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 "usb_common.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 PKGLIBDIR "/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 usb_dev_handle
*usb_handle
;
150 enum ulink_type type
;
152 int delay_scan_in
; /* /< Delay value for SCAN_IN commands */
153 int delay_scan_out
; /* /< Delay value for SCAN_OUT commands */
154 int delay_scan_io
; /* /< Delay value for SCAN_IO commands */
155 int delay_clock_tck
; /* /< Delay value for CLOCK_TMS commands */
156 int delay_clock_tms
; /* /< Delay value for CLOCK_TCK commands */
158 int commands_in_queue
; /* /< Number of commands in queue */
159 struct ulink_cmd
*queue_start
; /* /< Pointer to first command in queue */
160 struct ulink_cmd
*queue_end
; /* /< Pointer to last command in queue */
163 /**************************** Function Prototypes *****************************/
165 /* USB helper functions */
166 int ulink_usb_open(struct ulink
**device
);
167 int ulink_usb_close(struct ulink
**device
);
169 /* ULINK MCU (Cypress EZ-USB) specific functions */
170 int ulink_cpu_reset(struct ulink
*device
, char reset_bit
);
171 int ulink_load_firmware_and_renumerate(struct ulink
**device
, char *filename
,
173 int ulink_load_firmware(struct ulink
*device
, char *filename
);
174 int ulink_write_firmware_section(struct ulink
*device
,
175 struct image
*firmware_image
, int section_index
);
177 /* Generic helper functions */
178 void ulink_print_signal_states(uint8_t input_signals
, uint8_t output_signals
);
180 /* OpenULINK command generation helper functions */
181 int ulink_allocate_payload(struct ulink_cmd
*ulink_cmd
, int size
,
182 enum ulink_payload_direction direction
);
184 /* OpenULINK command queue helper functions */
185 int ulink_get_queue_size(struct ulink
*device
,
186 enum ulink_payload_direction direction
);
187 void ulink_clear_queue(struct ulink
*device
);
188 int ulink_append_queue(struct ulink
*device
, struct ulink_cmd
*ulink_cmd
);
189 int ulink_execute_queued_commands(struct ulink
*device
, int timeout
);
191 #ifdef _DEBUG_JTAG_IO_
192 const char *ulink_cmd_id_string(uint8_t id
);
193 void ulink_print_command(struct ulink_cmd
*ulink_cmd
);
194 void ulink_print_queue(struct ulink
*device
);
197 int ulink_append_scan_cmd(struct ulink
*device
,
198 enum scan_type scan_type
,
203 uint8_t tms_count_start
,
204 uint8_t tms_sequence_start
,
205 uint8_t tms_count_end
,
206 uint8_t tms_sequence_end
,
207 struct jtag_command
*origin
,
209 int ulink_append_clock_tms_cmd(struct ulink
*device
, uint8_t count
,
211 int ulink_append_clock_tck_cmd(struct ulink
*device
, uint16_t count
);
212 int ulink_append_get_signals_cmd(struct ulink
*device
);
213 int ulink_append_set_signals_cmd(struct ulink
*device
, uint8_t low
,
215 int ulink_append_sleep_cmd(struct ulink
*device
, uint32_t us
);
216 int ulink_append_configure_tck_cmd(struct ulink
*device
,
222 int ulink_append_led_cmd(struct ulink
*device
, uint8_t led_state
);
223 int ulink_append_test_cmd(struct ulink
*device
);
225 /* OpenULINK TCK frequency helper functions */
226 int ulink_calculate_delay(enum ulink_delay_type type
, long f
, int *delay
);
227 int ulink_calculate_frequency(enum ulink_delay_type type
, int delay
, long *f
);
229 /* Interface between OpenULINK and OpenOCD */
230 static void ulink_set_end_state(tap_state_t endstate
);
231 int ulink_queue_statemove(struct ulink
*device
);
233 int ulink_queue_scan(struct ulink
*device
, struct jtag_command
*cmd
);
234 int ulink_queue_tlr_reset(struct ulink
*device
, struct jtag_command
*cmd
);
235 int ulink_queue_runtest(struct ulink
*device
, struct jtag_command
*cmd
);
236 int ulink_queue_reset(struct ulink
*device
, struct jtag_command
*cmd
);
237 int ulink_queue_pathmove(struct ulink
*device
, struct jtag_command
*cmd
);
238 int ulink_queue_sleep(struct ulink
*device
, struct jtag_command
*cmd
);
239 int ulink_queue_stableclocks(struct ulink
*device
, struct jtag_command
*cmd
);
241 int ulink_post_process_scan(struct ulink_cmd
*ulink_cmd
);
242 int ulink_post_process_queue(struct ulink
*device
);
244 /* JTAG driver functions (registered in struct jtag_interface) */
245 static int ulink_execute_queue(void);
246 static int ulink_khz(int khz
, int *jtag_speed
);
247 static int ulink_speed(int speed
);
248 static int ulink_speed_div(int speed
, int *khz
);
249 static int ulink_init(void);
250 static int ulink_quit(void);
252 /****************************** Global Variables ******************************/
254 struct ulink
*ulink_handle
;
256 /**************************** USB helper functions ****************************/
259 * Opens the ULINK device and claims its USB interface.
261 * @param device pointer to struct ulink identifying ULINK driver instance.
262 * @return on success: ERROR_OK
263 * @return on failure: ERROR_FAIL
265 int ulink_usb_open(struct ulink
**device
)
268 struct usb_dev_handle
*usb_handle
;
270 /* Currently, only original ULINK is supported */
271 uint16_t vids
[] = { ULINK_VID
, 0 };
272 uint16_t pids
[] = { ULINK_PID
, 0 };
274 ret
= jtag_usb_open(vids
, pids
, &usb_handle
);
279 ret
= usb_claim_interface(usb_handle
, 0);
284 (*device
)->usb_handle
= usb_handle
;
285 (*device
)->type
= ULINK_1
;
291 * Releases the ULINK interface and closes the USB device handle.
293 * @param device pointer to struct ulink identifying ULINK driver instance.
294 * @return on success: ERROR_OK
295 * @return on failure: ERROR_FAIL
297 int ulink_usb_close(struct ulink
**device
)
299 if (usb_release_interface((*device
)->usb_handle
, 0) != 0)
302 if (usb_close((*device
)->usb_handle
) != 0)
305 (*device
)->usb_handle
= NULL
;
310 /******************* ULINK CPU (EZ-USB) specific functions ********************/
313 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
316 * @param device pointer to struct ulink identifying ULINK driver instance.
317 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
318 * @return on success: ERROR_OK
319 * @return on failure: ERROR_FAIL
321 int ulink_cpu_reset(struct ulink
*device
, char reset_bit
)
325 ret
= usb_control_msg(device
->usb_handle
,
326 (USB_ENDPOINT_OUT
| USB_TYPE_VENDOR
| USB_RECIP_DEVICE
),
327 REQUEST_FIRMWARE_LOAD
, CPUCS_REG
, 0, &reset_bit
, 1, USB_TIMEOUT
);
329 /* usb_control_msg() returns the number of bytes transferred during the
330 * DATA stage of the control transfer - must be exactly 1 in this case! */
337 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
338 * the firmware image, resumes the microcontroller and re-enumerates
341 * @param device pointer to struct ulink identifying ULINK driver instance.
342 * The usb_handle member will be modified during re-enumeration.
343 * @param filename path to the Intel HEX file containing the firmware image.
344 * @param delay the delay to wait for the device to re-enumerate.
345 * @return on success: ERROR_OK
346 * @return on failure: ERROR_FAIL
348 int ulink_load_firmware_and_renumerate(struct ulink
**device
,
349 char *filename
, uint32_t delay
)
353 /* Basic process: After downloading the firmware, the ULINK will disconnect
354 * itself and re-connect after a short amount of time so we have to close
355 * the handle and re-enumerate USB devices */
357 ret
= ulink_load_firmware(*device
, filename
);
361 ret
= ulink_usb_close(device
);
367 ret
= ulink_usb_open(device
);
375 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
378 * @param device pointer to struct ulink identifying ULINK driver instance.
379 * @param filename an absolute or relative path to the Intel HEX file
380 * containing the firmware image.
381 * @return on success: ERROR_OK
382 * @return on failure: ERROR_FAIL
384 int ulink_load_firmware(struct ulink
*device
, char *filename
)
386 struct image ulink_firmware_image
;
389 ret
= ulink_cpu_reset(device
, CPU_RESET
);
390 if (ret
!= ERROR_OK
) {
391 LOG_ERROR("Could not halt ULINK CPU");
395 ulink_firmware_image
.base_address
= 0;
396 ulink_firmware_image
.base_address_set
= 0;
398 ret
= image_open(&ulink_firmware_image
, filename
, "ihex");
399 if (ret
!= ERROR_OK
) {
400 LOG_ERROR("Could not load firmware image");
404 /* Download all sections in the image to ULINK */
405 for (i
= 0; i
< ulink_firmware_image
.num_sections
; i
++) {
406 ret
= ulink_write_firmware_section(device
, &ulink_firmware_image
, i
);
411 image_close(&ulink_firmware_image
);
413 ret
= ulink_cpu_reset(device
, CPU_START
);
414 if (ret
!= ERROR_OK
) {
415 LOG_ERROR("Could not restart ULINK CPU");
423 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
426 * @param device pointer to struct ulink identifying ULINK driver instance.
427 * @param firmware_image pointer to the firmware image that contains the section
428 * which should be sent to the ULINK's EZ-USB microcontroller.
429 * @param section_index index of the section within the firmware image.
430 * @return on success: ERROR_OK
431 * @return on failure: ERROR_FAIL
433 int ulink_write_firmware_section(struct ulink
*device
,
434 struct image
*firmware_image
, int section_index
)
436 uint16_t addr
, size
, bytes_remaining
, chunk_size
;
437 uint8_t data
[SECTION_BUFFERSIZE
];
438 uint8_t *data_ptr
= data
;
442 size
= (uint16_t)firmware_image
->sections
[section_index
].size
;
443 addr
= (uint16_t)firmware_image
->sections
[section_index
].base_address
;
445 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index
, addr
,
451 /* Copy section contents to local buffer */
452 ret
= image_read_section(firmware_image
, section_index
, 0, size
, data
,
455 if ((ret
!= ERROR_OK
) || (size_read
!= size
)) {
456 /* Propagating the return code would return '0' (misleadingly indicating
457 * successful execution of the function) if only the size check fails. */
461 bytes_remaining
= size
;
463 /* Send section data in chunks of up to 64 bytes to ULINK */
464 while (bytes_remaining
> 0) {
465 if (bytes_remaining
> 64)
468 chunk_size
= bytes_remaining
;
470 ret
= usb_control_msg(device
->usb_handle
,
471 (USB_ENDPOINT_OUT
| USB_TYPE_VENDOR
| USB_RECIP_DEVICE
),
472 REQUEST_FIRMWARE_LOAD
, addr
, FIRMWARE_ADDR
, (char *)data_ptr
,
473 chunk_size
, USB_TIMEOUT
);
475 if (ret
!= (int)chunk_size
) {
476 /* Abort if libusb sent less data than requested */
480 bytes_remaining
-= chunk_size
;
482 data_ptr
+= chunk_size
;
488 /************************** Generic helper functions **************************/
491 * Print state of interesting signals via LOG_INFO().
493 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
494 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
496 void ulink_print_signal_states(uint8_t input_signals
, uint8_t output_signals
)
498 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
500 (output_signals
& SIGNAL_TDI
? 1 : 0),
501 (input_signals
& SIGNAL_TDO
? 1 : 0),
502 (output_signals
& SIGNAL_TMS
? 1 : 0),
503 (output_signals
& SIGNAL_TCK
? 1 : 0),
504 (output_signals
& SIGNAL_TRST
? 0 : 1),/* TRST and RESET are inverted */
505 (output_signals
& SIGNAL_RESET
? 0 : 1)); /* by hardware */
508 /**************** OpenULINK command generation helper functions ***************/
511 * Allocate and initialize space in memory for OpenULINK command payload.
513 * @param ulink_cmd pointer to command whose payload should be allocated.
514 * @param size the amount of memory to allocate (bytes).
515 * @param direction which payload to allocate.
516 * @return on success: ERROR_OK
517 * @return on failure: ERROR_FAIL
519 int ulink_allocate_payload(struct ulink_cmd
*ulink_cmd
, int size
,
520 enum ulink_payload_direction direction
)
524 payload
= calloc(size
, sizeof(uint8_t));
526 if (payload
== NULL
) {
527 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
532 case PAYLOAD_DIRECTION_OUT
:
533 if (ulink_cmd
->payload_out
!= NULL
) {
534 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
538 ulink_cmd
->payload_out
= payload
;
539 ulink_cmd
->payload_out_size
= size
;
542 case PAYLOAD_DIRECTION_IN
:
543 if (ulink_cmd
->payload_in_start
!= NULL
) {
544 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
548 ulink_cmd
->payload_in_start
= payload
;
549 ulink_cmd
->payload_in
= payload
;
550 ulink_cmd
->payload_in_size
= size
;
552 /* By default, free payload_in_start in ulink_clear_queue(). Commands
553 * that do not want this behavior (e. g. split scans) must turn it off
555 ulink_cmd
->free_payload_in_start
= true;
563 /****************** OpenULINK command queue helper functions ******************/
566 * Get the current number of bytes in the queue, including command IDs.
568 * @param device pointer to struct ulink identifying ULINK driver instance.
569 * @param direction the transfer direction for which to get byte count.
570 * @return the number of bytes currently stored in the queue for the specified
573 int ulink_get_queue_size(struct ulink
*device
,
574 enum ulink_payload_direction direction
)
576 struct ulink_cmd
*current
= device
->queue_start
;
579 while (current
!= NULL
) {
581 case PAYLOAD_DIRECTION_OUT
:
582 sum
+= current
->payload_out_size
+ 1; /* + 1 byte for Command ID */
584 case PAYLOAD_DIRECTION_IN
:
585 sum
+= current
->payload_in_size
;
589 current
= current
->next
;
596 * Clear the OpenULINK command queue.
598 * @param device pointer to struct ulink identifying ULINK driver instance.
599 * @return on success: ERROR_OK
600 * @return on failure: ERROR_FAIL
602 void ulink_clear_queue(struct ulink
*device
)
604 struct ulink_cmd
*current
= device
->queue_start
;
605 struct ulink_cmd
*next
= NULL
;
607 while (current
!= NULL
) {
608 /* Save pointer to next element */
609 next
= current
->next
;
611 /* Free payloads: OUT payload can be freed immediately */
612 free(current
->payload_out
);
613 current
->payload_out
= NULL
;
615 /* IN payload MUST be freed ONLY if no other commands use the
616 * payload_in_start buffer */
617 if (current
->free_payload_in_start
== true) {
618 free(current
->payload_in_start
);
619 current
->payload_in_start
= NULL
;
620 current
->payload_in
= NULL
;
623 /* Free queue element */
626 /* Proceed with next element */
630 device
->commands_in_queue
= 0;
631 device
->queue_start
= NULL
;
632 device
->queue_end
= NULL
;
636 * Add a command to the OpenULINK command queue.
638 * @param device pointer to struct ulink identifying ULINK driver instance.
639 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
641 * @return on success: ERROR_OK
642 * @return on failure: ERROR_FAIL
644 int ulink_append_queue(struct ulink
*device
, struct ulink_cmd
*ulink_cmd
)
646 int newsize_out
, newsize_in
;
649 newsize_out
= ulink_get_queue_size(device
, PAYLOAD_DIRECTION_OUT
) + 1
650 + ulink_cmd
->payload_out_size
;
652 newsize_in
= ulink_get_queue_size(device
, PAYLOAD_DIRECTION_IN
)
653 + ulink_cmd
->payload_in_size
;
655 /* Check if the current command can be appended to the queue */
656 if ((newsize_out
> 64) || (newsize_in
> 64)) {
657 /* New command does not fit. Execute all commands in queue before starting
658 * new queue with the current command as first entry. */
659 ret
= ulink_execute_queued_commands(device
, USB_TIMEOUT
);
663 ret
= ulink_post_process_queue(device
);
667 ulink_clear_queue(device
);
670 if (device
->queue_start
== NULL
) {
671 /* Queue was empty */
672 device
->commands_in_queue
= 1;
674 device
->queue_start
= ulink_cmd
;
675 device
->queue_end
= ulink_cmd
;
677 /* There are already commands in the queue */
678 device
->commands_in_queue
++;
680 device
->queue_end
->next
= ulink_cmd
;
681 device
->queue_end
= ulink_cmd
;
688 * Sends all queued OpenULINK commands to the ULINK for execution.
690 * @param device pointer to struct ulink identifying ULINK driver instance.
691 * @return on success: ERROR_OK
692 * @return on failure: ERROR_FAIL
694 int ulink_execute_queued_commands(struct ulink
*device
, int timeout
)
696 struct ulink_cmd
*current
;
697 int ret
, i
, index_out
, index_in
, count_out
, count_in
;
700 #ifdef _DEBUG_JTAG_IO_
701 ulink_print_queue(device
);
708 for (current
= device
->queue_start
; current
; current
= current
->next
) {
709 /* Add command to packet */
710 buffer
[index_out
] = current
->id
;
714 for (i
= 0; i
< current
->payload_out_size
; i
++)
715 buffer
[index_out
+ i
] = current
->payload_out
[i
];
716 index_out
+= current
->payload_out_size
;
717 count_in
+= current
->payload_in_size
;
718 count_out
+= current
->payload_out_size
;
721 /* Send packet to ULINK */
722 ret
= usb_bulk_write(device
->usb_handle
, (2 | USB_ENDPOINT_OUT
),
723 (char *)buffer
, count_out
, timeout
);
726 if (ret
!= count_out
)
729 /* Wait for response if commands contain IN payload data */
731 ret
= usb_bulk_read(device
->usb_handle
, (2 | USB_ENDPOINT_IN
),
732 (char *)buffer
, 64, timeout
);
738 /* Write back IN payload data */
740 for (current
= device
->queue_start
; current
; current
= current
->next
) {
741 for (i
= 0; i
< current
->payload_in_size
; i
++) {
742 current
->payload_in
[i
] = buffer
[index_in
];
751 #ifdef _DEBUG_JTAG_IO_
754 * Convert an OpenULINK command ID (\a id) to a human-readable string.
756 * @param id the OpenULINK command ID.
757 * @return the corresponding human-readable string.
759 const char *ulink_cmd_id_string(uint8_t id
)
763 return "CMD_SCAN_IN";
765 case CMD_SLOW_SCAN_IN
:
766 return "CMD_SLOW_SCAN_IN";
769 return "CMD_SCAN_OUT";
771 case CMD_SLOW_SCAN_OUT
:
772 return "CMD_SLOW_SCAN_OUT";
775 return "CMD_SCAN_IO";
777 case CMD_SLOW_SCAN_IO
:
778 return "CMD_SLOW_SCAN_IO";
781 return "CMD_CLOCK_TMS";
783 case CMD_SLOW_CLOCK_TMS
:
784 return "CMD_SLOW_CLOCK_TMS";
787 return "CMD_CLOCK_TCK";
789 case CMD_SLOW_CLOCK_TCK
:
790 return "CMD_SLOW_CLOCK_TCK";
793 return "CMD_SLEEP_US";
796 return "CMD_SLEEP_MS";
798 case CMD_GET_SIGNALS
:
799 return "CMD_GET_SIGNALS";
801 case CMD_SET_SIGNALS
:
802 return "CMD_SET_SIGNALS";
804 case CMD_CONFIGURE_TCK_FREQ
:
805 return "CMD_CONFIGURE_TCK_FREQ";
808 return "CMD_SET_LEDS";
814 return "CMD_UNKNOWN";
820 * Print one OpenULINK command to stdout.
822 * @param ulink_cmd pointer to OpenULINK command.
824 void ulink_print_command(struct ulink_cmd
*ulink_cmd
)
828 printf(" %-22s | OUT size = %i, bytes = 0x",
829 ulink_cmd_id_string(ulink_cmd
->id
), ulink_cmd
->payload_out_size
);
831 for (i
= 0; i
< ulink_cmd
->payload_out_size
; i
++)
832 printf("%02X ", ulink_cmd
->payload_out
[i
]);
833 printf("\n | IN size = %i\n",
834 ulink_cmd
->payload_in_size
);
838 * Print the OpenULINK command queue to stdout.
840 * @param device pointer to struct ulink identifying ULINK driver instance.
842 void ulink_print_queue(struct ulink
*device
)
844 struct ulink_cmd
*current
;
846 printf("OpenULINK command queue:\n");
848 for (current
= device
->queue_start
; current
; current
= current
->next
)
849 ulink_print_command(current
);
852 #endif /* _DEBUG_JTAG_IO_ */
857 * Creates and appends a JTAG scan command to the OpenULINK command queue.
858 * A JTAG scan consists of three steps:
859 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
860 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
861 * - Move to the desired end state.
863 * @param device pointer to struct ulink identifying ULINK driver instance.
864 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
865 * @param scan_size_bits number of bits to shift into the JTAG chain.
866 * @param tdi pointer to array containing TDI data.
867 * @param tdo_start pointer to first element of array where TDO data shall be
868 * stored. See #ulink_cmd for details.
869 * @param tdo pointer to array where TDO data shall be stored
870 * @param tms_count_start number of TMS state transitions to perform BEFORE
871 * shifting data into the JTAG chain.
872 * @param tms_sequence_start sequence of TMS state transitions that will be
873 * performed BEFORE shifting data into the JTAG chain.
874 * @param tms_count_end number of TMS state transitions to perform AFTER
875 * shifting data into the JTAG chain.
876 * @param tms_sequence_end sequence of TMS state transitions that will be
877 * performed AFTER shifting data into the JTAG chain.
878 * @param origin pointer to OpenOCD command that generated this scan command.
879 * @param postprocess whether this command needs to be post-processed after
881 * @return on success: ERROR_OK
882 * @return on failure: ERROR_FAIL
884 int ulink_append_scan_cmd(struct ulink
*device
, enum scan_type scan_type
,
885 int scan_size_bits
, uint8_t *tdi
, uint8_t *tdo_start
, uint8_t *tdo
,
886 uint8_t tms_count_start
, uint8_t tms_sequence_start
, uint8_t tms_count_end
,
887 uint8_t tms_sequence_end
, struct jtag_command
*origin
, bool postprocess
)
889 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
890 int ret
, i
, scan_size_bytes
;
891 uint8_t bits_last_byte
;
896 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
897 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
898 if (scan_size_bits
> (58 * 8)) {
899 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
905 scan_size_bytes
= DIV_ROUND_UP(scan_size_bits
, 8);
907 bits_last_byte
= scan_size_bits
% 8;
908 if (bits_last_byte
== 0)
911 /* Allocate out_payload depending on scan type */
914 if (device
->delay_scan_in
< 0)
915 cmd
->id
= CMD_SCAN_IN
;
917 cmd
->id
= CMD_SLOW_SCAN_IN
;
918 ret
= ulink_allocate_payload(cmd
, 5, PAYLOAD_DIRECTION_OUT
);
921 if (device
->delay_scan_out
< 0)
922 cmd
->id
= CMD_SCAN_OUT
;
924 cmd
->id
= CMD_SLOW_SCAN_OUT
;
925 ret
= ulink_allocate_payload(cmd
, scan_size_bytes
+ 5, PAYLOAD_DIRECTION_OUT
);
928 if (device
->delay_scan_io
< 0)
929 cmd
->id
= CMD_SCAN_IO
;
931 cmd
->id
= CMD_SLOW_SCAN_IO
;
932 ret
= ulink_allocate_payload(cmd
, scan_size_bytes
+ 5, PAYLOAD_DIRECTION_OUT
);
935 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
940 if (ret
!= ERROR_OK
) {
945 /* Build payload_out that is common to all scan types */
946 cmd
->payload_out
[0] = scan_size_bytes
& 0xFF;
947 cmd
->payload_out
[1] = bits_last_byte
& 0xFF;
948 cmd
->payload_out
[2] = ((tms_count_start
& 0x0F) << 4) | (tms_count_end
& 0x0F);
949 cmd
->payload_out
[3] = tms_sequence_start
;
950 cmd
->payload_out
[4] = tms_sequence_end
;
952 /* Setup payload_out for types with OUT transfer */
953 if ((scan_type
== SCAN_OUT
) || (scan_type
== SCAN_IO
)) {
954 for (i
= 0; i
< scan_size_bytes
; i
++)
955 cmd
->payload_out
[i
+ 5] = tdi
[i
];
958 /* Setup payload_in pointers for types with IN transfer */
959 if ((scan_type
== SCAN_IN
) || (scan_type
== SCAN_IO
)) {
960 cmd
->payload_in_start
= tdo_start
;
961 cmd
->payload_in
= tdo
;
962 cmd
->payload_in_size
= scan_size_bytes
;
965 cmd
->needs_postprocessing
= postprocess
;
966 cmd
->cmd_origin
= origin
;
968 /* For scan commands, we free payload_in_start only when the command is
969 * the last in a series of split commands or a stand-alone command */
970 cmd
->free_payload_in_start
= postprocess
;
972 return ulink_append_queue(device
, cmd
);
976 * Perform TAP state transitions
978 * @param device pointer to struct ulink identifying ULINK driver instance.
979 * @param count defines the number of TCK clock cycles generated (up to 8).
980 * @param sequence defines the TMS pin levels for each state transition. The
981 * Least-Significant Bit is read first.
982 * @return on success: ERROR_OK
983 * @return on failure: ERROR_FAIL
985 int ulink_append_clock_tms_cmd(struct ulink
*device
, uint8_t count
,
988 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
994 if (device
->delay_clock_tms
< 0)
995 cmd
->id
= CMD_CLOCK_TMS
;
997 cmd
->id
= CMD_SLOW_CLOCK_TMS
;
999 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
1000 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1001 if (ret
!= ERROR_OK
) {
1006 cmd
->payload_out
[0] = count
;
1007 cmd
->payload_out
[1] = sequence
;
1009 return ulink_append_queue(device
, cmd
);
1013 * Generate a defined amount of TCK clock cycles
1015 * All other JTAG signals are left unchanged.
1017 * @param device pointer to struct ulink identifying ULINK driver instance.
1018 * @param count the number of TCK clock cycles to generate.
1019 * @return on success: ERROR_OK
1020 * @return on failure: ERROR_FAIL
1022 int ulink_append_clock_tck_cmd(struct ulink
*device
, uint16_t count
)
1024 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1030 if (device
->delay_clock_tck
< 0)
1031 cmd
->id
= CMD_CLOCK_TCK
;
1033 cmd
->id
= CMD_SLOW_CLOCK_TCK
;
1035 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1036 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1037 if (ret
!= ERROR_OK
) {
1042 cmd
->payload_out
[0] = count
& 0xff;
1043 cmd
->payload_out
[1] = (count
>> 8) & 0xff;
1045 return ulink_append_queue(device
, cmd
);
1049 * Read JTAG signals.
1051 * @param device pointer to struct ulink identifying ULINK driver instance.
1052 * @return on success: ERROR_OK
1053 * @return on failure: ERROR_FAIL
1055 int ulink_append_get_signals_cmd(struct ulink
*device
)
1057 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1063 cmd
->id
= CMD_GET_SIGNALS
;
1064 cmd
->needs_postprocessing
= true;
1066 /* CMD_GET_SIGNALS has two IN payload bytes */
1067 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_IN
);
1069 if (ret
!= ERROR_OK
) {
1074 return ulink_append_queue(device
, cmd
);
1078 * Arbitrarily set JTAG output signals.
1080 * @param device pointer to struct ulink identifying ULINK driver instance.
1081 * @param low defines which signals will be de-asserted. Each bit corresponds
1090 * @param high defines which signals will be asserted.
1091 * @return on success: ERROR_OK
1092 * @return on failure: ERROR_FAIL
1094 int ulink_append_set_signals_cmd(struct ulink
*device
, uint8_t low
,
1097 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1103 cmd
->id
= CMD_SET_SIGNALS
;
1105 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1106 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1108 if (ret
!= ERROR_OK
) {
1113 cmd
->payload_out
[0] = low
;
1114 cmd
->payload_out
[1] = high
;
1116 return ulink_append_queue(device
, cmd
);
1120 * Sleep for a pre-defined number of microseconds
1122 * @param device pointer to struct ulink identifying ULINK driver instance.
1123 * @param us the number microseconds to sleep.
1124 * @return on success: ERROR_OK
1125 * @return on failure: ERROR_FAIL
1127 int ulink_append_sleep_cmd(struct ulink
*device
, uint32_t us
)
1129 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1135 cmd
->id
= CMD_SLEEP_US
;
1137 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1138 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1140 if (ret
!= ERROR_OK
) {
1145 cmd
->payload_out
[0] = us
& 0x00ff;
1146 cmd
->payload_out
[1] = (us
>> 8) & 0x00ff;
1148 return ulink_append_queue(device
, cmd
);
1152 * Set TCK delay counters
1154 * @param device pointer to struct ulink identifying ULINK driver instance.
1155 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1156 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1157 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1158 * @param delay_tck delay count top value in jtag_clock_tck() function.
1159 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1160 * @return on success: ERROR_OK
1161 * @return on failure: ERROR_FAIL
1163 int ulink_append_configure_tck_cmd(struct ulink
*device
, int delay_scan_in
,
1164 int delay_scan_out
, int delay_scan_io
, int delay_tck
, int delay_tms
)
1166 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1172 cmd
->id
= CMD_CONFIGURE_TCK_FREQ
;
1174 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1175 * IN payload bytes */
1176 ret
= ulink_allocate_payload(cmd
, 5, PAYLOAD_DIRECTION_OUT
);
1177 if (ret
!= ERROR_OK
) {
1182 if (delay_scan_in
< 0)
1183 cmd
->payload_out
[0] = 0;
1185 cmd
->payload_out
[0] = (uint8_t)delay_scan_in
;
1187 if (delay_scan_out
< 0)
1188 cmd
->payload_out
[1] = 0;
1190 cmd
->payload_out
[1] = (uint8_t)delay_scan_out
;
1192 if (delay_scan_io
< 0)
1193 cmd
->payload_out
[2] = 0;
1195 cmd
->payload_out
[2] = (uint8_t)delay_scan_io
;
1198 cmd
->payload_out
[3] = 0;
1200 cmd
->payload_out
[3] = (uint8_t)delay_tck
;
1203 cmd
->payload_out
[4] = 0;
1205 cmd
->payload_out
[4] = (uint8_t)delay_tms
;
1207 return ulink_append_queue(device
, cmd
);
1211 * Turn on/off ULINK LEDs.
1213 * @param device pointer to struct ulink identifying ULINK driver instance.
1214 * @param led_state which LED(s) to turn on or off. The following bits
1215 * influence the LEDS:
1216 * - Bit 0: Turn COM LED on
1217 * - Bit 1: Turn RUN LED on
1218 * - Bit 2: Turn COM LED off
1219 * - Bit 3: Turn RUN LED off
1220 * If both the on-bit and the off-bit for the same LED is set, the LED is
1222 * @return on success: ERROR_OK
1223 * @return on failure: ERROR_FAIL
1225 int ulink_append_led_cmd(struct ulink
*device
, uint8_t led_state
)
1227 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1233 cmd
->id
= CMD_SET_LEDS
;
1235 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1236 ret
= ulink_allocate_payload(cmd
, 1, PAYLOAD_DIRECTION_OUT
);
1237 if (ret
!= ERROR_OK
) {
1242 cmd
->payload_out
[0] = led_state
;
1244 return ulink_append_queue(device
, cmd
);
1248 * Test command. Used to check if the ULINK device is ready to accept new
1251 * @param device pointer to struct ulink identifying ULINK driver instance.
1252 * @return on success: ERROR_OK
1253 * @return on failure: ERROR_FAIL
1255 int ulink_append_test_cmd(struct ulink
*device
)
1257 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1265 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1266 ret
= ulink_allocate_payload(cmd
, 1, PAYLOAD_DIRECTION_OUT
);
1267 if (ret
!= ERROR_OK
) {
1272 cmd
->payload_out
[0] = 0xAA;
1274 return ulink_append_queue(device
, cmd
);
1277 /****************** OpenULINK TCK frequency helper functions ******************/
1280 * Calculate delay values for a given TCK frequency.
1282 * The OpenULINK firmware uses five different speed values for different
1283 * commands. These speed values are calculated in these functions.
1285 * The five different commands which support variable TCK frequency are
1286 * implemented twice in the firmware:
1287 * 1. Maximum possible frequency without any artificial delay
1288 * 2. Variable frequency with artificial linear delay loop
1290 * To set the ULINK to maximum frequency, it is only neccessary to use the
1291 * corresponding command IDs. To set the ULINK to a lower frequency, the
1292 * delay loop top values have to be calculated first. Then, a
1293 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1295 * The delay values are described by linear equations:
1297 * (t = period, k = constant, x = delay value, d = constant)
1299 * Thus, the delay can be calculated as in the following equation:
1302 * The constants in these equations have been determined and validated by
1303 * measuring the frequency resulting from different delay values.
1305 * @param type for which command to calculate the delay value.
1306 * @param f TCK frequency for which to calculate the delay value in Hz.
1307 * @param delay where to store resulting delay value.
1308 * @return on success: ERROR_OK
1309 * @return on failure: ERROR_FAIL
1311 int ulink_calculate_delay(enum ulink_delay_type type
, long f
, int *delay
)
1315 /* Calculate period of requested TCK frequency */
1316 t
= 1.0 / (float)(f
);
1319 case DELAY_CLOCK_TCK
:
1320 x
= (t
- (float)(6E-6)) / (float)(4E-6);
1322 case DELAY_CLOCK_TMS
:
1323 x
= (t
- (float)(8.5E-6)) / (float)(4E-6);
1326 x
= (t
- (float)(8.8308E-6)) / (float)(4E-6);
1328 case DELAY_SCAN_OUT
:
1329 x
= (t
- (float)(1.0527E-5)) / (float)(4E-6);
1332 x
= (t
- (float)(1.3132E-5)) / (float)(4E-6);
1339 /* Check if the delay value is negative. This happens when a frequency is
1340 * requested that is too high for the delay loop implementation. In this
1341 * case, set delay value to zero. */
1345 /* We need to convert the exact delay value to an integer. Therefore, we
1346 * round the exact value UP to ensure that the resulting frequency is NOT
1347 * higher than the requested frequency. */
1350 /* Check if the value is within limits */
1354 *delay
= (int)x_ceil
;
1360 * Calculate frequency for a given delay value.
1362 * Similar to the #ulink_calculate_delay function, this function calculates the
1363 * TCK frequency for a given delay value by using linear equations of the form:
1365 * (t = period, k = constant, x = delay value, d = constant)
1367 * @param type for which command to calculate the delay value.
1368 * @param delay delay value for which to calculate the resulting TCK frequency.
1369 * @param f where to store the resulting TCK frequency.
1370 * @return on success: ERROR_OK
1371 * @return on failure: ERROR_FAIL
1373 int ulink_calculate_frequency(enum ulink_delay_type type
, int delay
, long *f
)
1375 float t
, f_float
, f_rounded
;
1381 case DELAY_CLOCK_TCK
:
1383 t
= (float)(2.666E-6);
1385 t
= (float)(4E-6) * (float)(delay
) + (float)(6E-6);
1387 case DELAY_CLOCK_TMS
:
1389 t
= (float)(5.666E-6);
1391 t
= (float)(4E-6) * (float)(delay
) + (float)(8.5E-6);
1395 t
= (float)(5.5E-6);
1397 t
= (float)(4E-6) * (float)(delay
) + (float)(8.8308E-6);
1399 case DELAY_SCAN_OUT
:
1401 t
= (float)(7.0E-6);
1403 t
= (float)(4E-6) * (float)(delay
) + (float)(1.0527E-5);
1407 t
= (float)(9.926E-6);
1409 t
= (float)(4E-6) * (float)(delay
) + (float)(1.3132E-5);
1417 f_rounded
= roundf(f_float
);
1418 *f
= (long)f_rounded
;
1423 /******************* Interface between OpenULINK and OpenOCD ******************/
1426 * Sets the end state follower (see interface.h) if \a endstate is a stable
1429 * @param endstate the state the end state follower should be set to.
1431 static void ulink_set_end_state(tap_state_t endstate
)
1433 if (tap_is_state_stable(endstate
))
1434 tap_set_end_state(endstate
);
1436 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate
));
1442 * Move from the current TAP state to the current TAP end state.
1444 * @param device pointer to struct ulink identifying ULINK driver instance.
1445 * @return on success: ERROR_OK
1446 * @return on failure: ERROR_FAIL
1448 int ulink_queue_statemove(struct ulink
*device
)
1450 uint8_t tms_sequence
, tms_count
;
1453 if (tap_get_state() == tap_get_end_state()) {
1454 /* Do nothing if we are already there */
1458 tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1459 tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1461 ret
= ulink_append_clock_tms_cmd(device
, tms_count
, tms_sequence
);
1463 if (ret
== ERROR_OK
)
1464 tap_set_state(tap_get_end_state());
1470 * Perform a scan operation on a JTAG register.
1472 * @param device pointer to struct ulink identifying ULINK driver instance.
1473 * @param cmd pointer to the command that shall be executed.
1474 * @return on success: ERROR_OK
1475 * @return on failure: ERROR_FAIL
1477 int ulink_queue_scan(struct ulink
*device
, struct jtag_command
*cmd
)
1479 uint32_t scan_size_bits
, scan_size_bytes
, bits_last_scan
;
1480 uint32_t scans_max_payload
, bytecount
;
1481 uint8_t *tdi_buffer_start
= NULL
, *tdi_buffer
= NULL
;
1482 uint8_t *tdo_buffer_start
= NULL
, *tdo_buffer
= NULL
;
1484 uint8_t first_tms_count
, first_tms_sequence
;
1485 uint8_t last_tms_count
, last_tms_sequence
;
1487 uint8_t tms_count_pause
, tms_sequence_pause
;
1488 uint8_t tms_count_resume
, tms_sequence_resume
;
1490 uint8_t tms_count_start
, tms_sequence_start
;
1491 uint8_t tms_count_end
, tms_sequence_end
;
1493 enum scan_type type
;
1496 /* Determine scan size */
1497 scan_size_bits
= jtag_scan_size(cmd
->cmd
.scan
);
1498 scan_size_bytes
= DIV_ROUND_UP(scan_size_bits
, 8);
1500 /* Determine scan type (IN/OUT/IO) */
1501 type
= jtag_scan_type(cmd
->cmd
.scan
);
1503 /* Determine number of scan commands with maximum payload */
1504 scans_max_payload
= scan_size_bytes
/ 58;
1506 /* Determine size of last shift command */
1507 bits_last_scan
= scan_size_bits
- (scans_max_payload
* 58 * 8);
1509 /* Allocate TDO buffer if required */
1510 if ((type
== SCAN_IN
) || (type
== SCAN_IO
)) {
1511 tdo_buffer_start
= calloc(sizeof(uint8_t), scan_size_bytes
);
1513 if (tdo_buffer_start
== NULL
)
1516 tdo_buffer
= tdo_buffer_start
;
1519 /* Fill TDI buffer if required */
1520 if ((type
== SCAN_OUT
) || (type
== SCAN_IO
)) {
1521 jtag_build_buffer(cmd
->cmd
.scan
, &tdi_buffer_start
);
1522 tdi_buffer
= tdi_buffer_start
;
1525 /* Get TAP state transitions */
1526 if (cmd
->cmd
.scan
->ir_scan
) {
1527 ulink_set_end_state(TAP_IRSHIFT
);
1528 first_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1529 first_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1531 tap_set_state(TAP_IRSHIFT
);
1532 tap_set_end_state(cmd
->cmd
.scan
->end_state
);
1533 last_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1534 last_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1536 /* TAP state transitions for split scans */
1537 tms_count_pause
= tap_get_tms_path_len(TAP_IRSHIFT
, TAP_IRPAUSE
);
1538 tms_sequence_pause
= tap_get_tms_path(TAP_IRSHIFT
, TAP_IRPAUSE
);
1539 tms_count_resume
= tap_get_tms_path_len(TAP_IRPAUSE
, TAP_IRSHIFT
);
1540 tms_sequence_resume
= tap_get_tms_path(TAP_IRPAUSE
, TAP_IRSHIFT
);
1542 ulink_set_end_state(TAP_DRSHIFT
);
1543 first_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1544 first_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1546 tap_set_state(TAP_DRSHIFT
);
1547 tap_set_end_state(cmd
->cmd
.scan
->end_state
);
1548 last_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1549 last_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1551 /* TAP state transitions for split scans */
1552 tms_count_pause
= tap_get_tms_path_len(TAP_DRSHIFT
, TAP_DRPAUSE
);
1553 tms_sequence_pause
= tap_get_tms_path(TAP_DRSHIFT
, TAP_DRPAUSE
);
1554 tms_count_resume
= tap_get_tms_path_len(TAP_DRPAUSE
, TAP_DRSHIFT
);
1555 tms_sequence_resume
= tap_get_tms_path(TAP_DRPAUSE
, TAP_DRSHIFT
);
1558 /* Generate scan commands */
1559 bytecount
= scan_size_bytes
;
1560 while (bytecount
> 0) {
1561 if (bytecount
== scan_size_bytes
) {
1562 /* This is the first scan */
1563 tms_count_start
= first_tms_count
;
1564 tms_sequence_start
= first_tms_sequence
;
1566 /* Resume from previous scan */
1567 tms_count_start
= tms_count_resume
;
1568 tms_sequence_start
= tms_sequence_resume
;
1571 if (bytecount
> 58) { /* Full scan, at least one scan will follow */
1572 tms_count_end
= tms_count_pause
;
1573 tms_sequence_end
= tms_sequence_pause
;
1575 ret
= ulink_append_scan_cmd(device
,
1590 /* Update TDI and TDO buffer pointers */
1591 if (tdi_buffer_start
!= NULL
)
1593 if (tdo_buffer_start
!= NULL
)
1595 } else if (bytecount
== 58) { /* Full scan, no further scans */
1596 tms_count_end
= last_tms_count
;
1597 tms_sequence_end
= last_tms_sequence
;
1599 ret
= ulink_append_scan_cmd(device
,
1613 } else {/* Scan with less than maximum payload, no further scans */
1614 tms_count_end
= last_tms_count
;
1615 tms_sequence_end
= last_tms_sequence
;
1617 ret
= ulink_append_scan_cmd(device
,
1633 if (ret
!= ERROR_OK
) {
1634 free(tdi_buffer_start
);
1639 free(tdi_buffer_start
);
1641 /* Set current state to the end state requested by the command */
1642 tap_set_state(cmd
->cmd
.scan
->end_state
);
1648 * Move the TAP into the Test Logic Reset state.
1650 * @param device pointer to struct ulink identifying ULINK driver instance.
1651 * @param cmd pointer to the command that shall be executed.
1652 * @return on success: ERROR_OK
1653 * @return on failure: ERROR_FAIL
1655 int ulink_queue_tlr_reset(struct ulink
*device
, struct jtag_command
*cmd
)
1659 ret
= ulink_append_clock_tms_cmd(device
, 5, 0xff);
1661 if (ret
== ERROR_OK
)
1662 tap_set_state(TAP_RESET
);
1670 * Generate TCK clock cycles while remaining
1671 * in the Run-Test/Idle state.
1673 * @param device pointer to struct ulink identifying ULINK driver instance.
1674 * @param cmd pointer to the command that shall be executed.
1675 * @return on success: ERROR_OK
1676 * @return on failure: ERROR_FAIL
1678 int ulink_queue_runtest(struct ulink
*device
, struct jtag_command
*cmd
)
1682 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1683 if (tap_get_state() != TAP_IDLE
) {
1684 ulink_set_end_state(TAP_IDLE
);
1685 ulink_queue_statemove(device
);
1688 /* Generate the clock cycles */
1689 ret
= ulink_append_clock_tck_cmd(device
, cmd
->cmd
.runtest
->num_cycles
);
1690 if (ret
!= ERROR_OK
)
1693 /* Move to end state specified in command */
1694 if (cmd
->cmd
.runtest
->end_state
!= tap_get_state()) {
1695 tap_set_end_state(cmd
->cmd
.runtest
->end_state
);
1696 ulink_queue_statemove(device
);
1703 * Execute a JTAG_RESET command
1705 * @param cmd pointer to the command that shall be executed.
1706 * @return on success: ERROR_OK
1707 * @return on failure: ERROR_FAIL
1709 int ulink_queue_reset(struct ulink
*device
, struct jtag_command
*cmd
)
1711 uint8_t low
= 0, high
= 0;
1713 if (cmd
->cmd
.reset
->trst
) {
1714 tap_set_state(TAP_RESET
);
1715 high
|= SIGNAL_TRST
;
1719 if (cmd
->cmd
.reset
->srst
)
1720 high
|= SIGNAL_RESET
;
1722 low
|= SIGNAL_RESET
;
1724 return ulink_append_set_signals_cmd(device
, low
, high
);
1728 * Move to one TAP state or several states in succession.
1730 * @param device pointer to struct ulink identifying ULINK driver instance.
1731 * @param cmd pointer to the command that shall be executed.
1732 * @return on success: ERROR_OK
1733 * @return on failure: ERROR_FAIL
1735 int ulink_queue_pathmove(struct ulink
*device
, struct jtag_command
*cmd
)
1737 int ret
, i
, num_states
, batch_size
, state_count
;
1739 uint8_t tms_sequence
;
1741 num_states
= cmd
->cmd
.pathmove
->num_states
;
1742 path
= cmd
->cmd
.pathmove
->path
;
1745 while (num_states
> 0) {
1748 /* Determine batch size */
1749 if (num_states
>= 8)
1752 batch_size
= num_states
;
1754 for (i
= 0; i
< batch_size
; i
++) {
1755 if (tap_state_transition(tap_get_state(), false) == path
[state_count
]) {
1756 /* Append '0' transition: clear bit 'i' in tms_sequence */
1757 buf_set_u32(&tms_sequence
, i
, 1, 0x0);
1758 } else if (tap_state_transition(tap_get_state(), true)
1759 == path
[state_count
]) {
1760 /* Append '1' transition: set bit 'i' in tms_sequence */
1761 buf_set_u32(&tms_sequence
, i
, 1, 0x1);
1763 /* Invalid state transition */
1764 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1765 tap_state_name(tap_get_state()),
1766 tap_state_name(path
[state_count
]));
1770 tap_set_state(path
[state_count
]);
1775 /* Append CLOCK_TMS command to OpenULINK command queue */
1777 "pathmove batch: count = %i, sequence = 0x%x", batch_size
, tms_sequence
);
1778 ret
= ulink_append_clock_tms_cmd(ulink_handle
, batch_size
, tms_sequence
);
1779 if (ret
!= ERROR_OK
)
1787 * Sleep for a specific amount of time.
1789 * @param device pointer to struct ulink identifying ULINK driver instance.
1790 * @param cmd pointer to the command that shall be executed.
1791 * @return on success: ERROR_OK
1792 * @return on failure: ERROR_FAIL
1794 int ulink_queue_sleep(struct ulink
*device
, struct jtag_command
*cmd
)
1796 /* IMPORTANT! Due to the time offset in command execution introduced by
1797 * command queueing, this needs to be implemented in the ULINK device */
1798 return ulink_append_sleep_cmd(device
, cmd
->cmd
.sleep
->us
);
1802 * Generate TCK cycles while remaining in a stable state.
1804 * @param device pointer to struct ulink identifying ULINK driver instance.
1805 * @param cmd pointer to the command that shall be executed.
1807 int ulink_queue_stableclocks(struct ulink
*device
, struct jtag_command
*cmd
)
1810 unsigned num_cycles
;
1812 if (!tap_is_state_stable(tap_get_state())) {
1813 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1817 num_cycles
= cmd
->cmd
.stableclocks
->num_cycles
;
1819 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1820 if (tap_get_state() == TAP_RESET
)
1821 ret
= ulink_append_set_signals_cmd(device
, 0, SIGNAL_TMS
);
1823 ret
= ulink_append_set_signals_cmd(device
, SIGNAL_TMS
, 0);
1825 if (ret
!= ERROR_OK
)
1828 while (num_cycles
> 0) {
1829 if (num_cycles
> 0xFFFF) {
1830 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1831 ret
= ulink_append_clock_tck_cmd(device
, 0xFFFF);
1832 num_cycles
-= 0xFFFF;
1834 ret
= ulink_append_clock_tck_cmd(device
, num_cycles
);
1838 if (ret
!= ERROR_OK
)
1846 * Post-process JTAG_SCAN command
1848 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1849 * @return on success: ERROR_OK
1850 * @return on failure: ERROR_FAIL
1852 int ulink_post_process_scan(struct ulink_cmd
*ulink_cmd
)
1854 struct jtag_command
*cmd
= ulink_cmd
->cmd_origin
;
1857 switch (jtag_scan_type(cmd
->cmd
.scan
)) {
1860 ret
= jtag_read_buffer(ulink_cmd
->payload_in_start
, cmd
->cmd
.scan
);
1863 /* Nothing to do for OUT scans */
1867 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1877 * Perform post-processing of commands after OpenULINK queue has been executed.
1879 * @param device pointer to struct ulink identifying ULINK driver instance.
1880 * @return on success: ERROR_OK
1881 * @return on failure: ERROR_FAIL
1883 int ulink_post_process_queue(struct ulink
*device
)
1885 struct ulink_cmd
*current
;
1886 struct jtag_command
*openocd_cmd
;
1889 current
= device
->queue_start
;
1891 while (current
!= NULL
) {
1892 openocd_cmd
= current
->cmd_origin
;
1894 /* Check if a corresponding OpenOCD command is stored for this
1895 * OpenULINK command */
1896 if ((current
->needs_postprocessing
== true) && (openocd_cmd
!= NULL
)) {
1897 switch (openocd_cmd
->type
) {
1899 ret
= ulink_post_process_scan(current
);
1901 case JTAG_TLR_RESET
:
1906 case JTAG_STABLECLOCKS
:
1907 /* Nothing to do for these commands */
1912 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1917 if (ret
!= ERROR_OK
)
1921 current
= current
->next
;
1927 /**************************** JTAG driver functions ***************************/
1930 * Executes the JTAG Command Queue.
1932 * This is done in three stages: First, all OpenOCD commands are processed into
1933 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1934 * ULINK device and data received from the ULINK device is cached. Finally,
1935 * the post-processing function writes back data to the corresponding OpenOCD
1938 * @return on success: ERROR_OK
1939 * @return on failure: ERROR_FAIL
1941 static int ulink_execute_queue(void)
1943 struct jtag_command
*cmd
= jtag_command_queue
;
1947 switch (cmd
->type
) {
1949 ret
= ulink_queue_scan(ulink_handle
, cmd
);
1951 case JTAG_TLR_RESET
:
1952 ret
= ulink_queue_tlr_reset(ulink_handle
, cmd
);
1955 ret
= ulink_queue_runtest(ulink_handle
, cmd
);
1958 ret
= ulink_queue_reset(ulink_handle
, cmd
);
1961 ret
= ulink_queue_pathmove(ulink_handle
, cmd
);
1964 ret
= ulink_queue_sleep(ulink_handle
, cmd
);
1966 case JTAG_STABLECLOCKS
:
1967 ret
= ulink_queue_stableclocks(ulink_handle
, cmd
);
1971 LOG_ERROR("BUG: encountered unknown JTAG command type");
1975 if (ret
!= ERROR_OK
)
1981 if (ulink_handle
->commands_in_queue
> 0) {
1982 ret
= ulink_execute_queued_commands(ulink_handle
, USB_TIMEOUT
);
1983 if (ret
!= ERROR_OK
)
1986 ret
= ulink_post_process_queue(ulink_handle
);
1987 if (ret
!= ERROR_OK
)
1990 ulink_clear_queue(ulink_handle
);
1997 * Set the TCK frequency of the ULINK adapter.
1999 * @param khz desired JTAG TCK frequency.
2000 * @param jtag_speed where to store corresponding adapter-specific speed value.
2001 * @return on success: ERROR_OK
2002 * @return on failure: ERROR_FAIL
2004 static int ulink_khz(int khz
, int *jtag_speed
)
2009 LOG_ERROR("RCLK not supported");
2013 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
2014 * setting can be done independently from all other commands. */
2016 ulink_handle
->delay_clock_tck
= -1;
2018 ret
= ulink_calculate_delay(DELAY_CLOCK_TCK
, khz
* 1000,
2019 &ulink_handle
->delay_clock_tck
);
2020 if (ret
!= ERROR_OK
)
2024 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2025 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2026 * commands, all SCAN commands MUST also use the variable frequency
2027 * implementation! */
2029 ulink_handle
->delay_clock_tms
= -1;
2030 ulink_handle
->delay_scan_in
= -1;
2031 ulink_handle
->delay_scan_out
= -1;
2032 ulink_handle
->delay_scan_io
= -1;
2034 ret
= ulink_calculate_delay(DELAY_CLOCK_TMS
, khz
* 1000,
2035 &ulink_handle
->delay_clock_tms
);
2036 if (ret
!= ERROR_OK
)
2039 ret
= ulink_calculate_delay(DELAY_SCAN_IN
, khz
* 1000,
2040 &ulink_handle
->delay_scan_in
);
2041 if (ret
!= ERROR_OK
)
2044 ret
= ulink_calculate_delay(DELAY_SCAN_OUT
, khz
* 1000,
2045 &ulink_handle
->delay_scan_out
);
2046 if (ret
!= ERROR_OK
)
2049 ret
= ulink_calculate_delay(DELAY_SCAN_IO
, khz
* 1000,
2050 &ulink_handle
->delay_scan_io
);
2051 if (ret
!= ERROR_OK
)
2055 #ifdef _DEBUG_JTAG_IO_
2056 long f_tck
, f_tms
, f_scan_in
, f_scan_out
, f_scan_io
;
2058 ulink_calculate_frequency(DELAY_CLOCK_TCK
, ulink_handle
->delay_clock_tck
,
2060 ulink_calculate_frequency(DELAY_CLOCK_TMS
, ulink_handle
->delay_clock_tms
,
2062 ulink_calculate_frequency(DELAY_SCAN_IN
, ulink_handle
->delay_scan_in
,
2064 ulink_calculate_frequency(DELAY_SCAN_OUT
, ulink_handle
->delay_scan_out
,
2066 ulink_calculate_frequency(DELAY_SCAN_IO
, ulink_handle
->delay_scan_io
,
2069 DEBUG_JTAG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2070 ulink_handle
->delay_clock_tck
, f_tck
);
2071 DEBUG_JTAG_IO(" delay_tms = %i (%li Hz),",
2072 ulink_handle
->delay_clock_tms
, f_tms
);
2073 DEBUG_JTAG_IO(" delay_scan_in = %i (%li Hz),",
2074 ulink_handle
->delay_scan_in
, f_scan_in
);
2075 DEBUG_JTAG_IO(" delay_scan_out = %i (%li Hz),",
2076 ulink_handle
->delay_scan_out
, f_scan_out
);
2077 DEBUG_JTAG_IO(" delay_scan_io = %i (%li Hz),",
2078 ulink_handle
->delay_scan_io
, f_scan_io
);
2081 /* Configure the ULINK device with the new delay values */
2082 ret
= ulink_append_configure_tck_cmd(ulink_handle
,
2083 ulink_handle
->delay_scan_in
,
2084 ulink_handle
->delay_scan_out
,
2085 ulink_handle
->delay_scan_io
,
2086 ulink_handle
->delay_clock_tck
,
2087 ulink_handle
->delay_clock_tms
);
2089 if (ret
!= ERROR_OK
)
2098 * Set the TCK frequency of the ULINK adapter.
2100 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2101 * there are five different speed settings. To simplify things, the
2102 * adapter-specific speed setting value is identical to the TCK frequency in
2105 * @param speed desired adapter-specific speed value.
2106 * @return on success: ERROR_OK
2107 * @return on failure: ERROR_FAIL
2109 static int ulink_speed(int speed
)
2113 return ulink_khz(speed
, &dummy
);
2117 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2119 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2120 * there are five different speed settings. To simplify things, the
2121 * adapter-specific speed setting value is identical to the TCK frequency in
2124 * @param speed adapter-specific speed value.
2125 * @param khz where to store corresponding TCK frequency in kHz.
2126 * @return on success: ERROR_OK
2127 * @return on failure: ERROR_FAIL
2129 static int ulink_speed_div(int speed
, int *khz
)
2137 * Initiates the firmware download to the ULINK adapter and prepares
2140 * @return on success: ERROR_OK
2141 * @return on failure: ERROR_FAIL
2143 static int ulink_init(void)
2146 char str_manufacturer
[20];
2147 bool download_firmware
= false;
2149 uint8_t input_signals
, output_signals
;
2151 ulink_handle
= calloc(1, sizeof(struct ulink
));
2152 if (ulink_handle
== NULL
)
2157 ret
= ulink_usb_open(&ulink_handle
);
2158 if (ret
!= ERROR_OK
) {
2159 LOG_ERROR("Could not open ULINK device");
2161 ulink_handle
= NULL
;
2165 /* Get String Descriptor to determine if firmware needs to be loaded */
2166 ret
= usb_get_string_simple(ulink_handle
->usb_handle
, 1, str_manufacturer
, 20);
2168 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2169 download_firmware
= true;
2171 /* We got a String Descriptor, check if it is the correct one */
2172 if (strncmp(str_manufacturer
, "OpenULINK", 9) != 0)
2173 download_firmware
= true;
2176 if (download_firmware
== true) {
2177 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2179 ret
= ulink_load_firmware_and_renumerate(&ulink_handle
,
2180 ULINK_FIRMWARE_FILE
, ULINK_RENUMERATION_DELAY
);
2181 if (ret
!= ERROR_OK
) {
2182 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2184 ulink_handle
= NULL
;
2188 LOG_INFO("ULINK device is already running OpenULINK firmware");
2190 /* Initialize OpenULINK command queue */
2191 ulink_clear_queue(ulink_handle
);
2193 /* Issue one test command with short timeout */
2194 ret
= ulink_append_test_cmd(ulink_handle
);
2195 if (ret
!= ERROR_OK
)
2198 ret
= ulink_execute_queued_commands(ulink_handle
, 200);
2199 if (ret
!= ERROR_OK
) {
2200 /* Sending test command failed. The ULINK device may be forever waiting for
2201 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2202 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2203 dummy
= calloc(64, sizeof(uint8_t));
2205 ret
= usb_bulk_read(ulink_handle
->usb_handle
, (2 | USB_ENDPOINT_IN
),
2206 (char *)dummy
, 64, 200);
2211 /* Bulk IN transfer failed -> unrecoverable error condition */
2212 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2213 "the USB port and re-connect, then re-run OpenOCD");
2215 ulink_handle
= NULL
;
2218 #ifdef _DEBUG_USB_COMMS_
2220 /* Successfully received Bulk IN packet -> continue */
2221 LOG_INFO("Recovered from lost Bulk IN packet");
2225 ulink_clear_queue(ulink_handle
);
2227 ulink_append_get_signals_cmd(ulink_handle
);
2228 ulink_execute_queued_commands(ulink_handle
, 200);
2230 /* Post-process the single CMD_GET_SIGNALS command */
2231 input_signals
= ulink_handle
->queue_start
->payload_in
[0];
2232 output_signals
= ulink_handle
->queue_start
->payload_in
[1];
2234 ulink_print_signal_states(input_signals
, output_signals
);
2236 ulink_clear_queue(ulink_handle
);
2242 * Closes the USB handle for the ULINK device.
2244 * @return on success: ERROR_OK
2245 * @return on failure: ERROR_FAIL
2247 static int ulink_quit(void)
2251 ret
= ulink_usb_close(&ulink_handle
);
2258 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2260 COMMAND_HANDLER(ulink_download_firmware_handler
)
2265 return ERROR_COMMAND_SYNTAX_ERROR
;
2268 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV
[0]);
2270 /* Download firmware image in CMD_ARGV[0] */
2271 ret
= ulink_load_firmware_and_renumerate(&ulink_handle
, (char *)CMD_ARGV
[0],
2272 ULINK_RENUMERATION_DELAY
);
2277 /*************************** Command Registration **************************/
2279 static const struct command_registration ulink_command_handlers
[] = {
2281 .name
= "ulink_download_firmware",
2282 .handler
= &ulink_download_firmware_handler
,
2283 .mode
= COMMAND_EXEC
,
2284 .help
= "download firmware image to ULINK device",
2285 .usage
= "path/to/ulink_firmware.hex",
2287 COMMAND_REGISTRATION_DONE
,
2290 struct jtag_interface ulink_interface
= {
2293 .commands
= ulink_command_handlers
,
2294 .transports
= jtag_only
,
2296 .execute_queue
= ulink_execute_queue
,
2298 .speed
= ulink_speed
,
2299 .speed_div
= ulink_speed_div
,