--- /dev/null
+/***************************************************************************
+ * Copyright (C) 2011 by Martin Schmoelzer *
+ * <martin.schmoelzer@student.tuwien.ac.at> *
+ * *
+ * This program is free software; you can redistribute it and/or modify *
+ * it under the terms of the GNU General Public License as published by *
+ * the Free Software Foundation; either version 2 of the License, or *
+ * (at your option) any later version. *
+ * *
+ * This program is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
+ * GNU General Public License for more details. *
+ * *
+ * You should have received a copy of the GNU General Public License *
+ * along with this program; if not, write to the *
+ * Free Software Foundation, Inc., *
+ * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <jtag/interface.h>
+#include <jtag/commands.h>
+#include <target/image.h>
+#include <helper/types.h>
+#include "usb_common.h"
+#include "OpenULINK/include/msgtypes.h"
+
+/** USB Vendor ID of ULINK device in unconfigured state (no firmware loaded
+ * yet) or with OpenULINK firmware. */
+#define ULINK_VID 0xC251
+
+/** USB Product ID of ULINK device in unconfigured state (no firmware loaded
+ * yet) or with OpenULINK firmware. */
+#define ULINK_PID 0x2710
+
+/** Address of EZ-USB CPU Control & Status register. This register can be
+ * written by issuing a Control EP0 vendor request. */
+#define CPUCS_REG 0x7F92
+
+/** USB Control EP0 bRequest: "Firmware Load". */
+#define REQUEST_FIRMWARE_LOAD 0xA0
+
+/** Value to write into CPUCS to put EZ-USB into reset. */
+#define CPU_RESET 0x01
+
+/** Value to write into CPUCS to put EZ-USB out of reset. */
+#define CPU_START 0x00
+
+/** Base address of firmware in EZ-USB code space. */
+#define FIRMWARE_ADDR 0x0000
+
+/** USB interface number */
+#define USB_INTERFACE 0
+
+/** libusb timeout in ms */
+#define USB_TIMEOUT 5000
+
+/** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
+#define ULINK_RENUMERATION_DELAY 1500000
+
+/** Location of OpenULINK firmware image. TODO: Provide some way of modifying
+ * this path, maybe in a separate OpenOCD command? */
+#define ULINK_FIRMWARE_FILE PKGLIBDIR "/OpenULINK/ulink_firmware.hex"
+
+/** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
+#define SECTION_BUFFERSIZE 8192
+
+/** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
+#define SPLIT_SCAN_THRESHOLD 10
+
+/** ULINK hardware type */
+enum ulink_type
+{
+ /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
+ * Full JTAG support, no SWD support. */
+ ULINK_1,
+
+ /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
+ ULINK_2,
+
+ /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
+ ULINK_PRO,
+
+ /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
+ ULINK_ME
+};
+
+enum ulink_payload_direction
+{
+ PAYLOAD_DIRECTION_OUT,
+ PAYLOAD_DIRECTION_IN
+};
+
+/**
+ * OpenULINK command (OpenULINK command queue element).
+ *
+ * For the OUT direction payload, things are quite easy: Payload is stored
+ * in a rather small array (up to 63 bytes), the payload is always allocated
+ * by the function generating the command and freed by ulink_clear_queue().
+ *
+ * For the IN direction payload, things get a little bit more complicated:
+ * The maximum IN payload size for a single command is 64 bytes. Assume that
+ * a single OpenOCD command needs to scan 256 bytes. This results in the
+ * generation of four OpenULINK commands. The function generating these
+ * commands shall allocate an uint8_t[256] array. Each command's #payload_in
+ * pointer shall point to the corresponding offset where IN data shall be
+ * placed, while #payload_in_start shall point to the first element of the 256
+ * byte array.
+ * - first command: #payload_in_start + 0
+ * - second command: #payload_in_start + 64
+ * - third command: #payload_in_start + 128
+ * - fourth command: #payload_in_start + 192
+ *
+ * The last command sets #needs_postprocessing to true.
+ */
+struct ulink_cmd {
+ uint8_t id; ///< ULINK command ID
+
+ uint8_t *payload_out; ///< OUT direction payload data
+ uint8_t payload_out_size; ///< OUT direction payload size for this command
+
+ uint8_t *payload_in_start; ///< Pointer to first element of IN payload array
+ uint8_t *payload_in; ///< Pointer where IN payload shall be stored
+ uint8_t payload_in_size; ///< IN direction payload size for this command
+
+ /** Indicates if this command needs post-processing */
+ bool needs_postprocessing;
+
+ /** Indicates if ulink_clear_queue() should free payload_in_start */
+ bool free_payload_in_start;
+
+ /** Pointer to corresponding OpenOCD command for post-processing */
+ struct jtag_command *cmd_origin;
+
+ struct ulink_cmd *next; ///< Pointer to next command (linked list)
+};
+
+typedef struct ulink_cmd ulink_cmd_t;
+
+/** Describes one driver instance */
+struct ulink
+{
+ struct usb_dev_handle *usb_handle;
+ enum ulink_type type;
+
+ int commands_in_queue; ///< Number of commands in queue
+ ulink_cmd_t *queue_start; ///< Pointer to first command in queue
+ ulink_cmd_t *queue_end; ///< Pointer to last command in queue
+};
+
+/**************************** Function Prototypes *****************************/
+
+/* USB helper functions */
+int ulink_usb_open(struct ulink **device);
+int ulink_usb_close(struct ulink **device);
+
+/* ULINK MCU (Cypress EZ-USB) specific functions */
+int ulink_cpu_reset(struct ulink *device, char reset_bit);
+int ulink_load_firmware_and_renumerate(struct ulink **device, char *filename,
+ uint32_t delay);
+int ulink_load_firmware(struct ulink *device, char *filename);
+int ulink_write_firmware_section(struct ulink *device,
+ struct image *firmware_image, int section_index);
+
+/* Generic helper functions */
+void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
+
+/* OpenULINK command generation helper functions */
+int ulink_allocate_payload(ulink_cmd_t *ulink_cmd, int size,
+ enum ulink_payload_direction direction);
+
+/* OpenULINK command queue helper functions */
+int ulink_get_queue_size(struct ulink *device,
+ enum ulink_payload_direction direction);
+void ulink_clear_queue(struct ulink *device);
+int ulink_append_queue(struct ulink *device, ulink_cmd_t *ulink_cmd);
+int ulink_execute_queued_commands(struct ulink *device, int timeout);
+
+#ifdef _DEBUG_JTAG_IO_
+const char * ulink_cmd_id_string(uint8_t id);
+void ulink_print_command(ulink_cmd_t *ulink_cmd);
+void ulink_print_queue(struct ulink *device);
+#endif
+
+int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
+ int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
+ uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
+ uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess);
+int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
+ uint8_t sequence);
+int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
+int ulink_append_get_signals_cmd(struct ulink *device);
+int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
+ uint8_t high);
+int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
+int ulink_append_configure_tck_cmd(struct ulink *device, uint8_t delay_scan,
+ uint8_t delay_tck, uint8_t delay_tms);
+int ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
+int ulink_append_test_cmd(struct ulink *device);
+
+/* Interface between OpenULINK and OpenOCD */
+int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
+int ulink_queue_statemove(struct ulink *device);
+int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
+int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
+int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
+int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
+int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
+
+static void ulink_set_end_state(tap_state_t endstate);
+
+int ulink_post_process_scan(ulink_cmd_t *ulink_cmd);
+int ulink_post_process_queue(struct ulink *device);
+
+/* JTAG driver functions (registered in struct jtag_interface) */
+static int ulink_execute_queue(void);
+static int ulink_khz(int khz, int *jtag_speed);
+static int ulink_speed(int speed);
+static int ulink_speed_div(int speed, int *khz);
+static int ulink_init(void);
+static int ulink_quit(void);
+
+/****************************** Global Variables ******************************/
+
+struct ulink *ulink_handle;
+
+/**************************** USB helper functions ****************************/
+
+/**
+ * Opens the ULINK device and claims its USB interface.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_usb_open(struct ulink **device)
+{
+ int ret;
+ struct usb_dev_handle *usb_handle;
+
+ /* Currently, only original ULINK is supported */
+ uint16_t vids[] = { ULINK_VID, 0 };
+ uint16_t pids[] = { ULINK_PID, 0 };
+
+ ret = jtag_usb_open(vids, pids, &usb_handle);
+
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ ret = usb_claim_interface(usb_handle, 0);
+
+ if (ret != 0) {
+ return ret;
+ }
+
+ (*device)->usb_handle = usb_handle;
+ (*device)->type = ULINK_1;
+
+ return ERROR_OK;
+}
+
+/**
+ * Releases the ULINK interface and closes the USB device handle.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_usb_close(struct ulink **device)
+{
+ if (usb_release_interface((*device)->usb_handle, 0) != 0) {
+ return ERROR_FAIL;
+ }
+
+ if (usb_close((*device)->usb_handle) != 0) {
+ return ERROR_FAIL;
+ }
+
+ (*device)->usb_handle = NULL;
+
+ return ERROR_OK;
+}
+
+/******************* ULINK CPU (EZ-USB) specific functions ********************/
+
+/**
+ * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
+ * or out of reset.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_cpu_reset(struct ulink *device, char reset_bit)
+{
+ int ret;
+
+ ret = usb_control_msg(device->usb_handle,
+ (USB_ENDPOINT_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE),
+ REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, USB_TIMEOUT);
+
+ /* usb_control_msg() returns the number of bytes transferred during the
+ * DATA stage of the control transfer - must be exactly 1 in this case! */
+ if (ret != 1) {
+ return ERROR_FAIL;
+ }
+ return ERROR_OK;
+}
+
+/**
+ * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
+ * the firmware image, resumes the microcontroller and re-enumerates
+ * USB devices.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * The usb_handle member will be modified during re-enumeration.
+ * @param filename path to the Intel HEX file containing the firmware image.
+ * @param delay the delay to wait for the device to re-enumerate.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_load_firmware_and_renumerate(struct ulink **device,
+ char *filename, uint32_t delay)
+{
+ int ret;
+
+ /* Basic process: After downloading the firmware, the ULINK will disconnect
+ * itself and re-connect after a short amount of time so we have to close
+ * the handle and re-enumerate USB devices */
+
+ ret = ulink_load_firmware(*device, filename);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ ret = ulink_usb_close(device);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ usleep(delay);
+
+ ret = ulink_usb_open(device);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ return ERROR_OK;
+}
+
+/**
+ * Downloads a firmware image to the ULINK's EZ-USB microcontroller
+ * over the USB bus.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param filename an absolute or relative path to the Intel HEX file
+ * containing the firmware image.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_load_firmware(struct ulink *device, char *filename)
+{
+ struct image ulink_firmware_image;
+ int ret, i;
+
+ ret = ulink_cpu_reset(device, CPU_RESET);
+ if (ret != ERROR_OK) {
+ LOG_ERROR("Could not halt ULINK CPU");
+ return ret;
+ }
+
+ ulink_firmware_image.base_address = 0;
+ ulink_firmware_image.base_address_set = 0;
+
+ ret = image_open(&ulink_firmware_image, ULINK_FIRMWARE_FILE, "ihex");
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ /* Download all sections in the image to ULINK */
+ for (i = 0; i < ulink_firmware_image.num_sections; i++) {
+ ret = ulink_write_firmware_section(device, &ulink_firmware_image, i);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+ }
+
+ image_close(&ulink_firmware_image);
+
+ ret = ulink_cpu_reset(device, CPU_START);
+ if (ret != ERROR_OK) {
+ LOG_ERROR("Could not restart ULINK CPU");
+ return ret;
+ }
+
+ return ERROR_OK;
+}
+
+/**
+ * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
+ * over the USB bus.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param firmware_image pointer to the firmware image that contains the section
+ * which should be sent to the ULINK's EZ-USB microcontroller.
+ * @param section_index index of the section within the firmware image.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_write_firmware_section(struct ulink *device,
+ struct image *firmware_image, int section_index)
+{
+ uint16_t addr, size, bytes_remaining, chunk_size;
+ uint8_t data[SECTION_BUFFERSIZE];
+ uint8_t *data_ptr = data;
+ size_t size_read;
+ int ret;
+
+ size = (uint16_t)firmware_image->sections[section_index].size;
+ addr = (uint16_t)firmware_image->sections[section_index].base_address;
+
+ LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
+ size);
+
+ if (data == NULL) {
+ return ERROR_FAIL;
+ }
+
+ /* Copy section contents to local buffer */
+ ret = image_read_section(firmware_image, section_index, 0, size, data,
+ &size_read);
+
+ if ((ret != ERROR_OK) || (size_read != size)) {
+ /* Propagating the return code would return '0' (misleadingly indicating
+ * successful execution of the function) if only the size check fails. */
+ return ERROR_FAIL;
+ }
+
+ bytes_remaining = size;
+
+ /* Send section data in chunks of up to 64 bytes to ULINK */
+ while (bytes_remaining > 0) {
+ if (bytes_remaining > 64) {
+ chunk_size = 64;
+ }
+ else {
+ chunk_size = bytes_remaining;
+ }
+
+ ret = usb_control_msg(device->usb_handle,
+ (USB_ENDPOINT_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE),
+ REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (char *)data_ptr,
+ chunk_size, USB_TIMEOUT);
+
+ if (ret != (int)chunk_size) {
+ /* Abort if libusb sent less data than requested */
+ return ERROR_FAIL;
+ }
+
+ bytes_remaining -= chunk_size;
+ addr += chunk_size;
+ data_ptr += chunk_size;
+ }
+
+ return ERROR_OK;
+}
+
+/************************** Generic helper functions **************************/
+
+/**
+ * Print state of interesting signals via LOG_INFO().
+ *
+ * @param input_signals input signal states as returned by CMD_GET_SIGNALS
+ * @param output_signals output signal states as returned by CMD_GET_SIGNALS
+ */
+void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
+{
+ LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
+ " SRST: %i",
+ (output_signals & SIGNAL_TDI ? 1 : 0),
+ (input_signals & SIGNAL_TDO ? 1 : 0),
+ (output_signals & SIGNAL_TMS ? 1 : 0),
+ (output_signals & SIGNAL_TCK ? 1 : 0),
+ (output_signals & SIGNAL_TRST ? 0 : 1), // TRST and RESET are inverted
+ (output_signals & SIGNAL_RESET ? 0 : 1)); // by hardware
+}
+
+/**************** OpenULINK command generation helper functions ***************/
+
+/**
+ * Allocate and initialize space in memory for OpenULINK command payload.
+ *
+ * @param ulink_cmd pointer to command whose payload should be allocated.
+ * @param size the amount of memory to allocate (bytes).
+ * @param direction which payload to allocate.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_allocate_payload(ulink_cmd_t *ulink_cmd, int size,
+ enum ulink_payload_direction direction)
+{
+ uint8_t *payload;
+
+ payload = calloc(size, sizeof(uint8_t));
+
+ if (payload == NULL) {
+ LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
+ return ERROR_FAIL;
+ }
+
+ switch (direction) {
+ case PAYLOAD_DIRECTION_OUT:
+ if (ulink_cmd->payload_out != NULL) {
+ LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
+ return ERROR_FAIL;
+ }
+ else {
+ ulink_cmd->payload_out = payload;
+ ulink_cmd->payload_out_size = size;
+ }
+ break;
+ case PAYLOAD_DIRECTION_IN:
+ if (ulink_cmd->payload_in_start != NULL) {
+ LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
+ return ERROR_FAIL;
+ }
+ else {
+ ulink_cmd->payload_in_start = payload;
+ ulink_cmd->payload_in = payload;
+ ulink_cmd->payload_in_size = size;
+
+ /* By default, free payload_in_start in ulink_clear_queue(). Commands
+ * that do not want this behavior (e. g. split scans) must turn it off
+ * separately! */
+ ulink_cmd->free_payload_in_start = true;
+ }
+ break;
+ }
+
+ return ERROR_OK;
+}
+
+/****************** OpenULINK command queue helper functions ******************/
+
+/**
+ * Get the current number of bytes in the queue, including command IDs.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param direction the transfer direction for which to get byte count.
+ * @return the number of bytes currently stored in the queue for the specified
+ * direction.
+ */
+int ulink_get_queue_size(struct ulink *device,
+ enum ulink_payload_direction direction)
+{
+ ulink_cmd_t *current = device->queue_start;
+ int sum = 0;
+
+ while (current != NULL) {
+ switch (direction) {
+ case PAYLOAD_DIRECTION_OUT:
+ sum += current->payload_out_size + 1; // + 1 byte for Command ID
+ break;
+ case PAYLOAD_DIRECTION_IN:
+ sum += current->payload_in_size;
+ break;
+ }
+
+ current = current->next;
+ }
+
+ return sum;
+}
+
+/**
+ * Clear the OpenULINK command queue.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+void ulink_clear_queue(struct ulink *device)
+{
+ ulink_cmd_t *current = device->queue_start;
+ ulink_cmd_t *next = NULL;
+
+ while (current != NULL) {
+ /* Save pointer to next element */
+ next = current->next;
+
+ /* Free payloads: OUT payload can be freed immediately */
+ free(current->payload_out);
+ current->payload_out = NULL;
+
+ /* IN payload MUST be freed ONLY if no other commands use the
+ * payload_in_start buffer */
+ if (current->free_payload_in_start == true) {
+ free(current->payload_in_start);
+ current->payload_in_start = NULL;
+ current->payload_in = NULL;
+ }
+
+ /* Free queue element */
+ free(current);
+
+ /* Proceed with next element */
+ current = next;
+ }
+
+ device->commands_in_queue = 0;
+ device->queue_start = NULL;
+ device->queue_end = NULL;
+}
+
+/**
+ * Add a command to the OpenULINK command queue.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
+ * command queue.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_append_queue(struct ulink *device, ulink_cmd_t *ulink_cmd)
+{
+ int newsize_out, newsize_in;
+ int ret;
+
+ newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
+ + ulink_cmd->payload_out_size;
+
+ newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
+ + ulink_cmd->payload_in_size;
+
+ /* Check if the current command can be appended to the queue */
+ if ((newsize_out > 64) || (newsize_in > 64)) {
+ /* New command does not fit. Execute all commands in queue before starting
+ * new queue with the current command as first entry. */
+ ret = ulink_execute_queued_commands(device, USB_TIMEOUT);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ ret = ulink_post_process_queue(device);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ ulink_clear_queue(device);
+ }
+
+ if (device->queue_start == NULL) {
+ /* Queue was empty */
+ device->commands_in_queue = 1;
+
+ device->queue_start = ulink_cmd;
+ device->queue_end = ulink_cmd;
+ }
+ else {
+ /* There are already commands in the queue */
+ device->commands_in_queue++;
+
+ device->queue_end->next = ulink_cmd;
+ device->queue_end = ulink_cmd;
+ }
+
+ return ERROR_OK;
+}
+
+/**
+ * Sends all queued OpenULINK commands to the ULINK for execution.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_execute_queued_commands(struct ulink *device, int timeout)
+{
+ ulink_cmd_t *current;
+ int ret, i, index_out, index_in, count_out, count_in;
+ uint8_t buffer[64];
+
+#ifdef _DEBUG_JTAG_IO_
+ ulink_print_queue(device);
+#endif
+
+ index_out = 0;
+ count_out = 0;
+ count_in = 0;
+
+ for (current = device->queue_start; current; current = current->next) {
+ /* Add command to packet */
+ buffer[index_out] = current->id;
+ index_out++;
+ count_out++;
+
+ for (i = 0; i < current->payload_out_size; i++) {
+ buffer[index_out + i] = current->payload_out[i];
+ }
+ index_out += current->payload_out_size;
+ count_in += current->payload_in_size;
+ count_out += current->payload_out_size;
+ }
+
+ /* Send packet to ULINK */
+ ret = usb_bulk_write(device->usb_handle, (2 | USB_ENDPOINT_OUT),
+ (char *)buffer, count_out, timeout);
+ if (ret < 0) {
+ return ERROR_FAIL;
+ }
+ if (ret != count_out) {
+ return ERROR_FAIL;
+ }
+
+ /* Wait for response if commands contain IN payload data */
+ if (count_in > 0) {
+ ret = usb_bulk_read(device->usb_handle, (2 | USB_ENDPOINT_IN),
+ (char *)buffer, 64, timeout);
+ if (ret < 0) {
+ return ERROR_FAIL;
+ }
+ if (ret != count_in) {
+ return ERROR_FAIL;
+ }
+
+ /* Write back IN payload data */
+ index_in = 0;
+ for (current = device->queue_start; current; current = current->next) {
+ for (i = 0; i < current->payload_in_size; i++) {
+ current->payload_in[i] = buffer[index_in];
+ index_in++;
+ }
+ }
+ }
+
+ return ERROR_OK;
+}
+
+#ifdef _DEBUG_JTAG_IO_
+
+/**
+ * Convert an OpenULINK command ID (\a id) to a human-readable string.
+ *
+ * @param id the OpenULINK command ID.
+ * @return the corresponding human-readable string.
+ */
+const char * ulink_cmd_id_string(uint8_t id)
+{
+ switch (id) {
+ case CMD_SCAN_IN:
+ return "CMD_SCAN_IN";
+ break;
+ case CMD_SLOW_SCAN_IN:
+ return "CMD_SLOW_SCAN_IN";
+ break;
+ case CMD_SCAN_OUT:
+ return "CMD_SCAN_OUT";
+ break;
+ case CMD_SLOW_SCAN_OUT:
+ return "CMD_SLOW_SCAN_OUT";
+ break;
+ case CMD_SCAN_IO:
+ return "CMD_SCAN_IO";
+ break;
+ case CMD_SLOW_SCAN_IO:
+ return "CMD_SLOW_SCAN_IO";
+ break;
+ case CMD_CLOCK_TMS:
+ return "CMD_CLOCK_TMS";
+ break;
+ case CMD_SLOW_CLOCK_TMS:
+ return "CMD_SLOW_CLOCK_TMS";
+ break;
+ case CMD_CLOCK_TCK:
+ return "CMD_CLOCK_TCK";
+ break;
+ case CMD_SLEEP_US:
+ return "CMD_SLEEP_US";
+ break;
+ case CMD_SLEEP_MS:
+ return "CMD_SLEEP_MS";
+ break;
+ case CMD_GET_SIGNALS:
+ return "CMD_GET_SIGNALS";
+ break;
+ case CMD_SET_SIGNALS:
+ return "CMD_SET_SIGNALS";
+ break;
+ case CMD_CONFIGURE_TCK_FREQ:
+ return "CMD_CONFIGURE_TCK_FREQ";
+ break;
+ case CMD_SET_LEDS:
+ return "CMD_SET_LEDS";
+ break;
+ case CMD_TEST:
+ return "CMD_TEST";
+ break;
+ default:
+ return "CMD_UNKNOWN";
+ break;
+ }
+}
+
+/**
+ * Print one OpenULINK command to stdout.
+ *
+ * @param ulink_cmd pointer to OpenULINK command.
+ */
+void ulink_print_command(ulink_cmd_t *ulink_cmd)
+{
+ int i;
+
+ printf(" %-22s | OUT size = %i, bytes = 0x", ulink_cmd_id_string(ulink_cmd->id),
+ ulink_cmd->payload_out_size);
+
+ for (i = 0; i < ulink_cmd->payload_out_size; i++) {
+ printf("%02X ", ulink_cmd->payload_out[i]);
+ }
+ printf("\n | IN size = %i\n", ulink_cmd->payload_in_size);
+}
+
+/**
+ * Print the OpenULINK command queue to stdout.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ */
+void ulink_print_queue(struct ulink *device)
+{
+ ulink_cmd_t *current;
+
+ printf("OpenULINK command queue:\n");
+
+ for (current = device->queue_start; current; current = current->next) {
+ ulink_print_command(current);
+ }
+}
+
+#endif /* _DEBUG_JTAG_IO_ */
+
+/**
+ * Perform JTAG scan
+ *
+ * Creates and appends a JTAG scan command to the OpenULINK command queue.
+ * A JTAG scan consists of three steps:
+ * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
+ * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
+ * - Move to the desired end state.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
+ * @param scan_size_bits number of bits to shift into the JTAG chain.
+ * @param tdi pointer to array containing TDI data.
+ * @param tdo_start pointer to first element of array where TDO data shall be
+ * stored. See #ulink_cmd for details.
+ * @param tdo pointer to array where TDO data shall be stored
+ * @param tms_count_start number of TMS state transitions to perform BEFORE
+ * shifting data into the JTAG chain.
+ * @param tms_sequence_start sequence of TMS state transitions that will be
+ * performed BEFORE shifting data into the JTAG chain.
+ * @param tms_count_end number of TMS state transitions to perform AFTER
+ * shifting data into the JTAG chain.
+ * @param tms_sequence_end sequence of TMS state transitions that will be
+ * performed AFTER shifting data into the JTAG chain.
+ * @param origin pointer to OpenOCD command that generated this scan command.
+ * @param postprocess whether this command needs to be post-processed after
+ * execution.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
+ int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
+ uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
+ uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
+{
+ ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
+ int ret, i, scan_size_bytes;
+ uint8_t bits_last_byte;
+
+ if (cmd == NULL) {
+ return ERROR_FAIL;
+ }
+
+ /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
+ * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
+ if (scan_size_bits > (58 * 8)) {
+ LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
+ " large payload");
+ return ERROR_FAIL;
+ }
+
+ scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
+
+ bits_last_byte = scan_size_bits % 8;
+ if (bits_last_byte == 0) {
+ bits_last_byte = 8;
+ }
+
+ /* Allocate out_payload depending on scan type */
+ // TODO: set command ID depending on interface speed settings (slow scan)
+ switch (scan_type) {
+ case SCAN_IN:
+ cmd->id = CMD_SCAN_IN;
+ ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
+ break;
+ case SCAN_OUT:
+ cmd->id = CMD_SCAN_OUT;
+ ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
+ break;
+ case SCAN_IO:
+ cmd->id = CMD_SCAN_IO;
+ ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
+ break;
+ default:
+ LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
+ ret = ERROR_FAIL;
+ }
+
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ /* Build payload_out that is common to all scan types */
+ cmd->payload_out[0] = scan_size_bytes & 0xFF;
+ cmd->payload_out[1] = bits_last_byte & 0xFF;
+ cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
+ cmd->payload_out[3] = tms_sequence_start;
+ cmd->payload_out[4] = tms_sequence_end;
+
+ /* Setup payload_out for types with OUT transfer */
+ if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
+ for (i = 0; i < scan_size_bytes; i++) {
+ cmd->payload_out[i + 5] = tdi[i];
+ }
+ }
+
+ /* Setup payload_in pointers for types with IN transfer */
+ if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
+ cmd->payload_in_start = tdo_start;
+ cmd->payload_in = tdo;
+ cmd->payload_in_size = scan_size_bytes;
+ }
+
+ cmd->needs_postprocessing = postprocess;
+ cmd->cmd_origin = origin;
+
+ /* For scan commands, we free payload_in_start only when the command is
+ * the last in a series of split commands or a stand-alone command */
+ cmd->free_payload_in_start = postprocess;
+
+ return ulink_append_queue(device, cmd);
+}
+
+/**
+ * Perform TAP state transitions
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param count defines the number of TCK clock cycles generated (up to 8).
+ * @param sequence defines the TMS pin levels for each state transition. The
+ * Least-Significant Bit is read first.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
+ uint8_t sequence)
+{
+ ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
+ int ret;
+
+ if (cmd == NULL) {
+ return ERROR_FAIL;
+ }
+
+ cmd->id = CMD_CLOCK_TMS;
+
+ /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
+ ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ cmd->payload_out[0] = count;
+ cmd->payload_out[1] = sequence;
+
+ return ulink_append_queue(device, cmd);
+}
+
+/**
+ * Generate a defined amount of TCK clock cycles
+ *
+ * All other JTAG signals are left unchanged.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param count the number of TCK clock cycles to generate.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
+{
+ ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
+ int ret;
+
+ if (cmd == NULL) {
+ return ERROR_FAIL;
+ }
+
+ cmd->id = CMD_CLOCK_TCK;
+
+ /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
+ ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ cmd->payload_out[0] = count & 0xff;
+ cmd->payload_out[1] = (count >> 8) & 0xff;
+
+ return ulink_append_queue(device, cmd);
+}
+
+/**
+ * Read JTAG signals.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_append_get_signals_cmd(struct ulink *device)
+{
+ ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
+ int ret;
+
+ if (cmd == NULL) {
+ return ERROR_FAIL;
+ }
+
+ cmd->id = CMD_GET_SIGNALS;
+ cmd->needs_postprocessing = true;
+
+ /* CMD_GET_SIGNALS has two IN payload bytes */
+ ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
+
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ return ulink_append_queue(device, cmd);
+}
+
+/**
+ * Arbitrarily set JTAG output signals.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param low defines which signals will be de-asserted. Each bit corresponds
+ * to a JTAG signal:
+ * - SIGNAL_TDI
+ * - SIGNAL_TMS
+ * - SIGNAL_TCK
+ * - SIGNAL_TRST
+ * - SIGNAL_BRKIN
+ * - SIGNAL_RESET
+ * - SIGNAL_OCDSE
+ * @param high defines which signals will be asserted.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
+ uint8_t high)
+{
+ ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
+ int ret;
+
+ if (cmd == NULL) {
+ return ERROR_FAIL;
+ }
+
+ cmd->id = CMD_SET_SIGNALS;
+
+ /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
+ ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
+
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ cmd->payload_out[0] = low;
+ cmd->payload_out[1] = high;
+
+ return ulink_append_queue(device, cmd);;
+}
+
+/**
+ * Sleep for a pre-defined number of microseconds
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param us the number microseconds to sleep.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
+{
+ ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
+ int ret;
+
+ if (cmd == NULL) {
+ return ERROR_FAIL;
+ }
+
+ cmd->id = CMD_SLEEP_US;
+
+ /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
+ ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
+
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ cmd->payload_out[0] = us & 0x00ff;
+ cmd->payload_out[1] = (us >> 8) & 0x00ff;
+
+ return ulink_append_queue(device, cmd);
+}
+
+/**
+ * Set TCK delay counters
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param delay_scan delay count top value in jtag_slow_scan() functions
+ * @param delay_tck delay count top value in jtag_clock_tck() function
+ * @param delay_tms delay count top value in jtag_slow_clock_tms() function
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_append_configure_tck_cmd(struct ulink *device, uint8_t delay_scan,
+ uint8_t delay_tck, uint8_t delay_tms)
+{
+ ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
+ int ret;
+
+ if (cmd == NULL) {
+ return ERROR_FAIL;
+ }
+
+ cmd->id = CMD_CONFIGURE_TCK_FREQ;
+
+ /* CMD_CONFIGURE_TCK_FREQ has three OUT payload bytes and zero
+ * IN payload bytes */
+ ret = ulink_allocate_payload(cmd, 3, PAYLOAD_DIRECTION_OUT);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ cmd->payload_out[0] = delay_scan;
+ cmd->payload_out[1] = delay_tck;
+ cmd->payload_out[2] = delay_tms;
+
+ return ulink_append_queue(device, cmd);
+}
+
+/**
+ * Turn on/off ULINK LEDs.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param led_state which LED(s) to turn on or off. The following bits
+ * influence the LEDS:
+ * - Bit 0: Turn COM LED on
+ * - Bit 1: Turn RUN LED on
+ * - Bit 2: Turn COM LED off
+ * - Bit 3: Turn RUN LED off
+ * If both the on-bit and the off-bit for the same LED is set, the LED is
+ * turned off.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
+{
+ ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
+ int ret;
+
+ if (cmd == NULL) {
+ return ERROR_FAIL;
+ }
+
+ cmd->id = CMD_SET_LEDS;
+
+ /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
+ ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ cmd->payload_out[0] = led_state;
+
+ return ulink_append_queue(device, cmd);
+}
+
+/**
+ * Test command. Used to check if the ULINK device is ready to accept new
+ * commands.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_append_test_cmd(struct ulink *device)
+{
+ ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
+ int ret;
+
+ if (cmd == NULL) {
+ return ERROR_FAIL;
+ }
+
+ cmd->id = CMD_TEST;
+
+ /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
+ ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ cmd->payload_out[0] = 0xAA;
+
+ return ulink_append_queue(device, cmd);
+}
+
+/******************* Interface between OpenULINK and OpenOCD ******************/
+
+/**
+ * Perform a scan operation on a JTAG register.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
+{
+ uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
+ uint32_t scans_max_payload, bytecount;
+ uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
+ uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
+
+ uint8_t first_tms_count, first_tms_sequence;
+ uint8_t last_tms_count, last_tms_sequence;
+
+ uint8_t tms_count_pause, tms_sequence_pause;
+ uint8_t tms_count_resume, tms_sequence_resume;
+
+ uint8_t tms_count_start, tms_sequence_start;
+ uint8_t tms_count_end, tms_sequence_end;
+
+ enum scan_type type;
+ int ret;
+
+ /* Determine scan size */
+ scan_size_bits = jtag_scan_size(cmd->cmd.scan);
+ scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
+
+ /* Determine scan type (IN/OUT/IO) */
+ type = jtag_scan_type(cmd->cmd.scan);
+
+ /* Determine number of scan commands */
+ scans_max_payload = scan_size_bytes / 58;
+
+ /* Determine size of last shift command */
+ bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
+
+ /* Allocate TDO buffer if required */
+ if ((type == SCAN_IN) || (type == SCAN_IO)) {
+ tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
+
+ if (tdo_buffer_start == NULL) {
+ return ERROR_FAIL;
+ }
+
+ tdo_buffer = tdo_buffer_start;
+ }
+
+ /* Fill TDI buffer if required */
+ if ((type == SCAN_OUT) || (type == SCAN_IO)) {
+ jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
+ tdi_buffer = tdi_buffer_start;
+ }
+
+ /* Get TAP state transitions */
+ if (cmd->cmd.scan->ir_scan) {
+ ulink_set_end_state(TAP_IRSHIFT);
+ first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+ first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+
+ tap_set_state(TAP_IRSHIFT);
+ tap_set_end_state(cmd->cmd.scan->end_state);
+ last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+ last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+
+ /* TAP state transitions for split scans */
+ tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
+ tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
+ tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
+ tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
+ }
+ else {
+ ulink_set_end_state(TAP_DRSHIFT);
+ first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+ first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+
+ tap_set_state(TAP_DRSHIFT);
+ tap_set_end_state(cmd->cmd.scan->end_state);
+ last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+ last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+
+ /* TAP state transitions for split scans */
+ tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
+ tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
+ tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
+ tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
+ }
+
+ /* Generate scan commands with full payload */
+ bytecount = scan_size_bytes;
+ while (bytecount > 0) {
+ if (bytecount == scan_size_bytes) {
+ /* This is the first scan */
+ tms_count_start = first_tms_count;
+ tms_sequence_start = first_tms_sequence;
+ }
+ else {
+ /* Resume from previous scan */
+ tms_count_start = tms_count_resume;
+ tms_sequence_start = tms_sequence_resume;
+ }
+
+ if (bytecount > 58) { /* Full scan, at least one scan will follow */
+ tms_count_end = tms_count_pause;
+ tms_sequence_end = tms_sequence_pause;
+
+ ret = ulink_append_scan_cmd(device, type, 58 * 8, tdi_buffer,
+ tdo_buffer_start, tdo_buffer, tms_count_start, tms_sequence_start,
+ tms_count_end, tms_sequence_end, cmd, false);
+
+ bytecount -= 58;
+
+ /* Update TDI and TDO buffer pointers */
+ if (tdi_buffer_start != NULL) {
+ tdi_buffer += 58;
+ }
+ if (tdo_buffer_start != NULL) {
+ tdo_buffer += 58;
+ }
+ }
+ else if (bytecount == 58) { /* Full scan, no further scans */
+ tms_count_end = last_tms_count;
+ tms_sequence_end = last_tms_sequence;
+
+ ret = ulink_append_scan_cmd(device, type, 58 * 8, tdi_buffer,
+ tdo_buffer_start, tdo_buffer, tms_count_start, tms_sequence_start,
+ tms_count_end, tms_sequence_end, cmd, true);
+
+ bytecount = 0;
+ }
+ else { /* Scan with less than maximum payload, no further scans */
+ tms_count_end = last_tms_count;
+ tms_sequence_end = last_tms_sequence;
+
+ ret = ulink_append_scan_cmd(device, type, bits_last_scan, tdi_buffer,
+ tdo_buffer_start, tdo_buffer, tms_count_start, tms_sequence_start,
+ tms_count_end, tms_sequence_end, cmd, true);
+
+ bytecount = 0;
+ }
+
+ if (ret != ERROR_OK) {
+ free(tdi_buffer_start);
+ return ret;
+ }
+ }
+
+ free(tdi_buffer_start);
+
+ /* Set current state to the end state requested by the command */
+ tap_set_state(cmd->cmd.scan->end_state);
+
+ return ERROR_OK;
+}
+
+/**
+ * Sets the end state follower (see interface.h) if \a endstate is a stable
+ * state.
+ *
+ * @param endstate the state the end state follower should be set to.
+ */
+static void ulink_set_end_state(tap_state_t endstate)
+{
+ if (tap_is_state_stable(endstate)) {
+ tap_set_end_state(endstate);
+ }
+ else {
+ LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
+ exit( EXIT_FAILURE);
+ }
+}
+
+/**
+ * Move from the current TAP state to the current TAP end state.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_queue_statemove(struct ulink *device)
+{
+ uint8_t tms_sequence, tms_count;
+ int ret;
+
+ if (tap_get_state() == tap_get_end_state()) {
+ /* Do nothing if we are already there */
+ return ERROR_OK;
+ }
+
+ tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+ tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+
+ ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
+
+ if (ret == ERROR_OK) {
+ tap_set_state(tap_get_end_state());
+ }
+
+ return ret;
+}
+
+/**
+ * Execute a JTAG_RESET command
+ *
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
+{
+ uint8_t low = 0, high = 0;
+
+ if (cmd->cmd.reset->trst) {
+ tap_set_state(TAP_RESET);
+ high |= SIGNAL_TRST;
+ }
+ else {
+ low |= SIGNAL_TRST;
+ }
+
+ if (cmd->cmd.reset->srst) {
+ high |= SIGNAL_RESET;
+ }
+ else {
+ low |= SIGNAL_RESET;
+ }
+
+ return ulink_append_set_signals_cmd(device, low, high);
+}
+
+/**
+ * Run Test.
+ *
+ * Generate TCK clock cycles while remaining
+ * in the Run-Test/Idle state.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
+{
+ int ret;
+
+ /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
+ if (tap_get_state() != TAP_IDLE) {
+ ulink_set_end_state(TAP_IDLE);
+ ulink_queue_statemove(device);
+ }
+
+ /* Generate the clock cycles */
+ ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ /* Move to end state specified in command */
+ if (cmd->cmd.runtest->end_state != tap_get_state()) {
+ tap_set_end_state(cmd->cmd.runtest->end_state);
+ ulink_queue_statemove(device);
+ }
+
+ return ERROR_OK;
+}
+
+/**
+ * Move the TAP into the Test Logic Reset state.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
+{
+ int ret;
+
+ ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
+
+ if (ret == ERROR_OK) {
+ tap_set_state(TAP_RESET);
+ }
+
+ return ret;
+}
+
+/**
+ * Move to one TAP state or several states in succession.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
+{
+ // TODO: Implement this!
+ return ERROR_OK;
+}
+
+/**
+ * Sleep for a specific amount of time.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
+{
+ /* IMPORTANT! Due to the time offset in command execution introduced by
+ * command queueing, this needs to be implemented in the ULINK device */
+ return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
+}
+
+/**
+ * Post-process JTAG_SCAN command
+ *
+ * @param ulink_cmd pointer to OpenULINK command that shall be processed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_post_process_scan(ulink_cmd_t *ulink_cmd)
+{
+ struct jtag_command *cmd = ulink_cmd->cmd_origin;
+ int ret;
+
+ switch (jtag_scan_type(cmd->cmd.scan)) {
+ case SCAN_IN:
+ case SCAN_IO:
+ ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
+ break;
+ case SCAN_OUT:
+ /* Nothing to do for OUT scans */
+ ret = ERROR_OK;
+ break;
+ default:
+ LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
+ " JTAG scan type");
+ ret = ERROR_FAIL;
+ break;
+ }
+
+ return ret;
+}
+
+/**
+ * Perform post-processing of commands after OpenULINK queue has been executed.
+ *
+ * @param device pointer to struct ulink identifying ULINK driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+int ulink_post_process_queue(struct ulink *device)
+{
+ ulink_cmd_t *current;
+ struct jtag_command *openocd_cmd;
+ int ret;
+
+ current = device->queue_start;
+
+ while (current != NULL) {
+ openocd_cmd = current->cmd_origin;
+
+ /* Check if a corresponding OpenOCD command is stored for this
+ * OpenULINK command */
+ if ((current->needs_postprocessing == true) && (openocd_cmd != NULL)) {
+ switch (openocd_cmd->type) {
+ case JTAG_SCAN:
+ ret = ulink_post_process_scan(current);
+ break;
+ case JTAG_RUNTEST:
+ case JTAG_TLR_RESET:
+ case JTAG_PATHMOVE:
+ case JTAG_RESET:
+ case JTAG_SLEEP:
+ /* Nothing to do for these commands */
+ ret = ERROR_OK;
+ break;
+ default:
+ ret = ERROR_FAIL;
+ LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
+ "command type");
+ }
+
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+ }
+
+ current = current->next;
+ }
+
+ return ERROR_OK;
+}
+
+/**************************** JTAG driver functions ***************************/
+
+/**
+ * Executes the JTAG Command Queue.
+ *
+ * This is done in three stages: First, all OpenOCD commands are processed into
+ * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
+ * ULINK device and data received from the ULINK device is cached. Finally,
+ * the post-processing function writes back data to the corresponding OpenOCD
+ * commands.
+ *
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int ulink_execute_queue(void)
+{
+ struct jtag_command *cmd = jtag_command_queue;
+ int ret;
+
+ while (cmd) {
+ switch (cmd->type) {
+ case JTAG_SCAN:
+ ret = ulink_queue_scan(ulink_handle, cmd);
+ break;
+ case JTAG_RUNTEST:
+ ret = ulink_queue_runtest(ulink_handle, cmd);
+ break;
+ case JTAG_TLR_RESET:
+ ret = ulink_queue_tlr_reset(ulink_handle, cmd);
+ break;
+ case JTAG_PATHMOVE:
+ ret = ulink_queue_pathmove(ulink_handle, cmd);
+ break;
+ case JTAG_RESET:
+ ret = ulink_queue_reset(ulink_handle, cmd);
+ break;
+ case JTAG_SLEEP:
+ ret = ulink_queue_sleep(ulink_handle, cmd);
+ break;
+ default:
+ ret = ERROR_FAIL;
+ LOG_ERROR("BUG: encountered unknown JTAG command type");
+ }
+
+ cmd = cmd->next;
+ }
+
+ if (ulink_handle->commands_in_queue > 0) {
+ ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ ret = ulink_post_process_queue(ulink_handle);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ ulink_clear_queue(ulink_handle);
+ }
+
+ return ERROR_OK;
+}
+
+/**
+ * Set the TCK frequency of the ULINK adapter.
+ *
+ * @param khz ???
+ * @param jtag_speed ???
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int ulink_khz(int khz, int *jtag_speed)
+{
+ if (khz == 0) {
+ LOG_ERROR("RCLK not supported");
+ return ERROR_FAIL;
+ }
+
+ LOG_INFO("ulink_khz: %i kHz", khz);
+
+ /* ULINK maximum TCK frequency is ~ 150 kHz */
+ if (khz > 150) {
+ return ERROR_FAIL;
+ }
+
+ *jtag_speed = 0;
+
+ return ERROR_OK;
+}
+
+/**
+ * Set the TCK frequency of the ULINK adapter.
+ *
+ * @param speed ???
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int ulink_speed(int speed)
+{
+ return ERROR_OK;
+}
+
+/**
+ *
+ */
+static int ulink_speed_div(int speed, int *khz)
+{
+ LOG_INFO("ulink_speed_div: %i", speed);
+
+ switch (speed) {
+ case 0:
+ *khz = 150;
+ break;
+ case 1:
+ *khz = 100;
+ break;
+ }
+
+ return ERROR_OK;
+}
+
+/**
+ * Initiates the firmware download to the ULINK adapter and prepares
+ * the USB handle.
+ *
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int ulink_init(void)
+{
+ int ret;
+ char str_manufacturer[20];
+ bool download_firmware = false;
+ uint8_t *dummy;
+ uint8_t input_signals, output_signals;
+
+ ulink_handle = calloc(1, sizeof(struct ulink));
+ if (ulink_handle == NULL) {
+ return ERROR_FAIL;
+ }
+
+ usb_init();
+
+ ret = ulink_usb_open(&ulink_handle);
+ if (ret != ERROR_OK) {
+ LOG_ERROR("Could not open ULINK device");
+ return ret;
+ }
+
+ /* Get String Descriptor to determine if firmware needs to be loaded */
+ ret = usb_get_string_simple(ulink_handle->usb_handle, 1, str_manufacturer, 20);
+ if (ret < 0) {
+ /* Could not get descriptor -> Unconfigured or original Keil firmware */
+ download_firmware = true;
+ }
+ else {
+ /* We got a String Descriptor, check if it is the correct one */
+ if (strncmp(str_manufacturer, "OpenULINK", 9) != 0) {
+ download_firmware = true;
+ }
+ }
+
+ if (download_firmware == true) {
+ LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
+ " ULINK device.");
+ ret = ulink_load_firmware_and_renumerate(&ulink_handle,
+ ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
+ if (ret != ERROR_OK) {
+ LOG_ERROR("Could not download firmware and re-numerate ULINK");
+ return ret;
+ }
+ }
+ else {
+ LOG_INFO("ULINK device is already running OpenULINK firmware");
+ }
+
+ /* Initialize OpenULINK command queue */
+ ulink_clear_queue(ulink_handle);
+
+ /* Issue one test command with short timeout */
+ ret = ulink_append_test_cmd(ulink_handle);
+ if (ret != ERROR_OK) {
+ return ret;
+ }
+
+ ret = ulink_execute_queued_commands(ulink_handle, 200);
+ if (ret != ERROR_OK) {
+ /* Sending test command failed. The ULINK device may be forever waiting for
+ * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
+ * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
+ dummy = calloc(64, sizeof(uint8_t));
+
+ ret = usb_bulk_read(ulink_handle->usb_handle, (2 | USB_ENDPOINT_IN),
+ (char *)dummy, 64, 200);
+
+ free(dummy);
+
+ if (ret < 0) {
+ /* Bulk IN transfer failed -> unrecoverable error condition */
+ LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
+ "the USB port and re-connect, then re-run OpenOCD");
+ return ERROR_FAIL;
+ }
+#ifdef _DEBUG_USB_COMMS_
+ else {
+ /* Successfully received Bulk IN packet -> continue */
+ LOG_INFO("Recovered from lost Bulk IN packet");
+ }
+#endif
+ }
+ ulink_clear_queue(ulink_handle);
+
+ ulink_append_get_signals_cmd(ulink_handle);
+ ulink_execute_queued_commands(ulink_handle, 200);
+
+ /* Post-process the single CMD_GET_SIGNALS command */
+ input_signals = ulink_handle->queue_start->payload_in[0];
+ output_signals = ulink_handle->queue_start->payload_in[1];
+
+ ulink_print_signal_states(input_signals, output_signals);
+
+ ulink_clear_queue(ulink_handle);
+
+ return ERROR_OK;
+}
+
+/**
+ * Closes the USB handle for the ULINK device.
+ *
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int ulink_quit(void)
+{
+ int ret;
+
+ ret = ulink_usb_close(&ulink_handle);
+ free(ulink_handle);
+
+ return ret;
+}
+
+/*************************** Command Registration **************************/
+
+struct jtag_interface ulink_interface = {
+ .name = "ulink",
+ .transports = jtag_only,
+
+ .execute_queue = ulink_execute_queue,
+ .khz = ulink_khz,
+ .speed = ulink_speed,
+ .speed_div = ulink_speed_div,
+
+ .init = ulink_init,
+ .quit = ulink_quit
+};
Code Review / openocd.git / commitdiff