK not supported");
1570 return ERROR_FAIL;
1571 }
1572
1573 for(i = rlink_speed_table_size; i--; ) {
1574 if(rlink_speed_table[i].khz <= khz) {
1575 *speed = rlink_speed_table[i].prescaler;
1576 return(ERROR_OK);
1577 }
1578 }
1579
1580 LOG_WARNING("The lowest supported JTAG speed is %d KHz", rlink_speed_table[0].khz);
1581 *speed = rlink_speed_table[0].prescaler;
1582 return(ERROR_OK);
1583 }
1584
1585
1586 #if 0
1587 static
1588 int
1589 handle_dtc_directory_command(
1590 struct command_context_s *cmd_ctx,
1591 char *cmd,
1592 char **args,
1593 int argc
1594 ) {
1595 if(argc != 1) {
1596 LOG_ERROR("expected exactly one argument to rlink_dtc_directory <directory-path>");
1597 return(ERROR_INVALID_ARGUMENTS);
1598 }
1599
1600 printf("handle_dtc_directory_command called with \"%s\"\n", args[0]);
1601
1602 return(ERROR_OK);
1603 }
1604 #endif
1605
1606
1607 static
1608 int rlink_register_commands(struct command_context_s *cmd_ctx)
1609 {
1610
1611 #ifdef _DEBUG_JTAG_IO_
1612 LOG_DEBUG("rlink_register_commands called with cmd_ctx=%p\n", cmd_ctx);
1613 #endif
1614
1615 #if 0
1616 register_command(
1617 cmd_ctx, NULL,
1618 "rlink_dtc_directory",
1619 handle_dtc_directory_command,
1620 COMMAND_CONFIG,
1621 "The directory in which to search for DTC load images"
1622 );
1623 #endif
1624
1625 return ERROR_OK;
1626 }
1627
1628
1629 static
1630 int rlink_init(void)
1631 {
1632 struct usb_bus *busses;
1633 struct usb_bus *bus;
1634 int i, j, retries;
1635 int found=0;
1636 int success=0;
1637 u8 reply_buffer[USB_EP1IN_SIZE];
1638
1639 usb_init();
1640 usb_find_busses();
1641 usb_find_devices();
1642
1643 busses = usb_get_busses();
1644
1645 for(bus = busses; bus; bus = bus->next)
1646 {
1647 struct usb_device *dev;
1648
1649 for(dev = bus->devices; dev; dev = dev->next)
1650 {
1651 if( (dev->descriptor.idVendor == USB_IDVENDOR) && (dev->descriptor.idProduct == USB_IDPRODUCT) )
1652 {
1653 found = 1;
1654 LOG_DEBUG("Found device on bus.\n");
1655
1656 do
1657 {
1658 if( dev->descriptor.bNumConfigurations > 1 )
1659 {
1660 LOG_ERROR("Whoops! NumConfigurations is not 1, don't know what to do...\n");
1661 break;
1662 }
1663 if( dev->config->bNumInterfaces > 1 )
1664 {
1665 LOG_ERROR("Whoops! NumInterfaces is not 1, don't know what to do...\n");
1666 break;
1667 }
1668
1669 pHDev=usb_open(dev);
1670 if( !pHDev )
1671 LOG_ERROR ("Failed to open device.\n");
1672 else
1673 {
1674 LOG_DEBUG("Opened device, pHDev = %p\n",pHDev);
1675
1676 /* usb_set_configuration required under win32 */
1677 usb_set_configuration(pHDev, dev->config[0].bConfigurationValue);
1678
1679 retries = 3;
1680 do
1681 {
1682 i = usb_claim_interface(pHDev,0);
1683 if(i)
1684 {
1685 LOG_ERROR("usb_claim_interface: %s", usb_strerror());
1686 #ifdef LIBUSB_HAS_DETACH_KERNEL_DRIVER_NP
1687 j = usb_detach_kernel_driver_np(pHDev, 0);
1688 if(j)
1689 LOG_ERROR("detach kernel driver: %s", usb_strerror());
1690 #endif
1691 }
1692 else
1693 {
1694 LOG_DEBUG("interface claimed!\n");
1695 break;
1696 }
1697 } while(--retries);
1698
1699 if(!i)
1700 {
1701 if( usb_set_altinterface(pHDev,0) )
1702 {
1703 LOG_ERROR("Failed to set interface.\n");
1704 break;
1705 }
1706 else
1707 success=1;
1708 }
1709 }
1710 } while(0);
1711 }
1712 }
1713 }
1714
1715 if( !found )
1716 {
1717 LOG_ERROR("No device found on bus.\n");
1718 exit(1);
1719 }
1720
1721 if( !success )
1722 {
1723 LOG_ERROR("Initialisation failed.");
1724 exit(1);
1725 }
1726
1727
1728 /* 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. */
1729 /* 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. */
1730 for(i = 0; i < 5; i++) {
1731 j = ep1_generic_commandl(
1732 pHDev, 1,
1733 EP1_CMD_GET_FWREV
1734 );
1735 if(j < USB_EP1OUT_SIZE) {
1736 LOG_ERROR("USB write error: %s", usb_strerror());
1737 return(ERROR_FAIL);
1738 }
1739 j = usb_bulk_read(
1740 pHDev, USB_EP1IN_ADDR,
1741 (char *)reply_buffer, sizeof(reply_buffer),
1742 200
1743 );
1744 if(j != -ETIMEDOUT) break;
1745 }
1746
1747 if(j < (int)sizeof(reply_buffer)) {
1748 LOG_ERROR("USB read error: %s", usb_strerror());
1749 return(ERROR_FAIL);
1750 }
1751 LOG_DEBUG(INTERFACE_NAME" firmware version: %d.%d.%d\n", reply_buffer[0], reply_buffer[1], reply_buffer[2]);
1752
1753 if((reply_buffer[0] != 0) || (reply_buffer[1] != 0) || (reply_buffer[2] != 3)) {
1754 LOG_WARNING("The rlink device is not of the version that the developers have played with. It may or may not work.\n");
1755 }
1756
1757 /* Probe port E for adapter presence */
1758 ep1_generic_commandl(
1759 pHDev, 16,
1760 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 0 */
1761 ST7_PEDR >> 8,
1762 ST7_PEDR,
1763 3,
1764 0x00, /* DR */
1765 ST7_PE_ADAPTER_SENSE_OUT, /* DDR */
1766 ST7_PE_ADAPTER_SENSE_OUT, /* OR */
1767 EP1_CMD_MEMORY_READ, /* Read back */
1768 ST7_PEDR >> 8,
1769 ST7_PEDR,
1770 1,
1771 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 1 */
1772 ST7_PEDR >> 8,
1773 ST7_PEDR,
1774 1,
1775 ST7_PE_ADAPTER_SENSE_OUT
1776 );
1777
1778 usb_bulk_read(
1779 pHDev, USB_EP1IN_ADDR,
1780 (char *)reply_buffer, 1,
1781 USB_TIMEOUT_MS
1782 );
1783
1784 if((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) != 0) {
1785 LOG_WARNING("target detection problem\n");
1786 }
1787
1788 ep1_generic_commandl(
1789 pHDev, 11,
1790 EP1_CMD_MEMORY_READ, /* Read back */
1791 ST7_PEDR >> 8,
1792 ST7_PEDR,
1793 1,
1794 EP1_CMD_MEMORY_WRITE, /* float port E */
1795 ST7_PEDR >> 8,
1796 ST7_PEDR,
1797 3,
1798 0x00, /* DR */
1799 0x00, /* DDR */
1800 0x00 /* OR */
1801 );
1802
1803 usb_bulk_read(
1804 pHDev, USB_EP1IN_ADDR,
1805 (char *)reply_buffer, 1,
1806 USB_TIMEOUT_MS
1807 );
1808
1809
1810 if((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) == 0) {
1811 LOG_WARNING("target not plugged in\n");
1812 }
1813
1814 /* float ports A and B */
1815 ep1_generic_commandl(
1816 pHDev, 11,
1817 EP1_CMD_MEMORY_WRITE,
1818 ST7_PADDR >> 8,
1819 ST7_PADDR,
1820 2,
1821 0x00,
1822 0x00,
1823 EP1_CMD_MEMORY_WRITE,
1824 ST7_PBDDR >> 8,
1825 ST7_PBDDR,
1826 1,
1827 0x00
1828 );
1829
1830 /* make sure DTC is stopped, set VPP control, set up ports A and B */
1831 ep1_generic_commandl(
1832 pHDev, 14,
1833 EP1_CMD_DTC_STOP,
1834 EP1_CMD_SET_PORTD_VPP,
1835 ~(ST7_PD_VPP_SHDN),
1836 EP1_CMD_MEMORY_WRITE,
1837 ST7_PADR >> 8,
1838 ST7_PADR,
1839 2,
1840 ((~(0)) & (ST7_PA_NTRST)),
1841 (ST7_PA_NTRST),
1842 /* 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. */
1843 EP1_CMD_MEMORY_WRITE,
1844 ST7_PBDR >> 8,
1845 ST7_PBDR,
1846 1,
1847 0x00
1848 );
1849
1850 /* set LED updating mode and make sure they're unlit */
1851 ep1_generic_commandl(
1852 pHDev, 3,
1853 #ifdef AUTOMATIC_BUSY_LED
1854 EP1_CMD_LEDUE_BUSY,
1855 #else
1856 EP1_CMD_LEDUE_NONE,
1857 #endif
1858 EP1_CMD_SET_PORTD_LEDS,
1859 ~0
1860 );
1861
1862 tap_state_queue_init();
1863 dtc_queue_init();
1864 rlink_speed(jtag_speed);
1865 rlink_reset(0, 0);
1866
1867 return ERROR_OK;
1868 }
1869
1870
1871 static
1872 int rlink_quit(void)
1873 {
1874 /* stop DTC and make sure LEDs are off */
1875 ep1_generic_commandl(
1876 pHDev, 6,
1877 EP1_CMD_DTC_STOP,
1878 EP1_CMD_LEDUE_NONE,
1879 EP1_CMD_SET_PORTD_LEDS,
1880 ~0,
1881 EP1_CMD_SET_PORTD_VPP,
1882 ~0
1883 );
1884
1885 usb_release_interface(pHDev,0);
1886 usb_close(pHDev);
1887
1888
1889 return ERROR_OK;
1890 }
1891
1892
1893 jtag_interface_t rlink_interface =
1894 {
1895 .name = "rlink",
1896 .init = rlink_init,
1897 .quit = rlink_quit,
1898 .register_commands = rlink_register_commands,
1899 .speed = rlink_speed,
1900 .speed_div = rlink_speed_div,
1901 .khz = rlink_khz,
1902 .execute_queue = rlink_execute_queue,
1903 };
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