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openocd/src/jtag/drivers/ulink.c

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/***************************************************************************
* Copyright (C) 2011-2013 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., *
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
***************************************************************************/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <math.h>
#include <jtag/interface.h>
#include <jtag/commands.h>
#include <target/image.h>
#include <libusb.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
/** Default location of OpenULINK firmware image. */
#define ULINK_FIRMWARE_FILE PKGDATADIR "/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
};
enum ulink_delay_type {
DELAY_CLOCK_TCK,
DELAY_CLOCK_TMS,
DELAY_SCAN_IN,
DELAY_SCAN_OUT,
DELAY_SCAN_IO
};
/**
* 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) */
};
/** Describes one driver instance */
struct ulink {
struct libusb_context *libusb_ctx;
struct libusb_device_handle *usb_device_handle;
enum ulink_type type;
int delay_scan_in; /**< Delay value for SCAN_IN commands */
int delay_scan_out; /**< Delay value for SCAN_OUT commands */
int delay_scan_io; /**< Delay value for SCAN_IO commands */
int delay_clock_tck; /**< Delay value for CLOCK_TMS commands */
int delay_clock_tms; /**< Delay value for CLOCK_TCK commands */
int commands_in_queue; /**< Number of commands in queue */
struct ulink_cmd *queue_start; /**< Pointer to first command in queue */
struct ulink_cmd *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, unsigned char reset_bit);
int ulink_load_firmware_and_renumerate(struct ulink **device, const char *filename,
uint32_t delay);
int ulink_load_firmware(struct ulink *device, const 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(struct ulink_cmd *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, struct ulink_cmd *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(struct ulink_cmd *ulink_cmd);
void ulink_print_queue(struct ulink *device);
static int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f);
#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,
int delay_scan_in,
int delay_scan_out,
int delay_scan_io,
int delay_tck,
int delay_tms);
int ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
int ulink_append_test_cmd(struct ulink *device);
/* OpenULINK TCK frequency helper functions */
int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay);
/* Interface between OpenULINK and OpenOCD */
static void ulink_set_end_state(tap_state_t endstate);
int ulink_queue_statemove(struct ulink *device);
int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
int ulink_queue_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);
int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
int ulink_post_process_scan(struct ulink_cmd *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.
*
* Currently, only the original ULINK is supported
*
* @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)
{
ssize_t num_devices, i;
bool found;
libusb_device **usb_devices;
struct libusb_device_descriptor usb_desc;
struct libusb_device_handle *usb_device_handle;
num_devices = libusb_get_device_list((*device)->libusb_ctx, &usb_devices);
if (num_devices <= 0)
return ERROR_FAIL;
found = false;
for (i = 0; i < num_devices; i++) {
if (libusb_get_device_descriptor(usb_devices[i], &usb_desc) != 0)
continue;
else if (usb_desc.idVendor == ULINK_VID && usb_desc.idProduct == ULINK_PID) {
found = true;
break;
}
}
if (!found)
return ERROR_FAIL;
if (libusb_open(usb_devices[i], &usb_device_handle) != 0)
return ERROR_FAIL;
libusb_free_device_list(usb_devices, 1);
if (libusb_claim_interface(usb_device_handle, 0) != 0)
return ERROR_FAIL;
(*device)->usb_device_handle = usb_device_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 (libusb_release_interface((*device)->usb_device_handle, 0) != 0)
return ERROR_FAIL;
libusb_close((*device)->usb_device_handle);
(*device)->usb_device_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, unsigned char reset_bit)
{
int ret;
ret = libusb_control_transfer(device->usb_device_handle,
(LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_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,
const 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, const 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, filename, "ihex");
if (ret != ERROR_OK) {
LOG_ERROR("Could not load firmware image");
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);
/* 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 = libusb_control_transfer(device->usb_device_handle,
(LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (unsigned 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), /* Inverted by hardware */
(output_signals & SIGNAL_RESET ? 0 : 1)); /* Inverted 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(struct ulink_cmd *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");
free(payload);
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");
free(payload);
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)
{
struct ulink_cmd *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)
{
struct ulink_cmd *current = device->queue_start;
struct ulink_cmd *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, struct ulink_cmd *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)
{
struct ulink_cmd *current;
int ret, i, index_out, index_in, count_out, count_in, transferred;
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 = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_OUT),
(unsigned char *)buffer, count_out, &transferred, timeout);
if (ret != 0)
return ERROR_FAIL;
if (transferred != count_out)
return ERROR_FAIL;
/* Wait for response if commands contain IN payload data */
if (count_in > 0) {
ret = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
(unsigned char *)buffer, 64, &transferred, timeout);
if (ret != 0)
return ERROR_FAIL;
if (transferred != 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_SLOW_CLOCK_TCK:
return "CMD_SLOW_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(struct ulink_cmd *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)
{
struct ulink_cmd *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)
{
struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
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");
free(cmd);
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 */
switch (scan_type) {
case SCAN_IN:
if (device->delay_scan_in < 0)
cmd->id = CMD_SCAN_IN;
else
cmd->id = CMD_SLOW_SCAN_IN;
ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
break;
case SCAN_OUT:
if (device->delay_scan_out < 0)
cmd->id = CMD_SCAN_OUT;
else
cmd->id = CMD_SLOW_SCAN_OUT;
ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
break;
case SCAN_IO:
if (device->delay_scan_io < 0)
cmd->id = CMD_SCAN_IO;
else
cmd->id = CMD_SLOW_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;
break;
}
if (ret != ERROR_OK) {
free(cmd);
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)
{
struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
int ret;
if (cmd == NULL)
return ERROR_FAIL;
if (device->delay_clock_tms < 0)
cmd->id = CMD_CLOCK_TMS;
else
cmd->id = CMD_SLOW_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) {
free(cmd);
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)
{
struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
int ret;
if (cmd == NULL)
return ERROR_FAIL;
if (device->delay_clock_tck < 0)
cmd->id = CMD_CLOCK_TCK;
else
cmd->id = CMD_SLOW_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) {
free(cmd);
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)
{
struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
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) {
free(cmd);
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)
{
struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
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) {
free(cmd);
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)
{
struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
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) {
free(cmd);
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_in delay count top value in jtag_slow_scan_in() function.
* @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
* @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
* @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, int delay_scan_in,
int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
{
struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
int ret;
if (cmd == NULL)
return ERROR_FAIL;
cmd->id = CMD_CONFIGURE_TCK_FREQ;
/* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
* IN payload bytes */
ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
if (ret != ERROR_OK) {
free(cmd);
return ret;
}
if (delay_scan_in < 0)
cmd->payload_out[0] = 0;
else
cmd->payload_out[0] = (uint8_t)delay_scan_in;
if (delay_scan_out < 0)
cmd->payload_out[1] = 0;
else
cmd->payload_out[1] = (uint8_t)delay_scan_out;
if (delay_scan_io < 0)
cmd->payload_out[2] = 0;
else
cmd->payload_out[2] = (uint8_t)delay_scan_io;
if (delay_tck < 0)
cmd->payload_out[3] = 0;
else
cmd->payload_out[3] = (uint8_t)delay_tck;
if (delay_tms < 0)
cmd->payload_out[4] = 0;
else
cmd->payload_out[4] = (uint8_t)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)
{
struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
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) {
free(cmd);
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)
{
struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
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) {
free(cmd);
return ret;
}
cmd->payload_out[0] = 0xAA;
return ulink_append_queue(device, cmd);
}
/****************** OpenULINK TCK frequency helper functions ******************/
/**
* Calculate delay values for a given TCK frequency.
*
* The OpenULINK firmware uses five different speed values for different
* commands. These speed values are calculated in these functions.
*
* The five different commands which support variable TCK frequency are
* implemented twice in the firmware:
* 1. Maximum possible frequency without any artificial delay
* 2. Variable frequency with artificial linear delay loop
*
* To set the ULINK to maximum frequency, it is only neccessary to use the
* corresponding command IDs. To set the ULINK to a lower frequency, the
* delay loop top values have to be calculated first. Then, a
* CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
*
* The delay values are described by linear equations:
* t = k * x + d
* (t = period, k = constant, x = delay value, d = constant)
*
* Thus, the delay can be calculated as in the following equation:
* x = (t - d) / k
*
* The constants in these equations have been determined and validated by
* measuring the frequency resulting from different delay values.
*
* @param type for which command to calculate the delay value.
* @param f TCK frequency for which to calculate the delay value in Hz.
* @param delay where to store resulting delay value.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
{
float t, x, x_ceil;
/* Calculate period of requested TCK frequency */
t = 1.0 / (float)(f);
switch (type) {
case DELAY_CLOCK_TCK:
x = (t - (float)(6E-6)) / (float)(4E-6);
break;
case DELAY_CLOCK_TMS:
x = (t - (float)(8.5E-6)) / (float)(4E-6);
break;
case DELAY_SCAN_IN:
x = (t - (float)(8.8308E-6)) / (float)(4E-6);
break;
case DELAY_SCAN_OUT:
x = (t - (float)(1.0527E-5)) / (float)(4E-6);
break;
case DELAY_SCAN_IO:
x = (t - (float)(1.3132E-5)) / (float)(4E-6);
break;
default:
return ERROR_FAIL;
break;
}
/* Check if the delay value is negative. This happens when a frequency is
* requested that is too high for the delay loop implementation. In this
* case, set delay value to zero. */
if (x < 0)
x = 0;
/* We need to convert the exact delay value to an integer. Therefore, we
* round the exact value UP to ensure that the resulting frequency is NOT
* higher than the requested frequency. */
x_ceil = ceilf(x);
/* Check if the value is within limits */
if (x_ceil > 255)
return ERROR_FAIL;
*delay = (int)x_ceil;
return ERROR_OK;
}
#ifdef _DEBUG_JTAG_IO_
/**
* Calculate frequency for a given delay value.
*
* Similar to the #ulink_calculate_delay function, this function calculates the
* TCK frequency for a given delay value by using linear equations of the form:
* t = k * x + d
* (t = period, k = constant, x = delay value, d = constant)
*
* @param type for which command to calculate the delay value.
* @param delay delay value for which to calculate the resulting TCK frequency.
* @param f where to store the resulting TCK frequency.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f)
{
float t, f_float, f_rounded;
if (delay > 255)
return ERROR_FAIL;
switch (type) {
case DELAY_CLOCK_TCK:
if (delay < 0)
t = (float)(2.666E-6);
else
t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
break;
case DELAY_CLOCK_TMS:
if (delay < 0)
t = (float)(5.666E-6);
else
t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
break;
case DELAY_SCAN_IN:
if (delay < 0)
t = (float)(5.5E-6);
else
t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
break;
case DELAY_SCAN_OUT:
if (delay < 0)
t = (float)(7.0E-6);
else
t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
break;
case DELAY_SCAN_IO:
if (delay < 0)
t = (float)(9.926E-6);
else
t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
break;
default:
return ERROR_FAIL;
break;
}
f_float = 1.0 / t;
f_rounded = roundf(f_float);
*f = (long)f_rounded;
return ERROR_OK;
}
#endif
/******************* Interface between OpenULINK and OpenOCD ******************/
/**
* 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;
}
/**
* 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 with maximum payload */
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 */
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;
}
/**
* 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;
}
/**
* 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;
}
/**
* 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);
}
/**
* 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)
{
int ret, i, num_states, batch_size, state_count;
tap_state_t *path;
uint8_t tms_sequence;
num_states = cmd->cmd.pathmove->num_states;
path = cmd->cmd.pathmove->path;
state_count = 0;
while (num_states > 0) {
tms_sequence = 0;
/* Determine batch size */
if (num_states >= 8)
batch_size = 8;
else
batch_size = num_states;
for (i = 0; i < batch_size; i++) {
if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
/* Append '0' transition: clear bit 'i' in tms_sequence */
buf_set_u32(&tms_sequence, i, 1, 0x0);
} else if (tap_state_transition(tap_get_state(), true)
== path[state_count]) {
/* Append '1' transition: set bit 'i' in tms_sequence */
buf_set_u32(&tms_sequence, i, 1, 0x1);
} else {
/* Invalid state transition */
LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
tap_state_name(tap_get_state()),
tap_state_name(path[state_count]));
return ERROR_FAIL;
}
tap_set_state(path[state_count]);
state_count++;
num_states--;
}
/* Append CLOCK_TMS command to OpenULINK command queue */
LOG_INFO(
"pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
if (ret != ERROR_OK)
return ret;
}
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);
}
/**
* Generate TCK cycles while remaining in a stable state.
*
* @param device pointer to struct ulink identifying ULINK driver instance.
* @param cmd pointer to the command that shall be executed.
*/
int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
{
int ret;
unsigned num_cycles;
if (!tap_is_state_stable(tap_get_state())) {
LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
return ERROR_FAIL;
}
num_cycles = cmd->cmd.stableclocks->num_cycles;
/* TMS stays either high (Test Logic Reset state) or low (all other states) */
if (tap_get_state() == TAP_RESET)
ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
else
ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
if (ret != ERROR_OK)
return ret;
while (num_cycles > 0) {
if (num_cycles > 0xFFFF) {
/* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
num_cycles -= 0xFFFF;
} else {
ret = ulink_append_clock_tck_cmd(device, num_cycles);
num_cycles = 0;
}
if (ret != ERROR_OK)
return ret;
}
return ERROR_OK;
}
/**
* 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(struct ulink_cmd *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)
{
struct ulink_cmd *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_TLR_RESET:
case JTAG_RUNTEST:
case JTAG_RESET:
case JTAG_PATHMOVE:
case JTAG_SLEEP:
case JTAG_STABLECLOCKS:
/* 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");
break;
}
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_TLR_RESET:
ret = ulink_queue_tlr_reset(ulink_handle, cmd);
break;
case JTAG_RUNTEST:
ret = ulink_queue_runtest(ulink_handle, cmd);
break;
case JTAG_RESET:
ret = ulink_queue_reset(ulink_handle, cmd);
break;
case JTAG_PATHMOVE:
ret = ulink_queue_pathmove(ulink_handle, cmd);
break;
case JTAG_SLEEP:
ret = ulink_queue_sleep(ulink_handle, cmd);
break;
case JTAG_STABLECLOCKS:
ret = ulink_queue_stableclocks(ulink_handle, cmd);
break;
default:
ret = ERROR_FAIL;
LOG_ERROR("BUG: encountered unknown JTAG command type");
break;
}
if (ret != ERROR_OK)
return ret;
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 desired JTAG TCK frequency.
* @param jtag_speed where to store corresponding adapter-specific speed value.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int ulink_khz(int khz, int *jtag_speed)
{
int ret;
if (khz == 0) {
LOG_ERROR("RCLK not supported");
return ERROR_FAIL;
}
/* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
* setting can be done independently from all other commands. */
if (khz >= 375)
ulink_handle->delay_clock_tck = -1;
else {
ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
&ulink_handle->delay_clock_tck);
if (ret != ERROR_OK)
return ret;
}
/* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
* requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
* commands, all SCAN commands MUST also use the variable frequency
* implementation! */
if (khz >= 176) {
ulink_handle->delay_clock_tms = -1;
ulink_handle->delay_scan_in = -1;
ulink_handle->delay_scan_out = -1;
ulink_handle->delay_scan_io = -1;
} else {
ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
&ulink_handle->delay_clock_tms);
if (ret != ERROR_OK)
return ret;
ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
&ulink_handle->delay_scan_in);
if (ret != ERROR_OK)
return ret;
ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
&ulink_handle->delay_scan_out);
if (ret != ERROR_OK)
return ret;
ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
&ulink_handle->delay_scan_io);
if (ret != ERROR_OK)
return ret;
}
#ifdef _DEBUG_JTAG_IO_
long f_tck, f_tms, f_scan_in, f_scan_out, f_scan_io;
ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck,
&f_tck);
ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms,
&f_tms);
ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in,
&f_scan_in);
ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out,
&f_scan_out);
ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io,
&f_scan_io);
DEBUG_JTAG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
ulink_handle->delay_clock_tck, f_tck);
DEBUG_JTAG_IO(" delay_tms = %i (%li Hz),",
ulink_handle->delay_clock_tms, f_tms);
DEBUG_JTAG_IO(" delay_scan_in = %i (%li Hz),",
ulink_handle->delay_scan_in, f_scan_in);
DEBUG_JTAG_IO(" delay_scan_out = %i (%li Hz),",
ulink_handle->delay_scan_out, f_scan_out);
DEBUG_JTAG_IO(" delay_scan_io = %i (%li Hz),",
ulink_handle->delay_scan_io, f_scan_io);
#endif
/* Configure the ULINK device with the new delay values */
ret = ulink_append_configure_tck_cmd(ulink_handle,
ulink_handle->delay_scan_in,
ulink_handle->delay_scan_out,
ulink_handle->delay_scan_io,
ulink_handle->delay_clock_tck,
ulink_handle->delay_clock_tms);
if (ret != ERROR_OK)
return ret;
*jtag_speed = khz;
return ERROR_OK;
}
/**
* Set the TCK frequency of the ULINK adapter.
*
* Because of the way the TCK frequency is set up in the OpenULINK firmware,
* there are five different speed settings. To simplify things, the
* adapter-specific speed setting value is identical to the TCK frequency in
* khz.
*
* @param speed desired adapter-specific speed value.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int ulink_speed(int speed)
{
int dummy;
return ulink_khz(speed, &dummy);
}
/**
* Convert adapter-specific speed value to corresponding TCK frequency in kHz.
*
* Because of the way the TCK frequency is set up in the OpenULINK firmware,
* there are five different speed settings. To simplify things, the
* adapter-specific speed setting value is identical to the TCK frequency in
* khz.
*
* @param speed adapter-specific speed value.
* @param khz where to store corresponding TCK frequency in kHz.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int ulink_speed_div(int speed, int *khz)
{
*khz = speed;
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, transferred;
char str_manufacturer[20];
bool download_firmware = false;
unsigned char *dummy;
uint8_t input_signals, output_signals;
ulink_handle = calloc(1, sizeof(struct ulink));
if (ulink_handle == NULL)
return ERROR_FAIL;
libusb_init(&ulink_handle->libusb_ctx);
ret = ulink_usb_open(&ulink_handle);
if (ret != ERROR_OK) {
LOG_ERROR("Could not open ULINK device");
free(ulink_handle);
ulink_handle = NULL;
return ret;
}
/* Get String Descriptor to determine if firmware needs to be loaded */
ret = libusb_get_string_descriptor_ascii(ulink_handle->usb_device_handle, 1, (unsigned char *)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");
free(ulink_handle);
ulink_handle = NULL;
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 = libusb_bulk_transfer(ulink_handle->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
dummy, 64, &transferred, 200);
free(dummy);
if (ret != 0 || transferred == 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");
free(ulink_handle);
ulink_handle = NULL;
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;
}
/**
* Set a custom path to ULINK firmware image and force downloading to ULINK.
*/
COMMAND_HANDLER(ulink_download_firmware_handler)
{
int ret;
if (CMD_ARGC != 1)
return ERROR_COMMAND_SYNTAX_ERROR;
LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
/* Download firmware image in CMD_ARGV[0] */
ret = ulink_load_firmware_and_renumerate(&ulink_handle, CMD_ARGV[0],
ULINK_RENUMERATION_DELAY);
return ret;
}
/*************************** Command Registration **************************/
static const struct command_registration ulink_command_handlers[] = {
{
.name = "ulink_download_firmware",
.handler = &ulink_download_firmware_handler,
.mode = COMMAND_EXEC,
.help = "download firmware image to ULINK device",
.usage = "path/to/ulink_firmware.hex",
},
COMMAND_REGISTRATION_DONE,
};
struct jtag_interface ulink_interface = {
.name = "ulink",
.commands = ulink_command_handlers,
.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
};
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