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 ***************************************************************************/
25 #include <jtag/interface.h>
26 #include <jtag/commands.h>
27 #include <target/image.h>
28 #include <helper/types.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 /** Location of OpenULINK firmware image. TODO: Provide some way of modifying
66 * this path, maybe in a separate OpenOCD command? */
67 #define ULINK_FIRMWARE_FILE PKGLIBDIR "/OpenULINK/ulink_firmware.hex"
69 /** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
70 #define SECTION_BUFFERSIZE 8192
72 /** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
73 #define SPLIT_SCAN_THRESHOLD 10
75 /** ULINK hardware type */
78 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
79 * Full JTAG support, no SWD support. */
82 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
85 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
88 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
92 enum ulink_payload_direction
94 PAYLOAD_DIRECTION_OUT,
99 * OpenULINK command (OpenULINK command queue element).
101 * For the OUT direction payload, things are quite easy: Payload is stored
102 * in a rather small array (up to 63 bytes), the payload is always allocated
103 * by the function generating the command and freed by ulink_clear_queue().
105 * For the IN direction payload, things get a little bit more complicated:
106 * The maximum IN payload size for a single command is 64 bytes. Assume that
107 * a single OpenOCD command needs to scan 256 bytes. This results in the
108 * generation of four OpenULINK commands. The function generating these
109 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
110 * pointer shall point to the corresponding offset where IN data shall be
111 * placed, while #payload_in_start shall point to the first element of the 256
113 * - first command: #payload_in_start + 0
114 * - second command: #payload_in_start + 64
115 * - third command: #payload_in_start + 128
116 * - fourth command: #payload_in_start + 192
118 * The last command sets #needs_postprocessing to true.
121 uint8_t id; ///< ULINK command ID
123 uint8_t *payload_out; ///< OUT direction payload data
124 uint8_t payload_out_size; ///< OUT direction payload size for this command
126 uint8_t *payload_in_start; ///< Pointer to first element of IN payload array
127 uint8_t *payload_in; ///< Pointer where IN payload shall be stored
128 uint8_t payload_in_size; ///< IN direction payload size for this command
130 /** Indicates if this command needs post-processing */
131 bool needs_postprocessing;
133 /** Indicates if ulink_clear_queue() should free payload_in_start */
134 bool free_payload_in_start;
136 /** Pointer to corresponding OpenOCD command for post-processing */
137 struct jtag_command *cmd_origin;
139 struct ulink_cmd *next; ///< Pointer to next command (linked list)
142 typedef struct ulink_cmd ulink_cmd_t;
144 /** Describes one driver instance */
147 struct usb_dev_handle *usb_handle;
148 enum ulink_type type;
150 int commands_in_queue; ///< Number of commands in queue
151 ulink_cmd_t *queue_start; ///< Pointer to first command in queue
152 ulink_cmd_t *queue_end; ///< Pointer to last command in queue
155 /**************************** Function Prototypes *****************************/
157 /* USB helper functions */
158 int ulink_usb_open(struct ulink **device);
159 int ulink_usb_close(struct ulink **device);
161 /* ULINK MCU (Cypress EZ-USB) specific functions */
162 int ulink_cpu_reset(struct ulink *device, char reset_bit);
163 int ulink_load_firmware_and_renumerate(struct ulink **device, char *filename,
165 int ulink_load_firmware(struct ulink *device, char *filename);
166 int ulink_write_firmware_section(struct ulink *device,
167 struct image *firmware_image, int section_index);
169 /* Generic helper functions */
170 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
172 /* OpenULINK command generation helper functions */
173 int ulink_allocate_payload(ulink_cmd_t *ulink_cmd, int size,
174 enum ulink_payload_direction direction);
176 /* OpenULINK command queue helper functions */
177 int ulink_get_queue_size(struct ulink *device,
178 enum ulink_payload_direction direction);
179 void ulink_clear_queue(struct ulink *device);
180 int ulink_append_queue(struct ulink *device, ulink_cmd_t *ulink_cmd);
181 int ulink_execute_queued_commands(struct ulink *device, int timeout);
183 #ifdef _DEBUG_JTAG_IO_
184 const char * ulink_cmd_id_string(uint8_t id);
185 void ulink_print_command(ulink_cmd_t *ulink_cmd);
186 void ulink_print_queue(struct ulink *device);
189 int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
190 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
191 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
192 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess);
193 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
195 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
196 int ulink_append_get_signals_cmd(struct ulink *device);
197 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
199 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
200 int ulink_append_configure_tck_cmd(struct ulink *device, uint8_t delay_scan,
201 uint8_t delay_tck, uint8_t delay_tms);
202 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
203 int ulink_append_test_cmd(struct ulink *device);
205 /* Interface between OpenULINK and OpenOCD */
206 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
207 int ulink_queue_statemove(struct ulink *device);
208 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
209 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
210 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
211 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
212 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
214 static void ulink_set_end_state(tap_state_t endstate);
216 int ulink_post_process_scan(ulink_cmd_t *ulink_cmd);
217 int ulink_post_process_queue(struct ulink *device);
219 /* JTAG driver functions (registered in struct jtag_interface) */
220 static int ulink_execute_queue(void);
221 static int ulink_khz(int khz, int *jtag_speed);
222 static int ulink_speed(int speed);
223 static int ulink_speed_div(int speed, int *khz);
224 static int ulink_init(void);
225 static int ulink_quit(void);
227 /****************************** Global Variables ******************************/
229 struct ulink *ulink_handle;
231 /**************************** USB helper functions ****************************/
234 * Opens the ULINK device and claims its USB interface.
236 * @param device pointer to struct ulink identifying ULINK driver instance.
237 * @return on success: ERROR_OK
238 * @return on failure: ERROR_FAIL
240 int ulink_usb_open(struct ulink **device)
243 struct usb_dev_handle *usb_handle;
245 /* Currently, only original ULINK is supported */
246 uint16_t vids[] = { ULINK_VID, 0 };
247 uint16_t pids[] = { ULINK_PID, 0 };
249 ret = jtag_usb_open(vids, pids, &usb_handle);
251 if (ret != ERROR_OK) {
255 ret = usb_claim_interface(usb_handle, 0);
261 (*device)->usb_handle = usb_handle;
262 (*device)->type = ULINK_1;
268 * Releases the ULINK interface and closes the USB device handle.
270 * @param device pointer to struct ulink identifying ULINK driver instance.
271 * @return on success: ERROR_OK
272 * @return on failure: ERROR_FAIL
274 int ulink_usb_close(struct ulink **device)
276 if (usb_release_interface((*device)->usb_handle, 0) != 0) {
280 if (usb_close((*device)->usb_handle) != 0) {
284 (*device)->usb_handle = NULL;
289 /******************* ULINK CPU (EZ-USB) specific functions ********************/
292 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
295 * @param device pointer to struct ulink identifying ULINK driver instance.
296 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
297 * @return on success: ERROR_OK
298 * @return on failure: ERROR_FAIL
300 int ulink_cpu_reset(struct ulink *device, char reset_bit)
304 ret = usb_control_msg(device->usb_handle,
305 (USB_ENDPOINT_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE),
306 REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, USB_TIMEOUT);
308 /* usb_control_msg() returns the number of bytes transferred during the
309 * DATA stage of the control transfer - must be exactly 1 in this case! */
317 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
318 * the firmware image, resumes the microcontroller and re-enumerates
321 * @param device pointer to struct ulink identifying ULINK driver instance.
322 * The usb_handle member will be modified during re-enumeration.
323 * @param filename path to the Intel HEX file containing the firmware image.
324 * @param delay the delay to wait for the device to re-enumerate.
325 * @return on success: ERROR_OK
326 * @return on failure: ERROR_FAIL
328 int ulink_load_firmware_and_renumerate(struct ulink **device,
329 char *filename, uint32_t delay)
333 /* Basic process: After downloading the firmware, the ULINK will disconnect
334 * itself and re-connect after a short amount of time so we have to close
335 * the handle and re-enumerate USB devices */
337 ret = ulink_load_firmware(*device, filename);
338 if (ret != ERROR_OK) {
342 ret = ulink_usb_close(device);
343 if (ret != ERROR_OK) {
349 ret = ulink_usb_open(device);
350 if (ret != ERROR_OK) {
358 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
361 * @param device pointer to struct ulink identifying ULINK driver instance.
362 * @param filename an absolute or relative path to the Intel HEX file
363 * containing the firmware image.
364 * @return on success: ERROR_OK
365 * @return on failure: ERROR_FAIL
367 int ulink_load_firmware(struct ulink *device, char *filename)
369 struct image ulink_firmware_image;
372 ret = ulink_cpu_reset(device, CPU_RESET);
373 if (ret != ERROR_OK) {
374 LOG_ERROR("Could not halt ULINK CPU");
378 ulink_firmware_image.base_address = 0;
379 ulink_firmware_image.base_address_set = 0;
381 ret = image_open(&ulink_firmware_image, ULINK_FIRMWARE_FILE, "ihex");
382 if (ret != ERROR_OK) {
386 /* Download all sections in the image to ULINK */
387 for (i = 0; i < ulink_firmware_image.num_sections; i++) {
388 ret = ulink_write_firmware_section(device, &ulink_firmware_image, i);
389 if (ret != ERROR_OK) {
394 image_close(&ulink_firmware_image);
396 ret = ulink_cpu_reset(device, CPU_START);
397 if (ret != ERROR_OK) {
398 LOG_ERROR("Could not restart ULINK CPU");
406 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
409 * @param device pointer to struct ulink identifying ULINK driver instance.
410 * @param firmware_image pointer to the firmware image that contains the section
411 * which should be sent to the ULINK's EZ-USB microcontroller.
412 * @param section_index index of the section within the firmware image.
413 * @return on success: ERROR_OK
414 * @return on failure: ERROR_FAIL
416 int ulink_write_firmware_section(struct ulink *device,
417 struct image *firmware_image, int section_index)
419 uint16_t addr, size, bytes_remaining, chunk_size;
420 uint8_t data[SECTION_BUFFERSIZE];
421 uint8_t *data_ptr = data;
425 size = (uint16_t)firmware_image->sections[section_index].size;
426 addr = (uint16_t)firmware_image->sections[section_index].base_address;
428 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
435 /* Copy section contents to local buffer */
436 ret = image_read_section(firmware_image, section_index, 0, size, data,
439 if ((ret != ERROR_OK) || (size_read != size)) {
440 /* Propagating the return code would return '0' (misleadingly indicating
441 * successful execution of the function) if only the size check fails. */
445 bytes_remaining = size;
447 /* Send section data in chunks of up to 64 bytes to ULINK */
448 while (bytes_remaining > 0) {
449 if (bytes_remaining > 64) {
453 chunk_size = bytes_remaining;
456 ret = usb_control_msg(device->usb_handle,
457 (USB_ENDPOINT_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE),
458 REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (char *)data_ptr,
459 chunk_size, USB_TIMEOUT);
461 if (ret != (int)chunk_size) {
462 /* Abort if libusb sent less data than requested */
466 bytes_remaining -= chunk_size;
468 data_ptr += chunk_size;
474 /************************** Generic helper functions **************************/
477 * Print state of interesting signals via LOG_INFO().
479 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
480 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
482 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
484 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
486 (output_signals & SIGNAL_TDI ? 1 : 0),
487 (input_signals & SIGNAL_TDO ? 1 : 0),
488 (output_signals & SIGNAL_TMS ? 1 : 0),
489 (output_signals & SIGNAL_TCK ? 1 : 0),
490 (output_signals & SIGNAL_TRST ? 0 : 1), // TRST and RESET are inverted
491 (output_signals & SIGNAL_RESET ? 0 : 1)); // by hardware
494 /**************** OpenULINK command generation helper functions ***************/
497 * Allocate and initialize space in memory for OpenULINK command payload.
499 * @param ulink_cmd pointer to command whose payload should be allocated.
500 * @param size the amount of memory to allocate (bytes).
501 * @param direction which payload to allocate.
502 * @return on success: ERROR_OK
503 * @return on failure: ERROR_FAIL
505 int ulink_allocate_payload(ulink_cmd_t *ulink_cmd, int size,
506 enum ulink_payload_direction direction)
510 payload = calloc(size, sizeof(uint8_t));
512 if (payload == NULL) {
513 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
518 case PAYLOAD_DIRECTION_OUT:
519 if (ulink_cmd->payload_out != NULL) {
520 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
524 ulink_cmd->payload_out = payload;
525 ulink_cmd->payload_out_size = size;
528 case PAYLOAD_DIRECTION_IN:
529 if (ulink_cmd->payload_in_start != NULL) {
530 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
534 ulink_cmd->payload_in_start = payload;
535 ulink_cmd->payload_in = payload;
536 ulink_cmd->payload_in_size = size;
538 /* By default, free payload_in_start in ulink_clear_queue(). Commands
539 * that do not want this behavior (e. g. split scans) must turn it off
541 ulink_cmd->free_payload_in_start = true;
549 /****************** OpenULINK command queue helper functions ******************/
552 * Get the current number of bytes in the queue, including command IDs.
554 * @param device pointer to struct ulink identifying ULINK driver instance.
555 * @param direction the transfer direction for which to get byte count.
556 * @return the number of bytes currently stored in the queue for the specified
559 int ulink_get_queue_size(struct ulink *device,
560 enum ulink_payload_direction direction)
562 ulink_cmd_t *current = device->queue_start;
565 while (current != NULL) {
567 case PAYLOAD_DIRECTION_OUT:
568 sum += current->payload_out_size + 1; // + 1 byte for Command ID
570 case PAYLOAD_DIRECTION_IN:
571 sum += current->payload_in_size;
575 current = current->next;
582 * Clear the OpenULINK command queue.
584 * @param device pointer to struct ulink identifying ULINK driver instance.
585 * @return on success: ERROR_OK
586 * @return on failure: ERROR_FAIL
588 void ulink_clear_queue(struct ulink *device)
590 ulink_cmd_t *current = device->queue_start;
591 ulink_cmd_t *next = NULL;
593 while (current != NULL) {
594 /* Save pointer to next element */
595 next = current->next;
597 /* Free payloads: OUT payload can be freed immediately */
598 free(current->payload_out);
599 current->payload_out = NULL;
601 /* IN payload MUST be freed ONLY if no other commands use the
602 * payload_in_start buffer */
603 if (current->free_payload_in_start == true) {
604 free(current->payload_in_start);
605 current->payload_in_start = NULL;
606 current->payload_in = NULL;
609 /* Free queue element */
612 /* Proceed with next element */
616 device->commands_in_queue = 0;
617 device->queue_start = NULL;
618 device->queue_end = NULL;
622 * Add a command to the OpenULINK command queue.
624 * @param device pointer to struct ulink identifying ULINK driver instance.
625 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
627 * @return on success: ERROR_OK
628 * @return on failure: ERROR_FAIL
630 int ulink_append_queue(struct ulink *device, ulink_cmd_t *ulink_cmd)
632 int newsize_out, newsize_in;
635 newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
636 + ulink_cmd->payload_out_size;
638 newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
639 + ulink_cmd->payload_in_size;
641 /* Check if the current command can be appended to the queue */
642 if ((newsize_out > 64) || (newsize_in > 64)) {
643 /* New command does not fit. Execute all commands in queue before starting
644 * new queue with the current command as first entry. */
645 ret = ulink_execute_queued_commands(device, USB_TIMEOUT);
646 if (ret != ERROR_OK) {
650 ret = ulink_post_process_queue(device);
651 if (ret != ERROR_OK) {
655 ulink_clear_queue(device);
658 if (device->queue_start == NULL) {
659 /* Queue was empty */
660 device->commands_in_queue = 1;
662 device->queue_start = ulink_cmd;
663 device->queue_end = ulink_cmd;
666 /* There are already commands in the queue */
667 device->commands_in_queue++;
669 device->queue_end->next = ulink_cmd;
670 device->queue_end = ulink_cmd;
677 * Sends all queued OpenULINK commands to the ULINK for execution.
679 * @param device pointer to struct ulink identifying ULINK driver instance.
680 * @return on success: ERROR_OK
681 * @return on failure: ERROR_FAIL
683 int ulink_execute_queued_commands(struct ulink *device, int timeout)
685 ulink_cmd_t *current;
686 int ret, i, index_out, index_in, count_out, count_in;
689 #ifdef _DEBUG_JTAG_IO_
690 ulink_print_queue(device);
697 for (current = device->queue_start; current; current = current->next) {
698 /* Add command to packet */
699 buffer[index_out] = current->id;
703 for (i = 0; i < current->payload_out_size; i++) {
704 buffer[index_out + i] = current->payload_out[i];
706 index_out += current->payload_out_size;
707 count_in += current->payload_in_size;
708 count_out += current->payload_out_size;
711 /* Send packet to ULINK */
712 ret = usb_bulk_write(device->usb_handle, (2 | USB_ENDPOINT_OUT),
713 (char *)buffer, count_out, timeout);
717 if (ret != count_out) {
721 /* Wait for response if commands contain IN payload data */
723 ret = usb_bulk_read(device->usb_handle, (2 | USB_ENDPOINT_IN),
724 (char *)buffer, 64, timeout);
728 if (ret != count_in) {
732 /* Write back IN payload data */
734 for (current = device->queue_start; current; current = current->next) {
735 for (i = 0; i < current->payload_in_size; i++) {
736 current->payload_in[i] = buffer[index_in];
745 #ifdef _DEBUG_JTAG_IO_
748 * Convert an OpenULINK command ID (\a id) to a human-readable string.
750 * @param id the OpenULINK command ID.
751 * @return the corresponding human-readable string.
753 const char * ulink_cmd_id_string(uint8_t id)
757 return "CMD_SCAN_IN";
759 case CMD_SLOW_SCAN_IN:
760 return "CMD_SLOW_SCAN_IN";
763 return "CMD_SCAN_OUT";
765 case CMD_SLOW_SCAN_OUT:
766 return "CMD_SLOW_SCAN_OUT";
769 return "CMD_SCAN_IO";
771 case CMD_SLOW_SCAN_IO:
772 return "CMD_SLOW_SCAN_IO";
775 return "CMD_CLOCK_TMS";
777 case CMD_SLOW_CLOCK_TMS:
778 return "CMD_SLOW_CLOCK_TMS";
781 return "CMD_CLOCK_TCK";
784 return "CMD_SLEEP_US";
787 return "CMD_SLEEP_MS";
789 case CMD_GET_SIGNALS:
790 return "CMD_GET_SIGNALS";
792 case CMD_SET_SIGNALS:
793 return "CMD_SET_SIGNALS";
795 case CMD_CONFIGURE_TCK_FREQ:
796 return "CMD_CONFIGURE_TCK_FREQ";
799 return "CMD_SET_LEDS";
805 return "CMD_UNKNOWN";
811 * Print one OpenULINK command to stdout.
813 * @param ulink_cmd pointer to OpenULINK command.
815 void ulink_print_command(ulink_cmd_t *ulink_cmd)
819 printf(" %-22s | OUT size = %i, bytes = 0x", ulink_cmd_id_string(ulink_cmd->id),
820 ulink_cmd->payload_out_size);
822 for (i = 0; i < ulink_cmd->payload_out_size; i++) {
823 printf("%02X ", ulink_cmd->payload_out[i]);
825 printf("\n | IN size = %i\n", ulink_cmd->payload_in_size);
829 * Print the OpenULINK command queue to stdout.
831 * @param device pointer to struct ulink identifying ULINK driver instance.
833 void ulink_print_queue(struct ulink *device)
835 ulink_cmd_t *current;
837 printf("OpenULINK command queue:\n");
839 for (current = device->queue_start; current; current = current->next) {
840 ulink_print_command(current);
844 #endif /* _DEBUG_JTAG_IO_ */
849 * Creates and appends a JTAG scan command to the OpenULINK command queue.
850 * A JTAG scan consists of three steps:
851 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
852 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
853 * - Move to the desired end state.
855 * @param device pointer to struct ulink identifying ULINK driver instance.
856 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
857 * @param scan_size_bits number of bits to shift into the JTAG chain.
858 * @param tdi pointer to array containing TDI data.
859 * @param tdo_start pointer to first element of array where TDO data shall be
860 * stored. See #ulink_cmd for details.
861 * @param tdo pointer to array where TDO data shall be stored
862 * @param tms_count_start number of TMS state transitions to perform BEFORE
863 * shifting data into the JTAG chain.
864 * @param tms_sequence_start sequence of TMS state transitions that will be
865 * performed BEFORE shifting data into the JTAG chain.
866 * @param tms_count_end number of TMS state transitions to perform AFTER
867 * shifting data into the JTAG chain.
868 * @param tms_sequence_end sequence of TMS state transitions that will be
869 * performed AFTER shifting data into the JTAG chain.
870 * @param origin pointer to OpenOCD command that generated this scan command.
871 * @param postprocess whether this command needs to be post-processed after
873 * @return on success: ERROR_OK
874 * @return on failure: ERROR_FAIL
876 int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
877 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
878 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
879 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
881 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
882 int ret, i, scan_size_bytes;
883 uint8_t bits_last_byte;
889 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
890 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
891 if (scan_size_bits > (58 * 8)) {
892 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
897 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
899 bits_last_byte = scan_size_bits % 8;
900 if (bits_last_byte == 0) {
904 /* Allocate out_payload depending on scan type */
905 // TODO: set command ID depending on interface speed settings (slow scan)
908 cmd->id = CMD_SCAN_IN;
909 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
912 cmd->id = CMD_SCAN_OUT;
913 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
916 cmd->id = CMD_SCAN_IO;
917 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
920 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
924 if (ret != ERROR_OK) {
928 /* Build payload_out that is common to all scan types */
929 cmd->payload_out[0] = scan_size_bytes & 0xFF;
930 cmd->payload_out[1] = bits_last_byte & 0xFF;
931 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
932 cmd->payload_out[3] = tms_sequence_start;
933 cmd->payload_out[4] = tms_sequence_end;
935 /* Setup payload_out for types with OUT transfer */
936 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
937 for (i = 0; i < scan_size_bytes; i++) {
938 cmd->payload_out[i + 5] = tdi[i];
942 /* Setup payload_in pointers for types with IN transfer */
943 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
944 cmd->payload_in_start = tdo_start;
945 cmd->payload_in = tdo;
946 cmd->payload_in_size = scan_size_bytes;
949 cmd->needs_postprocessing = postprocess;
950 cmd->cmd_origin = origin;
952 /* For scan commands, we free payload_in_start only when the command is
953 * the last in a series of split commands or a stand-alone command */
954 cmd->free_payload_in_start = postprocess;
956 return ulink_append_queue(device, cmd);
960 * Perform TAP state transitions
962 * @param device pointer to struct ulink identifying ULINK driver instance.
963 * @param count defines the number of TCK clock cycles generated (up to 8).
964 * @param sequence defines the TMS pin levels for each state transition. The
965 * Least-Significant Bit is read first.
966 * @return on success: ERROR_OK
967 * @return on failure: ERROR_FAIL
969 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
972 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
979 cmd->id = CMD_CLOCK_TMS;
981 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
982 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
983 if (ret != ERROR_OK) {
987 cmd->payload_out[0] = count;
988 cmd->payload_out[1] = sequence;
990 return ulink_append_queue(device, cmd);
994 * Generate a defined amount of TCK clock cycles
996 * All other JTAG signals are left unchanged.
998 * @param device pointer to struct ulink identifying ULINK driver instance.
999 * @param count the number of TCK clock cycles to generate.
1000 * @return on success: ERROR_OK
1001 * @return on failure: ERROR_FAIL
1003 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
1005 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1012 cmd->id = CMD_CLOCK_TCK;
1014 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1015 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1016 if (ret != ERROR_OK) {
1020 cmd->payload_out[0] = count & 0xff;
1021 cmd->payload_out[1] = (count >> 8) & 0xff;
1023 return ulink_append_queue(device, cmd);
1027 * Read JTAG signals.
1029 * @param device pointer to struct ulink identifying ULINK driver instance.
1030 * @return on success: ERROR_OK
1031 * @return on failure: ERROR_FAIL
1033 int ulink_append_get_signals_cmd(struct ulink *device)
1035 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1042 cmd->id = CMD_GET_SIGNALS;
1043 cmd->needs_postprocessing = true;
1045 /* CMD_GET_SIGNALS has two IN payload bytes */
1046 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1048 if (ret != ERROR_OK) {
1052 return ulink_append_queue(device, cmd);
1056 * Arbitrarily set JTAG output signals.
1058 * @param device pointer to struct ulink identifying ULINK driver instance.
1059 * @param low defines which signals will be de-asserted. Each bit corresponds
1068 * @param high defines which signals will be asserted.
1069 * @return on success: ERROR_OK
1070 * @return on failure: ERROR_FAIL
1072 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1075 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1082 cmd->id = CMD_SET_SIGNALS;
1084 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1085 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1087 if (ret != ERROR_OK) {
1091 cmd->payload_out[0] = low;
1092 cmd->payload_out[1] = high;
1094 return ulink_append_queue(device, cmd);;
1098 * Sleep for a pre-defined number of microseconds
1100 * @param device pointer to struct ulink identifying ULINK driver instance.
1101 * @param us the number microseconds to sleep.
1102 * @return on success: ERROR_OK
1103 * @return on failure: ERROR_FAIL
1105 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1107 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1114 cmd->id = CMD_SLEEP_US;
1116 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1117 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1119 if (ret != ERROR_OK) {
1123 cmd->payload_out[0] = us & 0x00ff;
1124 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1126 return ulink_append_queue(device, cmd);
1130 * Set TCK delay counters
1132 * @param device pointer to struct ulink identifying ULINK driver instance.
1133 * @param delay_scan delay count top value in jtag_slow_scan() functions
1134 * @param delay_tck delay count top value in jtag_clock_tck() function
1135 * @param delay_tms delay count top value in jtag_slow_clock_tms() function
1136 * @return on success: ERROR_OK
1137 * @return on failure: ERROR_FAIL
1139 int ulink_append_configure_tck_cmd(struct ulink *device, uint8_t delay_scan,
1140 uint8_t delay_tck, uint8_t delay_tms)
1142 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1149 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1151 /* CMD_CONFIGURE_TCK_FREQ has three OUT payload bytes and zero
1152 * IN payload bytes */
1153 ret = ulink_allocate_payload(cmd, 3, PAYLOAD_DIRECTION_OUT);
1154 if (ret != ERROR_OK) {
1158 cmd->payload_out[0] = delay_scan;
1159 cmd->payload_out[1] = delay_tck;
1160 cmd->payload_out[2] = delay_tms;
1162 return ulink_append_queue(device, cmd);
1166 * Turn on/off ULINK LEDs.
1168 * @param device pointer to struct ulink identifying ULINK driver instance.
1169 * @param led_state which LED(s) to turn on or off. The following bits
1170 * influence the LEDS:
1171 * - Bit 0: Turn COM LED on
1172 * - Bit 1: Turn RUN LED on
1173 * - Bit 2: Turn COM LED off
1174 * - Bit 3: Turn RUN LED off
1175 * If both the on-bit and the off-bit for the same LED is set, the LED is
1177 * @return on success: ERROR_OK
1178 * @return on failure: ERROR_FAIL
1180 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1182 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1189 cmd->id = CMD_SET_LEDS;
1191 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1192 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1193 if (ret != ERROR_OK) {
1197 cmd->payload_out[0] = led_state;
1199 return ulink_append_queue(device, cmd);
1203 * Test command. Used to check if the ULINK device is ready to accept new
1206 * @param device pointer to struct ulink identifying ULINK driver instance.
1207 * @return on success: ERROR_OK
1208 * @return on failure: ERROR_FAIL
1210 int ulink_append_test_cmd(struct ulink *device)
1212 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1221 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1222 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1223 if (ret != ERROR_OK) {
1227 cmd->payload_out[0] = 0xAA;
1229 return ulink_append_queue(device, cmd);
1232 /******************* Interface between OpenULINK and OpenOCD ******************/
1235 * Perform a scan operation on a JTAG register.
1237 * @param device pointer to struct ulink identifying ULINK driver instance.
1238 * @param cmd pointer to the command that shall be executed.
1239 * @return on success: ERROR_OK
1240 * @return on failure: ERROR_FAIL
1242 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1244 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1245 uint32_t scans_max_payload, bytecount;
1246 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1247 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1249 uint8_t first_tms_count, first_tms_sequence;
1250 uint8_t last_tms_count, last_tms_sequence;
1252 uint8_t tms_count_pause, tms_sequence_pause;
1253 uint8_t tms_count_resume, tms_sequence_resume;
1255 uint8_t tms_count_start, tms_sequence_start;
1256 uint8_t tms_count_end, tms_sequence_end;
1258 enum scan_type type;
1261 /* Determine scan size */
1262 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1263 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1265 /* Determine scan type (IN/OUT/IO) */
1266 type = jtag_scan_type(cmd->cmd.scan);
1268 /* Determine number of scan commands */
1269 scans_max_payload = scan_size_bytes / 58;
1271 /* Determine size of last shift command */
1272 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1274 /* Allocate TDO buffer if required */
1275 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1276 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1278 if (tdo_buffer_start == NULL) {
1282 tdo_buffer = tdo_buffer_start;
1285 /* Fill TDI buffer if required */
1286 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1287 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1288 tdi_buffer = tdi_buffer_start;
1291 /* Get TAP state transitions */
1292 if (cmd->cmd.scan->ir_scan) {
1293 ulink_set_end_state(TAP_IRSHIFT);
1294 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1295 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1297 tap_set_state(TAP_IRSHIFT);
1298 tap_set_end_state(cmd->cmd.scan->end_state);
1299 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1300 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1302 /* TAP state transitions for split scans */
1303 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1304 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1305 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1306 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1309 ulink_set_end_state(TAP_DRSHIFT);
1310 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1311 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1313 tap_set_state(TAP_DRSHIFT);
1314 tap_set_end_state(cmd->cmd.scan->end_state);
1315 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1316 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1318 /* TAP state transitions for split scans */
1319 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1320 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1321 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1322 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1325 /* Generate scan commands with full payload */
1326 bytecount = scan_size_bytes;
1327 while (bytecount > 0) {
1328 if (bytecount == scan_size_bytes) {
1329 /* This is the first scan */
1330 tms_count_start = first_tms_count;
1331 tms_sequence_start = first_tms_sequence;
1334 /* Resume from previous scan */
1335 tms_count_start = tms_count_resume;
1336 tms_sequence_start = tms_sequence_resume;
1339 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1340 tms_count_end = tms_count_pause;
1341 tms_sequence_end = tms_sequence_pause;
1343 ret = ulink_append_scan_cmd(device, type, 58 * 8, tdi_buffer,
1344 tdo_buffer_start, tdo_buffer, tms_count_start, tms_sequence_start,
1345 tms_count_end, tms_sequence_end, cmd, false);
1349 /* Update TDI and TDO buffer pointers */
1350 if (tdi_buffer_start != NULL) {
1353 if (tdo_buffer_start != NULL) {
1357 else if (bytecount == 58) { /* Full scan, no further scans */
1358 tms_count_end = last_tms_count;
1359 tms_sequence_end = last_tms_sequence;
1361 ret = ulink_append_scan_cmd(device, type, 58 * 8, tdi_buffer,
1362 tdo_buffer_start, tdo_buffer, tms_count_start, tms_sequence_start,
1363 tms_count_end, tms_sequence_end, cmd, true);
1367 else { /* Scan with less than maximum payload, no further scans */
1368 tms_count_end = last_tms_count;
1369 tms_sequence_end = last_tms_sequence;
1371 ret = ulink_append_scan_cmd(device, type, bits_last_scan, tdi_buffer,
1372 tdo_buffer_start, tdo_buffer, tms_count_start, tms_sequence_start,
1373 tms_count_end, tms_sequence_end, cmd, true);
1378 if (ret != ERROR_OK) {
1379 free(tdi_buffer_start);
1384 free(tdi_buffer_start);
1386 /* Set current state to the end state requested by the command */
1387 tap_set_state(cmd->cmd.scan->end_state);
1393 * Sets the end state follower (see interface.h) if \a endstate is a stable
1396 * @param endstate the state the end state follower should be set to.
1398 static void ulink_set_end_state(tap_state_t endstate)
1400 if (tap_is_state_stable(endstate)) {
1401 tap_set_end_state(endstate);
1404 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1405 exit( EXIT_FAILURE);
1410 * Move from the current TAP state to the current TAP end state.
1412 * @param device pointer to struct ulink identifying ULINK driver instance.
1413 * @return on success: ERROR_OK
1414 * @return on failure: ERROR_FAIL
1416 int ulink_queue_statemove(struct ulink *device)
1418 uint8_t tms_sequence, tms_count;
1421 if (tap_get_state() == tap_get_end_state()) {
1422 /* Do nothing if we are already there */
1426 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1427 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1429 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1431 if (ret == ERROR_OK) {
1432 tap_set_state(tap_get_end_state());
1439 * Execute a JTAG_RESET command
1441 * @param cmd pointer to the command that shall be executed.
1442 * @return on success: ERROR_OK
1443 * @return on failure: ERROR_FAIL
1445 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1447 uint8_t low = 0, high = 0;
1449 if (cmd->cmd.reset->trst) {
1450 tap_set_state(TAP_RESET);
1451 high |= SIGNAL_TRST;
1457 if (cmd->cmd.reset->srst) {
1458 high |= SIGNAL_RESET;
1461 low |= SIGNAL_RESET;
1464 return ulink_append_set_signals_cmd(device, low, high);
1470 * Generate TCK clock cycles while remaining
1471 * in the Run-Test/Idle state.
1473 * @param device pointer to struct ulink identifying ULINK driver instance.
1474 * @param cmd pointer to the command that shall be executed.
1475 * @return on success: ERROR_OK
1476 * @return on failure: ERROR_FAIL
1478 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1482 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1483 if (tap_get_state() != TAP_IDLE) {
1484 ulink_set_end_state(TAP_IDLE);
1485 ulink_queue_statemove(device);
1488 /* Generate the clock cycles */
1489 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1490 if (ret != ERROR_OK) {
1494 /* Move to end state specified in command */
1495 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1496 tap_set_end_state(cmd->cmd.runtest->end_state);
1497 ulink_queue_statemove(device);
1504 * Move the TAP into the Test Logic Reset state.
1506 * @param device pointer to struct ulink identifying ULINK driver instance.
1507 * @param cmd pointer to the command that shall be executed.
1508 * @return on success: ERROR_OK
1509 * @return on failure: ERROR_FAIL
1511 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1515 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1517 if (ret == ERROR_OK) {
1518 tap_set_state(TAP_RESET);
1525 * Move to one TAP state or several states in succession.
1527 * @param device pointer to struct ulink identifying ULINK driver instance.
1528 * @param cmd pointer to the command that shall be executed.
1529 * @return on success: ERROR_OK
1530 * @return on failure: ERROR_FAIL
1532 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1534 // TODO: Implement this!
1539 * Sleep for a specific amount of time.
1541 * @param device pointer to struct ulink identifying ULINK driver instance.
1542 * @param cmd pointer to the command that shall be executed.
1543 * @return on success: ERROR_OK
1544 * @return on failure: ERROR_FAIL
1546 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1548 /* IMPORTANT! Due to the time offset in command execution introduced by
1549 * command queueing, this needs to be implemented in the ULINK device */
1550 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1554 * Post-process JTAG_SCAN command
1556 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1557 * @return on success: ERROR_OK
1558 * @return on failure: ERROR_FAIL
1560 int ulink_post_process_scan(ulink_cmd_t *ulink_cmd)
1562 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1565 switch (jtag_scan_type(cmd->cmd.scan)) {
1568 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1571 /* Nothing to do for OUT scans */
1575 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1585 * Perform post-processing of commands after OpenULINK queue has been executed.
1587 * @param device pointer to struct ulink identifying ULINK driver instance.
1588 * @return on success: ERROR_OK
1589 * @return on failure: ERROR_FAIL
1591 int ulink_post_process_queue(struct ulink *device)
1593 ulink_cmd_t *current;
1594 struct jtag_command *openocd_cmd;
1597 current = device->queue_start;
1599 while (current != NULL) {
1600 openocd_cmd = current->cmd_origin;
1602 /* Check if a corresponding OpenOCD command is stored for this
1603 * OpenULINK command */
1604 if ((current->needs_postprocessing == true) && (openocd_cmd != NULL)) {
1605 switch (openocd_cmd->type) {
1607 ret = ulink_post_process_scan(current);
1610 case JTAG_TLR_RESET:
1614 /* Nothing to do for these commands */
1619 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1623 if (ret != ERROR_OK) {
1628 current = current->next;
1634 /**************************** JTAG driver functions ***************************/
1637 * Executes the JTAG Command Queue.
1639 * This is done in three stages: First, all OpenOCD commands are processed into
1640 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1641 * ULINK device and data received from the ULINK device is cached. Finally,
1642 * the post-processing function writes back data to the corresponding OpenOCD
1645 * @return on success: ERROR_OK
1646 * @return on failure: ERROR_FAIL
1648 static int ulink_execute_queue(void)
1650 struct jtag_command *cmd = jtag_command_queue;
1654 switch (cmd->type) {
1656 ret = ulink_queue_scan(ulink_handle, cmd);
1659 ret = ulink_queue_runtest(ulink_handle, cmd);
1661 case JTAG_TLR_RESET:
1662 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1665 ret = ulink_queue_pathmove(ulink_handle, cmd);
1668 ret = ulink_queue_reset(ulink_handle, cmd);
1671 ret = ulink_queue_sleep(ulink_handle, cmd);
1675 LOG_ERROR("BUG: encountered unknown JTAG command type");
1681 if (ulink_handle->commands_in_queue > 0) {
1682 ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
1683 if (ret != ERROR_OK) {
1687 ret = ulink_post_process_queue(ulink_handle);
1688 if (ret != ERROR_OK) {
1692 ulink_clear_queue(ulink_handle);
1699 * Set the TCK frequency of the ULINK adapter.
1702 * @param jtag_speed ???
1703 * @return on success: ERROR_OK
1704 * @return on failure: ERROR_FAIL
1706 static int ulink_khz(int khz, int *jtag_speed)
1709 LOG_ERROR("RCLK not supported");
1713 LOG_INFO("ulink_khz: %i kHz", khz);
1715 /* ULINK maximum TCK frequency is ~ 150 kHz */
1726 * Set the TCK frequency of the ULINK adapter.
1729 * @return on success: ERROR_OK
1730 * @return on failure: ERROR_FAIL
1732 static int ulink_speed(int speed)
1740 static int ulink_speed_div(int speed, int *khz)
1742 LOG_INFO("ulink_speed_div: %i", speed);
1757 * Initiates the firmware download to the ULINK adapter and prepares
1760 * @return on success: ERROR_OK
1761 * @return on failure: ERROR_FAIL
1763 static int ulink_init(void)
1766 char str_manufacturer[20];
1767 bool download_firmware = false;
1769 uint8_t input_signals, output_signals;
1771 ulink_handle = calloc(1, sizeof(struct ulink));
1772 if (ulink_handle == NULL) {
1778 ret = ulink_usb_open(&ulink_handle);
1779 if (ret != ERROR_OK) {
1780 LOG_ERROR("Could not open ULINK device");
1784 /* Get String Descriptor to determine if firmware needs to be loaded */
1785 ret = usb_get_string_simple(ulink_handle->usb_handle, 1, str_manufacturer, 20);
1787 /* Could not get descriptor -> Unconfigured or original Keil firmware */
1788 download_firmware = true;
1791 /* We got a String Descriptor, check if it is the correct one */
1792 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0) {
1793 download_firmware = true;
1797 if (download_firmware == true) {
1798 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
1800 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
1801 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
1802 if (ret != ERROR_OK) {
1803 LOG_ERROR("Could not download firmware and re-numerate ULINK");
1808 LOG_INFO("ULINK device is already running OpenULINK firmware");
1811 /* Initialize OpenULINK command queue */
1812 ulink_clear_queue(ulink_handle);
1814 /* Issue one test command with short timeout */
1815 ret = ulink_append_test_cmd(ulink_handle);
1816 if (ret != ERROR_OK) {
1820 ret = ulink_execute_queued_commands(ulink_handle, 200);
1821 if (ret != ERROR_OK) {
1822 /* Sending test command failed. The ULINK device may be forever waiting for
1823 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
1824 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
1825 dummy = calloc(64, sizeof(uint8_t));
1827 ret = usb_bulk_read(ulink_handle->usb_handle, (2 | USB_ENDPOINT_IN),
1828 (char *)dummy, 64, 200);
1833 /* Bulk IN transfer failed -> unrecoverable error condition */
1834 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
1835 "the USB port and re-connect, then re-run OpenOCD");
1838 #ifdef _DEBUG_USB_COMMS_
1840 /* Successfully received Bulk IN packet -> continue */
1841 LOG_INFO("Recovered from lost Bulk IN packet");
1845 ulink_clear_queue(ulink_handle);
1847 ulink_append_get_signals_cmd(ulink_handle);
1848 ulink_execute_queued_commands(ulink_handle, 200);
1850 /* Post-process the single CMD_GET_SIGNALS command */
1851 input_signals = ulink_handle->queue_start->payload_in[0];
1852 output_signals = ulink_handle->queue_start->payload_in[1];
1854 ulink_print_signal_states(input_signals, output_signals);
1856 ulink_clear_queue(ulink_handle);
1862 * Closes the USB handle for the ULINK device.
1864 * @return on success: ERROR_OK
1865 * @return on failure: ERROR_FAIL
1867 static int ulink_quit(void)
1871 ret = ulink_usb_close(&ulink_handle);
1877 /*************************** Command Registration **************************/
1879 struct jtag_interface ulink_interface = {
1881 .transports = jtag_only,
1883 .execute_queue = ulink_execute_queue,
1885 .speed = ulink_speed,
1886 .speed_div = ulink_speed_div,