1 /***************************************************************************
2 * Copyright (C) 2011 by Martin Schmoelzer *
3 * <martin.schmoelzer@student.tuwien.ac.at> *
5 * This program is free software; you can redistribute it and/or modify *
6 * it under the terms of the GNU General Public License as published by *
7 * the Free Software Foundation; either version 2 of the License, or *
8 * (at your option) any later version. *
10 * This program is distributed in the hope that it will be useful, *
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13 * GNU General Public License for more details. *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program; if not, write to the *
17 * Free Software Foundation, Inc., *
18 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
19 ***************************************************************************/
26 #include <jtag/interface.h>
27 #include <jtag/commands.h>
28 #include <target/image.h>
29 #include <helper/types.h>
30 #include "usb_common.h"
31 #include "OpenULINK/include/msgtypes.h"
33 /** USB Vendor ID of ULINK device in unconfigured state (no firmware loaded
34 * yet) or with OpenULINK firmware. */
35 #define ULINK_VID 0xC251
37 /** USB Product ID of ULINK device in unconfigured state (no firmware loaded
38 * yet) or with OpenULINK firmware. */
39 #define ULINK_PID 0x2710
41 /** Address of EZ-USB CPU Control & Status register. This register can be
42 * written by issuing a Control EP0 vendor request. */
43 #define CPUCS_REG 0x7F92
45 /** USB Control EP0 bRequest: "Firmware Load". */
46 #define REQUEST_FIRMWARE_LOAD 0xA0
48 /** Value to write into CPUCS to put EZ-USB into reset. */
49 #define CPU_RESET 0x01
51 /** Value to write into CPUCS to put EZ-USB out of reset. */
52 #define CPU_START 0x00
54 /** Base address of firmware in EZ-USB code space. */
55 #define FIRMWARE_ADDR 0x0000
57 /** USB interface number */
58 #define USB_INTERFACE 0
60 /** libusb timeout in ms */
61 #define USB_TIMEOUT 5000
63 /** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
64 #define ULINK_RENUMERATION_DELAY 1500000
66 /** Default location of OpenULINK firmware image. */
67 #define ULINK_FIRMWARE_FILE PKGLIBDIR "/OpenULINK/ulink_firmware.hex"
69 /** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
70 #define SECTION_BUFFERSIZE 8192
72 /** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
73 #define SPLIT_SCAN_THRESHOLD 10
75 /** ULINK hardware type */
77 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
78 * Full JTAG support, no SWD support. */
81 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
84 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
87 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
91 enum ulink_payload_direction
{
92 PAYLOAD_DIRECTION_OUT
,
96 enum ulink_delay_type
{
105 * OpenULINK command (OpenULINK command queue element).
107 * For the OUT direction payload, things are quite easy: Payload is stored
108 * in a rather small array (up to 63 bytes), the payload is always allocated
109 * by the function generating the command and freed by ulink_clear_queue().
111 * For the IN direction payload, things get a little bit more complicated:
112 * The maximum IN payload size for a single command is 64 bytes. Assume that
113 * a single OpenOCD command needs to scan 256 bytes. This results in the
114 * generation of four OpenULINK commands. The function generating these
115 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
116 * pointer shall point to the corresponding offset where IN data shall be
117 * placed, while #payload_in_start shall point to the first element of the 256
119 * - first command: #payload_in_start + 0
120 * - second command: #payload_in_start + 64
121 * - third command: #payload_in_start + 128
122 * - fourth command: #payload_in_start + 192
124 * The last command sets #needs_postprocessing to true.
127 uint8_t id
; /* /< ULINK command ID */
129 uint8_t *payload_out
; /* /< OUT direction payload data */
130 uint8_t payload_out_size
; /* /< OUT direction payload size for this command */
132 uint8_t *payload_in_start
; /* /< Pointer to first element of IN payload array */
133 uint8_t *payload_in
; /* /< Pointer where IN payload shall be stored */
134 uint8_t payload_in_size
;/* /< IN direction payload size for this command */
136 /** Indicates if this command needs post-processing */
137 bool needs_postprocessing
;
139 /** Indicates if ulink_clear_queue() should free payload_in_start */
140 bool free_payload_in_start
;
142 /** Pointer to corresponding OpenOCD command for post-processing */
143 struct jtag_command
*cmd_origin
;
145 struct ulink_cmd
*next
; /* /< Pointer to next command (linked list) */
148 /** Describes one driver instance */
150 struct usb_dev_handle
*usb_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
, 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 * @param device pointer to struct ulink identifying ULINK driver instance.
263 * @return on success: ERROR_OK
264 * @return on failure: ERROR_FAIL
266 int ulink_usb_open(struct ulink
**device
)
269 struct usb_dev_handle
*usb_handle
;
271 /* Currently, only original ULINK is supported */
272 uint16_t vids
[] = { ULINK_VID
, 0 };
273 uint16_t pids
[] = { ULINK_PID
, 0 };
275 ret
= jtag_usb_open(vids
, pids
, &usb_handle
);
280 ret
= usb_claim_interface(usb_handle
, 0);
285 (*device
)->usb_handle
= usb_handle
;
286 (*device
)->type
= ULINK_1
;
292 * Releases the ULINK interface and closes the USB device handle.
294 * @param device pointer to struct ulink identifying ULINK driver instance.
295 * @return on success: ERROR_OK
296 * @return on failure: ERROR_FAIL
298 int ulink_usb_close(struct ulink
**device
)
300 if (usb_release_interface((*device
)->usb_handle
, 0) != 0)
303 if (usb_close((*device
)->usb_handle
) != 0)
306 (*device
)->usb_handle
= NULL
;
311 /******************* ULINK CPU (EZ-USB) specific functions ********************/
314 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
317 * @param device pointer to struct ulink identifying ULINK driver instance.
318 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
319 * @return on success: ERROR_OK
320 * @return on failure: ERROR_FAIL
322 int ulink_cpu_reset(struct ulink
*device
, char reset_bit
)
326 ret
= usb_control_msg(device
->usb_handle
,
327 (USB_ENDPOINT_OUT
| USB_TYPE_VENDOR
| USB_RECIP_DEVICE
),
328 REQUEST_FIRMWARE_LOAD
, CPUCS_REG
, 0, &reset_bit
, 1, USB_TIMEOUT
);
330 /* usb_control_msg() returns the number of bytes transferred during the
331 * DATA stage of the control transfer - must be exactly 1 in this case! */
338 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
339 * the firmware image, resumes the microcontroller and re-enumerates
342 * @param device pointer to struct ulink identifying ULINK driver instance.
343 * The usb_handle member will be modified during re-enumeration.
344 * @param filename path to the Intel HEX file containing the firmware image.
345 * @param delay the delay to wait for the device to re-enumerate.
346 * @return on success: ERROR_OK
347 * @return on failure: ERROR_FAIL
349 int ulink_load_firmware_and_renumerate(struct ulink
**device
,
350 char *filename
, uint32_t delay
)
354 /* Basic process: After downloading the firmware, the ULINK will disconnect
355 * itself and re-connect after a short amount of time so we have to close
356 * the handle and re-enumerate USB devices */
358 ret
= ulink_load_firmware(*device
, filename
);
362 ret
= ulink_usb_close(device
);
368 ret
= ulink_usb_open(device
);
376 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
379 * @param device pointer to struct ulink identifying ULINK driver instance.
380 * @param filename an absolute or relative path to the Intel HEX file
381 * containing the firmware image.
382 * @return on success: ERROR_OK
383 * @return on failure: ERROR_FAIL
385 int ulink_load_firmware(struct ulink
*device
, char *filename
)
387 struct image ulink_firmware_image
;
390 ret
= ulink_cpu_reset(device
, CPU_RESET
);
391 if (ret
!= ERROR_OK
) {
392 LOG_ERROR("Could not halt ULINK CPU");
396 ulink_firmware_image
.base_address
= 0;
397 ulink_firmware_image
.base_address_set
= 0;
399 ret
= image_open(&ulink_firmware_image
, filename
, "ihex");
400 if (ret
!= ERROR_OK
) {
401 LOG_ERROR("Could not load firmware image");
405 /* Download all sections in the image to ULINK */
406 for (i
= 0; i
< ulink_firmware_image
.num_sections
; i
++) {
407 ret
= ulink_write_firmware_section(device
, &ulink_firmware_image
, i
);
412 image_close(&ulink_firmware_image
);
414 ret
= ulink_cpu_reset(device
, CPU_START
);
415 if (ret
!= ERROR_OK
) {
416 LOG_ERROR("Could not restart ULINK CPU");
424 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
427 * @param device pointer to struct ulink identifying ULINK driver instance.
428 * @param firmware_image pointer to the firmware image that contains the section
429 * which should be sent to the ULINK's EZ-USB microcontroller.
430 * @param section_index index of the section within the firmware image.
431 * @return on success: ERROR_OK
432 * @return on failure: ERROR_FAIL
434 int ulink_write_firmware_section(struct ulink
*device
,
435 struct image
*firmware_image
, int section_index
)
437 uint16_t addr
, size
, bytes_remaining
, chunk_size
;
438 uint8_t data
[SECTION_BUFFERSIZE
];
439 uint8_t *data_ptr
= data
;
443 size
= (uint16_t)firmware_image
->sections
[section_index
].size
;
444 addr
= (uint16_t)firmware_image
->sections
[section_index
].base_address
;
446 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index
, addr
,
452 /* Copy section contents to local buffer */
453 ret
= image_read_section(firmware_image
, section_index
, 0, size
, data
,
456 if ((ret
!= ERROR_OK
) || (size_read
!= size
)) {
457 /* Propagating the return code would return '0' (misleadingly indicating
458 * successful execution of the function) if only the size check fails. */
462 bytes_remaining
= size
;
464 /* Send section data in chunks of up to 64 bytes to ULINK */
465 while (bytes_remaining
> 0) {
466 if (bytes_remaining
> 64)
469 chunk_size
= bytes_remaining
;
471 ret
= usb_control_msg(device
->usb_handle
,
472 (USB_ENDPOINT_OUT
| USB_TYPE_VENDOR
| USB_RECIP_DEVICE
),
473 REQUEST_FIRMWARE_LOAD
, addr
, FIRMWARE_ADDR
, (char *)data_ptr
,
474 chunk_size
, USB_TIMEOUT
);
476 if (ret
!= (int)chunk_size
) {
477 /* Abort if libusb sent less data than requested */
481 bytes_remaining
-= chunk_size
;
483 data_ptr
+= chunk_size
;
489 /************************** Generic helper functions **************************/
492 * Print state of interesting signals via LOG_INFO().
494 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
495 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
497 void ulink_print_signal_states(uint8_t input_signals
, uint8_t output_signals
)
499 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
501 (output_signals
& SIGNAL_TDI
? 1 : 0),
502 (input_signals
& SIGNAL_TDO
? 1 : 0),
503 (output_signals
& SIGNAL_TMS
? 1 : 0),
504 (output_signals
& SIGNAL_TCK
? 1 : 0),
505 (output_signals
& SIGNAL_TRST
? 0 : 1),/* TRST and RESET are inverted */
506 (output_signals
& SIGNAL_RESET
? 0 : 1)); /* by hardware */
509 /**************** OpenULINK command generation helper functions ***************/
512 * Allocate and initialize space in memory for OpenULINK command payload.
514 * @param ulink_cmd pointer to command whose payload should be allocated.
515 * @param size the amount of memory to allocate (bytes).
516 * @param direction which payload to allocate.
517 * @return on success: ERROR_OK
518 * @return on failure: ERROR_FAIL
520 int ulink_allocate_payload(struct ulink_cmd
*ulink_cmd
, int size
,
521 enum ulink_payload_direction direction
)
525 payload
= calloc(size
, sizeof(uint8_t));
527 if (payload
== NULL
) {
528 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
533 case PAYLOAD_DIRECTION_OUT
:
534 if (ulink_cmd
->payload_out
!= NULL
) {
535 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");
547 ulink_cmd
->payload_in_start
= payload
;
548 ulink_cmd
->payload_in
= payload
;
549 ulink_cmd
->payload_in_size
= size
;
551 /* By default, free payload_in_start in ulink_clear_queue(). Commands
552 * that do not want this behavior (e. g. split scans) must turn it off
554 ulink_cmd
->free_payload_in_start
= true;
562 /****************** OpenULINK command queue helper functions ******************/
565 * Get the current number of bytes in the queue, including command IDs.
567 * @param device pointer to struct ulink identifying ULINK driver instance.
568 * @param direction the transfer direction for which to get byte count.
569 * @return the number of bytes currently stored in the queue for the specified
572 int ulink_get_queue_size(struct ulink
*device
,
573 enum ulink_payload_direction direction
)
575 struct ulink_cmd
*current
= device
->queue_start
;
578 while (current
!= NULL
) {
580 case PAYLOAD_DIRECTION_OUT
:
581 sum
+= current
->payload_out_size
+ 1; /* + 1 byte for Command ID */
583 case PAYLOAD_DIRECTION_IN
:
584 sum
+= current
->payload_in_size
;
588 current
= current
->next
;
595 * Clear the OpenULINK command queue.
597 * @param device pointer to struct ulink identifying ULINK driver instance.
598 * @return on success: ERROR_OK
599 * @return on failure: ERROR_FAIL
601 void ulink_clear_queue(struct ulink
*device
)
603 struct ulink_cmd
*current
= device
->queue_start
;
604 struct ulink_cmd
*next
= NULL
;
606 while (current
!= NULL
) {
607 /* Save pointer to next element */
608 next
= current
->next
;
610 /* Free payloads: OUT payload can be freed immediately */
611 free(current
->payload_out
);
612 current
->payload_out
= NULL
;
614 /* IN payload MUST be freed ONLY if no other commands use the
615 * payload_in_start buffer */
616 if (current
->free_payload_in_start
== true) {
617 free(current
->payload_in_start
);
618 current
->payload_in_start
= NULL
;
619 current
->payload_in
= NULL
;
622 /* Free queue element */
625 /* Proceed with next element */
629 device
->commands_in_queue
= 0;
630 device
->queue_start
= NULL
;
631 device
->queue_end
= NULL
;
635 * Add a command to the OpenULINK command queue.
637 * @param device pointer to struct ulink identifying ULINK driver instance.
638 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
640 * @return on success: ERROR_OK
641 * @return on failure: ERROR_FAIL
643 int ulink_append_queue(struct ulink
*device
, struct ulink_cmd
*ulink_cmd
)
645 int newsize_out
, newsize_in
;
648 newsize_out
= ulink_get_queue_size(device
, PAYLOAD_DIRECTION_OUT
) + 1
649 + ulink_cmd
->payload_out_size
;
651 newsize_in
= ulink_get_queue_size(device
, PAYLOAD_DIRECTION_IN
)
652 + ulink_cmd
->payload_in_size
;
654 /* Check if the current command can be appended to the queue */
655 if ((newsize_out
> 64) || (newsize_in
> 64)) {
656 /* New command does not fit. Execute all commands in queue before starting
657 * new queue with the current command as first entry. */
658 ret
= ulink_execute_queued_commands(device
, USB_TIMEOUT
);
662 ret
= ulink_post_process_queue(device
);
666 ulink_clear_queue(device
);
669 if (device
->queue_start
== NULL
) {
670 /* Queue was empty */
671 device
->commands_in_queue
= 1;
673 device
->queue_start
= ulink_cmd
;
674 device
->queue_end
= ulink_cmd
;
676 /* There are already commands in the queue */
677 device
->commands_in_queue
++;
679 device
->queue_end
->next
= ulink_cmd
;
680 device
->queue_end
= ulink_cmd
;
687 * Sends all queued OpenULINK commands to the ULINK for execution.
689 * @param device pointer to struct ulink identifying ULINK driver instance.
690 * @return on success: ERROR_OK
691 * @return on failure: ERROR_FAIL
693 int ulink_execute_queued_commands(struct ulink
*device
, int timeout
)
695 struct ulink_cmd
*current
;
696 int ret
, i
, index_out
, index_in
, count_out
, count_in
;
699 #ifdef _DEBUG_JTAG_IO_
700 ulink_print_queue(device
);
707 for (current
= device
->queue_start
; current
; current
= current
->next
) {
708 /* Add command to packet */
709 buffer
[index_out
] = current
->id
;
713 for (i
= 0; i
< current
->payload_out_size
; i
++)
714 buffer
[index_out
+ i
] = current
->payload_out
[i
];
715 index_out
+= current
->payload_out_size
;
716 count_in
+= current
->payload_in_size
;
717 count_out
+= current
->payload_out_size
;
720 /* Send packet to ULINK */
721 ret
= usb_bulk_write(device
->usb_handle
, (2 | USB_ENDPOINT_OUT
),
722 (char *)buffer
, count_out
, timeout
);
725 if (ret
!= count_out
)
728 /* Wait for response if commands contain IN payload data */
730 ret
= usb_bulk_read(device
->usb_handle
, (2 | USB_ENDPOINT_IN
),
731 (char *)buffer
, 64, timeout
);
737 /* Write back IN payload data */
739 for (current
= device
->queue_start
; current
; current
= current
->next
) {
740 for (i
= 0; i
< current
->payload_in_size
; i
++) {
741 current
->payload_in
[i
] = buffer
[index_in
];
750 #ifdef _DEBUG_JTAG_IO_
753 * Convert an OpenULINK command ID (\a id) to a human-readable string.
755 * @param id the OpenULINK command ID.
756 * @return the corresponding human-readable string.
758 const char *ulink_cmd_id_string(uint8_t id
)
762 return "CMD_SCAN_IN";
764 case CMD_SLOW_SCAN_IN
:
765 return "CMD_SLOW_SCAN_IN";
768 return "CMD_SCAN_OUT";
770 case CMD_SLOW_SCAN_OUT
:
771 return "CMD_SLOW_SCAN_OUT";
774 return "CMD_SCAN_IO";
776 case CMD_SLOW_SCAN_IO
:
777 return "CMD_SLOW_SCAN_IO";
780 return "CMD_CLOCK_TMS";
782 case CMD_SLOW_CLOCK_TMS
:
783 return "CMD_SLOW_CLOCK_TMS";
786 return "CMD_CLOCK_TCK";
788 case CMD_SLOW_CLOCK_TCK
:
789 return "CMD_SLOW_CLOCK_TCK";
792 return "CMD_SLEEP_US";
795 return "CMD_SLEEP_MS";
797 case CMD_GET_SIGNALS
:
798 return "CMD_GET_SIGNALS";
800 case CMD_SET_SIGNALS
:
801 return "CMD_SET_SIGNALS";
803 case CMD_CONFIGURE_TCK_FREQ
:
804 return "CMD_CONFIGURE_TCK_FREQ";
807 return "CMD_SET_LEDS";
813 return "CMD_UNKNOWN";
819 * Print one OpenULINK command to stdout.
821 * @param ulink_cmd pointer to OpenULINK command.
823 void ulink_print_command(struct ulink_cmd
*ulink_cmd
)
827 printf(" %-22s | OUT size = %i, bytes = 0x",
828 ulink_cmd_id_string(ulink_cmd
->id
), ulink_cmd
->payload_out_size
);
830 for (i
= 0; i
< ulink_cmd
->payload_out_size
; i
++)
831 printf("%02X ", ulink_cmd
->payload_out
[i
]);
832 printf("\n | IN size = %i\n",
833 ulink_cmd
->payload_in_size
);
837 * Print the OpenULINK command queue to stdout.
839 * @param device pointer to struct ulink identifying ULINK driver instance.
841 void ulink_print_queue(struct ulink
*device
)
843 struct ulink_cmd
*current
;
845 printf("OpenULINK command queue:\n");
847 for (current
= device
->queue_start
; current
; current
= current
->next
)
848 ulink_print_command(current
);
851 #endif /* _DEBUG_JTAG_IO_ */
856 * Creates and appends a JTAG scan command to the OpenULINK command queue.
857 * A JTAG scan consists of three steps:
858 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
859 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
860 * - Move to the desired end state.
862 * @param device pointer to struct ulink identifying ULINK driver instance.
863 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
864 * @param scan_size_bits number of bits to shift into the JTAG chain.
865 * @param tdi pointer to array containing TDI data.
866 * @param tdo_start pointer to first element of array where TDO data shall be
867 * stored. See #ulink_cmd for details.
868 * @param tdo pointer to array where TDO data shall be stored
869 * @param tms_count_start number of TMS state transitions to perform BEFORE
870 * shifting data into the JTAG chain.
871 * @param tms_sequence_start sequence of TMS state transitions that will be
872 * performed BEFORE shifting data into the JTAG chain.
873 * @param tms_count_end number of TMS state transitions to perform AFTER
874 * shifting data into the JTAG chain.
875 * @param tms_sequence_end sequence of TMS state transitions that will be
876 * performed AFTER shifting data into the JTAG chain.
877 * @param origin pointer to OpenOCD command that generated this scan command.
878 * @param postprocess whether this command needs to be post-processed after
880 * @return on success: ERROR_OK
881 * @return on failure: ERROR_FAIL
883 int ulink_append_scan_cmd(struct ulink
*device
, enum scan_type scan_type
,
884 int scan_size_bits
, uint8_t *tdi
, uint8_t *tdo_start
, uint8_t *tdo
,
885 uint8_t tms_count_start
, uint8_t tms_sequence_start
, uint8_t tms_count_end
,
886 uint8_t tms_sequence_end
, struct jtag_command
*origin
, bool postprocess
)
888 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
889 int ret
, i
, scan_size_bytes
;
890 uint8_t bits_last_byte
;
895 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
896 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
897 if (scan_size_bits
> (58 * 8)) {
898 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
903 scan_size_bytes
= DIV_ROUND_UP(scan_size_bits
, 8);
905 bits_last_byte
= scan_size_bits
% 8;
906 if (bits_last_byte
== 0)
909 /* Allocate out_payload depending on scan type */
912 if (device
->delay_scan_in
< 0)
913 cmd
->id
= CMD_SCAN_IN
;
915 cmd
->id
= CMD_SLOW_SCAN_IN
;
916 ret
= ulink_allocate_payload(cmd
, 5, PAYLOAD_DIRECTION_OUT
);
919 if (device
->delay_scan_out
< 0)
920 cmd
->id
= CMD_SCAN_OUT
;
922 cmd
->id
= CMD_SLOW_SCAN_OUT
;
923 ret
= ulink_allocate_payload(cmd
, scan_size_bytes
+ 5, PAYLOAD_DIRECTION_OUT
);
926 if (device
->delay_scan_io
< 0)
927 cmd
->id
= CMD_SCAN_IO
;
929 cmd
->id
= CMD_SLOW_SCAN_IO
;
930 ret
= ulink_allocate_payload(cmd
, scan_size_bytes
+ 5, PAYLOAD_DIRECTION_OUT
);
933 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
941 /* Build payload_out that is common to all scan types */
942 cmd
->payload_out
[0] = scan_size_bytes
& 0xFF;
943 cmd
->payload_out
[1] = bits_last_byte
& 0xFF;
944 cmd
->payload_out
[2] = ((tms_count_start
& 0x0F) << 4) | (tms_count_end
& 0x0F);
945 cmd
->payload_out
[3] = tms_sequence_start
;
946 cmd
->payload_out
[4] = tms_sequence_end
;
948 /* Setup payload_out for types with OUT transfer */
949 if ((scan_type
== SCAN_OUT
) || (scan_type
== SCAN_IO
)) {
950 for (i
= 0; i
< scan_size_bytes
; i
++)
951 cmd
->payload_out
[i
+ 5] = tdi
[i
];
954 /* Setup payload_in pointers for types with IN transfer */
955 if ((scan_type
== SCAN_IN
) || (scan_type
== SCAN_IO
)) {
956 cmd
->payload_in_start
= tdo_start
;
957 cmd
->payload_in
= tdo
;
958 cmd
->payload_in_size
= scan_size_bytes
;
961 cmd
->needs_postprocessing
= postprocess
;
962 cmd
->cmd_origin
= origin
;
964 /* For scan commands, we free payload_in_start only when the command is
965 * the last in a series of split commands or a stand-alone command */
966 cmd
->free_payload_in_start
= postprocess
;
968 return ulink_append_queue(device
, cmd
);
972 * Perform TAP state transitions
974 * @param device pointer to struct ulink identifying ULINK driver instance.
975 * @param count defines the number of TCK clock cycles generated (up to 8).
976 * @param sequence defines the TMS pin levels for each state transition. The
977 * Least-Significant Bit is read first.
978 * @return on success: ERROR_OK
979 * @return on failure: ERROR_FAIL
981 int ulink_append_clock_tms_cmd(struct ulink
*device
, uint8_t count
,
984 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
990 if (device
->delay_clock_tms
< 0)
991 cmd
->id
= CMD_CLOCK_TMS
;
993 cmd
->id
= CMD_SLOW_CLOCK_TMS
;
995 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
996 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1000 cmd
->payload_out
[0] = count
;
1001 cmd
->payload_out
[1] = sequence
;
1003 return ulink_append_queue(device
, cmd
);
1007 * Generate a defined amount of TCK clock cycles
1009 * All other JTAG signals are left unchanged.
1011 * @param device pointer to struct ulink identifying ULINK driver instance.
1012 * @param count the number of TCK clock cycles to generate.
1013 * @return on success: ERROR_OK
1014 * @return on failure: ERROR_FAIL
1016 int ulink_append_clock_tck_cmd(struct ulink
*device
, uint16_t count
)
1018 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1024 if (device
->delay_clock_tck
< 0)
1025 cmd
->id
= CMD_CLOCK_TCK
;
1027 cmd
->id
= CMD_SLOW_CLOCK_TCK
;
1029 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1030 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1031 if (ret
!= ERROR_OK
)
1034 cmd
->payload_out
[0] = count
& 0xff;
1035 cmd
->payload_out
[1] = (count
>> 8) & 0xff;
1037 return ulink_append_queue(device
, cmd
);
1041 * Read JTAG signals.
1043 * @param device pointer to struct ulink identifying ULINK driver instance.
1044 * @return on success: ERROR_OK
1045 * @return on failure: ERROR_FAIL
1047 int ulink_append_get_signals_cmd(struct ulink
*device
)
1049 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1055 cmd
->id
= CMD_GET_SIGNALS
;
1056 cmd
->needs_postprocessing
= true;
1058 /* CMD_GET_SIGNALS has two IN payload bytes */
1059 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_IN
);
1061 if (ret
!= ERROR_OK
)
1064 return ulink_append_queue(device
, cmd
);
1068 * Arbitrarily set JTAG output signals.
1070 * @param device pointer to struct ulink identifying ULINK driver instance.
1071 * @param low defines which signals will be de-asserted. Each bit corresponds
1080 * @param high defines which signals will be asserted.
1081 * @return on success: ERROR_OK
1082 * @return on failure: ERROR_FAIL
1084 int ulink_append_set_signals_cmd(struct ulink
*device
, uint8_t low
,
1087 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1093 cmd
->id
= CMD_SET_SIGNALS
;
1095 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1096 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1098 if (ret
!= ERROR_OK
)
1101 cmd
->payload_out
[0] = low
;
1102 cmd
->payload_out
[1] = high
;
1104 return ulink_append_queue(device
, cmd
);
1108 * Sleep for a pre-defined number of microseconds
1110 * @param device pointer to struct ulink identifying ULINK driver instance.
1111 * @param us the number microseconds to sleep.
1112 * @return on success: ERROR_OK
1113 * @return on failure: ERROR_FAIL
1115 int ulink_append_sleep_cmd(struct ulink
*device
, uint32_t us
)
1117 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1123 cmd
->id
= CMD_SLEEP_US
;
1125 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1126 ret
= ulink_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1128 if (ret
!= ERROR_OK
)
1131 cmd
->payload_out
[0] = us
& 0x00ff;
1132 cmd
->payload_out
[1] = (us
>> 8) & 0x00ff;
1134 return ulink_append_queue(device
, cmd
);
1138 * Set TCK delay counters
1140 * @param device pointer to struct ulink identifying ULINK driver instance.
1141 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1142 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1143 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1144 * @param delay_tck delay count top value in jtag_clock_tck() function.
1145 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1146 * @return on success: ERROR_OK
1147 * @return on failure: ERROR_FAIL
1149 int ulink_append_configure_tck_cmd(struct ulink
*device
, int delay_scan_in
,
1150 int delay_scan_out
, int delay_scan_io
, int delay_tck
, int delay_tms
)
1152 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1158 cmd
->id
= CMD_CONFIGURE_TCK_FREQ
;
1160 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1161 * IN payload bytes */
1162 ret
= ulink_allocate_payload(cmd
, 5, PAYLOAD_DIRECTION_OUT
);
1163 if (ret
!= ERROR_OK
)
1166 if (delay_scan_in
< 0)
1167 cmd
->payload_out
[0] = 0;
1169 cmd
->payload_out
[0] = (uint8_t)delay_scan_in
;
1171 if (delay_scan_out
< 0)
1172 cmd
->payload_out
[1] = 0;
1174 cmd
->payload_out
[1] = (uint8_t)delay_scan_out
;
1176 if (delay_scan_io
< 0)
1177 cmd
->payload_out
[2] = 0;
1179 cmd
->payload_out
[2] = (uint8_t)delay_scan_io
;
1182 cmd
->payload_out
[3] = 0;
1184 cmd
->payload_out
[3] = (uint8_t)delay_tck
;
1187 cmd
->payload_out
[4] = 0;
1189 cmd
->payload_out
[4] = (uint8_t)delay_tms
;
1191 return ulink_append_queue(device
, cmd
);
1195 * Turn on/off ULINK LEDs.
1197 * @param device pointer to struct ulink identifying ULINK driver instance.
1198 * @param led_state which LED(s) to turn on or off. The following bits
1199 * influence the LEDS:
1200 * - Bit 0: Turn COM LED on
1201 * - Bit 1: Turn RUN LED on
1202 * - Bit 2: Turn COM LED off
1203 * - Bit 3: Turn RUN LED off
1204 * If both the on-bit and the off-bit for the same LED is set, the LED is
1206 * @return on success: ERROR_OK
1207 * @return on failure: ERROR_FAIL
1209 int ulink_append_led_cmd(struct ulink
*device
, uint8_t led_state
)
1211 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1217 cmd
->id
= CMD_SET_LEDS
;
1219 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1220 ret
= ulink_allocate_payload(cmd
, 1, PAYLOAD_DIRECTION_OUT
);
1221 if (ret
!= ERROR_OK
)
1224 cmd
->payload_out
[0] = led_state
;
1226 return ulink_append_queue(device
, cmd
);
1230 * Test command. Used to check if the ULINK device is ready to accept new
1233 * @param device pointer to struct ulink identifying ULINK driver instance.
1234 * @return on success: ERROR_OK
1235 * @return on failure: ERROR_FAIL
1237 int ulink_append_test_cmd(struct ulink
*device
)
1239 struct ulink_cmd
*cmd
= calloc(1, sizeof(struct ulink_cmd
));
1247 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1248 ret
= ulink_allocate_payload(cmd
, 1, PAYLOAD_DIRECTION_OUT
);
1249 if (ret
!= ERROR_OK
)
1252 cmd
->payload_out
[0] = 0xAA;
1254 return ulink_append_queue(device
, cmd
);
1257 /****************** OpenULINK TCK frequency helper functions ******************/
1260 * Calculate delay values for a given TCK frequency.
1262 * The OpenULINK firmware uses five different speed values for different
1263 * commands. These speed values are calculated in these functions.
1265 * The five different commands which support variable TCK frequency are
1266 * implemented twice in the firmware:
1267 * 1. Maximum possible frequency without any artificial delay
1268 * 2. Variable frequency with artificial linear delay loop
1270 * To set the ULINK to maximum frequency, it is only neccessary to use the
1271 * corresponding command IDs. To set the ULINK to a lower frequency, the
1272 * delay loop top values have to be calculated first. Then, a
1273 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1275 * The delay values are described by linear equations:
1277 * (t = period, k = constant, x = delay value, d = constant)
1279 * Thus, the delay can be calculated as in the following equation:
1282 * The constants in these equations have been determined and validated by
1283 * measuring the frequency resulting from different delay values.
1285 * @param type for which command to calculate the delay value.
1286 * @param f TCK frequency for which to calculate the delay value in Hz.
1287 * @param delay where to store resulting delay value.
1288 * @return on success: ERROR_OK
1289 * @return on failure: ERROR_FAIL
1291 int ulink_calculate_delay(enum ulink_delay_type type
, long f
, int *delay
)
1295 /* Calculate period of requested TCK frequency */
1296 t
= 1.0 / (float)(f
);
1299 case DELAY_CLOCK_TCK
:
1300 x
= (t
- (float)(6E-6)) / (float)(4E-6);
1302 case DELAY_CLOCK_TMS
:
1303 x
= (t
- (float)(8.5E-6)) / (float)(4E-6);
1306 x
= (t
- (float)(8.8308E-6)) / (float)(4E-6);
1308 case DELAY_SCAN_OUT
:
1309 x
= (t
- (float)(1.0527E-5)) / (float)(4E-6);
1312 x
= (t
- (float)(1.3132E-5)) / (float)(4E-6);
1319 /* Check if the delay value is negative. This happens when a frequency is
1320 * requested that is too high for the delay loop implementation. In this
1321 * case, set delay value to zero. */
1325 /* We need to convert the exact delay value to an integer. Therefore, we
1326 * round the exact value UP to ensure that the resulting frequency is NOT
1327 * higher than the requested frequency. */
1330 /* Check if the value is within limits */
1334 *delay
= (int)x_ceil
;
1340 * Calculate frequency for a given delay value.
1342 * Similar to the #ulink_calculate_delay function, this function calculates the
1343 * TCK frequency for a given delay value by using linear equations of the form:
1345 * (t = period, k = constant, x = delay value, d = constant)
1347 * @param type for which command to calculate the delay value.
1348 * @param delay delay value for which to calculate the resulting TCK frequency.
1349 * @param f where to store the resulting TCK frequency.
1350 * @return on success: ERROR_OK
1351 * @return on failure: ERROR_FAIL
1353 int ulink_calculate_frequency(enum ulink_delay_type type
, int delay
, long *f
)
1355 float t
, f_float
, f_rounded
;
1361 case DELAY_CLOCK_TCK
:
1363 t
= (float)(2.666E-6);
1365 t
= (float)(4E-6) * (float)(delay
) + (float)(6E-6);
1367 case DELAY_CLOCK_TMS
:
1369 t
= (float)(5.666E-6);
1371 t
= (float)(4E-6) * (float)(delay
) + (float)(8.5E-6);
1375 t
= (float)(5.5E-6);
1377 t
= (float)(4E-6) * (float)(delay
) + (float)(8.8308E-6);
1379 case DELAY_SCAN_OUT
:
1381 t
= (float)(7.0E-6);
1383 t
= (float)(4E-6) * (float)(delay
) + (float)(1.0527E-5);
1387 t
= (float)(9.926E-6);
1389 t
= (float)(4E-6) * (float)(delay
) + (float)(1.3132E-5);
1397 f_rounded
= roundf(f_float
);
1398 *f
= (long)f_rounded
;
1403 /******************* Interface between OpenULINK and OpenOCD ******************/
1406 * Sets the end state follower (see interface.h) if \a endstate is a stable
1409 * @param endstate the state the end state follower should be set to.
1411 static void ulink_set_end_state(tap_state_t endstate
)
1413 if (tap_is_state_stable(endstate
))
1414 tap_set_end_state(endstate
);
1416 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate
));
1422 * Move from the current TAP state to the current TAP end state.
1424 * @param device pointer to struct ulink identifying ULINK driver instance.
1425 * @return on success: ERROR_OK
1426 * @return on failure: ERROR_FAIL
1428 int ulink_queue_statemove(struct ulink
*device
)
1430 uint8_t tms_sequence
, tms_count
;
1433 if (tap_get_state() == tap_get_end_state()) {
1434 /* Do nothing if we are already there */
1438 tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1439 tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1441 ret
= ulink_append_clock_tms_cmd(device
, tms_count
, tms_sequence
);
1443 if (ret
== ERROR_OK
)
1444 tap_set_state(tap_get_end_state());
1450 * Perform a scan operation on a JTAG register.
1452 * @param device pointer to struct ulink identifying ULINK driver instance.
1453 * @param cmd pointer to the command that shall be executed.
1454 * @return on success: ERROR_OK
1455 * @return on failure: ERROR_FAIL
1457 int ulink_queue_scan(struct ulink
*device
, struct jtag_command
*cmd
)
1459 uint32_t scan_size_bits
, scan_size_bytes
, bits_last_scan
;
1460 uint32_t scans_max_payload
, bytecount
;
1461 uint8_t *tdi_buffer_start
= NULL
, *tdi_buffer
= NULL
;
1462 uint8_t *tdo_buffer_start
= NULL
, *tdo_buffer
= NULL
;
1464 uint8_t first_tms_count
, first_tms_sequence
;
1465 uint8_t last_tms_count
, last_tms_sequence
;
1467 uint8_t tms_count_pause
, tms_sequence_pause
;
1468 uint8_t tms_count_resume
, tms_sequence_resume
;
1470 uint8_t tms_count_start
, tms_sequence_start
;
1471 uint8_t tms_count_end
, tms_sequence_end
;
1473 enum scan_type type
;
1476 /* Determine scan size */
1477 scan_size_bits
= jtag_scan_size(cmd
->cmd
.scan
);
1478 scan_size_bytes
= DIV_ROUND_UP(scan_size_bits
, 8);
1480 /* Determine scan type (IN/OUT/IO) */
1481 type
= jtag_scan_type(cmd
->cmd
.scan
);
1483 /* Determine number of scan commands with maximum payload */
1484 scans_max_payload
= scan_size_bytes
/ 58;
1486 /* Determine size of last shift command */
1487 bits_last_scan
= scan_size_bits
- (scans_max_payload
* 58 * 8);
1489 /* Allocate TDO buffer if required */
1490 if ((type
== SCAN_IN
) || (type
== SCAN_IO
)) {
1491 tdo_buffer_start
= calloc(sizeof(uint8_t), scan_size_bytes
);
1493 if (tdo_buffer_start
== NULL
)
1496 tdo_buffer
= tdo_buffer_start
;
1499 /* Fill TDI buffer if required */
1500 if ((type
== SCAN_OUT
) || (type
== SCAN_IO
)) {
1501 jtag_build_buffer(cmd
->cmd
.scan
, &tdi_buffer_start
);
1502 tdi_buffer
= tdi_buffer_start
;
1505 /* Get TAP state transitions */
1506 if (cmd
->cmd
.scan
->ir_scan
) {
1507 ulink_set_end_state(TAP_IRSHIFT
);
1508 first_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1509 first_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1511 tap_set_state(TAP_IRSHIFT
);
1512 tap_set_end_state(cmd
->cmd
.scan
->end_state
);
1513 last_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1514 last_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1516 /* TAP state transitions for split scans */
1517 tms_count_pause
= tap_get_tms_path_len(TAP_IRSHIFT
, TAP_IRPAUSE
);
1518 tms_sequence_pause
= tap_get_tms_path(TAP_IRSHIFT
, TAP_IRPAUSE
);
1519 tms_count_resume
= tap_get_tms_path_len(TAP_IRPAUSE
, TAP_IRSHIFT
);
1520 tms_sequence_resume
= tap_get_tms_path(TAP_IRPAUSE
, TAP_IRSHIFT
);
1522 ulink_set_end_state(TAP_DRSHIFT
);
1523 first_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1524 first_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1526 tap_set_state(TAP_DRSHIFT
);
1527 tap_set_end_state(cmd
->cmd
.scan
->end_state
);
1528 last_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1529 last_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1531 /* TAP state transitions for split scans */
1532 tms_count_pause
= tap_get_tms_path_len(TAP_DRSHIFT
, TAP_DRPAUSE
);
1533 tms_sequence_pause
= tap_get_tms_path(TAP_DRSHIFT
, TAP_DRPAUSE
);
1534 tms_count_resume
= tap_get_tms_path_len(TAP_DRPAUSE
, TAP_DRSHIFT
);
1535 tms_sequence_resume
= tap_get_tms_path(TAP_DRPAUSE
, TAP_DRSHIFT
);
1538 /* Generate scan commands */
1539 bytecount
= scan_size_bytes
;
1540 while (bytecount
> 0) {
1541 if (bytecount
== scan_size_bytes
) {
1542 /* This is the first scan */
1543 tms_count_start
= first_tms_count
;
1544 tms_sequence_start
= first_tms_sequence
;
1546 /* Resume from previous scan */
1547 tms_count_start
= tms_count_resume
;
1548 tms_sequence_start
= tms_sequence_resume
;
1551 if (bytecount
> 58) { /* Full scan, at least one scan will follow */
1552 tms_count_end
= tms_count_pause
;
1553 tms_sequence_end
= tms_sequence_pause
;
1555 ret
= ulink_append_scan_cmd(device
,
1570 /* Update TDI and TDO buffer pointers */
1571 if (tdi_buffer_start
!= NULL
)
1573 if (tdo_buffer_start
!= NULL
)
1575 } else if (bytecount
== 58) { /* Full scan, no further scans */
1576 tms_count_end
= last_tms_count
;
1577 tms_sequence_end
= last_tms_sequence
;
1579 ret
= ulink_append_scan_cmd(device
,
1593 } else {/* Scan with less than maximum payload, no further scans */
1594 tms_count_end
= last_tms_count
;
1595 tms_sequence_end
= last_tms_sequence
;
1597 ret
= ulink_append_scan_cmd(device
,
1613 if (ret
!= ERROR_OK
) {
1614 free(tdi_buffer_start
);
1619 free(tdi_buffer_start
);
1621 /* Set current state to the end state requested by the command */
1622 tap_set_state(cmd
->cmd
.scan
->end_state
);
1628 * Move the TAP into the Test Logic Reset state.
1630 * @param device pointer to struct ulink identifying ULINK driver instance.
1631 * @param cmd pointer to the command that shall be executed.
1632 * @return on success: ERROR_OK
1633 * @return on failure: ERROR_FAIL
1635 int ulink_queue_tlr_reset(struct ulink
*device
, struct jtag_command
*cmd
)
1639 ret
= ulink_append_clock_tms_cmd(device
, 5, 0xff);
1641 if (ret
== ERROR_OK
)
1642 tap_set_state(TAP_RESET
);
1650 * Generate TCK clock cycles while remaining
1651 * in the Run-Test/Idle state.
1653 * @param device pointer to struct ulink identifying ULINK driver instance.
1654 * @param cmd pointer to the command that shall be executed.
1655 * @return on success: ERROR_OK
1656 * @return on failure: ERROR_FAIL
1658 int ulink_queue_runtest(struct ulink
*device
, struct jtag_command
*cmd
)
1662 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1663 if (tap_get_state() != TAP_IDLE
) {
1664 ulink_set_end_state(TAP_IDLE
);
1665 ulink_queue_statemove(device
);
1668 /* Generate the clock cycles */
1669 ret
= ulink_append_clock_tck_cmd(device
, cmd
->cmd
.runtest
->num_cycles
);
1670 if (ret
!= ERROR_OK
)
1673 /* Move to end state specified in command */
1674 if (cmd
->cmd
.runtest
->end_state
!= tap_get_state()) {
1675 tap_set_end_state(cmd
->cmd
.runtest
->end_state
);
1676 ulink_queue_statemove(device
);
1683 * Execute a JTAG_RESET command
1685 * @param cmd pointer to the command that shall be executed.
1686 * @return on success: ERROR_OK
1687 * @return on failure: ERROR_FAIL
1689 int ulink_queue_reset(struct ulink
*device
, struct jtag_command
*cmd
)
1691 uint8_t low
= 0, high
= 0;
1693 if (cmd
->cmd
.reset
->trst
) {
1694 tap_set_state(TAP_RESET
);
1695 high
|= SIGNAL_TRST
;
1699 if (cmd
->cmd
.reset
->srst
)
1700 high
|= SIGNAL_RESET
;
1702 low
|= SIGNAL_RESET
;
1704 return ulink_append_set_signals_cmd(device
, low
, high
);
1708 * Move to one TAP state or several states in succession.
1710 * @param device pointer to struct ulink identifying ULINK driver instance.
1711 * @param cmd pointer to the command that shall be executed.
1712 * @return on success: ERROR_OK
1713 * @return on failure: ERROR_FAIL
1715 int ulink_queue_pathmove(struct ulink
*device
, struct jtag_command
*cmd
)
1717 int ret
, i
, num_states
, batch_size
, state_count
;
1719 uint8_t tms_sequence
;
1721 num_states
= cmd
->cmd
.pathmove
->num_states
;
1722 path
= cmd
->cmd
.pathmove
->path
;
1725 while (num_states
> 0) {
1728 /* Determine batch size */
1729 if (num_states
>= 8)
1732 batch_size
= num_states
;
1734 for (i
= 0; i
< batch_size
; i
++) {
1735 if (tap_state_transition(tap_get_state(), false) == path
[state_count
]) {
1736 /* Append '0' transition: clear bit 'i' in tms_sequence */
1737 buf_set_u32(&tms_sequence
, i
, 1, 0x0);
1738 } else if (tap_state_transition(tap_get_state(), true)
1739 == path
[state_count
]) {
1740 /* Append '1' transition: set bit 'i' in tms_sequence */
1741 buf_set_u32(&tms_sequence
, i
, 1, 0x1);
1743 /* Invalid state transition */
1744 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1745 tap_state_name(tap_get_state()),
1746 tap_state_name(path
[state_count
]));
1750 tap_set_state(path
[state_count
]);
1755 /* Append CLOCK_TMS command to OpenULINK command queue */
1757 "pathmove batch: count = %i, sequence = 0x%x", batch_size
, tms_sequence
);
1758 ret
= ulink_append_clock_tms_cmd(ulink_handle
, batch_size
, tms_sequence
);
1759 if (ret
!= ERROR_OK
)
1767 * Sleep for a specific amount of time.
1769 * @param device pointer to struct ulink identifying ULINK driver instance.
1770 * @param cmd pointer to the command that shall be executed.
1771 * @return on success: ERROR_OK
1772 * @return on failure: ERROR_FAIL
1774 int ulink_queue_sleep(struct ulink
*device
, struct jtag_command
*cmd
)
1776 /* IMPORTANT! Due to the time offset in command execution introduced by
1777 * command queueing, this needs to be implemented in the ULINK device */
1778 return ulink_append_sleep_cmd(device
, cmd
->cmd
.sleep
->us
);
1782 * Generate TCK cycles while remaining in a stable state.
1784 * @param device pointer to struct ulink identifying ULINK driver instance.
1785 * @param cmd pointer to the command that shall be executed.
1787 int ulink_queue_stableclocks(struct ulink
*device
, struct jtag_command
*cmd
)
1790 unsigned num_cycles
;
1792 if (!tap_is_state_stable(tap_get_state())) {
1793 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1797 num_cycles
= cmd
->cmd
.stableclocks
->num_cycles
;
1799 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1800 if (tap_get_state() == TAP_RESET
)
1801 ret
= ulink_append_set_signals_cmd(device
, 0, SIGNAL_TMS
);
1803 ret
= ulink_append_set_signals_cmd(device
, SIGNAL_TMS
, 0);
1805 if (ret
!= ERROR_OK
)
1808 while (num_cycles
> 0) {
1809 if (num_cycles
> 0xFFFF) {
1810 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1811 ret
= ulink_append_clock_tck_cmd(device
, 0xFFFF);
1812 num_cycles
-= 0xFFFF;
1814 ret
= ulink_append_clock_tck_cmd(device
, num_cycles
);
1818 if (ret
!= ERROR_OK
)
1826 * Post-process JTAG_SCAN command
1828 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1829 * @return on success: ERROR_OK
1830 * @return on failure: ERROR_FAIL
1832 int ulink_post_process_scan(struct ulink_cmd
*ulink_cmd
)
1834 struct jtag_command
*cmd
= ulink_cmd
->cmd_origin
;
1837 switch (jtag_scan_type(cmd
->cmd
.scan
)) {
1840 ret
= jtag_read_buffer(ulink_cmd
->payload_in_start
, cmd
->cmd
.scan
);
1843 /* Nothing to do for OUT scans */
1847 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1857 * Perform post-processing of commands after OpenULINK queue has been executed.
1859 * @param device pointer to struct ulink identifying ULINK driver instance.
1860 * @return on success: ERROR_OK
1861 * @return on failure: ERROR_FAIL
1863 int ulink_post_process_queue(struct ulink
*device
)
1865 struct ulink_cmd
*current
;
1866 struct jtag_command
*openocd_cmd
;
1869 current
= device
->queue_start
;
1871 while (current
!= NULL
) {
1872 openocd_cmd
= current
->cmd_origin
;
1874 /* Check if a corresponding OpenOCD command is stored for this
1875 * OpenULINK command */
1876 if ((current
->needs_postprocessing
== true) && (openocd_cmd
!= NULL
)) {
1877 switch (openocd_cmd
->type
) {
1879 ret
= ulink_post_process_scan(current
);
1881 case JTAG_TLR_RESET
:
1886 case JTAG_STABLECLOCKS
:
1887 /* Nothing to do for these commands */
1892 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1897 if (ret
!= ERROR_OK
)
1901 current
= current
->next
;
1907 /**************************** JTAG driver functions ***************************/
1910 * Executes the JTAG Command Queue.
1912 * This is done in three stages: First, all OpenOCD commands are processed into
1913 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1914 * ULINK device and data received from the ULINK device is cached. Finally,
1915 * the post-processing function writes back data to the corresponding OpenOCD
1918 * @return on success: ERROR_OK
1919 * @return on failure: ERROR_FAIL
1921 static int ulink_execute_queue(void)
1923 struct jtag_command
*cmd
= jtag_command_queue
;
1927 switch (cmd
->type
) {
1929 ret
= ulink_queue_scan(ulink_handle
, cmd
);
1931 case JTAG_TLR_RESET
:
1932 ret
= ulink_queue_tlr_reset(ulink_handle
, cmd
);
1935 ret
= ulink_queue_runtest(ulink_handle
, cmd
);
1938 ret
= ulink_queue_reset(ulink_handle
, cmd
);
1941 ret
= ulink_queue_pathmove(ulink_handle
, cmd
);
1944 ret
= ulink_queue_sleep(ulink_handle
, cmd
);
1946 case JTAG_STABLECLOCKS
:
1947 ret
= ulink_queue_stableclocks(ulink_handle
, cmd
);
1951 LOG_ERROR("BUG: encountered unknown JTAG command type");
1955 if (ret
!= ERROR_OK
)
1961 if (ulink_handle
->commands_in_queue
> 0) {
1962 ret
= ulink_execute_queued_commands(ulink_handle
, USB_TIMEOUT
);
1963 if (ret
!= ERROR_OK
)
1966 ret
= ulink_post_process_queue(ulink_handle
);
1967 if (ret
!= ERROR_OK
)
1970 ulink_clear_queue(ulink_handle
);
1977 * Set the TCK frequency of the ULINK adapter.
1979 * @param khz desired JTAG TCK frequency.
1980 * @param jtag_speed where to store corresponding adapter-specific speed value.
1981 * @return on success: ERROR_OK
1982 * @return on failure: ERROR_FAIL
1984 static int ulink_khz(int khz
, int *jtag_speed
)
1989 LOG_ERROR("RCLK not supported");
1993 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
1994 * setting can be done independently from all other commands. */
1996 ulink_handle
->delay_clock_tck
= -1;
1998 ret
= ulink_calculate_delay(DELAY_CLOCK_TCK
, khz
* 1000,
1999 &ulink_handle
->delay_clock_tck
);
2000 if (ret
!= ERROR_OK
)
2004 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2005 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2006 * commands, all SCAN commands MUST also use the variable frequency
2007 * implementation! */
2009 ulink_handle
->delay_clock_tms
= -1;
2010 ulink_handle
->delay_scan_in
= -1;
2011 ulink_handle
->delay_scan_out
= -1;
2012 ulink_handle
->delay_scan_io
= -1;
2014 ret
= ulink_calculate_delay(DELAY_CLOCK_TMS
, khz
* 1000,
2015 &ulink_handle
->delay_clock_tms
);
2016 if (ret
!= ERROR_OK
)
2019 ret
= ulink_calculate_delay(DELAY_SCAN_IN
, khz
* 1000,
2020 &ulink_handle
->delay_scan_in
);
2021 if (ret
!= ERROR_OK
)
2024 ret
= ulink_calculate_delay(DELAY_SCAN_OUT
, khz
* 1000,
2025 &ulink_handle
->delay_scan_out
);
2026 if (ret
!= ERROR_OK
)
2029 ret
= ulink_calculate_delay(DELAY_SCAN_IO
, khz
* 1000,
2030 &ulink_handle
->delay_scan_io
);
2031 if (ret
!= ERROR_OK
)
2035 #ifdef _DEBUG_JTAG_IO_
2036 long f_tck
, f_tms
, f_scan_in
, f_scan_out
, f_scan_io
;
2038 ulink_calculate_frequency(DELAY_CLOCK_TCK
, ulink_handle
->delay_clock_tck
,
2040 ulink_calculate_frequency(DELAY_CLOCK_TMS
, ulink_handle
->delay_clock_tms
,
2042 ulink_calculate_frequency(DELAY_SCAN_IN
, ulink_handle
->delay_scan_in
,
2044 ulink_calculate_frequency(DELAY_SCAN_OUT
, ulink_handle
->delay_scan_out
,
2046 ulink_calculate_frequency(DELAY_SCAN_IO
, ulink_handle
->delay_scan_io
,
2049 DEBUG_JTAG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2050 ulink_handle
->delay_clock_tck
, f_tck
);
2051 DEBUG_JTAG_IO(" delay_tms = %i (%li Hz),",
2052 ulink_handle
->delay_clock_tms
, f_tms
);
2053 DEBUG_JTAG_IO(" delay_scan_in = %i (%li Hz),",
2054 ulink_handle
->delay_scan_in
, f_scan_in
);
2055 DEBUG_JTAG_IO(" delay_scan_out = %i (%li Hz),",
2056 ulink_handle
->delay_scan_out
, f_scan_out
);
2057 DEBUG_JTAG_IO(" delay_scan_io = %i (%li Hz),",
2058 ulink_handle
->delay_scan_io
, f_scan_io
);
2061 /* Configure the ULINK device with the new delay values */
2062 ret
= ulink_append_configure_tck_cmd(ulink_handle
,
2063 ulink_handle
->delay_scan_in
,
2064 ulink_handle
->delay_scan_out
,
2065 ulink_handle
->delay_scan_io
,
2066 ulink_handle
->delay_clock_tck
,
2067 ulink_handle
->delay_clock_tms
);
2069 if (ret
!= ERROR_OK
)
2078 * Set the TCK frequency of the ULINK adapter.
2080 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2081 * there are five different speed settings. To simplify things, the
2082 * adapter-specific speed setting value is identical to the TCK frequency in
2085 * @param speed desired adapter-specific speed value.
2086 * @return on success: ERROR_OK
2087 * @return on failure: ERROR_FAIL
2089 static int ulink_speed(int speed
)
2093 return ulink_khz(speed
, &dummy
);
2097 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2099 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2100 * there are five different speed settings. To simplify things, the
2101 * adapter-specific speed setting value is identical to the TCK frequency in
2104 * @param speed adapter-specific speed value.
2105 * @param khz where to store corresponding TCK frequency in kHz.
2106 * @return on success: ERROR_OK
2107 * @return on failure: ERROR_FAIL
2109 static int ulink_speed_div(int speed
, int *khz
)
2117 * Initiates the firmware download to the ULINK adapter and prepares
2120 * @return on success: ERROR_OK
2121 * @return on failure: ERROR_FAIL
2123 static int ulink_init(void)
2126 char str_manufacturer
[20];
2127 bool download_firmware
= false;
2129 uint8_t input_signals
, output_signals
;
2131 ulink_handle
= calloc(1, sizeof(struct ulink
));
2132 if (ulink_handle
== NULL
)
2137 ret
= ulink_usb_open(&ulink_handle
);
2138 if (ret
!= ERROR_OK
) {
2139 LOG_ERROR("Could not open ULINK device");
2143 /* Get String Descriptor to determine if firmware needs to be loaded */
2144 ret
= usb_get_string_simple(ulink_handle
->usb_handle
, 1, str_manufacturer
, 20);
2146 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2147 download_firmware
= true;
2149 /* We got a String Descriptor, check if it is the correct one */
2150 if (strncmp(str_manufacturer
, "OpenULINK", 9) != 0)
2151 download_firmware
= true;
2154 if (download_firmware
== true) {
2155 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2157 ret
= ulink_load_firmware_and_renumerate(&ulink_handle
,
2158 ULINK_FIRMWARE_FILE
, ULINK_RENUMERATION_DELAY
);
2159 if (ret
!= ERROR_OK
) {
2160 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2164 LOG_INFO("ULINK device is already running OpenULINK firmware");
2166 /* Initialize OpenULINK command queue */
2167 ulink_clear_queue(ulink_handle
);
2169 /* Issue one test command with short timeout */
2170 ret
= ulink_append_test_cmd(ulink_handle
);
2171 if (ret
!= ERROR_OK
)
2174 ret
= ulink_execute_queued_commands(ulink_handle
, 200);
2175 if (ret
!= ERROR_OK
) {
2176 /* Sending test command failed. The ULINK device may be forever waiting for
2177 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2178 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2179 dummy
= calloc(64, sizeof(uint8_t));
2181 ret
= usb_bulk_read(ulink_handle
->usb_handle
, (2 | USB_ENDPOINT_IN
),
2182 (char *)dummy
, 64, 200);
2187 /* Bulk IN transfer failed -> unrecoverable error condition */
2188 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2189 "the USB port and re-connect, then re-run OpenOCD");
2192 #ifdef _DEBUG_USB_COMMS_
2194 /* Successfully received Bulk IN packet -> continue */
2195 LOG_INFO("Recovered from lost Bulk IN packet");
2199 ulink_clear_queue(ulink_handle
);
2201 ulink_append_get_signals_cmd(ulink_handle
);
2202 ulink_execute_queued_commands(ulink_handle
, 200);
2204 /* Post-process the single CMD_GET_SIGNALS command */
2205 input_signals
= ulink_handle
->queue_start
->payload_in
[0];
2206 output_signals
= ulink_handle
->queue_start
->payload_in
[1];
2208 ulink_print_signal_states(input_signals
, output_signals
);
2210 ulink_clear_queue(ulink_handle
);
2216 * Closes the USB handle for the ULINK device.
2218 * @return on success: ERROR_OK
2219 * @return on failure: ERROR_FAIL
2221 static int ulink_quit(void)
2225 ret
= ulink_usb_close(&ulink_handle
);
2232 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2234 COMMAND_HANDLER(ulink_download_firmware_handler
)
2239 return ERROR_COMMAND_SYNTAX_ERROR
;
2242 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV
[0]);
2244 /* Download firmware image in CMD_ARGV[0] */
2245 ret
= ulink_load_firmware_and_renumerate(&ulink_handle
, (char *)CMD_ARGV
[0],
2246 ULINK_RENUMERATION_DELAY
);
2251 /*************************** Command Registration **************************/
2253 static const struct command_registration ulink_command_handlers
[] = {
2255 .name
= "ulink_download_firmware",
2256 .handler
= &ulink_download_firmware_handler
,
2257 .mode
= COMMAND_EXEC
,
2258 .help
= "download firmware image to ULINK device",
2259 .usage
= "path/to/ulink_firmware.hex",
2261 COMMAND_REGISTRATION_DONE
,
2264 struct jtag_interface ulink_interface
= {
2267 .commands
= ulink_command_handlers
,
2268 .transports
= jtag_only
,
2270 .execute_queue
= ulink_execute_queue
,
2272 .speed
= ulink_speed
,
2273 .speed_div
= ulink_speed_div
,