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 /** Default location of OpenULINK firmware image. */
66 #define ULINK_FIRMWARE_FILE PKGLIBDIR "/OpenULINK/ulink_firmware.hex"
68 /** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
69 #define SECTION_BUFFERSIZE 8192
71 /** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
72 #define SPLIT_SCAN_THRESHOLD 10
74 /** ULINK hardware type */
77 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
78 * Full JTAG support, no SWD support. */
81 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
84 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
87 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
91 enum ulink_payload_direction
93 PAYLOAD_DIRECTION_OUT,
98 * OpenULINK command (OpenULINK command queue element).
100 * For the OUT direction payload, things are quite easy: Payload is stored
101 * in a rather small array (up to 63 bytes), the payload is always allocated
102 * by the function generating the command and freed by ulink_clear_queue().
104 * For the IN direction payload, things get a little bit more complicated:
105 * The maximum IN payload size for a single command is 64 bytes. Assume that
106 * a single OpenOCD command needs to scan 256 bytes. This results in the
107 * generation of four OpenULINK commands. The function generating these
108 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
109 * pointer shall point to the corresponding offset where IN data shall be
110 * placed, while #payload_in_start shall point to the first element of the 256
112 * - first command: #payload_in_start + 0
113 * - second command: #payload_in_start + 64
114 * - third command: #payload_in_start + 128
115 * - fourth command: #payload_in_start + 192
117 * The last command sets #needs_postprocessing to true.
120 uint8_t id; ///< ULINK command ID
122 uint8_t *payload_out; ///< OUT direction payload data
123 uint8_t payload_out_size; ///< OUT direction payload size for this command
125 uint8_t *payload_in_start; ///< Pointer to first element of IN payload array
126 uint8_t *payload_in; ///< Pointer where IN payload shall be stored
127 uint8_t payload_in_size; ///< IN direction payload size for this command
129 /** Indicates if this command needs post-processing */
130 bool needs_postprocessing;
132 /** Indicates if ulink_clear_queue() should free payload_in_start */
133 bool free_payload_in_start;
135 /** Pointer to corresponding OpenOCD command for post-processing */
136 struct jtag_command *cmd_origin;
138 struct ulink_cmd *next; ///< Pointer to next command (linked list)
141 typedef struct ulink_cmd ulink_cmd_t;
143 /** Describes one driver instance */
146 struct usb_dev_handle *usb_handle;
147 enum ulink_type type;
149 int commands_in_queue; ///< Number of commands in queue
150 ulink_cmd_t *queue_start; ///< Pointer to first command in queue
151 ulink_cmd_t *queue_end; ///< Pointer to last command in queue
154 /**************************** Function Prototypes *****************************/
156 /* USB helper functions */
157 int ulink_usb_open(struct ulink **device);
158 int ulink_usb_close(struct ulink **device);
160 /* ULINK MCU (Cypress EZ-USB) specific functions */
161 int ulink_cpu_reset(struct ulink *device, char reset_bit);
162 int ulink_load_firmware_and_renumerate(struct ulink **device, char *filename,
164 int ulink_load_firmware(struct ulink *device, char *filename);
165 int ulink_write_firmware_section(struct ulink *device,
166 struct image *firmware_image, int section_index);
168 /* Generic helper functions */
169 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
171 /* OpenULINK command generation helper functions */
172 int ulink_allocate_payload(ulink_cmd_t *ulink_cmd, int size,
173 enum ulink_payload_direction direction);
175 /* OpenULINK command queue helper functions */
176 int ulink_get_queue_size(struct ulink *device,
177 enum ulink_payload_direction direction);
178 void ulink_clear_queue(struct ulink *device);
179 int ulink_append_queue(struct ulink *device, ulink_cmd_t *ulink_cmd);
180 int ulink_execute_queued_commands(struct ulink *device, int timeout);
182 #ifdef _DEBUG_JTAG_IO_
183 const char * ulink_cmd_id_string(uint8_t id);
184 void ulink_print_command(ulink_cmd_t *ulink_cmd);
185 void ulink_print_queue(struct ulink *device);
188 int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
189 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
190 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
191 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess);
192 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
194 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
195 int ulink_append_get_signals_cmd(struct ulink *device);
196 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
198 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
199 int ulink_append_configure_tck_cmd(struct ulink *device, uint8_t delay_scan,
200 uint8_t delay_tck, uint8_t delay_tms);
201 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
202 int ulink_append_test_cmd(struct ulink *device);
204 /* Interface between OpenULINK and OpenOCD */
205 static void ulink_set_end_state(tap_state_t endstate);
206 int ulink_queue_statemove(struct ulink *device);
208 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
209 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
210 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
211 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
212 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
213 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
214 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
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, filename, "ihex");
382 if (ret != ERROR_OK) {
383 LOG_ERROR("Could not load firmware image");
387 /* Download all sections in the image to ULINK */
388 for (i = 0; i < ulink_firmware_image.num_sections; i++) {
389 ret = ulink_write_firmware_section(device, &ulink_firmware_image, i);
390 if (ret != ERROR_OK) {
395 image_close(&ulink_firmware_image);
397 ret = ulink_cpu_reset(device, CPU_START);
398 if (ret != ERROR_OK) {
399 LOG_ERROR("Could not restart ULINK CPU");
407 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
410 * @param device pointer to struct ulink identifying ULINK driver instance.
411 * @param firmware_image pointer to the firmware image that contains the section
412 * which should be sent to the ULINK's EZ-USB microcontroller.
413 * @param section_index index of the section within the firmware image.
414 * @return on success: ERROR_OK
415 * @return on failure: ERROR_FAIL
417 int ulink_write_firmware_section(struct ulink *device,
418 struct image *firmware_image, int section_index)
420 uint16_t addr, size, bytes_remaining, chunk_size;
421 uint8_t data[SECTION_BUFFERSIZE];
422 uint8_t *data_ptr = data;
426 size = (uint16_t)firmware_image->sections[section_index].size;
427 addr = (uint16_t)firmware_image->sections[section_index].base_address;
429 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
436 /* Copy section contents to local buffer */
437 ret = image_read_section(firmware_image, section_index, 0, size, data,
440 if ((ret != ERROR_OK) || (size_read != size)) {
441 /* Propagating the return code would return '0' (misleadingly indicating
442 * successful execution of the function) if only the size check fails. */
446 bytes_remaining = size;
448 /* Send section data in chunks of up to 64 bytes to ULINK */
449 while (bytes_remaining > 0) {
450 if (bytes_remaining > 64) {
454 chunk_size = bytes_remaining;
457 ret = usb_control_msg(device->usb_handle,
458 (USB_ENDPOINT_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE),
459 REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (char *)data_ptr,
460 chunk_size, USB_TIMEOUT);
462 if (ret != (int)chunk_size) {
463 /* Abort if libusb sent less data than requested */
467 bytes_remaining -= chunk_size;
469 data_ptr += chunk_size;
475 /************************** Generic helper functions **************************/
478 * Print state of interesting signals via LOG_INFO().
480 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
481 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
483 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
485 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
487 (output_signals & SIGNAL_TDI ? 1 : 0),
488 (input_signals & SIGNAL_TDO ? 1 : 0),
489 (output_signals & SIGNAL_TMS ? 1 : 0),
490 (output_signals & SIGNAL_TCK ? 1 : 0),
491 (output_signals & SIGNAL_TRST ? 0 : 1), // TRST and RESET are inverted
492 (output_signals & SIGNAL_RESET ? 0 : 1)); // by hardware
495 /**************** OpenULINK command generation helper functions ***************/
498 * Allocate and initialize space in memory for OpenULINK command payload.
500 * @param ulink_cmd pointer to command whose payload should be allocated.
501 * @param size the amount of memory to allocate (bytes).
502 * @param direction which payload to allocate.
503 * @return on success: ERROR_OK
504 * @return on failure: ERROR_FAIL
506 int ulink_allocate_payload(ulink_cmd_t *ulink_cmd, int size,
507 enum ulink_payload_direction direction)
511 payload = calloc(size, sizeof(uint8_t));
513 if (payload == NULL) {
514 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
519 case PAYLOAD_DIRECTION_OUT:
520 if (ulink_cmd->payload_out != NULL) {
521 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
525 ulink_cmd->payload_out = payload;
526 ulink_cmd->payload_out_size = size;
529 case PAYLOAD_DIRECTION_IN:
530 if (ulink_cmd->payload_in_start != NULL) {
531 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
535 ulink_cmd->payload_in_start = payload;
536 ulink_cmd->payload_in = payload;
537 ulink_cmd->payload_in_size = size;
539 /* By default, free payload_in_start in ulink_clear_queue(). Commands
540 * that do not want this behavior (e. g. split scans) must turn it off
542 ulink_cmd->free_payload_in_start = true;
550 /****************** OpenULINK command queue helper functions ******************/
553 * Get the current number of bytes in the queue, including command IDs.
555 * @param device pointer to struct ulink identifying ULINK driver instance.
556 * @param direction the transfer direction for which to get byte count.
557 * @return the number of bytes currently stored in the queue for the specified
560 int ulink_get_queue_size(struct ulink *device,
561 enum ulink_payload_direction direction)
563 ulink_cmd_t *current = device->queue_start;
566 while (current != NULL) {
568 case PAYLOAD_DIRECTION_OUT:
569 sum += current->payload_out_size + 1; // + 1 byte for Command ID
571 case PAYLOAD_DIRECTION_IN:
572 sum += current->payload_in_size;
576 current = current->next;
583 * Clear the OpenULINK command queue.
585 * @param device pointer to struct ulink identifying ULINK driver instance.
586 * @return on success: ERROR_OK
587 * @return on failure: ERROR_FAIL
589 void ulink_clear_queue(struct ulink *device)
591 ulink_cmd_t *current = device->queue_start;
592 ulink_cmd_t *next = NULL;
594 while (current != NULL) {
595 /* Save pointer to next element */
596 next = current->next;
598 /* Free payloads: OUT payload can be freed immediately */
599 free(current->payload_out);
600 current->payload_out = NULL;
602 /* IN payload MUST be freed ONLY if no other commands use the
603 * payload_in_start buffer */
604 if (current->free_payload_in_start == true) {
605 free(current->payload_in_start);
606 current->payload_in_start = NULL;
607 current->payload_in = NULL;
610 /* Free queue element */
613 /* Proceed with next element */
617 device->commands_in_queue = 0;
618 device->queue_start = NULL;
619 device->queue_end = NULL;
623 * Add a command to the OpenULINK command queue.
625 * @param device pointer to struct ulink identifying ULINK driver instance.
626 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
628 * @return on success: ERROR_OK
629 * @return on failure: ERROR_FAIL
631 int ulink_append_queue(struct ulink *device, ulink_cmd_t *ulink_cmd)
633 int newsize_out, newsize_in;
636 newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
637 + ulink_cmd->payload_out_size;
639 newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
640 + ulink_cmd->payload_in_size;
642 /* Check if the current command can be appended to the queue */
643 if ((newsize_out > 64) || (newsize_in > 64)) {
644 /* New command does not fit. Execute all commands in queue before starting
645 * new queue with the current command as first entry. */
646 ret = ulink_execute_queued_commands(device, USB_TIMEOUT);
647 if (ret != ERROR_OK) {
651 ret = ulink_post_process_queue(device);
652 if (ret != ERROR_OK) {
656 ulink_clear_queue(device);
659 if (device->queue_start == NULL) {
660 /* Queue was empty */
661 device->commands_in_queue = 1;
663 device->queue_start = ulink_cmd;
664 device->queue_end = ulink_cmd;
667 /* There are already commands in the queue */
668 device->commands_in_queue++;
670 device->queue_end->next = ulink_cmd;
671 device->queue_end = ulink_cmd;
678 * Sends all queued OpenULINK commands to the ULINK for execution.
680 * @param device pointer to struct ulink identifying ULINK driver instance.
681 * @return on success: ERROR_OK
682 * @return on failure: ERROR_FAIL
684 int ulink_execute_queued_commands(struct ulink *device, int timeout)
686 ulink_cmd_t *current;
687 int ret, i, index_out, index_in, count_out, count_in;
690 #ifdef _DEBUG_JTAG_IO_
691 ulink_print_queue(device);
698 for (current = device->queue_start; current; current = current->next) {
699 /* Add command to packet */
700 buffer[index_out] = current->id;
704 for (i = 0; i < current->payload_out_size; i++) {
705 buffer[index_out + i] = current->payload_out[i];
707 index_out += current->payload_out_size;
708 count_in += current->payload_in_size;
709 count_out += current->payload_out_size;
712 /* Send packet to ULINK */
713 ret = usb_bulk_write(device->usb_handle, (2 | USB_ENDPOINT_OUT),
714 (char *)buffer, count_out, timeout);
718 if (ret != count_out) {
722 /* Wait for response if commands contain IN payload data */
724 ret = usb_bulk_read(device->usb_handle, (2 | USB_ENDPOINT_IN),
725 (char *)buffer, 64, timeout);
729 if (ret != count_in) {
733 /* Write back IN payload data */
735 for (current = device->queue_start; current; current = current->next) {
736 for (i = 0; i < current->payload_in_size; i++) {
737 current->payload_in[i] = buffer[index_in];
746 #ifdef _DEBUG_JTAG_IO_
749 * Convert an OpenULINK command ID (\a id) to a human-readable string.
751 * @param id the OpenULINK command ID.
752 * @return the corresponding human-readable string.
754 const char * ulink_cmd_id_string(uint8_t id)
758 return "CMD_SCAN_IN";
760 case CMD_SLOW_SCAN_IN:
761 return "CMD_SLOW_SCAN_IN";
764 return "CMD_SCAN_OUT";
766 case CMD_SLOW_SCAN_OUT:
767 return "CMD_SLOW_SCAN_OUT";
770 return "CMD_SCAN_IO";
772 case CMD_SLOW_SCAN_IO:
773 return "CMD_SLOW_SCAN_IO";
776 return "CMD_CLOCK_TMS";
778 case CMD_SLOW_CLOCK_TMS:
779 return "CMD_SLOW_CLOCK_TMS";
782 return "CMD_CLOCK_TCK";
785 return "CMD_SLEEP_US";
788 return "CMD_SLEEP_MS";
790 case CMD_GET_SIGNALS:
791 return "CMD_GET_SIGNALS";
793 case CMD_SET_SIGNALS:
794 return "CMD_SET_SIGNALS";
796 case CMD_CONFIGURE_TCK_FREQ:
797 return "CMD_CONFIGURE_TCK_FREQ";
800 return "CMD_SET_LEDS";
806 return "CMD_UNKNOWN";
812 * Print one OpenULINK command to stdout.
814 * @param ulink_cmd pointer to OpenULINK command.
816 void ulink_print_command(ulink_cmd_t *ulink_cmd)
820 printf(" %-22s | OUT size = %i, bytes = 0x", ulink_cmd_id_string(ulink_cmd->id),
821 ulink_cmd->payload_out_size);
823 for (i = 0; i < ulink_cmd->payload_out_size; i++) {
824 printf("%02X ", ulink_cmd->payload_out[i]);
826 printf("\n | IN size = %i\n", ulink_cmd->payload_in_size);
830 * Print the OpenULINK command queue to stdout.
832 * @param device pointer to struct ulink identifying ULINK driver instance.
834 void ulink_print_queue(struct ulink *device)
836 ulink_cmd_t *current;
838 printf("OpenULINK command queue:\n");
840 for (current = device->queue_start; current; current = current->next) {
841 ulink_print_command(current);
845 #endif /* _DEBUG_JTAG_IO_ */
850 * Creates and appends a JTAG scan command to the OpenULINK command queue.
851 * A JTAG scan consists of three steps:
852 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
853 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
854 * - Move to the desired end state.
856 * @param device pointer to struct ulink identifying ULINK driver instance.
857 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
858 * @param scan_size_bits number of bits to shift into the JTAG chain.
859 * @param tdi pointer to array containing TDI data.
860 * @param tdo_start pointer to first element of array where TDO data shall be
861 * stored. See #ulink_cmd for details.
862 * @param tdo pointer to array where TDO data shall be stored
863 * @param tms_count_start number of TMS state transitions to perform BEFORE
864 * shifting data into the JTAG chain.
865 * @param tms_sequence_start sequence of TMS state transitions that will be
866 * performed BEFORE shifting data into the JTAG chain.
867 * @param tms_count_end number of TMS state transitions to perform AFTER
868 * shifting data into the JTAG chain.
869 * @param tms_sequence_end sequence of TMS state transitions that will be
870 * performed AFTER shifting data into the JTAG chain.
871 * @param origin pointer to OpenOCD command that generated this scan command.
872 * @param postprocess whether this command needs to be post-processed after
874 * @return on success: ERROR_OK
875 * @return on failure: ERROR_FAIL
877 int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
878 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
879 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
880 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
882 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
883 int ret, i, scan_size_bytes;
884 uint8_t bits_last_byte;
890 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
891 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
892 if (scan_size_bits > (58 * 8)) {
893 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
898 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
900 bits_last_byte = scan_size_bits % 8;
901 if (bits_last_byte == 0) {
905 /* Allocate out_payload depending on scan type */
906 // TODO: set command ID depending on interface speed settings (slow scan)
909 cmd->id = CMD_SCAN_IN;
910 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
913 cmd->id = CMD_SCAN_OUT;
914 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
917 cmd->id = CMD_SCAN_IO;
918 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
921 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
926 if (ret != ERROR_OK) {
930 /* Build payload_out that is common to all scan types */
931 cmd->payload_out[0] = scan_size_bytes & 0xFF;
932 cmd->payload_out[1] = bits_last_byte & 0xFF;
933 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
934 cmd->payload_out[3] = tms_sequence_start;
935 cmd->payload_out[4] = tms_sequence_end;
937 /* Setup payload_out for types with OUT transfer */
938 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
939 for (i = 0; i < scan_size_bytes; i++) {
940 cmd->payload_out[i + 5] = tdi[i];
944 /* Setup payload_in pointers for types with IN transfer */
945 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
946 cmd->payload_in_start = tdo_start;
947 cmd->payload_in = tdo;
948 cmd->payload_in_size = scan_size_bytes;
951 cmd->needs_postprocessing = postprocess;
952 cmd->cmd_origin = origin;
954 /* For scan commands, we free payload_in_start only when the command is
955 * the last in a series of split commands or a stand-alone command */
956 cmd->free_payload_in_start = postprocess;
958 return ulink_append_queue(device, cmd);
962 * Perform TAP state transitions
964 * @param device pointer to struct ulink identifying ULINK driver instance.
965 * @param count defines the number of TCK clock cycles generated (up to 8).
966 * @param sequence defines the TMS pin levels for each state transition. The
967 * Least-Significant Bit is read first.
968 * @return on success: ERROR_OK
969 * @return on failure: ERROR_FAIL
971 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
974 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
981 cmd->id = CMD_CLOCK_TMS;
983 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
984 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
985 if (ret != ERROR_OK) {
989 cmd->payload_out[0] = count;
990 cmd->payload_out[1] = sequence;
992 return ulink_append_queue(device, cmd);
996 * Generate a defined amount of TCK clock cycles
998 * All other JTAG signals are left unchanged.
1000 * @param device pointer to struct ulink identifying ULINK driver instance.
1001 * @param count the number of TCK clock cycles to generate.
1002 * @return on success: ERROR_OK
1003 * @return on failure: ERROR_FAIL
1005 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
1007 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1014 cmd->id = CMD_CLOCK_TCK;
1016 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1017 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1018 if (ret != ERROR_OK) {
1022 cmd->payload_out[0] = count & 0xff;
1023 cmd->payload_out[1] = (count >> 8) & 0xff;
1025 return ulink_append_queue(device, cmd);
1029 * Read JTAG signals.
1031 * @param device pointer to struct ulink identifying ULINK driver instance.
1032 * @return on success: ERROR_OK
1033 * @return on failure: ERROR_FAIL
1035 int ulink_append_get_signals_cmd(struct ulink *device)
1037 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1044 cmd->id = CMD_GET_SIGNALS;
1045 cmd->needs_postprocessing = true;
1047 /* CMD_GET_SIGNALS has two IN payload bytes */
1048 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1050 if (ret != ERROR_OK) {
1054 return ulink_append_queue(device, cmd);
1058 * Arbitrarily set JTAG output signals.
1060 * @param device pointer to struct ulink identifying ULINK driver instance.
1061 * @param low defines which signals will be de-asserted. Each bit corresponds
1070 * @param high defines which signals will be asserted.
1071 * @return on success: ERROR_OK
1072 * @return on failure: ERROR_FAIL
1074 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1077 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1084 cmd->id = CMD_SET_SIGNALS;
1086 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1087 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1089 if (ret != ERROR_OK) {
1093 cmd->payload_out[0] = low;
1094 cmd->payload_out[1] = high;
1096 return ulink_append_queue(device, cmd);
1100 * Sleep for a pre-defined number of microseconds
1102 * @param device pointer to struct ulink identifying ULINK driver instance.
1103 * @param us the number microseconds to sleep.
1104 * @return on success: ERROR_OK
1105 * @return on failure: ERROR_FAIL
1107 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1109 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1116 cmd->id = CMD_SLEEP_US;
1118 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1119 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1121 if (ret != ERROR_OK) {
1125 cmd->payload_out[0] = us & 0x00ff;
1126 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1128 return ulink_append_queue(device, cmd);
1132 * Set TCK delay counters
1134 * @param device pointer to struct ulink identifying ULINK driver instance.
1135 * @param delay_scan delay count top value in jtag_slow_scan() functions
1136 * @param delay_tck delay count top value in jtag_clock_tck() function
1137 * @param delay_tms delay count top value in jtag_slow_clock_tms() function
1138 * @return on success: ERROR_OK
1139 * @return on failure: ERROR_FAIL
1141 int ulink_append_configure_tck_cmd(struct ulink *device, uint8_t delay_scan,
1142 uint8_t delay_tck, uint8_t delay_tms)
1144 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1151 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1153 /* CMD_CONFIGURE_TCK_FREQ has three OUT payload bytes and zero
1154 * IN payload bytes */
1155 ret = ulink_allocate_payload(cmd, 3, PAYLOAD_DIRECTION_OUT);
1156 if (ret != ERROR_OK) {
1160 cmd->payload_out[0] = delay_scan;
1161 cmd->payload_out[1] = delay_tck;
1162 cmd->payload_out[2] = delay_tms;
1164 return ulink_append_queue(device, cmd);
1168 * Turn on/off ULINK LEDs.
1170 * @param device pointer to struct ulink identifying ULINK driver instance.
1171 * @param led_state which LED(s) to turn on or off. The following bits
1172 * influence the LEDS:
1173 * - Bit 0: Turn COM LED on
1174 * - Bit 1: Turn RUN LED on
1175 * - Bit 2: Turn COM LED off
1176 * - Bit 3: Turn RUN LED off
1177 * If both the on-bit and the off-bit for the same LED is set, the LED is
1179 * @return on success: ERROR_OK
1180 * @return on failure: ERROR_FAIL
1182 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1184 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1191 cmd->id = CMD_SET_LEDS;
1193 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1194 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1195 if (ret != ERROR_OK) {
1199 cmd->payload_out[0] = led_state;
1201 return ulink_append_queue(device, cmd);
1205 * Test command. Used to check if the ULINK device is ready to accept new
1208 * @param device pointer to struct ulink identifying ULINK driver instance.
1209 * @return on success: ERROR_OK
1210 * @return on failure: ERROR_FAIL
1212 int ulink_append_test_cmd(struct ulink *device)
1214 ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
1223 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1224 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1225 if (ret != ERROR_OK) {
1229 cmd->payload_out[0] = 0xAA;
1231 return ulink_append_queue(device, cmd);
1234 /******************* Interface between OpenULINK and OpenOCD ******************/
1237 * Sets the end state follower (see interface.h) if \a endstate is a stable
1240 * @param endstate the state the end state follower should be set to.
1242 static void ulink_set_end_state(tap_state_t endstate)
1244 if (tap_is_state_stable(endstate)) {
1245 tap_set_end_state(endstate);
1248 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1249 exit( EXIT_FAILURE);
1254 * Move from the current TAP state to the current TAP end state.
1256 * @param device pointer to struct ulink identifying ULINK driver instance.
1257 * @return on success: ERROR_OK
1258 * @return on failure: ERROR_FAIL
1260 int ulink_queue_statemove(struct ulink *device)
1262 uint8_t tms_sequence, tms_count;
1265 if (tap_get_state() == tap_get_end_state()) {
1266 /* Do nothing if we are already there */
1270 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1271 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1273 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1275 if (ret == ERROR_OK) {
1276 tap_set_state(tap_get_end_state());
1283 * Perform a scan operation on a JTAG register.
1285 * @param device pointer to struct ulink identifying ULINK driver instance.
1286 * @param cmd pointer to the command that shall be executed.
1287 * @return on success: ERROR_OK
1288 * @return on failure: ERROR_FAIL
1290 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1292 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1293 uint32_t scans_max_payload, bytecount;
1294 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1295 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1297 uint8_t first_tms_count, first_tms_sequence;
1298 uint8_t last_tms_count, last_tms_sequence;
1300 uint8_t tms_count_pause, tms_sequence_pause;
1301 uint8_t tms_count_resume, tms_sequence_resume;
1303 uint8_t tms_count_start, tms_sequence_start;
1304 uint8_t tms_count_end, tms_sequence_end;
1306 enum scan_type type;
1309 /* Determine scan size */
1310 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1311 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1313 /* Determine scan type (IN/OUT/IO) */
1314 type = jtag_scan_type(cmd->cmd.scan);
1316 /* Determine number of scan commands with maximum payload */
1317 scans_max_payload = scan_size_bytes / 58;
1319 /* Determine size of last shift command */
1320 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1322 /* Allocate TDO buffer if required */
1323 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1324 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1326 if (tdo_buffer_start == NULL) {
1330 tdo_buffer = tdo_buffer_start;
1333 /* Fill TDI buffer if required */
1334 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1335 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1336 tdi_buffer = tdi_buffer_start;
1339 /* Get TAP state transitions */
1340 if (cmd->cmd.scan->ir_scan) {
1341 ulink_set_end_state(TAP_IRSHIFT);
1342 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1343 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1345 tap_set_state(TAP_IRSHIFT);
1346 tap_set_end_state(cmd->cmd.scan->end_state);
1347 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1348 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1350 /* TAP state transitions for split scans */
1351 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1352 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1353 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1354 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1357 ulink_set_end_state(TAP_DRSHIFT);
1358 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1359 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1361 tap_set_state(TAP_DRSHIFT);
1362 tap_set_end_state(cmd->cmd.scan->end_state);
1363 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1364 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1366 /* TAP state transitions for split scans */
1367 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1368 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1369 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1370 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1373 /* Generate scan commands */
1374 bytecount = scan_size_bytes;
1375 while (bytecount > 0) {
1376 if (bytecount == scan_size_bytes) {
1377 /* This is the first scan */
1378 tms_count_start = first_tms_count;
1379 tms_sequence_start = first_tms_sequence;
1382 /* Resume from previous scan */
1383 tms_count_start = tms_count_resume;
1384 tms_sequence_start = tms_sequence_resume;
1387 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1388 tms_count_end = tms_count_pause;
1389 tms_sequence_end = tms_sequence_pause;
1391 ret = ulink_append_scan_cmd(device, type, 58 * 8, tdi_buffer,
1392 tdo_buffer_start, tdo_buffer, tms_count_start, tms_sequence_start,
1393 tms_count_end, tms_sequence_end, cmd, false);
1397 /* Update TDI and TDO buffer pointers */
1398 if (tdi_buffer_start != NULL) {
1401 if (tdo_buffer_start != NULL) {
1405 else if (bytecount == 58) { /* Full scan, no further scans */
1406 tms_count_end = last_tms_count;
1407 tms_sequence_end = last_tms_sequence;
1409 ret = ulink_append_scan_cmd(device, type, 58 * 8, tdi_buffer,
1410 tdo_buffer_start, tdo_buffer, tms_count_start, tms_sequence_start,
1411 tms_count_end, tms_sequence_end, cmd, true);
1415 else { /* Scan with less than maximum payload, no further scans */
1416 tms_count_end = last_tms_count;
1417 tms_sequence_end = last_tms_sequence;
1419 ret = ulink_append_scan_cmd(device, type, bits_last_scan, tdi_buffer,
1420 tdo_buffer_start, tdo_buffer, tms_count_start, tms_sequence_start,
1421 tms_count_end, tms_sequence_end, cmd, true);
1426 if (ret != ERROR_OK) {
1427 free(tdi_buffer_start);
1432 free(tdi_buffer_start);
1434 /* Set current state to the end state requested by the command */
1435 tap_set_state(cmd->cmd.scan->end_state);
1441 * Move the TAP into the Test Logic Reset state.
1443 * @param device pointer to struct ulink identifying ULINK driver instance.
1444 * @param cmd pointer to the command that shall be executed.
1445 * @return on success: ERROR_OK
1446 * @return on failure: ERROR_FAIL
1448 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1452 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1454 if (ret == ERROR_OK) {
1455 tap_set_state(TAP_RESET);
1464 * Generate TCK clock cycles while remaining
1465 * in the Run-Test/Idle state.
1467 * @param device pointer to struct ulink identifying ULINK driver instance.
1468 * @param cmd pointer to the command that shall be executed.
1469 * @return on success: ERROR_OK
1470 * @return on failure: ERROR_FAIL
1472 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1476 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1477 if (tap_get_state() != TAP_IDLE) {
1478 ulink_set_end_state(TAP_IDLE);
1479 ulink_queue_statemove(device);
1482 /* Generate the clock cycles */
1483 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1484 if (ret != ERROR_OK) {
1488 /* Move to end state specified in command */
1489 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1490 tap_set_end_state(cmd->cmd.runtest->end_state);
1491 ulink_queue_statemove(device);
1498 * Execute a JTAG_RESET command
1500 * @param cmd pointer to the command that shall be executed.
1501 * @return on success: ERROR_OK
1502 * @return on failure: ERROR_FAIL
1504 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1506 uint8_t low = 0, high = 0;
1508 if (cmd->cmd.reset->trst) {
1509 tap_set_state(TAP_RESET);
1510 high |= SIGNAL_TRST;
1516 if (cmd->cmd.reset->srst) {
1517 high |= SIGNAL_RESET;
1520 low |= SIGNAL_RESET;
1523 return ulink_append_set_signals_cmd(device, low, high);
1527 * Move to one TAP state or several states in succession.
1529 * @param device pointer to struct ulink identifying ULINK driver instance.
1530 * @param cmd pointer to the command that shall be executed.
1531 * @return on success: ERROR_OK
1532 * @return on failure: ERROR_FAIL
1534 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1536 // TODO: Implement this!
1541 * Sleep for a specific amount of time.
1543 * @param device pointer to struct ulink identifying ULINK driver instance.
1544 * @param cmd pointer to the command that shall be executed.
1545 * @return on success: ERROR_OK
1546 * @return on failure: ERROR_FAIL
1548 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1550 /* IMPORTANT! Due to the time offset in command execution introduced by
1551 * command queueing, this needs to be implemented in the ULINK device */
1552 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1556 * Generate TCK cycles while remaining in a stable state.
1558 * @param device pointer to struct ulink identifying ULINK driver instance.
1559 * @param cmd pointer to the command that shall be executed.
1561 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
1564 unsigned num_cycles;
1566 if (!tap_is_state_stable(tap_get_state())) {
1567 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1571 num_cycles = cmd->cmd.stableclocks->num_cycles;
1573 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1574 if (tap_get_state() == TAP_RESET) {
1575 ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
1578 ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
1581 if (ret != ERROR_OK) {
1585 while (num_cycles > 0) {
1586 if (num_cycles > 0xFFFF) {
1587 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1588 ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1589 num_cycles -= 0xFFFF;
1592 ret = ulink_append_clock_tck_cmd(device, num_cycles);
1596 if (ret != ERROR_OK) {
1605 * Post-process JTAG_SCAN command
1607 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1608 * @return on success: ERROR_OK
1609 * @return on failure: ERROR_FAIL
1611 int ulink_post_process_scan(ulink_cmd_t *ulink_cmd)
1613 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1616 switch (jtag_scan_type(cmd->cmd.scan)) {
1619 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1622 /* Nothing to do for OUT scans */
1626 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1636 * Perform post-processing of commands after OpenULINK queue has been executed.
1638 * @param device pointer to struct ulink identifying ULINK driver instance.
1639 * @return on success: ERROR_OK
1640 * @return on failure: ERROR_FAIL
1642 int ulink_post_process_queue(struct ulink *device)
1644 ulink_cmd_t *current;
1645 struct jtag_command *openocd_cmd;
1648 current = device->queue_start;
1650 while (current != NULL) {
1651 openocd_cmd = current->cmd_origin;
1653 /* Check if a corresponding OpenOCD command is stored for this
1654 * OpenULINK command */
1655 if ((current->needs_postprocessing == true) && (openocd_cmd != NULL)) {
1656 switch (openocd_cmd->type) {
1658 ret = ulink_post_process_scan(current);
1660 case JTAG_TLR_RESET:
1665 case JTAG_STABLECLOCKS:
1666 /* Nothing to do for these commands */
1671 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1676 if (ret != ERROR_OK) {
1681 current = current->next;
1687 /**************************** JTAG driver functions ***************************/
1690 * Executes the JTAG Command Queue.
1692 * This is done in three stages: First, all OpenOCD commands are processed into
1693 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1694 * ULINK device and data received from the ULINK device is cached. Finally,
1695 * the post-processing function writes back data to the corresponding OpenOCD
1698 * @return on success: ERROR_OK
1699 * @return on failure: ERROR_FAIL
1701 static int ulink_execute_queue(void)
1703 struct jtag_command *cmd = jtag_command_queue;
1707 switch (cmd->type) {
1709 ret = ulink_queue_scan(ulink_handle, cmd);
1711 case JTAG_TLR_RESET:
1712 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1715 ret = ulink_queue_runtest(ulink_handle, cmd);
1718 ret = ulink_queue_reset(ulink_handle, cmd);
1721 ret = ulink_queue_pathmove(ulink_handle, cmd);
1724 ret = ulink_queue_sleep(ulink_handle, cmd);
1726 case JTAG_STABLECLOCKS:
1727 ret = ulink_queue_stableclocks(ulink_handle, cmd);
1731 LOG_ERROR("BUG: encountered unknown JTAG command type");
1735 if (ret != ERROR_OK) {
1742 if (ulink_handle->commands_in_queue > 0) {
1743 ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
1744 if (ret != ERROR_OK) {
1748 ret = ulink_post_process_queue(ulink_handle);
1749 if (ret != ERROR_OK) {
1753 ulink_clear_queue(ulink_handle);
1760 * Set the TCK frequency of the ULINK adapter.
1763 * @param jtag_speed ???
1764 * @return on success: ERROR_OK
1765 * @return on failure: ERROR_FAIL
1767 static int ulink_khz(int khz, int *jtag_speed)
1770 LOG_ERROR("RCLK not supported");
1774 LOG_INFO("ulink_khz: %i kHz", khz);
1776 /* ULINK maximum TCK frequency is ~ 150 kHz */
1787 * Set the TCK frequency of the ULINK adapter.
1790 * @return on success: ERROR_OK
1791 * @return on failure: ERROR_FAIL
1793 static int ulink_speed(int speed)
1801 static int ulink_speed_div(int speed, int *khz)
1803 LOG_INFO("ulink_speed_div: %i", speed);
1818 * Initiates the firmware download to the ULINK adapter and prepares
1821 * @return on success: ERROR_OK
1822 * @return on failure: ERROR_FAIL
1824 static int ulink_init(void)
1827 char str_manufacturer[20];
1828 bool download_firmware = false;
1830 uint8_t input_signals, output_signals;
1832 ulink_handle = calloc(1, sizeof(struct ulink));
1833 if (ulink_handle == NULL) {
1839 ret = ulink_usb_open(&ulink_handle);
1840 if (ret != ERROR_OK) {
1841 LOG_ERROR("Could not open ULINK device");
1845 /* Get String Descriptor to determine if firmware needs to be loaded */
1846 ret = usb_get_string_simple(ulink_handle->usb_handle, 1, str_manufacturer, 20);
1848 /* Could not get descriptor -> Unconfigured or original Keil firmware */
1849 download_firmware = true;
1852 /* We got a String Descriptor, check if it is the correct one */
1853 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0) {
1854 download_firmware = true;
1858 if (download_firmware == true) {
1859 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
1861 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
1862 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
1863 if (ret != ERROR_OK) {
1864 LOG_ERROR("Could not download firmware and re-numerate ULINK");
1869 LOG_INFO("ULINK device is already running OpenULINK firmware");
1872 /* Initialize OpenULINK command queue */
1873 ulink_clear_queue(ulink_handle);
1875 /* Issue one test command with short timeout */
1876 ret = ulink_append_test_cmd(ulink_handle);
1877 if (ret != ERROR_OK) {
1881 ret = ulink_execute_queued_commands(ulink_handle, 200);
1882 if (ret != ERROR_OK) {
1883 /* Sending test command failed. The ULINK device may be forever waiting for
1884 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
1885 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
1886 dummy = calloc(64, sizeof(uint8_t));
1888 ret = usb_bulk_read(ulink_handle->usb_handle, (2 | USB_ENDPOINT_IN),
1889 (char *)dummy, 64, 200);
1894 /* Bulk IN transfer failed -> unrecoverable error condition */
1895 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
1896 "the USB port and re-connect, then re-run OpenOCD");
1899 #ifdef _DEBUG_USB_COMMS_
1901 /* Successfully received Bulk IN packet -> continue */
1902 LOG_INFO("Recovered from lost Bulk IN packet");
1906 ulink_clear_queue(ulink_handle);
1908 ulink_append_get_signals_cmd(ulink_handle);
1909 ulink_execute_queued_commands(ulink_handle, 200);
1911 /* Post-process the single CMD_GET_SIGNALS command */
1912 input_signals = ulink_handle->queue_start->payload_in[0];
1913 output_signals = ulink_handle->queue_start->payload_in[1];
1915 ulink_print_signal_states(input_signals, output_signals);
1917 ulink_clear_queue(ulink_handle);
1923 * Closes the USB handle for the ULINK device.
1925 * @return on success: ERROR_OK
1926 * @return on failure: ERROR_FAIL
1928 static int ulink_quit(void)
1932 ret = ulink_usb_close(&ulink_handle);
1939 * Set a custom path to ULINK firmware image and force downloading to ULINK.
1941 COMMAND_HANDLER(ulink_download_firmware_handler)
1945 if (CMD_ARGC != 1) {
1946 LOG_ERROR("Need exactly one argument to ulink_download_firmware");
1950 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
1952 /* Download firmware image in CMD_ARGV[0] */
1953 ret = ulink_load_firmware_and_renumerate(&ulink_handle, (char *)CMD_ARGV[0],
1954 ULINK_RENUMERATION_DELAY);
1959 /*************************** Command Registration **************************/
1961 static const struct command_registration ulink_command_handlers[] = {
1963 .name = "ulink_download_firmware",
1964 .handler = &ulink_download_firmware_handler,
1965 .mode = COMMAND_EXEC,
1966 .help = "download firmware image to ULINK device",
1967 .usage = "path/to/ulink_firmware.hex",
1969 COMMAND_REGISTRATION_DONE,
1972 struct jtag_interface ulink_interface = {
1975 .commands = ulink_command_handlers,
1976 .transports = jtag_only,
1978 .execute_queue = ulink_execute_queue,
1980 .speed = ulink_speed,
1981 .speed_div = ulink_speed_div,