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 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
19 ***************************************************************************/
26 #include <jtag/interface.h>
27 #include <jtag/commands.h>
28 #include <target/image.h>
29 #include "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 PKGDATADIR "/OpenULINK/ulink_firmware.hex"
68 /** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
69 #define SECTION_BUFFERSIZE 8192
71 /** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
72 #define SPLIT_SCAN_THRESHOLD 10
74 /** ULINK hardware type */
76 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
77 * Full JTAG support, no SWD support. */
80 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
83 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
86 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
90 enum ulink_payload_direction {
91 PAYLOAD_DIRECTION_OUT,
95 enum ulink_delay_type {
104 * OpenULINK command (OpenULINK command queue element).
106 * For the OUT direction payload, things are quite easy: Payload is stored
107 * in a rather small array (up to 63 bytes), the payload is always allocated
108 * by the function generating the command and freed by ulink_clear_queue().
110 * For the IN direction payload, things get a little bit more complicated:
111 * The maximum IN payload size for a single command is 64 bytes. Assume that
112 * a single OpenOCD command needs to scan 256 bytes. This results in the
113 * generation of four OpenULINK commands. The function generating these
114 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
115 * pointer shall point to the corresponding offset where IN data shall be
116 * placed, while #payload_in_start shall point to the first element of the 256
118 * - first command: #payload_in_start + 0
119 * - second command: #payload_in_start + 64
120 * - third command: #payload_in_start + 128
121 * - fourth command: #payload_in_start + 192
123 * The last command sets #needs_postprocessing to true.
126 uint8_t id; /* /< ULINK command ID */
128 uint8_t *payload_out; /* /< OUT direction payload data */
129 uint8_t payload_out_size; /* /< OUT direction payload size for this command */
131 uint8_t *payload_in_start; /* /< Pointer to first element of IN payload array */
132 uint8_t *payload_in; /* /< Pointer where IN payload shall be stored */
133 uint8_t payload_in_size;/* /< IN direction payload size for this command */
135 /** Indicates if this command needs post-processing */
136 bool needs_postprocessing;
138 /** Indicates if ulink_clear_queue() should free payload_in_start */
139 bool free_payload_in_start;
141 /** Pointer to corresponding OpenOCD command for post-processing */
142 struct jtag_command *cmd_origin;
144 struct ulink_cmd *next; /* /< Pointer to next command (linked list) */
147 /** Describes one driver instance */
149 struct 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,