1 /***************************************************************************
2 * Copyright (C) 2011 by Martin Schmoelzer *
3 * <martin.schmoelzer@student.tuwien.ac.at> *
5 * This program is free software; you can redistribute it and/or modify *
6 * it under the terms of the GNU General Public License as published by *
7 * the Free Software Foundation; either version 2 of the License, or *
8 * (at your option) any later version. *
10 * This program is distributed in the hope that it will be useful, *
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13 * GNU General Public License for more details. *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program; if not, write to the *
17 * Free Software Foundation, Inc., *
18 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
19 ***************************************************************************/
26 #include <jtag/interface.h>
27 #include <jtag/commands.h>
28 #include <target/image.h>
29 #include <helper/types.h>
30 #include "usb_common.h"
31 #include "OpenULINK/include/msgtypes.h"
33 /** USB Vendor ID of ULINK device in unconfigured state (no firmware loaded
34 * yet) or with OpenULINK firmware. */
35 #define ULINK_VID 0xC251
37 /** USB Product ID of ULINK device in unconfigured state (no firmware loaded
38 * yet) or with OpenULINK firmware. */
39 #define ULINK_PID 0x2710
41 /** Address of EZ-USB CPU Control & Status register. This register can be
42 * written by issuing a Control EP0 vendor request. */
43 #define CPUCS_REG 0x7F92
45 /** USB Control EP0 bRequest: "Firmware Load". */
46 #define REQUEST_FIRMWARE_LOAD 0xA0
48 /** Value to write into CPUCS to put EZ-USB into reset. */
49 #define CPU_RESET 0x01
51 /** Value to write into CPUCS to put EZ-USB out of reset. */
52 #define CPU_START 0x00
54 /** Base address of firmware in EZ-USB code space. */
55 #define FIRMWARE_ADDR 0x0000
57 /** USB interface number */
58 #define USB_INTERFACE 0
60 /** libusb timeout in ms */
61 #define USB_TIMEOUT 5000
63 /** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
64 #define ULINK_RENUMERATION_DELAY 1500000
66 /** Default location of OpenULINK firmware image. */
67 #define ULINK_FIRMWARE_FILE PKGLIBDIR "/OpenULINK/ulink_firmware.hex"
69 /** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
70 #define SECTION_BUFFERSIZE 8192
72 /** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
73 #define SPLIT_SCAN_THRESHOLD 10
75 /** ULINK hardware type */
78 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
79 * Full JTAG support, no SWD support. */
82 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
85 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
88 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
92 enum ulink_payload_direction
94 PAYLOAD_DIRECTION_OUT
,
108 * OpenULINK command (OpenULINK command queue element).
110 * For the OUT direction payload, things are quite easy: Payload is stored
111 * in a rather small array (up to 63 bytes), the payload is always allocated
112 * by the function generating the command and freed by ulink_clear_queue().
114 * For the IN direction payload, things get a little bit more complicated:
115 * The maximum IN payload size for a single command is 64 bytes. Assume that
116 * a single OpenOCD command needs to scan 256 bytes. This results in the
117 * generation of four OpenULINK commands. The function generating these
118 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
119 * pointer shall point to the corresponding offset where IN data shall be
120 * placed, while #payload_in_start shall point to the first element of the 256
122 * - first command: #payload_in_start + 0
123 * - second command: #payload_in_start + 64
124 * - third command: #payload_in_start + 128
125 * - fourth command: #payload_in_start + 192
127 * The last command sets #needs_postprocessing to true.
130 uint8_t id
; ///< ULINK command ID
132 uint8_t *payload_out
; ///< OUT direction payload data
133 uint8_t payload_out_size
; ///< OUT direction payload size for this command
135 uint8_t *payload_in_start
; ///< Pointer to first element of IN payload array
136 uint8_t *payload_in
; ///< Pointer where IN payload shall be stored
137 uint8_t payload_in_size
; ///< IN direction payload size for this command
139 /** Indicates if this command needs post-processing */
140 bool needs_postprocessing
;
142 /** Indicates if ulink_clear_queue() should free payload_in_start */
143 bool free_payload_in_start
;
145 /** Pointer to corresponding OpenOCD command for post-processing */
146 struct jtag_command
*cmd_origin
;
148 struct ulink_cmd
*next
; ///< Pointer to next command (linked list)
151 /** Describes one driver instance */
154 struct usb_dev_handle
*usb_handle
;
155 enum ulink_type type
;
157 int delay_scan_in
; ///< Delay value for SCAN_IN commands
158 int delay_scan_out
; ///< Delay value for SCAN_OUT commands
159 int delay_scan_io
; ///< Delay value for SCAN_IO commands
160 int delay_clock_tck
; ///< Delay value for CLOCK_TMS commands
161 int delay_clock_tms
; ///< Delay value for CLOCK_TCK commands
163 int commands_in_queue
; ///< Number of commands in queue
164 struct ulink_cmd
*queue_start
; ///< Pointer to first command in queue
165 struct ulink_cmd
*queue_end
; ///< Pointer to last command in queue
168 /**************************** Function Prototypes *****************************/
170 /* USB helper functions */
171 int ulink_usb_open(struct ulink
**device
);
172 int ulink_usb_close(struct ulink
**device
);
174 /* ULINK MCU (Cypress EZ-USB) specific functions */
175 int ulink_cpu_reset(struct ulink
*device
, char reset_bit
);
176 int ulink_load_firmware_and_renumerate(struct ulink
**device
, char *filename
,
178 int ulink_load_firmware(struct ulink
*device
, char *filename
);
179 int ulink_write_firmware_section(struct ulink
*device
,
180 struct image
*firmware_image
, int section_index
);
182 /* Generic helper functions */
183 void ulink_print_signal_states(uint8_t input_signals
, uint8_t output_signals
);
185 /* OpenULINK command generation helper functions */
186 int ulink_allocate_payload(struct ulink_cmd
*ulink_cmd
, int size
,
187 enum ulink_payload_direction direction
);
189 /* OpenULINK command queue helper functions */
190 int ulink_get_queue_size(struct ulink
*device
,
191 enum ulink_payload_direction direction
);
192 void ulink_clear_queue(struct ulink
*device
);
193 int ulink_append_queue(struct ulink
*device
, struct ulink_cmd
*ulink_cmd
);
194 int ulink_execute_queued_commands(struct ulink
*device
, int timeout
);
196 #ifdef _DEBUG_JTAG_IO_
197 const char * ulink_cmd_id_string(uint8_t id
);
198 void ulink_print_command(struct ulink_cmd
*ulink_cmd
);
199 void ulink_print_queue(struct ulink
*device
);
202 int ulink_append_scan_cmd(struct ulink
*device
, enum scan_type scan_type
,
203 int scan_size_bits
, uint8_t *tdi
, uint8_t *tdo_start
, uint8_t *tdo
,
204 uint8_t tms_count_start
, uint8_t tms_sequence_start
, uint8_t tms_count_end
,
205 uint8_t tms_sequence_end
, struct jtag_command
*origin
, bool postprocess
);
206 int ulink_append_clock_tms_cmd(struct ulink
*device
, uint8_t count
,
208 int ulink_append_clock_tck_cmd(struct ulink
*device
, uint16_t count
);
209 int ulink_append_get_signals_cmd(struct ulink
*device
);
210 int ulink_append_set_signals_cmd(struct ulink
*device
, uint8_t low
,
212 int ulink_append_sleep_cmd(struct ulink
*device
, uint32_t us
);
213 int ulink_append_configure_tck_cmd(struct ulink
*device
, int delay_scan_in
,
214 int delay_scan_out
, int delay_scan_io
, int delay_tck
, int delay_tms
);
215 int ulink_append_led_cmd(struct ulink
*device
, uint8_t led_state
);
216 int ulink_append_test_cmd(struct ulink
*device
);
218 /* OpenULINK TCK frequency helper functions */
219 int ulink_calculate_delay(enum ulink_delay_type type
, long f
, int *delay
);
220 int ulink_calculate_frequency(enum ulink_delay_type type
, int delay
, long *f
);
222 /* Interface between OpenULINK and OpenOCD */
223 static void ulink_set_end_state(tap_state_t endstate
);
224 int ulink_queue_statemove(struct ulink
*device
);
226 int ulink_queue_scan(struct ulink
*device
, struct jtag_command
*cmd
);
227 int ulink_queue_tlr_reset(struct ulink
*device
, struct jtag_command
*cmd
);
228 int ulink_queue_runtest(struct ulink
*device
, struct jtag_command
*cmd
);
229 int ulink_queue_reset(struct ulink
*device
, struct jtag_command
*cmd
);
230 int ulink_queue_pathmove(struct ulink
*device
, struct jtag_command
*cmd
);
231 int ulink_queue_sleep(struct ulink
*device
, struct jtag_command
*cmd
);
232 int ulink_queue_stableclocks(struct ulink
*device
, struct jtag_command
*cmd
);
234 int ulink_post_process_scan(struct ulink_cmd
*ulink_cmd
);
235 int ulink_post_process_queue(struct ulink
*device
);
237 /* JTAG driver functions (registered in struct jtag_interface) */
238 static int ulink_execute_queue(void);
239 static int ulink_khz(int khz
, int *jtag_speed
);
240 static int ulink_speed(int speed
);
241 static int ulink_speed_div(int speed
, int *khz
);
242 static int ulink_init(void);
243 static int ulink_quit(void);
245 /****************************** Global Variables ******************************/
247 struct ulink
*ulink_handle
;
249 /**************************** USB helper functions ****************************/
252 * Opens the ULINK device and claims its USB interface.
254 * @param device pointer to struct ulink identifying ULINK driver instance.
255 * @return on success: ERROR_OK
256 * @return on failure: ERROR_FAIL
258 int ulink_usb_open(struct ulink
**device
)
261 struct usb_dev_handle
*usb_handle
;
263 /* Currently, only original ULINK is supported */
264 uint16_t vids
[] = { ULINK_VID
, 0 };
265 uint16_t pids
[] = { ULINK_PID
, 0 };
267 ret
= jtag_usb_open(vids
, pids
, &usb_handle
);
269 if (ret
!= ERROR_OK
) {
273 ret
= usb_claim_interface(usb_handle
, 0);
279 (*device
)->usb_handle
= usb_handle
;
280 (*device
)->type
= ULINK_1
;
286 * Releases the ULINK interface and closes the USB device handle.
288 * @param device pointer to struct ulink identifying ULINK driver instance.
289 * @return on success: ERROR_OK
290 * @return on failure: ERROR_FAIL
292 int ulink_usb_close(struct ulink
**device
)
294 if (usb_release_interface((*device
)->usb_handle
, 0) != 0) {
298 if (usb_close((*device
)->usb_handle
) != 0) {
302 (*device
)->usb_handle
= NULL
;
307 /******************* ULINK CPU (EZ-USB) specific functions ********************/
310 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
313 * @param device pointer to struct ulink identifying ULINK driver instance.
314 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
315 * @return on success: ERROR_OK
316 * @return on failure: ERROR_FAIL
318 int ulink_cpu_reset(struct ulink
*device
, char reset_bit
)
322 ret
= usb_control_msg(device
->usb_handle
,
323 (USB_ENDPOINT_OUT
| USB_TYPE_VENDOR
| USB_RECIP_DEVICE
),
324 REQUEST_FIRMWARE_LOAD
, CPUCS_REG
, 0, &reset_bit
, 1, USB_TIMEOUT
);
326 /* usb_control_msg() returns the number of bytes transferred during the
327 * DATA stage of the control transfer - must be exactly 1 in this case! */
335 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
336 * the firmware image, resumes the microcontroller and re-enumerates
339 * @param device pointer to struct ulink identifying ULINK driver instance.
340 * The usb_handle member will be modified during re-enumeration.
341 * @param filename path to the Intel HEX file containing the firmware image.
342 * @param delay the delay to wait for the device to re-enumerate.
343 * @return on success: ERROR_OK
344 * @return on failure: ERROR_FAIL
346 int ulink_load_firmware_and_renumerate(struct ulink
**device
,
347 char *filename
, uint32_t delay
)
351 /* Basic process: After downloading the firmware, the ULINK will disconnect
352 * itself and re-connect after a short amount of time so we have to close
353 * the handle and re-enumerate USB devices */
355 ret
= ulink_load_firmware(*device
, filename
);
356 if (ret
!= ERROR_OK
) {
360 ret
= ulink_usb_close(device
);
361 if (ret
!= ERROR_OK
) {
367 ret
= ulink_usb_open(device
);
368 if (ret
!= ERROR_OK
) {
376 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
379 * @param device pointer to struct ulink identifying ULINK driver instance.
380 * @param filename an absolute or relative path to the Intel HEX file
381 * containing the firmware image.
382 * @return on success: ERROR_OK
383 * @return on failure: ERROR_FAIL
385 int ulink_load_firmware(struct ulink
*device
, char *filename
)
387 struct image ulink_firmware_image
;
390 ret
= ulink_cpu_reset(device
, CPU_RESET
);
391 if (ret
!= ERROR_OK
) {
392 LOG_ERROR("Could not halt ULINK CPU");
396 ulink_firmware_image
.base_address
= 0;
397 ulink_firmware_image
.base_address_set
= 0;
399 ret
= image_open(&ulink_firmware_image
, filename
, "ihex");
400 if (ret
!= ERROR_OK
) {
401 LOG_ERROR("Could not load firmware image");
405 /* Download all sections in the image to ULINK */
406 for (i
= 0; i
< ulink_firmware_image
.num_sections
; i
++) {
407 ret
= ulink_write_firmware_section(device
, &ulink_firmware_image
, i
);
408 if (ret
!= ERROR_OK
) {
413 image_close(&ulink_firmware_image
);
415 ret
= ulink_cpu_reset(device
, CPU_START
);
416 if (ret
!= ERROR_OK
) {
417 LOG_ERROR("Could not restart ULINK CPU");
425 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
428 * @param device pointer to struct ulink identifying ULINK driver instance.
429 * @param firmware_image pointer to the firmware image that contains the section
430 * which should be sent to the ULINK's EZ-USB microcontroller.
431 * @param section_index index of the section within the firmware image.
432 * @return on success: ERROR_OK
433 * @return on failure: ERROR_FAIL
435 int ulink_write_firmware_section(struct ulink
*device
,
436 struct image
*firmware_image
, int section_index
)
438 uint16_t addr
, size
, bytes_remaining
, chunk_size
;
439 uint8_t data
[SECTION_BUFFERSIZE
];
440 uint8_t *data_ptr
= data
;
444 size
= (uint16_t)firmware_image
->sections
[section_index
].size
;
445 addr
= (uint16_t)firmware_image
->sections
[section_index
].base_address
;
447 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index
, addr
,
454 /* Copy section contents to local buffer */
455 ret
= image_read_section(firmware_image
, section_index
, 0, size
, data
,
458 if ((ret
!= ERROR_OK
) || (size_read
!= size
)) {
459 /* Propagating the return code would return '0' (misleadingly indicating
460 * successful execution of the function) if only the size check fails. */
464 bytes_remaining
= size
;
466 /* Send section data in chunks of up to 64 bytes to ULINK */
467 while (bytes_remaining
> 0) {
468 if (bytes_remaining
> 64) {
472 chunk_size
= bytes_remaining
;
475 ret
= usb_control_msg(device
->usb_handle
,
476 (USB_ENDPOINT_OUT
| USB_TYPE_VENDOR
| USB_RECIP_DEVICE
),
477 REQUEST_FIRMWARE_LOAD
, addr
, FIRMWARE_ADDR
, (char *)data_ptr
,
478 chunk_size
, USB_TIMEOUT
);
480 if (ret
!= (int)chunk_size
) {
481 /* Abort if libusb sent less data than requested */
485 bytes_remaining
-= chunk_size
;
487 data_ptr
+= chunk_size
;
493 /************************** Generic helper functions **************************/
496 * Print state of interesting signals via LOG_INFO().
498 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
499 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
501 void ulink_print_signal_states(uint8_t input_signals
, uint8_t output_signals
)
503 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
505 (output_signals
& SIGNAL_TDI
? 1 : 0),
506 (input_signals
& SIGNAL_TDO
? 1 : 0),
507 (output_signals
& SIGNAL_TMS
? 1 : 0),
508 (output_signals
& SIGNAL_TCK
? 1 : 0),
509 (output_signals
& SIGNAL_TRST
? 0 : 1), // TRST and RESET are inverted
510 (output_signals
& SIGNAL_RESET
? 0 : 1)); // by hardware
513 /**************** OpenULINK command generation helper functions ***************/
516 * Allocate and initialize space in memory for OpenULINK command payload.
518 * @param ulink_cmd pointer to command whose payload should be allocated.
519 * @param size the amount of memory to allocate (bytes).
520 * @param direction which payload to allocate.
521 * @return on success: ERROR_OK
522 * @return on failure: ERROR_FAIL
524 int ulink_allocate_payload(struct ulink_cmd
*ulink_cmd
, int size
,
525 enum ulink_payload_direction direction
)
529 payload
= calloc(size
, sizeof(uint8_t));
531 if (payload
== NULL
) {
532 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
537 case PAYLOAD_DIRECTION_OUT
:
538 if (ulink_cmd
->payload_out
!= NULL
) {
539 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
543 ulink_cmd
->payload_out
= payload
;
544 ulink_cmd
->payload_out_size
= size
;
547 case PAYLOAD_DIRECTION_IN
:
548 if (ulink_cmd
->payload_in_start
!= NULL
) {
549 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
553 ulink_cmd
->payload_in_start
= payload
;
554 ulink_cmd
->payload_in
= payload
;
555 ulink_cmd
->payload_in_size
= size
;
557 /* By default, free payload_in_start in ulink_clear_queue(). Commands
558 * that do not want this behavior (e. g. split scans) must turn it off
560 ulink_cmd
->free_payload_in_start
= true;
568 /****************** OpenULINK command queue helper functions ******************/
571 * Get the current number of bytes in the queue, including command IDs.
573 * @param device pointer to struct ulink identifying ULINK driver instance.
574 * @param direction the transfer direction for which to get byte count.
575 * @return the number of bytes currently stored in the queue for the specified
578 int ulink_get_queue_size(struct ulink
*device
,
579 enum ulink_payload_direction direction
)
581 struct ulink_cmd
*current
= device
->queue_start
;
584 while (current
!= NULL
) {
586 case PAYLOAD_DIRECTION_OUT
:
587 sum
+= current
->payload_out_size
+ 1; // + 1 byte for Command ID
589 case PAYLOAD_DIRECTION_IN
:
590 sum
+= current
->payload_in_size
;
594 current
= current
->next
;
601 * Clear the OpenULINK command queue.
603 * @param device pointer to struct ulink identifying ULINK driver instance.
604 * @return on success: ERROR_OK
605 * @return on failure: ERROR_FAIL
607 void ulink_clear_queue(struct ulink
*device
)
609 struct ulink_cmd
*current
= device
->queue_start
;
610 struct ulink_cmd
*next
= NULL
;
612 while (current
!= NULL
) {
613 /* Save pointer to next element */
614 next
= current
->next
;
616 /* Free payloads: OUT payload can be freed immediately */
617 free(current
->payload_out
);
618 current
->payload_out
= NULL
;
620 /* IN payload MUST be freed ONLY if no other commands use the
621 * payload_in_start buffer */
622 if (current
->free_payload_in_start
== true) {
623 free(current
->payload_in_start
);
624 current
->payload_in_start
= NULL
;
625 current
->payload_in
= NULL
;
628 /* Free queue element */
631 /* Proceed with next element */
635 device
->commands_in_queue
= 0;
636 device
->queue_start
= NULL
;
637 device
->queue_end
= NULL
;
641 * Add a command to the OpenULINK command queue.
643 * @param device pointer to struct ulink identifying ULINK driver instance.
644 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
646 * @return on success: ERROR_OK
647 * @return on failure: ERROR_FAIL
649 int ulink_append_queue(struct ulink
*device
, struct ulink_cmd
*ulink_cmd
)
651 int newsize_out
, newsize_in
;
654 newsize_out
= ulink_get_queue_size(device
, PAYLOAD_DIRECTION_OUT
) + 1
655 + ulink_cmd
->payload_out_size
;
657 newsize_in
= ulink_get_queue_size(device
, PAYLOAD_DIRECTION_IN
)
658 + ulink_cmd
->payload_in_size
;
660 /* Check if the current command can be appended to the queue */
661 if ((newsize_out
> 64) || (newsize_in
> 64)) {
662 /* New command does not fit. Execute all commands in queue before starting
663 * new queue with the current command as first entry. */
664 ret
= ulink_execute_queued_commands(device
, USB_TIMEOUT
);
665 if (ret
!= ERROR_OK
) {
669 ret
= ulink_post_process_queue(device
);
670 if (ret
!= ERROR_OK
) {
674 ulink_clear_queue(device
);
677 if (device
->queue_start
== NULL
) {
678 /* Queue was empty */
679 device
->commands_in_queue
= 1;
681 device
->queue_start
= ulink_cmd
;
682 device
->queue_end
= ulink_cmd
;
685 /* There are already commands in the queue */
686 device
->commands_in_queue
++;
688 device
->queue_end
->next
= ulink_cmd
;
689 device
->queue_end
= ulink_cmd
;
696 * Sends all queued OpenULINK commands to the ULINK for execution.
698 * @param device pointer to struct ulink identifying ULINK driver instance.
699 * @return on success: ERROR_OK
700 * @return on failure: ERROR_FAIL
702 int ulink_execute_queued_commands(struct ulink
*device
, int timeout
)
704 struct ulink_cmd
*current
;
705 int ret
, i
, index_out
, index_in
, count_out
, count_in
;
708 #ifdef _DEBUG_JTAG_IO_
709 ulink_print_queue(device
);
716 for (current
= device
->queue_start
; current
; current
= current
->next
) {
717 /* Add command to packet */
718 buffer
[index_out
] = current
->id
;
722 for (i
= 0; i
< current
->payload_out_size
; i
++) {
723 buffer
[index_out
+ i
] = current
->payload_out
[i
];
725 index_out
+= current
->payload_out_size
;
726 count_in
+= current
->payload_in_size
;
727 count_out
+= current
->payload_out_size
;
730 /* Send packet to ULINK */
731 ret
= usb_bulk_write(device
->usb_handle
, (2 | USB_ENDPOINT_OUT
),
732 (char *)buffer
, count_out
, timeout
);
736 if (ret
!= count_out
) {
740 /* Wait for response if commands contain IN payload data */
742 ret
= usb_bulk_read(device
->usb_handle
, (2 | USB_ENDPOINT_IN
),
743 (char *)buffer
, 64, timeout
);
747 if (ret
!= count_in
) {
751 /* Write back IN payload data */
753 for (current
= device
->queue_start
; current
; current
= current
->next
) {
754 for (i
= 0; i
< current
->payload_in_size
; i
++) {
755 current
->payload_in
[i
] = buffer
[index_in
];
764 #ifdef _DEBUG_JTAG_IO_
767 * Convert an OpenULINK command ID (\a id) to a human-readable string.
769 * @param id the OpenULINK command ID.
770 * @return the corresponding human-readable string.
772 const char * ulink_cmd_id_string(uint8_t id
)
776 return "CMD_SCAN_IN";
778 case CMD_SLOW_SCAN_IN
:
779 return "CMD_SLOW_SCAN_IN";
782 return "CMD_SCAN_OUT";
784 case CMD_SLOW_SCAN_OUT
:
785 return "CMD_SLOW_SCAN_OUT";
788 return "CMD_SCAN_IO";
790 case CMD_SLOW_SCAN_IO
:
791 return "CMD_SLOW_SCAN_IO";
794 return "CMD_CLOCK_TMS";
796 case CMD_SLOW_CLOCK_TMS
:
797 return "CMD_SLOW_CLOCK_TMS";
800 return "CMD_CLOCK_TCK";
802 case CMD_SLOW_CLOCK_TCK
:
803 return "CMD_SLOW_CLOCK_TCK";
806 return "CMD_SLEEP_US";
809 return "CMD_SLEEP_MS";
811 case CMD_GET_SIGNALS
:
812 return "CMD_GET_SIGNALS";
814 case CMD_SET_SIGNALS
:
815 return "CMD_SET_SIGNALS";
817 case CMD_CONFIGURE_TCK_FREQ
:
818 return "CMD_CONFIGURE_TCK_FREQ";
821 return "CMD_SET_LEDS";
827 return "CMD_UNKNOWN";
833 * Print one OpenULINK command to stdout.
835 * @param ulink_cmd pointer to OpenULINK command.
837 void ulink_print_command(struct ulink_cmd
*ulink_cmd
)
841 printf(" %-22s | OUT size = %i, bytes = 0x",
842 ulink_cmd_id_string(ulink_cmd
->id
), ulink_cmd
->payload_out_size
);
844 for (i
= 0; i
< ulink_cmd
->payload_out_size
; i
++) {
845 printf("%02X ", ulink_cmd
->payload_out
[i
]);
847 printf("\n | IN size = %i\n",
848 ulink_cmd
->payload_in_size
);
852 * Print the OpenULINK command queue to stdout.
854 * @param device pointer to struct ulink identifying ULINK driver instance.
856 void ulink_print_queue(struct ulink
*device
)
858 struct ulink_cmd
*current
;
860 printf("OpenULINK command queue:\n");
862 for (current
= device
->queue_start
; current
; current
= current
->next
) {
863 ulink_print_command(current
);
867 #endif /* _DEBUG_JTAG_IO_ */
872 * Creates and appends a JTAG scan command to the OpenULINK command queue.
873 * A JTAG scan consists of three steps:
874 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
875 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
876 * - Move to the desired end state.
878 * @param device pointer to struct ulink identifying ULINK driver instance.
879 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
880 * @param scan_size_bits number of bits to shift into the JTAG chain.
881 * @param tdi pointer to array containing TDI data.
882 * @param tdo_start pointer to first element of array where TDO data shall be
883 * stored. See #ulink_cmd for details.
884 * @param tdo pointer to array where TDO data shall be stored
885 * @param tms_count_start number of TMS state transitions to perform BEFORE
886 * shifting data into the JTAG chain.
887 * @param tms_sequence_start sequence of TMS state transitions that will be
888 * performed BEFORE shifting data into the JTAG chain.
889 * @param tms_count_end number of TMS state transitions to perform AFTER
890 * shifting data into the JTAG chain.
891 * @param tms_sequence_end sequence of TMS state transitions that will be
892 * performed AFTER shifting data into the JTAG chain.
893 * @param origin pointer to OpenOCD command that generated this scan command.
894 * @param postprocess whether this command needs to be post-processed after
896 * @return on success: ERROR_OK
897 * @return on failure: ERROR_FAIL
899 int ulink_append_scan_cmd(struct ulink
*device
, enum scan_type scan_type
,
900 int scan_size_bits
, uint8_t *tdi
, uint8_t *tdo_start
, uint8_t *tdo
,
901 uint8_t tms_count_start
, uint8_t tms_sequence_start
, uint8_t tms_count_end
,
902 uint8_t tms_sequence_end
, struct jtag_command
*origin
, bool postprocess
)
904 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
905 int ret
, i
, scan_size_bytes
;
906 uint8_t bits_last_byte
;
912 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
913 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
914 if (scan_size_bits
> (58 * 8)) {
915 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
920 scan_size_bytes
= DIV_ROUND_UP(scan_size_bits
, 8);
922 bits_last_byte
= scan_size_bits
% 8;
923 if (bits_last_byte
== 0) {
927 /* Allocate out_payload depending on scan type */
930 if (device
->delay_scan_in
< 0) {
931 cmd
->id
= CMD_SCAN_IN
;
934 cmd
->id
= CMD_SLOW_SCAN_IN
;
936 ret
= ulink_allocate_payload(cmd
, 5, PAYLOAD_DIRECTION_OUT
);
939 if (device
->delay_scan_out
< 0) {
940 cmd
->id
= CMD_SCAN_OUT
;
943 cmd
->id
= CMD_SLOW_SCAN_OUT
;
945 ret
= ulink_allocate_payload(cmd
, scan_size_bytes
+ 5, PAYLOAD_DIRECTION_OUT
);
948 if (device
->delay_scan_io
< 0) {
949 cmd
->id
= CMD_SCAN_IO
;
952 cmd
->id
= CMD_SLOW_SCAN_IO
;
954 ret
= ulink_allocate_payload(cmd
, scan_size_bytes
+ 5, PAYLOAD_DIRECTION_OUT
);
957 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
962 if (ret
!= ERROR_OK
) {
966 /* Build payload_out that is common to all scan types */
967 cmd
->payload_out
[0] = scan_size_bytes
& 0xFF;
968 cmd
->payload_out
[1] = bits_last_byte
& 0xFF;
969 cmd
->payload_out
[2] = ((tms_count_start
& 0x0F) << 4) | (tms_count_end
& 0x0F);
970 cmd
->payload_out
[3] = tms_sequence_start
;
971 cmd
->payload_out
[4] = tms_sequence_end
;
973 /* Setup payload_out for types with OUT transfer */
974 if ((scan_type
== SCAN_OUT
) || (scan_type
== SCAN_IO
)) {
975 for (i
= 0; i
< scan_size_bytes
; i
++) {
976 cmd
->payload_out
[i
+ 5] = tdi
[i
];
980 /* Setup payload_in pointers for types with IN transfer */
981 if ((scan_type
== SCAN_IN
) || (scan_type
== SCAN_IO
)) {
982 cmd
->payload_in_start
= tdo_start
;
983 cmd
->payload_in
= tdo
;
984 cmd
->payload_in_size
= scan_size_bytes
;
987 cmd
->needs_postprocessing
= postprocess
;
988 cmd
->cmd_origin
= origin
;
990 /* For scan commands, we free payload_in_start only when the command is
991 * the last in a series of split commands or a stand-alone command */
992 cmd
->free_payload_in_start
= postprocess
;
994 return ulink_append_queue(device
, cmd
);
998 * Perform TAP state transitions
1000 * @param device pointer to struct ulink identifying ULINK driver instance.
1001 * @param count defines the number of TCK clock cycles generated (up to 8).
1002 * @param sequence defines the TMS pin levels for each state transition. The
1003 * Least-Significant Bit is read first.
1004 * @return on success: ERROR_OK
1005 * @return on failure: ERROR_FAIL
1007 int ulink_append_clock_tms_cmd(struct ulink
*device
, uint8_t count
,
1010 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1017 if (device
->delay_clock_tms
< 0) {
1018 cmd
->id
= CMD_CLOCK_TMS
;
1021 cmd
->id
= CMD_SLOW_CLOCK_TMS
;
1024 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
1025 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1026 if (ret
!= ERROR_OK
) {
1030 cmd
->payload_out
[0] = count
;
1031 cmd
->payload_out
[1] = sequence
;
1033 return ulink_append_queue(device
, cmd
);
1037 * Generate a defined amount of TCK clock cycles
1039 * All other JTAG signals are left unchanged.
1041 * @param device pointer to struct ulink identifying ULINK driver instance.
1042 * @param count the number of TCK clock cycles to generate.
1043 * @return on success: ERROR_OK
1044 * @return on failure: ERROR_FAIL
1046 int ulink_append_clock_tck_cmd(struct ulink
*device
, uint16_t count
)
1048 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1055 if (device
->delay_clock_tck
< 0) {
1056 cmd
->id
= CMD_CLOCK_TCK
;
1059 cmd
->id
= CMD_SLOW_CLOCK_TCK
;
1062 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1063 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1064 if (ret
!= ERROR_OK
) {
1068 cmd
->payload_out
[0] = count
& 0xff;
1069 cmd
->payload_out
[1] = (count
>> 8) & 0xff;
1071 return ulink_append_queue(device
, cmd
);
1075 * Read JTAG signals.
1077 * @param device pointer to struct ulink identifying ULINK driver instance.
1078 * @return on success: ERROR_OK
1079 * @return on failure: ERROR_FAIL
1081 int ulink_append_get_signals_cmd(struct ulink
*device
)
1083 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1090 cmd
->id
= CMD_GET_SIGNALS
;
1091 cmd
->needs_postprocessing
= true;
1093 /* CMD_GET_SIGNALS has two IN payload bytes */
1094 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_IN
);
1096 if (ret
!= ERROR_OK
) {
1100 return ulink_append_queue(device
, cmd
);
1104 * Arbitrarily set JTAG output signals.
1106 * @param device pointer to struct ulink identifying ULINK driver instance.
1107 * @param low defines which signals will be de-asserted. Each bit corresponds
1116 * @param high defines which signals will be asserted.
1117 * @return on success: ERROR_OK
1118 * @return on failure: ERROR_FAIL
1120 int ulink_append_set_signals_cmd(struct ulink
*device
, uint8_t low
,
1123 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1130 cmd
->id
= CMD_SET_SIGNALS
;
1132 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1133 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1135 if (ret
!= ERROR_OK
) {
1139 cmd
->payload_out
[0] = low
;
1140 cmd
->payload_out
[1] = high
;
1142 return ulink_append_queue(device
, cmd
);
1146 * Sleep for a pre-defined number of microseconds
1148 * @param device pointer to struct ulink identifying ULINK driver instance.
1149 * @param us the number microseconds to sleep.
1150 * @return on success: ERROR_OK
1151 * @return on failure: ERROR_FAIL
1153 int ulink_append_sleep_cmd(struct ulink
*device
, uint32_t us
)
1155 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1162 cmd
->id
= CMD_SLEEP_US
;
1164 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1165 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1167 if (ret
!= ERROR_OK
) {
1171 cmd
->payload_out
[0] = us
& 0x00ff;
1172 cmd
->payload_out
[1] = (us
>> 8) & 0x00ff;
1174 return ulink_append_queue(device
, cmd
);
1178 * Set TCK delay counters
1180 * @param device pointer to struct ulink identifying ULINK driver instance.
1181 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1182 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1183 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1184 * @param delay_tck delay count top value in jtag_clock_tck() function.
1185 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1186 * @return on success: ERROR_OK
1187 * @return on failure: ERROR_FAIL
1189 int ulink_append_configure_tck_cmd(struct ulink
*device
, int delay_scan_in
,
1190 int delay_scan_out
, int delay_scan_io
, int delay_tck
, int delay_tms
)
1192 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1199 cmd
->id
= CMD_CONFIGURE_TCK_FREQ
;
1201 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1202 * IN payload bytes */
1203 ret
= ulink_allocate_payload(cmd
, 5, PAYLOAD_DIRECTION_OUT
);
1204 if (ret
!= ERROR_OK
) {
1208 if (delay_scan_in
< 0) {
1209 cmd
->payload_out
[0] = 0;
1212 cmd
->payload_out
[0] = (uint8_t)delay_scan_in
;
1215 if (delay_scan_out
< 0) {
1216 cmd
->payload_out
[1] = 0;
1219 cmd
->payload_out
[1] = (uint8_t)delay_scan_out
;
1222 if (delay_scan_io
< 0) {
1223 cmd
->payload_out
[2] = 0;
1226 cmd
->payload_out
[2] = (uint8_t)delay_scan_io
;
1229 if (delay_tck
< 0) {
1230 cmd
->payload_out
[3] = 0;
1233 cmd
->payload_out
[3] = (uint8_t)delay_tck
;
1236 if (delay_tms
< 0) {
1237 cmd
->payload_out
[4] = 0;
1240 cmd
->payload_out
[4] = (uint8_t)delay_tms
;
1243 return ulink_append_queue(device
, cmd
);
1247 * Turn on/off ULINK LEDs.
1249 * @param device pointer to struct ulink identifying ULINK driver instance.
1250 * @param led_state which LED(s) to turn on or off. The following bits
1251 * influence the LEDS:
1252 * - Bit 0: Turn COM LED on
1253 * - Bit 1: Turn RUN LED on
1254 * - Bit 2: Turn COM LED off
1255 * - Bit 3: Turn RUN LED off
1256 * If both the on-bit and the off-bit for the same LED is set, the LED is
1258 * @return on success: ERROR_OK
1259 * @return on failure: ERROR_FAIL
1261 int ulink_append_led_cmd(struct ulink
*device
, uint8_t led_state
)
1263 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1270 cmd
->id
= CMD_SET_LEDS
;
1272 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1273 ret
= ulink_allocate_payload(cmd
, 1, PAYLOAD_DIRECTION_OUT
);
1274 if (ret
!= ERROR_OK
) {
1278 cmd
->payload_out
[0] = led_state
;
1280 return ulink_append_queue(device
, cmd
);
1284 * Test command. Used to check if the ULINK device is ready to accept new
1287 * @param device pointer to struct ulink identifying ULINK driver instance.
1288 * @return on success: ERROR_OK
1289 * @return on failure: ERROR_FAIL
1291 int ulink_append_test_cmd(struct ulink
*device
)
1293 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1302 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1303 ret
= ulink_allocate_payload(cmd
, 1, PAYLOAD_DIRECTION_OUT
);
1304 if (ret
!= ERROR_OK
) {
1308 cmd
->payload_out
[0] = 0xAA;
1310 return ulink_append_queue(device
, cmd
);
1313 /****************** OpenULINK TCK frequency helper functions ******************/
1316 * Calculate delay values for a given TCK frequency.
1318 * The OpenULINK firmware uses five different speed values for different
1319 * commands. These speed values are calculated in these functions.
1321 * The five different commands which support variable TCK frequency are
1322 * implemented twice in the firmware:
1323 * 1. Maximum possible frequency without any artificial delay
1324 * 2. Variable frequency with artificial linear delay loop
1326 * To set the ULINK to maximum frequency, it is only neccessary to use the
1327 * corresponding command IDs. To set the ULINK to a lower frequency, the
1328 * delay loop top values have to be calculated first. Then, a
1329 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1331 * The delay values are described by linear equations:
1333 * (t = period, k = constant, x = delay value, d = constant)
1335 * Thus, the delay can be calculated as in the following equation:
1338 * The constants in these equations have been determined and validated by
1339 * measuring the frequency resulting from different delay values.
1341 * @param type for which command to calculate the delay value.
1342 * @param f TCK frequency for which to calculate the delay value in Hz.
1343 * @param delay where to store resulting delay value.
1344 * @return on success: ERROR_OK
1345 * @return on failure: ERROR_FAIL
1347 int ulink_calculate_delay(enum ulink_delay_type type
, long f
, int *delay
)
1351 /* Calculate period of requested TCK frequency */
1352 t
= 1.0 / (float)(f
);
1355 case DELAY_CLOCK_TCK
:
1356 x
= (t
- (float)(6E-6)) / (float)(4E-6);
1358 case DELAY_CLOCK_TMS
:
1359 x
= (t
- (float)(8.5E-6)) / (float)(4E-6);
1362 x
= (t
- (float)(8.8308E-6)) / (float)(4E-6);
1364 case DELAY_SCAN_OUT
:
1365 x
= (t
- (float)(1.0527E-5)) / (float)(4E-6);
1368 x
= (t
- (float)(1.3132E-5)) / (float)(4E-6);
1375 /* Check if the delay value is negative. This happens when a frequency is
1376 * requested that is too high for the delay loop implementation. In this
1377 * case, set delay value to zero. */
1382 /* We need to convert the exact delay value to an integer. Therefore, we
1383 * round the exact value UP to ensure that the resulting frequency is NOT
1384 * higher than the requested frequency. */
1387 /* Check if the value is within limits */
1392 *delay
= (int)x_ceil
;
1398 * Calculate frequency for a given delay value.
1400 * Similar to the #ulink_calculate_delay function, this function calculates the
1401 * TCK frequency for a given delay value by using linear equations of the form:
1403 * (t = period, k = constant, x = delay value, d = constant)
1405 * @param type for which command to calculate the delay value.
1406 * @param delay delay value for which to calculate the resulting TCK frequency.
1407 * @param f where to store the resulting TCK frequency.
1408 * @return on success: ERROR_OK
1409 * @return on failure: ERROR_FAIL
1411 int ulink_calculate_frequency(enum ulink_delay_type type
, int delay
, long *f
)
1413 float t
, f_float
, f_rounded
;
1420 case DELAY_CLOCK_TCK
:
1422 t
= (float)(2.666E-6);
1425 t
= (float)(4E-6) * (float)(delay
) + (float)(6E-6);
1428 case DELAY_CLOCK_TMS
:
1430 t
= (float)(5.666E-6);
1433 t
= (float)(4E-6) * (float)(delay
) + (float)(8.5E-6);
1438 t
= (float)(5.5E-6);
1441 t
= (float)(4E-6) * (float)(delay
) + (float)(8.8308E-6);
1444 case DELAY_SCAN_OUT
:
1446 t
= (float)(7.0E-6);
1449 t
= (float)(4E-6) * (float)(delay
) + (float)(1.0527E-5);
1454 t
= (float)(9.926E-6);
1457 t
= (float)(4E-6) * (float)(delay
) + (float)(1.3132E-5);
1466 f_rounded
= roundf(f_float
);
1467 *f
= (long)f_rounded
;
1472 /******************* Interface between OpenULINK and OpenOCD ******************/
1475 * Sets the end state follower (see interface.h) if \a endstate is a stable
1478 * @param endstate the state the end state follower should be set to.
1480 static void ulink_set_end_state(tap_state_t endstate
)
1482 if (tap_is_state_stable(endstate
)) {
1483 tap_set_end_state(endstate
);
1486 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate
));
1487 exit( EXIT_FAILURE
);
1492 * Move from the current TAP state to the current TAP end state.
1494 * @param device pointer to struct ulink identifying ULINK driver instance.
1495 * @return on success: ERROR_OK
1496 * @return on failure: ERROR_FAIL
1498 int ulink_queue_statemove(struct ulink
*device
)
1500 uint8_t tms_sequence
, tms_count
;
1503 if (tap_get_state() == tap_get_end_state()) {
1504 /* Do nothing if we are already there */
1508 tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1509 tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1511 ret
= ulink_append_clock_tms_cmd(device
, tms_count
, tms_sequence
);
1513 if (ret
== ERROR_OK
) {
1514 tap_set_state(tap_get_end_state());
1521 * Perform a scan operation on a JTAG register.
1523 * @param device pointer to struct ulink identifying ULINK driver instance.
1524 * @param cmd pointer to the command that shall be executed.
1525 * @return on success: ERROR_OK
1526 * @return on failure: ERROR_FAIL
1528 int ulink_queue_scan(struct ulink
*device
, struct jtag_command
*cmd
)
1530 uint32_t scan_size_bits
, scan_size_bytes
, bits_last_scan
;
1531 uint32_t scans_max_payload
, bytecount
;
1532 uint8_t *tdi_buffer_start
= NULL
, *tdi_buffer
= NULL
;
1533 uint8_t *tdo_buffer_start
= NULL
, *tdo_buffer
= NULL
;
1535 uint8_t first_tms_count
, first_tms_sequence
;
1536 uint8_t last_tms_count
, last_tms_sequence
;
1538 uint8_t tms_count_pause
, tms_sequence_pause
;
1539 uint8_t tms_count_resume
, tms_sequence_resume
;
1541 uint8_t tms_count_start
, tms_sequence_start
;
1542 uint8_t tms_count_end
, tms_sequence_end
;
1544 enum scan_type type
;
1547 /* Determine scan size */
1548 scan_size_bits
= jtag_scan_size(cmd
->cmd
.scan
);
1549 scan_size_bytes
= DIV_ROUND_UP(scan_size_bits
, 8);
1551 /* Determine scan type (IN/OUT/IO) */
1552 type
= jtag_scan_type(cmd
->cmd
.scan
);
1554 /* Determine number of scan commands with maximum payload */
1555 scans_max_payload
= scan_size_bytes
/ 58;
1557 /* Determine size of last shift command */
1558 bits_last_scan
= scan_size_bits
- (scans_max_payload
* 58 * 8);
1560 /* Allocate TDO buffer if required */
1561 if ((type
== SCAN_IN
) || (type
== SCAN_IO
)) {
1562 tdo_buffer_start
= calloc(sizeof(uint8_t), scan_size_bytes
);
1564 if (tdo_buffer_start
== NULL
) {
1568 tdo_buffer
= tdo_buffer_start
;
1571 /* Fill TDI buffer if required */
1572 if ((type
== SCAN_OUT
) || (type
== SCAN_IO
)) {
1573 jtag_build_buffer(cmd
->cmd
.scan
, &tdi_buffer_start
);
1574 tdi_buffer
= tdi_buffer_start
;
1577 /* Get TAP state transitions */
1578 if (cmd
->cmd
.scan
->ir_scan
) {
1579 ulink_set_end_state(TAP_IRSHIFT
);
1580 first_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1581 first_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1583 tap_set_state(TAP_IRSHIFT
);
1584 tap_set_end_state(cmd
->cmd
.scan
->end_state
);
1585 last_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1586 last_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1588 /* TAP state transitions for split scans */
1589 tms_count_pause
= tap_get_tms_path_len(TAP_IRSHIFT
, TAP_IRPAUSE
);
1590 tms_sequence_pause
= tap_get_tms_path(TAP_IRSHIFT
, TAP_IRPAUSE
);
1591 tms_count_resume
= tap_get_tms_path_len(TAP_IRPAUSE
, TAP_IRSHIFT
);
1592 tms_sequence_resume
= tap_get_tms_path(TAP_IRPAUSE
, TAP_IRSHIFT
);
1595 ulink_set_end_state(TAP_DRSHIFT
);
1596 first_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1597 first_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1599 tap_set_state(TAP_DRSHIFT
);
1600 tap_set_end_state(cmd
->cmd
.scan
->end_state
);
1601 last_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1602 last_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1604 /* TAP state transitions for split scans */
1605 tms_count_pause
= tap_get_tms_path_len(TAP_DRSHIFT
, TAP_DRPAUSE
);
1606 tms_sequence_pause
= tap_get_tms_path(TAP_DRSHIFT
, TAP_DRPAUSE
);
1607 tms_count_resume
= tap_get_tms_path_len(TAP_DRPAUSE
, TAP_DRSHIFT
);
1608 tms_sequence_resume
= tap_get_tms_path(TAP_DRPAUSE
, TAP_DRSHIFT
);
1611 /* Generate scan commands */
1612 bytecount
= scan_size_bytes
;
1613 while (bytecount
> 0) {
1614 if (bytecount
== scan_size_bytes
) {
1615 /* This is the first scan */
1616 tms_count_start
= first_tms_count
;
1617 tms_sequence_start
= first_tms_sequence
;
1620 /* Resume from previous scan */
1621 tms_count_start
= tms_count_resume
;
1622 tms_sequence_start
= tms_sequence_resume
;
1625 if (bytecount
> 58) { /* Full scan, at least one scan will follow */
1626 tms_count_end
= tms_count_pause
;
1627 tms_sequence_end
= tms_sequence_pause
;
1629 ret
= ulink_append_scan_cmd(device
, type
, 58 * 8, tdi_buffer
,
1630 tdo_buffer_start
, tdo_buffer
, tms_count_start
, tms_sequence_start
,
1631 tms_count_end
, tms_sequence_end
, cmd
, false);
1635 /* Update TDI and TDO buffer pointers */
1636 if (tdi_buffer_start
!= NULL
) {
1639 if (tdo_buffer_start
!= NULL
) {
1643 else if (bytecount
== 58) { /* Full scan, no further scans */
1644 tms_count_end
= last_tms_count
;
1645 tms_sequence_end
= last_tms_sequence
;
1647 ret
= ulink_append_scan_cmd(device
, type
, 58 * 8, tdi_buffer
,
1648 tdo_buffer_start
, tdo_buffer
, tms_count_start
, tms_sequence_start
,
1649 tms_count_end
, tms_sequence_end
, cmd
, true);
1653 else { /* Scan with less than maximum payload, no further scans */
1654 tms_count_end
= last_tms_count
;
1655 tms_sequence_end
= last_tms_sequence
;
1657 ret
= ulink_append_scan_cmd(device
, type
, bits_last_scan
, tdi_buffer
,
1658 tdo_buffer_start
, tdo_buffer
, tms_count_start
, tms_sequence_start
,
1659 tms_count_end
, tms_sequence_end
, cmd
, true);
1664 if (ret
!= ERROR_OK
) {
1665 free(tdi_buffer_start
);
1670 free(tdi_buffer_start
);
1672 /* Set current state to the end state requested by the command */
1673 tap_set_state(cmd
->cmd
.scan
->end_state
);
1679 * Move the TAP into the Test Logic Reset state.
1681 * @param device pointer to struct ulink identifying ULINK driver instance.
1682 * @param cmd pointer to the command that shall be executed.
1683 * @return on success: ERROR_OK
1684 * @return on failure: ERROR_FAIL
1686 int ulink_queue_tlr_reset(struct ulink
*device
, struct jtag_command
*cmd
)
1690 ret
= ulink_append_clock_tms_cmd(device
, 5, 0xff);
1692 if (ret
== ERROR_OK
) {
1693 tap_set_state(TAP_RESET
);
1702 * Generate TCK clock cycles while remaining
1703 * in the Run-Test/Idle state.
1705 * @param device pointer to struct ulink identifying ULINK driver instance.
1706 * @param cmd pointer to the command that shall be executed.
1707 * @return on success: ERROR_OK
1708 * @return on failure: ERROR_FAIL
1710 int ulink_queue_runtest(struct ulink
*device
, struct jtag_command
*cmd
)
1714 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1715 if (tap_get_state() != TAP_IDLE
) {
1716 ulink_set_end_state(TAP_IDLE
);
1717 ulink_queue_statemove(device
);
1720 /* Generate the clock cycles */
1721 ret
= ulink_append_clock_tck_cmd(device
, cmd
->cmd
.runtest
->num_cycles
);
1722 if (ret
!= ERROR_OK
) {
1726 /* Move to end state specified in command */
1727 if (cmd
->cmd
.runtest
->end_state
!= tap_get_state()) {
1728 tap_set_end_state(cmd
->cmd
.runtest
->end_state
);
1729 ulink_queue_statemove(device
);
1736 * Execute a JTAG_RESET command
1738 * @param cmd pointer to the command that shall be executed.
1739 * @return on success: ERROR_OK
1740 * @return on failure: ERROR_FAIL
1742 int ulink_queue_reset(struct ulink
*device
, struct jtag_command
*cmd
)
1744 uint8_t low
= 0, high
= 0;
1746 if (cmd
->cmd
.reset
->trst
) {
1747 tap_set_state(TAP_RESET
);
1748 high
|= SIGNAL_TRST
;
1754 if (cmd
->cmd
.reset
->srst
) {
1755 high
|= SIGNAL_RESET
;
1758 low
|= SIGNAL_RESET
;
1761 return ulink_append_set_signals_cmd(device
, low
, high
);
1765 * Move to one TAP state or several states in succession.
1767 * @param device pointer to struct ulink identifying ULINK driver instance.
1768 * @param cmd pointer to the command that shall be executed.
1769 * @return on success: ERROR_OK
1770 * @return on failure: ERROR_FAIL
1772 int ulink_queue_pathmove(struct ulink
*device
, struct jtag_command
*cmd
)
1774 int ret
, i
, num_states
, batch_size
, state_count
;
1776 uint8_t tms_sequence
;
1778 num_states
= cmd
->cmd
.pathmove
->num_states
;
1779 path
= cmd
->cmd
.pathmove
->path
;
1782 while (num_states
> 0) {
1785 /* Determine batch size */
1786 if (num_states
>= 8) {
1790 batch_size
= num_states
;
1793 for (i
= 0; i
< batch_size
; i
++) {
1794 if (tap_state_transition(tap_get_state(), false) == path
[state_count
]) {
1795 /* Append '0' transition: clear bit 'i' in tms_sequence */
1796 buf_set_u32(&tms_sequence
, i
, 1, 0x0);
1798 else if (tap_state_transition(tap_get_state(), true)
1799 == path
[state_count
]) {
1800 /* Append '1' transition: set bit 'i' in tms_sequence */
1801 buf_set_u32(&tms_sequence
, i
, 1, 0x1);
1804 /* Invalid state transition */
1805 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1806 tap_state_name(tap_get_state()),
1807 tap_state_name(path
[state_count
]));
1811 tap_set_state(path
[state_count
]);
1816 /* Append CLOCK_TMS command to OpenULINK command queue */
1818 "pathmove batch: count = %i, sequence = 0x%x", batch_size
, tms_sequence
);
1819 ret
= ulink_append_clock_tms_cmd(ulink_handle
, batch_size
, tms_sequence
);
1820 if (ret
!= ERROR_OK
) {
1829 * Sleep for a specific amount of time.
1831 * @param device pointer to struct ulink identifying ULINK driver instance.
1832 * @param cmd pointer to the command that shall be executed.
1833 * @return on success: ERROR_OK
1834 * @return on failure: ERROR_FAIL
1836 int ulink_queue_sleep(struct ulink
*device
, struct jtag_command
*cmd
)
1838 /* IMPORTANT! Due to the time offset in command execution introduced by
1839 * command queueing, this needs to be implemented in the ULINK device */
1840 return ulink_append_sleep_cmd(device
, cmd
->cmd
.sleep
->us
);
1844 * Generate TCK cycles while remaining in a stable state.
1846 * @param device pointer to struct ulink identifying ULINK driver instance.
1847 * @param cmd pointer to the command that shall be executed.
1849 int ulink_queue_stableclocks(struct ulink
*device
, struct jtag_command
*cmd
)
1852 unsigned num_cycles
;
1854 if (!tap_is_state_stable(tap_get_state())) {
1855 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1859 num_cycles
= cmd
->cmd
.stableclocks
->num_cycles
;
1861 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1862 if (tap_get_state() == TAP_RESET
) {
1863 ret
= ulink_append_set_signals_cmd(device
, 0, SIGNAL_TMS
);
1866 ret
= ulink_append_set_signals_cmd(device
, SIGNAL_TMS
, 0);
1869 if (ret
!= ERROR_OK
) {
1873 while (num_cycles
> 0) {
1874 if (num_cycles
> 0xFFFF) {
1875 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1876 ret
= ulink_append_clock_tck_cmd(device
, 0xFFFF);
1877 num_cycles
-= 0xFFFF;
1880 ret
= ulink_append_clock_tck_cmd(device
, num_cycles
);
1884 if (ret
!= ERROR_OK
) {
1893 * Post-process JTAG_SCAN command
1895 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1896 * @return on success: ERROR_OK
1897 * @return on failure: ERROR_FAIL
1899 int ulink_post_process_scan(struct ulink_cmd
*ulink_cmd
)
1901 struct jtag_command
*cmd
= ulink_cmd
->cmd_origin
;
1904 switch (jtag_scan_type(cmd
->cmd
.scan
)) {
1907 ret
= jtag_read_buffer(ulink_cmd
->payload_in_start
, cmd
->cmd
.scan
);
1910 /* Nothing to do for OUT scans */
1914 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1924 * Perform post-processing of commands after OpenULINK queue has been executed.
1926 * @param device pointer to struct ulink identifying ULINK driver instance.
1927 * @return on success: ERROR_OK
1928 * @return on failure: ERROR_FAIL
1930 int ulink_post_process_queue(struct ulink
*device
)
1932 struct ulink_cmd
*current
;
1933 struct jtag_command
*openocd_cmd
;
1936 current
= device
->queue_start
;
1938 while (current
!= NULL
) {
1939 openocd_cmd
= current
->cmd_origin
;
1941 /* Check if a corresponding OpenOCD command is stored for this
1942 * OpenULINK command */
1943 if ((current
->needs_postprocessing
== true) && (openocd_cmd
!= NULL
)) {
1944 switch (openocd_cmd
->type
) {
1946 ret
= ulink_post_process_scan(current
);
1948 case JTAG_TLR_RESET
:
1953 case JTAG_STABLECLOCKS
:
1954 /* Nothing to do for these commands */
1959 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1964 if (ret
!= ERROR_OK
) {
1969 current
= current
->next
;
1975 /**************************** JTAG driver functions ***************************/
1978 * Executes the JTAG Command Queue.
1980 * This is done in three stages: First, all OpenOCD commands are processed into
1981 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1982 * ULINK device and data received from the ULINK device is cached. Finally,
1983 * the post-processing function writes back data to the corresponding OpenOCD
1986 * @return on success: ERROR_OK
1987 * @return on failure: ERROR_FAIL
1989 static int ulink_execute_queue(void)
1991 struct jtag_command
*cmd
= jtag_command_queue
;
1995 switch (cmd
->type
) {
1997 ret
= ulink_queue_scan(ulink_handle
, cmd
);
1999 case JTAG_TLR_RESET
:
2000 ret
= ulink_queue_tlr_reset(ulink_handle
, cmd
);
2003 ret
= ulink_queue_runtest(ulink_handle
, cmd
);
2006 ret
= ulink_queue_reset(ulink_handle
, cmd
);
2009 ret
= ulink_queue_pathmove(ulink_handle
, cmd
);
2012 ret
= ulink_queue_sleep(ulink_handle
, cmd
);
2014 case JTAG_STABLECLOCKS
:
2015 ret
= ulink_queue_stableclocks(ulink_handle
, cmd
);
2019 LOG_ERROR("BUG: encountered unknown JTAG command type");
2023 if (ret
!= ERROR_OK
) {
2030 if (ulink_handle
->commands_in_queue
> 0) {
2031 ret
= ulink_execute_queued_commands(ulink_handle
, USB_TIMEOUT
);
2032 if (ret
!= ERROR_OK
) {
2036 ret
= ulink_post_process_queue(ulink_handle
);
2037 if (ret
!= ERROR_OK
) {
2041 ulink_clear_queue(ulink_handle
);
2048 * Set the TCK frequency of the ULINK adapter.
2050 * @param khz desired JTAG TCK frequency.
2051 * @param jtag_speed where to store corresponding adapter-specific speed value.
2052 * @return on success: ERROR_OK
2053 * @return on failure: ERROR_FAIL
2055 static int ulink_khz(int khz
, int *jtag_speed
)
2060 LOG_ERROR("RCLK not supported");
2064 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
2065 * setting can be done independently from all other commands. */
2067 ulink_handle
->delay_clock_tck
= -1;
2070 ret
= ulink_calculate_delay(DELAY_CLOCK_TCK
, khz
* 1000,
2071 &ulink_handle
->delay_clock_tck
);
2072 if (ret
!= ERROR_OK
) {
2077 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2078 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2079 * commands, all SCAN commands MUST also use the variable frequency
2080 * implementation! */
2082 ulink_handle
->delay_clock_tms
= -1;
2083 ulink_handle
->delay_scan_in
= -1;
2084 ulink_handle
->delay_scan_out
= -1;
2085 ulink_handle
->delay_scan_io
= -1;
2088 ret
= ulink_calculate_delay(DELAY_CLOCK_TMS
, khz
* 1000,
2089 &ulink_handle
->delay_clock_tms
);
2090 if (ret
!= ERROR_OK
) {
2094 ret
= ulink_calculate_delay(DELAY_SCAN_IN
, khz
* 1000,
2095 &ulink_handle
->delay_scan_in
);
2096 if (ret
!= ERROR_OK
) {
2100 ret
= ulink_calculate_delay(DELAY_SCAN_OUT
, khz
* 1000,
2101 &ulink_handle
->delay_scan_out
);
2102 if (ret
!= ERROR_OK
) {
2106 ret
= ulink_calculate_delay(DELAY_SCAN_IO
, khz
* 1000,
2107 &ulink_handle
->delay_scan_io
);
2108 if (ret
!= ERROR_OK
) {
2113 #ifdef _DEBUG_JTAG_IO_
2114 long f_tck
, f_tms
, f_scan_in
, f_scan_out
, f_scan_io
;
2116 ulink_calculate_frequency(DELAY_CLOCK_TCK
, ulink_handle
->delay_clock_tck
,
2118 ulink_calculate_frequency(DELAY_CLOCK_TMS
, ulink_handle
->delay_clock_tms
,
2120 ulink_calculate_frequency(DELAY_SCAN_IN
, ulink_handle
->delay_scan_in
,
2122 ulink_calculate_frequency(DELAY_SCAN_OUT
, ulink_handle
->delay_scan_out
,
2124 ulink_calculate_frequency(DELAY_SCAN_IO
, ulink_handle
->delay_scan_io
,
2127 DEBUG_JTAG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2128 ulink_handle
->delay_clock_tck
, f_tck
);
2129 DEBUG_JTAG_IO(" delay_tms = %i (%li Hz),",
2130 ulink_handle
->delay_clock_tms
, f_tms
);
2131 DEBUG_JTAG_IO(" delay_scan_in = %i (%li Hz),",
2132 ulink_handle
->delay_scan_in
, f_scan_in
);
2133 DEBUG_JTAG_IO(" delay_scan_out = %i (%li Hz),",
2134 ulink_handle
->delay_scan_out
, f_scan_out
);
2135 DEBUG_JTAG_IO(" delay_scan_io = %i (%li Hz),",
2136 ulink_handle
->delay_scan_io
, f_scan_io
);
2139 /* Configure the ULINK device with the new delay values */
2140 ret
= ulink_append_configure_tck_cmd(ulink_handle
,
2141 ulink_handle
->delay_scan_in
,
2142 ulink_handle
->delay_scan_out
,
2143 ulink_handle
->delay_scan_io
,
2144 ulink_handle
->delay_clock_tck
,
2145 ulink_handle
->delay_clock_tms
);
2147 if (ret
!= ERROR_OK
) {
2157 * Set the TCK frequency of the ULINK adapter.
2159 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2160 * there are five different speed settings. To simplify things, the
2161 * adapter-specific speed setting value is identical to the TCK frequency in
2164 * @param speed desired adapter-specific speed value.
2165 * @return on success: ERROR_OK
2166 * @return on failure: ERROR_FAIL
2168 static int ulink_speed(int speed
)
2172 return ulink_khz(speed
, &dummy
);
2176 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2178 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2179 * there are five different speed settings. To simplify things, the
2180 * adapter-specific speed setting value is identical to the TCK frequency in
2183 * @param speed adapter-specific speed value.
2184 * @param khz where to store corresponding TCK frequency in kHz.
2185 * @return on success: ERROR_OK
2186 * @return on failure: ERROR_FAIL
2188 static int ulink_speed_div(int speed
, int *khz
)
2196 * Initiates the firmware download to the ULINK adapter and prepares
2199 * @return on success: ERROR_OK
2200 * @return on failure: ERROR_FAIL
2202 static int ulink_init(void)
2205 char str_manufacturer
[20];
2206 bool download_firmware
= false;
2208 uint8_t input_signals
, output_signals
;
2210 ulink_handle
= calloc(1, sizeof(struct ulink
));
2211 if (ulink_handle
== NULL
) {
2217 ret
= ulink_usb_open(&ulink_handle
);
2218 if (ret
!= ERROR_OK
) {
2219 LOG_ERROR("Could not open ULINK device");
2223 /* Get String Descriptor to determine if firmware needs to be loaded */
2224 ret
= usb_get_string_simple(ulink_handle
->usb_handle
, 1, str_manufacturer
, 20);
2226 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2227 download_firmware
= true;
2230 /* We got a String Descriptor, check if it is the correct one */
2231 if (strncmp(str_manufacturer
, "OpenULINK", 9) != 0) {
2232 download_firmware
= true;
2236 if (download_firmware
== true) {
2237 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2239 ret
= ulink_load_firmware_and_renumerate(&ulink_handle
,
2240 ULINK_FIRMWARE_FILE
, ULINK_RENUMERATION_DELAY
);
2241 if (ret
!= ERROR_OK
) {
2242 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2247 LOG_INFO("ULINK device is already running OpenULINK firmware");
2250 /* Initialize OpenULINK command queue */
2251 ulink_clear_queue(ulink_handle
);
2253 /* Issue one test command with short timeout */
2254 ret
= ulink_append_test_cmd(ulink_handle
);
2255 if (ret
!= ERROR_OK
) {
2259 ret
= ulink_execute_queued_commands(ulink_handle
, 200);
2260 if (ret
!= ERROR_OK
) {
2261 /* Sending test command failed. The ULINK device may be forever waiting for
2262 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2263 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2264 dummy
= calloc(64, sizeof(uint8_t));
2266 ret
= usb_bulk_read(ulink_handle
->usb_handle
, (2 | USB_ENDPOINT_IN
),
2267 (char *)dummy
, 64, 200);
2272 /* Bulk IN transfer failed -> unrecoverable error condition */
2273 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2274 "the USB port and re-connect, then re-run OpenOCD");
2277 #ifdef _DEBUG_USB_COMMS_
2279 /* Successfully received Bulk IN packet -> continue */
2280 LOG_INFO("Recovered from lost Bulk IN packet");
2284 ulink_clear_queue(ulink_handle
);
2286 ulink_append_get_signals_cmd(ulink_handle
);
2287 ulink_execute_queued_commands(ulink_handle
, 200);
2289 /* Post-process the single CMD_GET_SIGNALS command */
2290 input_signals
= ulink_handle
->queue_start
->payload_in
[0];
2291 output_signals
= ulink_handle
->queue_start
->payload_in
[1];
2293 ulink_print_signal_states(input_signals
, output_signals
);
2295 ulink_clear_queue(ulink_handle
);
2301 * Closes the USB handle for the ULINK device.
2303 * @return on success: ERROR_OK
2304 * @return on failure: ERROR_FAIL
2306 static int ulink_quit(void)
2310 ret
= ulink_usb_close(&ulink_handle
);
2317 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2319 COMMAND_HANDLER(ulink_download_firmware_handler
)
2323 if (CMD_ARGC
!= 1) {
2324 LOG_ERROR("Need exactly one argument to ulink_download_firmware");
2328 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV
[0]);
2330 /* Download firmware image in CMD_ARGV[0] */
2331 ret
= ulink_load_firmware_and_renumerate(&ulink_handle
, (char *)CMD_ARGV
[0],
2332 ULINK_RENUMERATION_DELAY
);
2337 /*************************** Command Registration **************************/
2339 static const struct command_registration ulink_command_handlers
[] = {
2341 .name
= "ulink_download_firmware",
2342 .handler
= &ulink_download_firmware_handler
,
2343 .mode
= COMMAND_EXEC
,
2344 .help
= "download firmware image to ULINK device",
2345 .usage
= "path/to/ulink_firmware.hex",
2347 COMMAND_REGISTRATION_DONE
,
2350 struct jtag_interface ulink_interface
= {
2353 .commands
= ulink_command_handlers
,
2354 .transports
= jtag_only
,
2356 .execute_queue
= ulink_execute_queue
,
2358 .speed
= ulink_speed
,
2359 .speed_div
= ulink_speed_div
,