1 /***************************************************************************
2 * Copyright (C) 2011-2013 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 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
19 ***************************************************************************/
26 #include <jtag/interface.h>
27 #include <jtag/commands.h>
28 #include <target/image.h>
29 #include <libusb-1.0/libusb.h>
30 #include "OpenULINK/include/msgtypes.h"
32 /** USB Vendor ID of ULINK device in unconfigured state (no firmware loaded
33 * yet) or with OpenULINK firmware. */
34 #define ULINK_VID 0xC251
36 /** USB Product ID of ULINK device in unconfigured state (no firmware loaded
37 * yet) or with OpenULINK firmware. */
38 #define ULINK_PID 0x2710
40 /** Address of EZ-USB CPU Control & Status register. This register can be
41 * written by issuing a Control EP0 vendor request. */
42 #define CPUCS_REG 0x7F92
44 /** USB Control EP0 bRequest: "Firmware Load". */
45 #define REQUEST_FIRMWARE_LOAD 0xA0
47 /** Value to write into CPUCS to put EZ-USB into reset. */
48 #define CPU_RESET 0x01
50 /** Value to write into CPUCS to put EZ-USB out of reset. */
51 #define CPU_START 0x00
53 /** Base address of firmware in EZ-USB code space. */
54 #define FIRMWARE_ADDR 0x0000
56 /** USB interface number */
57 #define USB_INTERFACE 0
59 /** libusb timeout in ms */
60 #define USB_TIMEOUT 5000
62 /** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
63 #define ULINK_RENUMERATION_DELAY 1500000
65 /** Default location of OpenULINK firmware image. */
66 #define ULINK_FIRMWARE_FILE PKGDATADIR "/OpenULINK/ulink_firmware.hex"
68 /** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
69 #define SECTION_BUFFERSIZE 8192
71 /** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
72 #define SPLIT_SCAN_THRESHOLD 10
74 /** ULINK hardware type */
76 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
77 * Full JTAG support, no SWD support. */
80 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
83 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
86 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
90 enum ulink_payload_direction
{
91 PAYLOAD_DIRECTION_OUT
,
95 enum ulink_delay_type
{
104 * OpenULINK command (OpenULINK command queue element).
106 * For the OUT direction payload, things are quite easy: Payload is stored
107 * in a rather small array (up to 63 bytes), the payload is always allocated
108 * by the function generating the command and freed by ulink_clear_queue().
110 * For the IN direction payload, things get a little bit more complicated:
111 * The maximum IN payload size for a single command is 64 bytes. Assume that
112 * a single OpenOCD command needs to scan 256 bytes. This results in the
113 * generation of four OpenULINK commands. The function generating these
114 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
115 * pointer shall point to the corresponding offset where IN data shall be
116 * placed, while #payload_in_start shall point to the first element of the 256
118 * - first command: #payload_in_start + 0
119 * - second command: #payload_in_start + 64
120 * - third command: #payload_in_start + 128
121 * - fourth command: #payload_in_start + 192
123 * The last command sets #needs_postprocessing to true.
126 uint8_t id
; /* /< ULINK command ID */
128 uint8_t *payload_out
; /* /< OUT direction payload data */
129 uint8_t payload_out_size
; /* /< OUT direction payload size for this command */
131 uint8_t *payload_in_start
; /* /< Pointer to first element of IN payload array */
132 uint8_t *payload_in
; /* /< Pointer where IN payload shall be stored */
133 uint8_t payload_in_size
;/* /< IN direction payload size for this command */
135 /** Indicates if this command needs post-processing */
136 bool needs_postprocessing
;
138 /** Indicates if ulink_clear_queue() should free payload_in_start */
139 bool free_payload_in_start
;
141 /** Pointer to corresponding OpenOCD command for post-processing */
142 struct jtag_command
*cmd_origin
;
144 struct ulink_cmd
*next
; /* /< Pointer to next command (linked list) */
147 /** Describes one driver instance */
149 struct libusb_context
*libusb_ctx
;
150 struct libusb_device_handle
*usb_device_handle
;
151 enum ulink_type type
;
153 int delay_scan_in
; /* /< Delay value for SCAN_IN commands */
154 int delay_scan_out
; /* /< Delay value for SCAN_OUT commands */
155 int delay_scan_io
; /* /< Delay value for SCAN_IO commands */
156 int delay_clock_tck
; /* /< Delay value for CLOCK_TMS commands */
157 int delay_clock_tms
; /* /< Delay value for CLOCK_TCK commands */
159 int commands_in_queue
; /* /< Number of commands in queue */
160 struct ulink_cmd
*queue_start
; /* /< Pointer to first command in queue */
161 struct ulink_cmd
*queue_end
; /* /< Pointer to last command in queue */
164 /**************************** Function Prototypes *****************************/
166 /* USB helper functions */
167 int ulink_usb_open(struct ulink
**device
);
168 int ulink_usb_close(struct ulink
**device
);
170 /* ULINK MCU (Cypress EZ-USB) specific functions */
171 int ulink_cpu_reset(struct ulink
*device
, unsigned char reset_bit
);
172 int ulink_load_firmware_and_renumerate(struct ulink
**device
, char *filename
,
174 int ulink_load_firmware(struct ulink
*device
, char *filename
);
175 int ulink_write_firmware_section(struct ulink
*device
,
176 struct image
*firmware_image
, int section_index
);
178 /* Generic helper functions */
179 void ulink_print_signal_states(uint8_t input_signals
, uint8_t output_signals
);
181 /* OpenULINK command generation helper functions */
182 int ulink_allocate_payload(struct ulink_cmd
*ulink_cmd
, int size
,
183 enum ulink_payload_direction direction
);
185 /* OpenULINK command queue helper functions */
186 int ulink_get_queue_size(struct ulink
*device
,
187 enum ulink_payload_direction direction
);
188 void ulink_clear_queue(struct ulink
*device
);
189 int ulink_append_queue(struct ulink
*device
, struct ulink_cmd
*ulink_cmd
);
190 int ulink_execute_queued_commands(struct ulink
*device
, int timeout
);
192 #ifdef _DEBUG_JTAG_IO_
193 const char *ulink_cmd_id_string(uint8_t id
);
194 void ulink_print_command(struct ulink_cmd
*ulink_cmd
);
195 void ulink_print_queue(struct ulink
*device
);
198 int ulink_append_scan_cmd(struct ulink
*device
,
199 enum scan_type scan_type
,
204 uint8_t tms_count_start
,
205 uint8_t tms_sequence_start
,
206 uint8_t tms_count_end
,
207 uint8_t tms_sequence_end
,
208 struct jtag_command
*origin
,
210 int ulink_append_clock_tms_cmd(struct ulink
*device
, uint8_t count
,
212 int ulink_append_clock_tck_cmd(struct ulink
*device
, uint16_t count
);
213 int ulink_append_get_signals_cmd(struct ulink
*device
);
214 int ulink_append_set_signals_cmd(struct ulink
*device
, uint8_t low
,
216 int ulink_append_sleep_cmd(struct ulink
*device
, uint32_t us
);
217 int ulink_append_configure_tck_cmd(struct ulink
*device
,
223 int ulink_append_led_cmd(struct ulink
*device
, uint8_t led_state
);
224 int ulink_append_test_cmd(struct ulink
*device
);
226 /* OpenULINK TCK frequency helper functions */
227 int ulink_calculate_delay(enum ulink_delay_type type
, long f
, int *delay
);
228 int ulink_calculate_frequency(enum ulink_delay_type type
, int delay
, long *f
);
230 /* Interface between OpenULINK and OpenOCD */
231 static void ulink_set_end_state(tap_state_t endstate
);
232 int ulink_queue_statemove(struct ulink
*device
);
234 int ulink_queue_scan(struct ulink
*device
, struct jtag_command
*cmd
);
235 int ulink_queue_tlr_reset(struct ulink
*device
, struct jtag_command
*cmd
);
236 int ulink_queue_runtest(struct ulink
*device
, struct jtag_command
*cmd
);
237 int ulink_queue_reset(struct ulink
*device
, struct jtag_command
*cmd
);
238 int ulink_queue_pathmove(struct ulink
*device
, struct jtag_command
*cmd
);
239 int ulink_queue_sleep(struct ulink
*device
, struct jtag_command
*cmd
);
240 int ulink_queue_stableclocks(struct ulink
*device
, struct jtag_command
*cmd
);
242 int ulink_post_process_scan(struct ulink_cmd
*ulink_cmd
);
243 int ulink_post_process_queue(struct ulink
*device
);
245 /* JTAG driver functions (registered in struct jtag_interface) */
246 static int ulink_execute_queue(void);
247 static int ulink_khz(int khz
, int *jtag_speed
);
248 static int ulink_speed(int speed
);
249 static int ulink_speed_div(int speed
, int *khz
);
250 static int ulink_init(void);
251 static int ulink_quit(void);
253 /****************************** Global Variables ******************************/
255 struct ulink
*ulink_handle
;
257 /**************************** USB helper functions ****************************/
260 * Opens the ULINK device and claims its USB interface.
262 * Currently, only the original ULINK is supported
264 * @param device pointer to struct ulink identifying ULINK driver instance.
265 * @return on success: ERROR_OK
266 * @return on failure: ERROR_FAIL
268 int ulink_usb_open(struct ulink
**device
)
270 ssize_t num_devices
, i
;
272 libusb_device
**usb_devices
;
273 struct libusb_device_descriptor usb_desc
;
274 struct libusb_device_handle
*usb_device_handle
;
276 num_devices
= libusb_get_device_list((*device
)->libusb_ctx
, &usb_devices
);
278 if (num_devices
<= 0)
282 for (i
= 0; i
< num_devices
; i
++) {
283 if (libusb_get_device_descriptor(usb_devices
[i
], &usb_desc
) != 0)
285 else if (usb_desc
.idVendor
== ULINK_VID
&& usb_desc
.idProduct
== ULINK_PID
) {
294 if (libusb_open(usb_devices
[i
], &usb_device_handle
) != 0)
296 libusb_free_device_list(usb_devices
, 1);
298 if (libusb_claim_interface(usb_device_handle
, 0) != 0)
301 (*device
)->usb_device_handle
= usb_device_handle
;
302 (*device
)->type
= ULINK_1
;
308 * Releases the ULINK interface and closes the USB device handle.
310 * @param device pointer to struct ulink identifying ULINK driver instance.
311 * @return on success: ERROR_OK
312 * @return on failure: ERROR_FAIL
314 int ulink_usb_close(struct ulink
**device
)
316 if (libusb_release_interface((*device
)->usb_device_handle
, 0) != 0)
319 libusb_close((*device
)->usb_device_handle
);
321 (*device
)->usb_device_handle
= NULL
;
326 /******************* ULINK CPU (EZ-USB) specific functions ********************/
329 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
332 * @param device pointer to struct ulink identifying ULINK driver instance.
333 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
334 * @return on success: ERROR_OK
335 * @return on failure: ERROR_FAIL
337 int ulink_cpu_reset(struct ulink
*device
, unsigned char reset_bit
)
341 ret
= libusb_control_transfer(device
->usb_device_handle
,
342 (LIBUSB_ENDPOINT_OUT
| LIBUSB_REQUEST_TYPE_VENDOR
| LIBUSB_RECIPIENT_DEVICE
),
343 REQUEST_FIRMWARE_LOAD
, CPUCS_REG
, 0, &reset_bit
, 1, USB_TIMEOUT
);
345 /* usb_control_msg() returns the number of bytes transferred during the
346 * DATA stage of the control transfer - must be exactly 1 in this case! */
353 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
354 * the firmware image, resumes the microcontroller and re-enumerates
357 * @param device pointer to struct ulink identifying ULINK driver instance.
358 * The usb_handle member will be modified during re-enumeration.
359 * @param filename path to the Intel HEX file containing the firmware image.
360 * @param delay the delay to wait for the device to re-enumerate.
361 * @return on success: ERROR_OK
362 * @return on failure: ERROR_FAIL
364 int ulink_load_firmware_and_renumerate(struct ulink
**device
,
365 char *filename
, uint32_t delay
)
369 /* Basic process: After downloading the firmware, the ULINK will disconnect
370 * itself and re-connect after a short amount of time so we have to close
371 * the handle and re-enumerate USB devices */
373 ret
= ulink_load_firmware(*device
, filename
);
377 ret
= ulink_usb_close(device
);
383 ret
= ulink_usb_open(device
);
391 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
394 * @param device pointer to struct ulink identifying ULINK driver instance.
395 * @param filename an absolute or relative path to the Intel HEX file
396 * containing the firmware image.
397 * @return on success: ERROR_OK
398 * @return on failure: ERROR_FAIL
400 int ulink_load_firmware(struct ulink
*device
, char *filename
)
402 struct image ulink_firmware_image
;
405 ret
= ulink_cpu_reset(device
, CPU_RESET
);
406 if (ret
!= ERROR_OK
) {
407 LOG_ERROR("Could not halt ULINK CPU");
411 ulink_firmware_image
.base_address
= 0;
412 ulink_firmware_image
.base_address_set
= 0;
414 ret
= image_open(&ulink_firmware_image
, filename
, "ihex");
415 if (ret
!= ERROR_OK
) {
416 LOG_ERROR("Could not load firmware image");
420 /* Download all sections in the image to ULINK */
421 for (i
= 0; i
< ulink_firmware_image
.num_sections
; i
++) {
422 ret
= ulink_write_firmware_section(device
, &ulink_firmware_image
, i
);
427 image_close(&ulink_firmware_image
);
429 ret
= ulink_cpu_reset(device
, CPU_START
);
430 if (ret
!= ERROR_OK
) {
431 LOG_ERROR("Could not restart ULINK CPU");
439 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
442 * @param device pointer to struct ulink identifying ULINK driver instance.
443 * @param firmware_image pointer to the firmware image that contains the section
444 * which should be sent to the ULINK's EZ-USB microcontroller.
445 * @param section_index index of the section within the firmware image.
446 * @return on success: ERROR_OK
447 * @return on failure: ERROR_FAIL
449 int ulink_write_firmware_section(struct ulink
*device
,
450 struct image
*firmware_image
, int section_index
)
452 uint16_t addr
, size
, bytes_remaining
, chunk_size
;
453 uint8_t data
[SECTION_BUFFERSIZE
];
454 uint8_t *data_ptr
= data
;
458 size
= (uint16_t)firmware_image
->sections
[section_index
].size
;
459 addr
= (uint16_t)firmware_image
->sections
[section_index
].base_address
;
461 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index
, addr
,
467 /* Copy section contents to local buffer */
468 ret
= image_read_section(firmware_image
, section_index
, 0, size
, data
,
471 if ((ret
!= ERROR_OK
) || (size_read
!= size
)) {
472 /* Propagating the return code would return '0' (misleadingly indicating
473 * successful execution of the function) if only the size check fails. */
477 bytes_remaining
= size
;
479 /* Send section data in chunks of up to 64 bytes to ULINK */
480 while (bytes_remaining
> 0) {
481 if (bytes_remaining
> 64)
484 chunk_size
= bytes_remaining
;
486 ret
= libusb_control_transfer(device
->usb_device_handle
,
487 (LIBUSB_ENDPOINT_OUT
| LIBUSB_REQUEST_TYPE_VENDOR
| LIBUSB_RECIPIENT_DEVICE
),
488 REQUEST_FIRMWARE_LOAD
, addr
, FIRMWARE_ADDR
, (unsigned char *)data_ptr
,
489 chunk_size
, USB_TIMEOUT
);
491 if (ret
!= (int)chunk_size
) {
492 /* Abort if libusb sent less data than requested */
496 bytes_remaining
-= chunk_size
;
498 data_ptr
+= chunk_size
;
504 /************************** Generic helper functions **************************/
507 * Print state of interesting signals via LOG_INFO().
509 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
510 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
512 void ulink_print_signal_states(uint8_t input_signals
, uint8_t output_signals
)
514 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
516 (output_signals
& SIGNAL_TDI
? 1 : 0),
517 (input_signals
& SIGNAL_TDO
? 1 : 0),
518 (output_signals
& SIGNAL_TMS
? 1 : 0),
519 (output_signals
& SIGNAL_TCK
? 1 : 0),
520 (output_signals
& SIGNAL_TRST
? 0 : 1),/* TRST and RESET are inverted */
521 (output_signals
& SIGNAL_RESET
? 0 : 1)); /* by hardware */
524 /**************** OpenULINK command generation helper functions ***************/
527 * Allocate and initialize space in memory for OpenULINK command payload.
529 * @param ulink_cmd pointer to command whose payload should be allocated.
530 * @param size the amount of memory to allocate (bytes).
531 * @param direction which payload to allocate.
532 * @return on success: ERROR_OK
533 * @return on failure: ERROR_FAIL
535 int ulink_allocate_payload(struct ulink_cmd
*ulink_cmd
, int size
,
536 enum ulink_payload_direction direction
)
540 payload
= calloc(size
, sizeof(uint8_t));
542 if (payload
== NULL
) {
543 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
548 case PAYLOAD_DIRECTION_OUT
:
549 if (ulink_cmd
->payload_out
!= NULL
) {
550 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
554 ulink_cmd
->payload_out
= payload
;
555 ulink_cmd
->payload_out_size
= size
;
558 case PAYLOAD_DIRECTION_IN
:
559 if (ulink_cmd
->payload_in_start
!= NULL
) {
560 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
564 ulink_cmd
->payload_in_start
= payload
;
565 ulink_cmd
->payload_in
= payload
;
566 ulink_cmd
->payload_in_size
= size
;
568 /* By default, free payload_in_start in ulink_clear_queue(). Commands
569 * that do not want this behavior (e. g. split scans) must turn it off
571 ulink_cmd
->free_payload_in_start
= true;
579 /****************** OpenULINK command queue helper functions ******************/
582 * Get the current number of bytes in the queue, including command IDs.
584 * @param device pointer to struct ulink identifying ULINK driver instance.
585 * @param direction the transfer direction for which to get byte count.
586 * @return the number of bytes currently stored in the queue for the specified
589 int ulink_get_queue_size(struct ulink
*device
,
590 enum ulink_payload_direction direction
)
592 struct ulink_cmd
*current
= device
->queue_start
;
595 while (current
!= NULL
) {
597 case PAYLOAD_DIRECTION_OUT
:
598 sum
+= current
->payload_out_size
+ 1; /* + 1 byte for Command ID */
600 case PAYLOAD_DIRECTION_IN
:
601 sum
+= current
->payload_in_size
;
605 current
= current
->next
;
612 * Clear the OpenULINK command queue.
614 * @param device pointer to struct ulink identifying ULINK driver instance.
615 * @return on success: ERROR_OK
616 * @return on failure: ERROR_FAIL
618 void ulink_clear_queue(struct ulink
*device
)
620 struct ulink_cmd
*current
= device
->queue_start
;
621 struct ulink_cmd
*next
= NULL
;
623 while (current
!= NULL
) {
624 /* Save pointer to next element */
625 next
= current
->next
;
627 /* Free payloads: OUT payload can be freed immediately */
628 free(current
->payload_out
);
629 current
->payload_out
= NULL
;
631 /* IN payload MUST be freed ONLY if no other commands use the
632 * payload_in_start buffer */
633 if (current
->free_payload_in_start
== true) {
634 free(current
->payload_in_start
);
635 current
->payload_in_start
= NULL
;
636 current
->payload_in
= NULL
;
639 /* Free queue element */
642 /* Proceed with next element */
646 device
->commands_in_queue
= 0;
647 device
->queue_start
= NULL
;
648 device
->queue_end
= NULL
;
652 * Add a command to the OpenULINK command queue.
654 * @param device pointer to struct ulink identifying ULINK driver instance.
655 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
657 * @return on success: ERROR_OK
658 * @return on failure: ERROR_FAIL
660 int ulink_append_queue(struct ulink
*device
, struct ulink_cmd
*ulink_cmd
)
662 int newsize_out
, newsize_in
;
665 newsize_out
= ulink_get_queue_size(device
, PAYLOAD_DIRECTION_OUT
) + 1
666 + ulink_cmd
->payload_out_size
;
668 newsize_in
= ulink_get_queue_size(device
, PAYLOAD_DIRECTION_IN
)
669 + ulink_cmd
->payload_in_size
;
671 /* Check if the current command can be appended to the queue */
672 if ((newsize_out
> 64) || (newsize_in
> 64)) {
673 /* New command does not fit. Execute all commands in queue before starting
674 * new queue with the current command as first entry. */
675 ret
= ulink_execute_queued_commands(device
, USB_TIMEOUT
);
679 ret
= ulink_post_process_queue(device
);
683 ulink_clear_queue(device
);
686 if (device
->queue_start
== NULL
) {
687 /* Queue was empty */
688 device
->commands_in_queue
= 1;
690 device
->queue_start
= ulink_cmd
;
691 device
->queue_end
= ulink_cmd
;
693 /* There are already commands in the queue */
694 device
->commands_in_queue
++;
696 device
->queue_end
->next
= ulink_cmd
;
697 device
->queue_end
= ulink_cmd
;
704 * Sends all queued OpenULINK commands to the ULINK for execution.
706 * @param device pointer to struct ulink identifying ULINK driver instance.
707 * @return on success: ERROR_OK
708 * @return on failure: ERROR_FAIL
710 int ulink_execute_queued_commands(struct ulink
*device
, int timeout
)
712 struct ulink_cmd
*current
;
713 int ret
, i
, index_out
, index_in
, count_out
, count_in
, transferred
;
716 #ifdef _DEBUG_JTAG_IO_
717 ulink_print_queue(device
);
724 for (current
= device
->queue_start
; current
; current
= current
->next
) {
725 /* Add command to packet */
726 buffer
[index_out
] = current
->id
;
730 for (i
= 0; i
< current
->payload_out_size
; i
++)
731 buffer
[index_out
+ i
] = current
->payload_out
[i
];
732 index_out
+= current
->payload_out_size
;
733 count_in
+= current
->payload_in_size
;
734 count_out
+= current
->payload_out_size
;
737 /* Send packet to ULINK */
738 ret
= libusb_bulk_transfer(device
->usb_device_handle
, (2 | LIBUSB_ENDPOINT_OUT
),
739 (unsigned char *)buffer
, count_out
, &transferred
, timeout
);
742 if (transferred
!= count_out
)
745 /* Wait for response if commands contain IN payload data */
747 ret
= libusb_bulk_transfer(device
->usb_device_handle
, (2 | LIBUSB_ENDPOINT_IN
),
748 (unsigned char *)buffer
, 64, &transferred
, timeout
);
751 if (transferred
!= count_in
)
754 /* Write back IN payload data */
756 for (current
= device
->queue_start
; current
; current
= current
->next
) {
757 for (i
= 0; i
< current
->payload_in_size
; i
++) {
758 current
->payload_in
[i
] = buffer
[index_in
];
767 #ifdef _DEBUG_JTAG_IO_
770 * Convert an OpenULINK command ID (\a id) to a human-readable string.
772 * @param id the OpenULINK command ID.
773 * @return the corresponding human-readable string.
775 const char *ulink_cmd_id_string(uint8_t id
)
779 return "CMD_SCAN_IN";
781 case CMD_SLOW_SCAN_IN
:
782 return "CMD_SLOW_SCAN_IN";
785 return "CMD_SCAN_OUT";
787 case CMD_SLOW_SCAN_OUT
:
788 return "CMD_SLOW_SCAN_OUT";
791 return "CMD_SCAN_IO";
793 case CMD_SLOW_SCAN_IO
:
794 return "CMD_SLOW_SCAN_IO";
797 return "CMD_CLOCK_TMS";
799 case CMD_SLOW_CLOCK_TMS
:
800 return "CMD_SLOW_CLOCK_TMS";
803 return "CMD_CLOCK_TCK";
805 case CMD_SLOW_CLOCK_TCK
:
806 return "CMD_SLOW_CLOCK_TCK";
809 return "CMD_SLEEP_US";
812 return "CMD_SLEEP_MS";
814 case CMD_GET_SIGNALS
:
815 return "CMD_GET_SIGNALS";
817 case CMD_SET_SIGNALS
:
818 return "CMD_SET_SIGNALS";
820 case CMD_CONFIGURE_TCK_FREQ
:
821 return "CMD_CONFIGURE_TCK_FREQ";
824 return "CMD_SET_LEDS";
830 return "CMD_UNKNOWN";
836 * Print one OpenULINK command to stdout.
838 * @param ulink_cmd pointer to OpenULINK command.
840 void ulink_print_command(struct ulink_cmd
*ulink_cmd
)
844 printf(" %-22s | OUT size = %i, bytes = 0x",
845 ulink_cmd_id_string(ulink_cmd
->id
), ulink_cmd
->payload_out_size
);
847 for (i
= 0; i
< ulink_cmd
->payload_out_size
; i
++)
848 printf("%02X ", ulink_cmd
->payload_out
[i
]);
849 printf("\n | IN size = %i\n",
850 ulink_cmd
->payload_in_size
);
854 * Print the OpenULINK command queue to stdout.
856 * @param device pointer to struct ulink identifying ULINK driver instance.
858 void ulink_print_queue(struct ulink
*device
)
860 struct ulink_cmd
*current
;
862 printf("OpenULINK command queue:\n");
864 for (current
= device
->queue_start
; current
; current
= current
->next
)
865 ulink_print_command(current
);
868 #endif /* _DEBUG_JTAG_IO_ */
873 * Creates and appends a JTAG scan command to the OpenULINK command queue.
874 * A JTAG scan consists of three steps:
875 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
876 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
877 * - Move to the desired end state.
879 * @param device pointer to struct ulink identifying ULINK driver instance.
880 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
881 * @param scan_size_bits number of bits to shift into the JTAG chain.
882 * @param tdi pointer to array containing TDI data.
883 * @param tdo_start pointer to first element of array where TDO data shall be
884 * stored. See #ulink_cmd for details.
885 * @param tdo pointer to array where TDO data shall be stored
886 * @param tms_count_start number of TMS state transitions to perform BEFORE
887 * shifting data into the JTAG chain.
888 * @param tms_sequence_start sequence of TMS state transitions that will be
889 * performed BEFORE shifting data into the JTAG chain.
890 * @param tms_count_end number of TMS state transitions to perform AFTER
891 * shifting data into the JTAG chain.
892 * @param tms_sequence_end sequence of TMS state transitions that will be
893 * performed AFTER shifting data into the JTAG chain.
894 * @param origin pointer to OpenOCD command that generated this scan command.
895 * @param postprocess whether this command needs to be post-processed after
897 * @return on success: ERROR_OK
898 * @return on failure: ERROR_FAIL
900 int ulink_append_scan_cmd(struct ulink
*device
, enum scan_type scan_type
,
901 int scan_size_bits
, uint8_t *tdi
, uint8_t *tdo_start
, uint8_t *tdo
,
902 uint8_t tms_count_start
, uint8_t tms_sequence_start
, uint8_t tms_count_end
,
903 uint8_t tms_sequence_end
, struct jtag_command
*origin
, bool postprocess
)
905 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
906 int ret
, i
, scan_size_bytes
;
907 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"
921 scan_size_bytes
= DIV_ROUND_UP(scan_size_bits
, 8);
923 bits_last_byte
= scan_size_bits
% 8;
924 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
;
933 cmd
->id
= CMD_SLOW_SCAN_IN
;
934 ret
= ulink_allocate_payload(cmd
, 5, PAYLOAD_DIRECTION_OUT
);
937 if (device
->delay_scan_out
< 0)
938 cmd
->id
= CMD_SCAN_OUT
;
940 cmd
->id
= CMD_SLOW_SCAN_OUT
;
941 ret
= ulink_allocate_payload(cmd
, scan_size_bytes
+ 5, PAYLOAD_DIRECTION_OUT
);
944 if (device
->delay_scan_io
< 0)
945 cmd
->id
= CMD_SCAN_IO
;
947 cmd
->id
= CMD_SLOW_SCAN_IO
;
948 ret
= ulink_allocate_payload(cmd
, scan_size_bytes
+ 5, PAYLOAD_DIRECTION_OUT
);
951 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
956 if (ret
!= ERROR_OK
) {
961 /* Build payload_out that is common to all scan types */
962 cmd
->payload_out
[0] = scan_size_bytes
& 0xFF;
963 cmd
->payload_out
[1] = bits_last_byte
& 0xFF;
964 cmd
->payload_out
[2] = ((tms_count_start
& 0x0F) << 4) | (tms_count_end
& 0x0F);
965 cmd
->payload_out
[3] = tms_sequence_start
;
966 cmd
->payload_out
[4] = tms_sequence_end
;
968 /* Setup payload_out for types with OUT transfer */
969 if ((scan_type
== SCAN_OUT
) || (scan_type
== SCAN_IO
)) {
970 for (i
= 0; i
< scan_size_bytes
; i
++)
971 cmd
->payload_out
[i
+ 5] = tdi
[i
];
974 /* Setup payload_in pointers for types with IN transfer */
975 if ((scan_type
== SCAN_IN
) || (scan_type
== SCAN_IO
)) {
976 cmd
->payload_in_start
= tdo_start
;
977 cmd
->payload_in
= tdo
;
978 cmd
->payload_in_size
= scan_size_bytes
;
981 cmd
->needs_postprocessing
= postprocess
;
982 cmd
->cmd_origin
= origin
;
984 /* For scan commands, we free payload_in_start only when the command is
985 * the last in a series of split commands or a stand-alone command */
986 cmd
->free_payload_in_start
= postprocess
;
988 return ulink_append_queue(device
, cmd
);
992 * Perform TAP state transitions
994 * @param device pointer to struct ulink identifying ULINK driver instance.
995 * @param count defines the number of TCK clock cycles generated (up to 8).
996 * @param sequence defines the TMS pin levels for each state transition. The
997 * Least-Significant Bit is read first.
998 * @return on success: ERROR_OK
999 * @return on failure: ERROR_FAIL
1001 int ulink_append_clock_tms_cmd(struct ulink
*device
, uint8_t count
,
1004 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1010 if (device
->delay_clock_tms
< 0)
1011 cmd
->id
= CMD_CLOCK_TMS
;
1013 cmd
->id
= CMD_SLOW_CLOCK_TMS
;
1015 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
1016 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1017 if (ret
!= ERROR_OK
) {
1022 cmd
->payload_out
[0] = count
;
1023 cmd
->payload_out
[1] = sequence
;
1025 return ulink_append_queue(device
, cmd
);
1029 * Generate a defined amount of TCK clock cycles
1031 * All other JTAG signals are left unchanged.
1033 * @param device pointer to struct ulink identifying ULINK driver instance.
1034 * @param count the number of TCK clock cycles to generate.
1035 * @return on success: ERROR_OK
1036 * @return on failure: ERROR_FAIL
1038 int ulink_append_clock_tck_cmd(struct ulink
*device
, uint16_t count
)
1040 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1046 if (device
->delay_clock_tck
< 0)
1047 cmd
->id
= CMD_CLOCK_TCK
;
1049 cmd
->id
= CMD_SLOW_CLOCK_TCK
;
1051 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1052 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1053 if (ret
!= ERROR_OK
) {
1058 cmd
->payload_out
[0] = count
& 0xff;
1059 cmd
->payload_out
[1] = (count
>> 8) & 0xff;
1061 return ulink_append_queue(device
, cmd
);
1065 * Read JTAG signals.
1067 * @param device pointer to struct ulink identifying ULINK driver instance.
1068 * @return on success: ERROR_OK
1069 * @return on failure: ERROR_FAIL
1071 int ulink_append_get_signals_cmd(struct ulink
*device
)
1073 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1079 cmd
->id
= CMD_GET_SIGNALS
;
1080 cmd
->needs_postprocessing
= true;
1082 /* CMD_GET_SIGNALS has two IN payload bytes */
1083 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_IN
);
1085 if (ret
!= ERROR_OK
) {
1090 return ulink_append_queue(device
, cmd
);
1094 * Arbitrarily set JTAG output signals.
1096 * @param device pointer to struct ulink identifying ULINK driver instance.
1097 * @param low defines which signals will be de-asserted. Each bit corresponds
1106 * @param high defines which signals will be asserted.
1107 * @return on success: ERROR_OK
1108 * @return on failure: ERROR_FAIL
1110 int ulink_append_set_signals_cmd(struct ulink
*device
, uint8_t low
,
1113 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1119 cmd
->id
= CMD_SET_SIGNALS
;
1121 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1122 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1124 if (ret
!= ERROR_OK
) {
1129 cmd
->payload_out
[0] = low
;
1130 cmd
->payload_out
[1] = high
;
1132 return ulink_append_queue(device
, cmd
);
1136 * Sleep for a pre-defined number of microseconds
1138 * @param device pointer to struct ulink identifying ULINK driver instance.
1139 * @param us the number microseconds to sleep.
1140 * @return on success: ERROR_OK
1141 * @return on failure: ERROR_FAIL
1143 int ulink_append_sleep_cmd(struct ulink
*device
, uint32_t us
)
1145 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1151 cmd
->id
= CMD_SLEEP_US
;
1153 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1154 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1156 if (ret
!= ERROR_OK
) {
1161 cmd
->payload_out
[0] = us
& 0x00ff;
1162 cmd
->payload_out
[1] = (us
>> 8) & 0x00ff;
1164 return ulink_append_queue(device
, cmd
);
1168 * Set TCK delay counters
1170 * @param device pointer to struct ulink identifying ULINK driver instance.
1171 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1172 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1173 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1174 * @param delay_tck delay count top value in jtag_clock_tck() function.
1175 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1176 * @return on success: ERROR_OK
1177 * @return on failure: ERROR_FAIL
1179 int ulink_append_configure_tck_cmd(struct ulink
*device
, int delay_scan_in
,
1180 int delay_scan_out
, int delay_scan_io
, int delay_tck
, int delay_tms
)
1182 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1188 cmd
->id
= CMD_CONFIGURE_TCK_FREQ
;
1190 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1191 * IN payload bytes */
1192 ret
= ulink_allocate_payload(cmd
, 5, PAYLOAD_DIRECTION_OUT
);
1193 if (ret
!= ERROR_OK
) {
1198 if (delay_scan_in
< 0)
1199 cmd
->payload_out
[0] = 0;
1201 cmd
->payload_out
[0] = (uint8_t)delay_scan_in
;
1203 if (delay_scan_out
< 0)
1204 cmd
->payload_out
[1] = 0;
1206 cmd
->payload_out
[1] = (uint8_t)delay_scan_out
;
1208 if (delay_scan_io
< 0)
1209 cmd
->payload_out
[2] = 0;
1211 cmd
->payload_out
[2] = (uint8_t)delay_scan_io
;
1214 cmd
->payload_out
[3] = 0;
1216 cmd
->payload_out
[3] = (uint8_t)delay_tck
;
1219 cmd
->payload_out
[4] = 0;
1221 cmd
->payload_out
[4] = (uint8_t)delay_tms
;
1223 return ulink_append_queue(device
, cmd
);
1227 * Turn on/off ULINK LEDs.
1229 * @param device pointer to struct ulink identifying ULINK driver instance.
1230 * @param led_state which LED(s) to turn on or off. The following bits
1231 * influence the LEDS:
1232 * - Bit 0: Turn COM LED on
1233 * - Bit 1: Turn RUN LED on
1234 * - Bit 2: Turn COM LED off
1235 * - Bit 3: Turn RUN LED off
1236 * If both the on-bit and the off-bit for the same LED is set, the LED is
1238 * @return on success: ERROR_OK
1239 * @return on failure: ERROR_FAIL
1241 int ulink_append_led_cmd(struct ulink
*device
, uint8_t led_state
)
1243 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1249 cmd
->id
= CMD_SET_LEDS
;
1251 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1252 ret
= ulink_allocate_payload(cmd
, 1, PAYLOAD_DIRECTION_OUT
);
1253 if (ret
!= ERROR_OK
) {
1258 cmd
->payload_out
[0] = led_state
;
1260 return ulink_append_queue(device
, cmd
);
1264 * Test command. Used to check if the ULINK device is ready to accept new
1267 * @param device pointer to struct ulink identifying ULINK driver instance.
1268 * @return on success: ERROR_OK
1269 * @return on failure: ERROR_FAIL
1271 int ulink_append_test_cmd(struct ulink
*device
)
1273 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1281 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1282 ret
= ulink_allocate_payload(cmd
, 1, PAYLOAD_DIRECTION_OUT
);
1283 if (ret
!= ERROR_OK
) {
1288 cmd
->payload_out
[0] = 0xAA;
1290 return ulink_append_queue(device
, cmd
);
1293 /****************** OpenULINK TCK frequency helper functions ******************/
1296 * Calculate delay values for a given TCK frequency.
1298 * The OpenULINK firmware uses five different speed values for different
1299 * commands. These speed values are calculated in these functions.
1301 * The five different commands which support variable TCK frequency are
1302 * implemented twice in the firmware:
1303 * 1. Maximum possible frequency without any artificial delay
1304 * 2. Variable frequency with artificial linear delay loop
1306 * To set the ULINK to maximum frequency, it is only neccessary to use the
1307 * corresponding command IDs. To set the ULINK to a lower frequency, the
1308 * delay loop top values have to be calculated first. Then, a
1309 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1311 * The delay values are described by linear equations:
1313 * (t = period, k = constant, x = delay value, d = constant)
1315 * Thus, the delay can be calculated as in the following equation:
1318 * The constants in these equations have been determined and validated by
1319 * measuring the frequency resulting from different delay values.
1321 * @param type for which command to calculate the delay value.
1322 * @param f TCK frequency for which to calculate the delay value in Hz.
1323 * @param delay where to store resulting delay value.
1324 * @return on success: ERROR_OK
1325 * @return on failure: ERROR_FAIL
1327 int ulink_calculate_delay(enum ulink_delay_type type
, long f
, int *delay
)
1331 /* Calculate period of requested TCK frequency */
1332 t
= 1.0 / (float)(f
);
1335 case DELAY_CLOCK_TCK
:
1336 x
= (t
- (float)(6E-6)) / (float)(4E-6);
1338 case DELAY_CLOCK_TMS
:
1339 x
= (t
- (float)(8.5E-6)) / (float)(4E-6);
1342 x
= (t
- (float)(8.8308E-6)) / (float)(4E-6);
1344 case DELAY_SCAN_OUT
:
1345 x
= (t
- (float)(1.0527E-5)) / (float)(4E-6);
1348 x
= (t
- (float)(1.3132E-5)) / (float)(4E-6);
1355 /* Check if the delay value is negative. This happens when a frequency is
1356 * requested that is too high for the delay loop implementation. In this
1357 * case, set delay value to zero. */
1361 /* We need to convert the exact delay value to an integer. Therefore, we
1362 * round the exact value UP to ensure that the resulting frequency is NOT
1363 * higher than the requested frequency. */
1366 /* Check if the value is within limits */
1370 *delay
= (int)x_ceil
;
1376 * Calculate frequency for a given delay value.
1378 * Similar to the #ulink_calculate_delay function, this function calculates the
1379 * TCK frequency for a given delay value by using linear equations of the form:
1381 * (t = period, k = constant, x = delay value, d = constant)
1383 * @param type for which command to calculate the delay value.
1384 * @param delay delay value for which to calculate the resulting TCK frequency.
1385 * @param f where to store the resulting TCK frequency.
1386 * @return on success: ERROR_OK
1387 * @return on failure: ERROR_FAIL
1389 int ulink_calculate_frequency(enum ulink_delay_type type
, int delay
, long *f
)
1391 float t
, f_float
, f_rounded
;
1397 case DELAY_CLOCK_TCK
:
1399 t
= (float)(2.666E-6);
1401 t
= (float)(4E-6) * (float)(delay
) + (float)(6E-6);
1403 case DELAY_CLOCK_TMS
:
1405 t
= (float)(5.666E-6);
1407 t
= (float)(4E-6) * (float)(delay
) + (float)(8.5E-6);
1411 t
= (float)(5.5E-6);
1413 t
= (float)(4E-6) * (float)(delay
) + (float)(8.8308E-6);
1415 case DELAY_SCAN_OUT
:
1417 t
= (float)(7.0E-6);
1419 t
= (float)(4E-6) * (float)(delay
) + (float)(1.0527E-5);
1423 t
= (float)(9.926E-6);
1425 t
= (float)(4E-6) * (float)(delay
) + (float)(1.3132E-5);
1433 f_rounded
= roundf(f_float
);
1434 *f
= (long)f_rounded
;
1439 /******************* Interface between OpenULINK and OpenOCD ******************/
1442 * Sets the end state follower (see interface.h) if \a endstate is a stable
1445 * @param endstate the state the end state follower should be set to.
1447 static void ulink_set_end_state(tap_state_t endstate
)
1449 if (tap_is_state_stable(endstate
))
1450 tap_set_end_state(endstate
);
1452 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate
));
1458 * Move from the current TAP state to the current TAP end state.
1460 * @param device pointer to struct ulink identifying ULINK driver instance.
1461 * @return on success: ERROR_OK
1462 * @return on failure: ERROR_FAIL
1464 int ulink_queue_statemove(struct ulink
*device
)
1466 uint8_t tms_sequence
, tms_count
;
1469 if (tap_get_state() == tap_get_end_state()) {
1470 /* Do nothing if we are already there */
1474 tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1475 tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1477 ret
= ulink_append_clock_tms_cmd(device
, tms_count
, tms_sequence
);
1479 if (ret
== ERROR_OK
)
1480 tap_set_state(tap_get_end_state());
1486 * Perform a scan operation on a JTAG register.
1488 * @param device pointer to struct ulink identifying ULINK driver instance.
1489 * @param cmd pointer to the command that shall be executed.
1490 * @return on success: ERROR_OK
1491 * @return on failure: ERROR_FAIL
1493 int ulink_queue_scan(struct ulink
*device
, struct jtag_command
*cmd
)
1495 uint32_t scan_size_bits
, scan_size_bytes
, bits_last_scan
;
1496 uint32_t scans_max_payload
, bytecount
;
1497 uint8_t *tdi_buffer_start
= NULL
, *tdi_buffer
= NULL
;
1498 uint8_t *tdo_buffer_start
= NULL
, *tdo_buffer
= NULL
;
1500 uint8_t first_tms_count
, first_tms_sequence
;
1501 uint8_t last_tms_count
, last_tms_sequence
;
1503 uint8_t tms_count_pause
, tms_sequence_pause
;
1504 uint8_t tms_count_resume
, tms_sequence_resume
;
1506 uint8_t tms_count_start
, tms_sequence_start
;
1507 uint8_t tms_count_end
, tms_sequence_end
;
1509 enum scan_type type
;
1512 /* Determine scan size */
1513 scan_size_bits
= jtag_scan_size(cmd
->cmd
.scan
);
1514 scan_size_bytes
= DIV_ROUND_UP(scan_size_bits
, 8);
1516 /* Determine scan type (IN/OUT/IO) */
1517 type
= jtag_scan_type(cmd
->cmd
.scan
);
1519 /* Determine number of scan commands with maximum payload */
1520 scans_max_payload
= scan_size_bytes
/ 58;
1522 /* Determine size of last shift command */
1523 bits_last_scan
= scan_size_bits
- (scans_max_payload
* 58 * 8);
1525 /* Allocate TDO buffer if required */
1526 if ((type
== SCAN_IN
) || (type
== SCAN_IO
)) {
1527 tdo_buffer_start
= calloc(sizeof(uint8_t), scan_size_bytes
);
1529 if (tdo_buffer_start
== NULL
)
1532 tdo_buffer
= tdo_buffer_start
;
1535 /* Fill TDI buffer if required */
1536 if ((type
== SCAN_OUT
) || (type
== SCAN_IO
)) {
1537 jtag_build_buffer(cmd
->cmd
.scan
, &tdi_buffer_start
);
1538 tdi_buffer
= tdi_buffer_start
;
1541 /* Get TAP state transitions */
1542 if (cmd
->cmd
.scan
->ir_scan
) {
1543 ulink_set_end_state(TAP_IRSHIFT
);
1544 first_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1545 first_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1547 tap_set_state(TAP_IRSHIFT
);
1548 tap_set_end_state(cmd
->cmd
.scan
->end_state
);
1549 last_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1550 last_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1552 /* TAP state transitions for split scans */
1553 tms_count_pause
= tap_get_tms_path_len(TAP_IRSHIFT
, TAP_IRPAUSE
);
1554 tms_sequence_pause
= tap_get_tms_path(TAP_IRSHIFT
, TAP_IRPAUSE
);
1555 tms_count_resume
= tap_get_tms_path_len(TAP_IRPAUSE
, TAP_IRSHIFT
);
1556 tms_sequence_resume
= tap_get_tms_path(TAP_IRPAUSE
, TAP_IRSHIFT
);
1558 ulink_set_end_state(TAP_DRSHIFT
);
1559 first_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1560 first_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1562 tap_set_state(TAP_DRSHIFT
);
1563 tap_set_end_state(cmd
->cmd
.scan
->end_state
);
1564 last_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1565 last_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1567 /* TAP state transitions for split scans */
1568 tms_count_pause
= tap_get_tms_path_len(TAP_DRSHIFT
, TAP_DRPAUSE
);
1569 tms_sequence_pause
= tap_get_tms_path(TAP_DRSHIFT
, TAP_DRPAUSE
);
1570 tms_count_resume
= tap_get_tms_path_len(TAP_DRPAUSE
, TAP_DRSHIFT
);
1571 tms_sequence_resume
= tap_get_tms_path(TAP_DRPAUSE
, TAP_DRSHIFT
);
1574 /* Generate scan commands */
1575 bytecount
= scan_size_bytes
;
1576 while (bytecount
> 0) {
1577 if (bytecount
== scan_size_bytes
) {
1578 /* This is the first scan */
1579 tms_count_start
= first_tms_count
;
1580 tms_sequence_start
= first_tms_sequence
;
1582 /* Resume from previous scan */
1583 tms_count_start
= tms_count_resume
;
1584 tms_sequence_start
= tms_sequence_resume
;
1587 if (bytecount
> 58) { /* Full scan, at least one scan will follow */
1588 tms_count_end
= tms_count_pause
;
1589 tms_sequence_end
= tms_sequence_pause
;
1591 ret
= ulink_append_scan_cmd(device
,
1606 /* Update TDI and TDO buffer pointers */
1607 if (tdi_buffer_start
!= NULL
)
1609 if (tdo_buffer_start
!= NULL
)
1611 } else if (bytecount
== 58) { /* Full scan, no further scans */
1612 tms_count_end
= last_tms_count
;
1613 tms_sequence_end
= last_tms_sequence
;
1615 ret
= ulink_append_scan_cmd(device
,
1629 } else {/* Scan with less than maximum payload, no further scans */
1630 tms_count_end
= last_tms_count
;
1631 tms_sequence_end
= last_tms_sequence
;
1633 ret
= ulink_append_scan_cmd(device
,
1649 if (ret
!= ERROR_OK
) {
1650 free(tdi_buffer_start
);
1655 free(tdi_buffer_start
);
1657 /* Set current state to the end state requested by the command */
1658 tap_set_state(cmd
->cmd
.scan
->end_state
);
1664 * Move the TAP into the Test Logic Reset state.
1666 * @param device pointer to struct ulink identifying ULINK driver instance.
1667 * @param cmd pointer to the command that shall be executed.
1668 * @return on success: ERROR_OK
1669 * @return on failure: ERROR_FAIL
1671 int ulink_queue_tlr_reset(struct ulink
*device
, struct jtag_command
*cmd
)
1675 ret
= ulink_append_clock_tms_cmd(device
, 5, 0xff);
1677 if (ret
== ERROR_OK
)
1678 tap_set_state(TAP_RESET
);
1686 * Generate TCK clock cycles while remaining
1687 * in the Run-Test/Idle state.
1689 * @param device pointer to struct ulink identifying ULINK driver instance.
1690 * @param cmd pointer to the command that shall be executed.
1691 * @return on success: ERROR_OK
1692 * @return on failure: ERROR_FAIL
1694 int ulink_queue_runtest(struct ulink
*device
, struct jtag_command
*cmd
)
1698 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1699 if (tap_get_state() != TAP_IDLE
) {
1700 ulink_set_end_state(TAP_IDLE
);
1701 ulink_queue_statemove(device
);
1704 /* Generate the clock cycles */
1705 ret
= ulink_append_clock_tck_cmd(device
, cmd
->cmd
.runtest
->num_cycles
);
1706 if (ret
!= ERROR_OK
)
1709 /* Move to end state specified in command */
1710 if (cmd
->cmd
.runtest
->end_state
!= tap_get_state()) {
1711 tap_set_end_state(cmd
->cmd
.runtest
->end_state
);
1712 ulink_queue_statemove(device
);
1719 * Execute a JTAG_RESET command
1721 * @param cmd pointer to the command that shall be executed.
1722 * @return on success: ERROR_OK
1723 * @return on failure: ERROR_FAIL
1725 int ulink_queue_reset(struct ulink
*device
, struct jtag_command
*cmd
)
1727 uint8_t low
= 0, high
= 0;
1729 if (cmd
->cmd
.reset
->trst
) {
1730 tap_set_state(TAP_RESET
);
1731 high
|= SIGNAL_TRST
;
1735 if (cmd
->cmd
.reset
->srst
)
1736 high
|= SIGNAL_RESET
;
1738 low
|= SIGNAL_RESET
;
1740 return ulink_append_set_signals_cmd(device
, low
, high
);
1744 * Move to one TAP state or several states in succession.
1746 * @param device pointer to struct ulink identifying ULINK driver instance.
1747 * @param cmd pointer to the command that shall be executed.
1748 * @return on success: ERROR_OK
1749 * @return on failure: ERROR_FAIL
1751 int ulink_queue_pathmove(struct ulink
*device
, struct jtag_command
*cmd
)
1753 int ret
, i
, num_states
, batch_size
, state_count
;
1755 uint8_t tms_sequence
;
1757 num_states
= cmd
->cmd
.pathmove
->num_states
;
1758 path
= cmd
->cmd
.pathmove
->path
;
1761 while (num_states
> 0) {
1764 /* Determine batch size */
1765 if (num_states
>= 8)
1768 batch_size
= num_states
;
1770 for (i
= 0; i
< batch_size
; i
++) {
1771 if (tap_state_transition(tap_get_state(), false) == path
[state_count
]) {
1772 /* Append '0' transition: clear bit 'i' in tms_sequence */
1773 buf_set_u32(&tms_sequence
, i
, 1, 0x0);
1774 } else if (tap_state_transition(tap_get_state(), true)
1775 == path
[state_count
]) {
1776 /* Append '1' transition: set bit 'i' in tms_sequence */
1777 buf_set_u32(&tms_sequence
, i
, 1, 0x1);
1779 /* Invalid state transition */
1780 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1781 tap_state_name(tap_get_state()),
1782 tap_state_name(path
[state_count
]));
1786 tap_set_state(path
[state_count
]);
1791 /* Append CLOCK_TMS command to OpenULINK command queue */
1793 "pathmove batch: count = %i, sequence = 0x%x", batch_size
, tms_sequence
);
1794 ret
= ulink_append_clock_tms_cmd(ulink_handle
, batch_size
, tms_sequence
);
1795 if (ret
!= ERROR_OK
)
1803 * Sleep for a specific amount of time.
1805 * @param device pointer to struct ulink identifying ULINK driver instance.
1806 * @param cmd pointer to the command that shall be executed.
1807 * @return on success: ERROR_OK
1808 * @return on failure: ERROR_FAIL
1810 int ulink_queue_sleep(struct ulink
*device
, struct jtag_command
*cmd
)
1812 /* IMPORTANT! Due to the time offset in command execution introduced by
1813 * command queueing, this needs to be implemented in the ULINK device */
1814 return ulink_append_sleep_cmd(device
, cmd
->cmd
.sleep
->us
);
1818 * Generate TCK cycles while remaining in a stable state.
1820 * @param device pointer to struct ulink identifying ULINK driver instance.
1821 * @param cmd pointer to the command that shall be executed.
1823 int ulink_queue_stableclocks(struct ulink
*device
, struct jtag_command
*cmd
)
1826 unsigned num_cycles
;
1828 if (!tap_is_state_stable(tap_get_state())) {
1829 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1833 num_cycles
= cmd
->cmd
.stableclocks
->num_cycles
;
1835 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1836 if (tap_get_state() == TAP_RESET
)
1837 ret
= ulink_append_set_signals_cmd(device
, 0, SIGNAL_TMS
);
1839 ret
= ulink_append_set_signals_cmd(device
, SIGNAL_TMS
, 0);
1841 if (ret
!= ERROR_OK
)
1844 while (num_cycles
> 0) {
1845 if (num_cycles
> 0xFFFF) {
1846 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1847 ret
= ulink_append_clock_tck_cmd(device
, 0xFFFF);
1848 num_cycles
-= 0xFFFF;
1850 ret
= ulink_append_clock_tck_cmd(device
, num_cycles
);
1854 if (ret
!= ERROR_OK
)
1862 * Post-process JTAG_SCAN command
1864 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1865 * @return on success: ERROR_OK
1866 * @return on failure: ERROR_FAIL
1868 int ulink_post_process_scan(struct ulink_cmd
*ulink_cmd
)
1870 struct jtag_command
*cmd
= ulink_cmd
->cmd_origin
;
1873 switch (jtag_scan_type(cmd
->cmd
.scan
)) {
1876 ret
= jtag_read_buffer(ulink_cmd
->payload_in_start
, cmd
->cmd
.scan
);
1879 /* Nothing to do for OUT scans */
1883 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1893 * Perform post-processing of commands after OpenULINK queue has been executed.
1895 * @param device pointer to struct ulink identifying ULINK driver instance.
1896 * @return on success: ERROR_OK
1897 * @return on failure: ERROR_FAIL
1899 int ulink_post_process_queue(struct ulink
*device
)
1901 struct ulink_cmd
*current
;
1902 struct jtag_command
*openocd_cmd
;
1905 current
= device
->queue_start
;
1907 while (current
!= NULL
) {
1908 openocd_cmd
= current
->cmd_origin
;
1910 /* Check if a corresponding OpenOCD command is stored for this
1911 * OpenULINK command */
1912 if ((current
->needs_postprocessing
== true) && (openocd_cmd
!= NULL
)) {
1913 switch (openocd_cmd
->type
) {
1915 ret
= ulink_post_process_scan(current
);
1917 case JTAG_TLR_RESET
:
1922 case JTAG_STABLECLOCKS
:
1923 /* Nothing to do for these commands */
1928 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1933 if (ret
!= ERROR_OK
)
1937 current
= current
->next
;
1943 /**************************** JTAG driver functions ***************************/
1946 * Executes the JTAG Command Queue.
1948 * This is done in three stages: First, all OpenOCD commands are processed into
1949 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1950 * ULINK device and data received from the ULINK device is cached. Finally,
1951 * the post-processing function writes back data to the corresponding OpenOCD
1954 * @return on success: ERROR_OK
1955 * @return on failure: ERROR_FAIL
1957 static int ulink_execute_queue(void)
1959 struct jtag_command
*cmd
= jtag_command_queue
;
1963 switch (cmd
->type
) {
1965 ret
= ulink_queue_scan(ulink_handle
, cmd
);
1967 case JTAG_TLR_RESET
:
1968 ret
= ulink_queue_tlr_reset(ulink_handle
, cmd
);
1971 ret
= ulink_queue_runtest(ulink_handle
, cmd
);
1974 ret
= ulink_queue_reset(ulink_handle
, cmd
);
1977 ret
= ulink_queue_pathmove(ulink_handle
, cmd
);
1980 ret
= ulink_queue_sleep(ulink_handle
, cmd
);
1982 case JTAG_STABLECLOCKS
:
1983 ret
= ulink_queue_stableclocks(ulink_handle
, cmd
);
1987 LOG_ERROR("BUG: encountered unknown JTAG command type");
1991 if (ret
!= ERROR_OK
)
1997 if (ulink_handle
->commands_in_queue
> 0) {
1998 ret
= ulink_execute_queued_commands(ulink_handle
, USB_TIMEOUT
);
1999 if (ret
!= ERROR_OK
)
2002 ret
= ulink_post_process_queue(ulink_handle
);
2003 if (ret
!= ERROR_OK
)
2006 ulink_clear_queue(ulink_handle
);
2013 * Set the TCK frequency of the ULINK adapter.
2015 * @param khz desired JTAG TCK frequency.
2016 * @param jtag_speed where to store corresponding adapter-specific speed value.
2017 * @return on success: ERROR_OK
2018 * @return on failure: ERROR_FAIL
2020 static int ulink_khz(int khz
, int *jtag_speed
)
2025 LOG_ERROR("RCLK not supported");
2029 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
2030 * setting can be done independently from all other commands. */
2032 ulink_handle
->delay_clock_tck
= -1;
2034 ret
= ulink_calculate_delay(DELAY_CLOCK_TCK
, khz
* 1000,
2035 &ulink_handle
->delay_clock_tck
);
2036 if (ret
!= ERROR_OK
)
2040 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2041 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2042 * commands, all SCAN commands MUST also use the variable frequency
2043 * implementation! */
2045 ulink_handle
->delay_clock_tms
= -1;
2046 ulink_handle
->delay_scan_in
= -1;
2047 ulink_handle
->delay_scan_out
= -1;
2048 ulink_handle
->delay_scan_io
= -1;
2050 ret
= ulink_calculate_delay(DELAY_CLOCK_TMS
, khz
* 1000,
2051 &ulink_handle
->delay_clock_tms
);
2052 if (ret
!= ERROR_OK
)
2055 ret
= ulink_calculate_delay(DELAY_SCAN_IN
, khz
* 1000,
2056 &ulink_handle
->delay_scan_in
);
2057 if (ret
!= ERROR_OK
)
2060 ret
= ulink_calculate_delay(DELAY_SCAN_OUT
, khz
* 1000,
2061 &ulink_handle
->delay_scan_out
);
2062 if (ret
!= ERROR_OK
)
2065 ret
= ulink_calculate_delay(DELAY_SCAN_IO
, khz
* 1000,
2066 &ulink_handle
->delay_scan_io
);
2067 if (ret
!= ERROR_OK
)
2071 #ifdef _DEBUG_JTAG_IO_
2072 long f_tck
, f_tms
, f_scan_in
, f_scan_out
, f_scan_io
;
2074 ulink_calculate_frequency(DELAY_CLOCK_TCK
, ulink_handle
->delay_clock_tck
,
2076 ulink_calculate_frequency(DELAY_CLOCK_TMS
, ulink_handle
->delay_clock_tms
,
2078 ulink_calculate_frequency(DELAY_SCAN_IN
, ulink_handle
->delay_scan_in
,
2080 ulink_calculate_frequency(DELAY_SCAN_OUT
, ulink_handle
->delay_scan_out
,
2082 ulink_calculate_frequency(DELAY_SCAN_IO
, ulink_handle
->delay_scan_io
,
2085 DEBUG_JTAG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2086 ulink_handle
->delay_clock_tck
, f_tck
);
2087 DEBUG_JTAG_IO(" delay_tms = %i (%li Hz),",
2088 ulink_handle
->delay_clock_tms
, f_tms
);
2089 DEBUG_JTAG_IO(" delay_scan_in = %i (%li Hz),",
2090 ulink_handle
->delay_scan_in
, f_scan_in
);
2091 DEBUG_JTAG_IO(" delay_scan_out = %i (%li Hz),",
2092 ulink_handle
->delay_scan_out
, f_scan_out
);
2093 DEBUG_JTAG_IO(" delay_scan_io = %i (%li Hz),",
2094 ulink_handle
->delay_scan_io
, f_scan_io
);
2097 /* Configure the ULINK device with the new delay values */
2098 ret
= ulink_append_configure_tck_cmd(ulink_handle
,
2099 ulink_handle
->delay_scan_in
,
2100 ulink_handle
->delay_scan_out
,
2101 ulink_handle
->delay_scan_io
,
2102 ulink_handle
->delay_clock_tck
,
2103 ulink_handle
->delay_clock_tms
);
2105 if (ret
!= ERROR_OK
)
2114 * Set the TCK frequency of the ULINK adapter.
2116 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2117 * there are five different speed settings. To simplify things, the
2118 * adapter-specific speed setting value is identical to the TCK frequency in
2121 * @param speed desired adapter-specific speed value.
2122 * @return on success: ERROR_OK
2123 * @return on failure: ERROR_FAIL
2125 static int ulink_speed(int speed
)
2129 return ulink_khz(speed
, &dummy
);
2133 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2135 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2136 * there are five different speed settings. To simplify things, the
2137 * adapter-specific speed setting value is identical to the TCK frequency in
2140 * @param speed adapter-specific speed value.
2141 * @param khz where to store corresponding TCK frequency in kHz.
2142 * @return on success: ERROR_OK
2143 * @return on failure: ERROR_FAIL
2145 static int ulink_speed_div(int speed
, int *khz
)
2153 * Initiates the firmware download to the ULINK adapter and prepares
2156 * @return on success: ERROR_OK
2157 * @return on failure: ERROR_FAIL
2159 static int ulink_init(void)
2161 int ret
, transferred
;
2162 char str_manufacturer
[20];
2163 bool download_firmware
= false;
2164 unsigned char *dummy
;
2165 uint8_t input_signals
, output_signals
;
2167 ulink_handle
= calloc(1, sizeof(struct ulink
));
2168 if (ulink_handle
== NULL
)
2171 libusb_init(&ulink_handle
->libusb_ctx
);
2173 ret
= ulink_usb_open(&ulink_handle
);
2174 if (ret
!= ERROR_OK
) {
2175 LOG_ERROR("Could not open ULINK device");
2177 ulink_handle
= NULL
;
2181 /* Get String Descriptor to determine if firmware needs to be loaded */
2182 ret
= libusb_get_string_descriptor_ascii(ulink_handle
->usb_device_handle
, 1, (unsigned char *)str_manufacturer
, 20);
2184 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2185 download_firmware
= true;
2187 /* We got a String Descriptor, check if it is the correct one */
2188 if (strncmp(str_manufacturer
, "OpenULINK", 9) != 0)
2189 download_firmware
= true;
2192 if (download_firmware
== true) {
2193 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2195 ret
= ulink_load_firmware_and_renumerate(&ulink_handle
,
2196 ULINK_FIRMWARE_FILE
, ULINK_RENUMERATION_DELAY
);
2197 if (ret
!= ERROR_OK
) {
2198 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2200 ulink_handle
= NULL
;
2204 LOG_INFO("ULINK device is already running OpenULINK firmware");
2206 /* Initialize OpenULINK command queue */
2207 ulink_clear_queue(ulink_handle
);
2209 /* Issue one test command with short timeout */
2210 ret
= ulink_append_test_cmd(ulink_handle
);
2211 if (ret
!= ERROR_OK
)
2214 ret
= ulink_execute_queued_commands(ulink_handle
, 200);
2215 if (ret
!= ERROR_OK
) {
2216 /* Sending test command failed. The ULINK device may be forever waiting for
2217 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2218 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2219 dummy
= calloc(64, sizeof(uint8_t));
2221 ret
= libusb_bulk_transfer(ulink_handle
->usb_device_handle
, (2 | LIBUSB_ENDPOINT_IN
),
2222 dummy
, 64, &transferred
, 200);
2226 if (ret
!= 0 || transferred
== 0) {
2227 /* Bulk IN transfer failed -> unrecoverable error condition */
2228 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2229 "the USB port and re-connect, then re-run OpenOCD");
2231 ulink_handle
= NULL
;
2234 #ifdef _DEBUG_USB_COMMS_
2236 /* Successfully received Bulk IN packet -> continue */
2237 LOG_INFO("Recovered from lost Bulk IN packet");
2241 ulink_clear_queue(ulink_handle
);
2243 ulink_append_get_signals_cmd(ulink_handle
);
2244 ulink_execute_queued_commands(ulink_handle
, 200);
2246 /* Post-process the single CMD_GET_SIGNALS command */
2247 input_signals
= ulink_handle
->queue_start
->payload_in
[0];
2248 output_signals
= ulink_handle
->queue_start
->payload_in
[1];
2250 ulink_print_signal_states(input_signals
, output_signals
);
2252 ulink_clear_queue(ulink_handle
);
2258 * Closes the USB handle for the ULINK device.
2260 * @return on success: ERROR_OK
2261 * @return on failure: ERROR_FAIL
2263 static int ulink_quit(void)
2267 ret
= ulink_usb_close(&ulink_handle
);
2274 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2276 COMMAND_HANDLER(ulink_download_firmware_handler
)
2281 return ERROR_COMMAND_SYNTAX_ERROR
;
2284 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV
[0]);
2286 /* Download firmware image in CMD_ARGV[0] */
2287 ret
= ulink_load_firmware_and_renumerate(&ulink_handle
, (char *)CMD_ARGV
[0],
2288 ULINK_RENUMERATION_DELAY
);
2293 /*************************** Command Registration **************************/
2295 static const struct command_registration ulink_command_handlers
[] = {
2297 .name
= "ulink_download_firmware",
2298 .handler
= &ulink_download_firmware_handler
,
2299 .mode
= COMMAND_EXEC
,
2300 .help
= "download firmware image to ULINK device",
2301 .usage
= "path/to/ulink_firmware.hex",
2303 COMMAND_REGISTRATION_DONE
,
2306 struct jtag_interface ulink_interface
= {
2309 .commands
= ulink_command_handlers
,
2310 .transports
= jtag_only
,
2312 .execute_queue
= ulink_execute_queue
,
2314 .speed
= ulink_speed
,
2315 .speed_div
= ulink_speed_div
,