OpenOCD
ulink.c
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1 // SPDX-License-Identifier: GPL-2.0-or-later
2 
3 /***************************************************************************
4  * Copyright (C) 2011-2013 by Martin Schmoelzer *
5  * <martin.schmoelzer@student.tuwien.ac.at> *
6  ***************************************************************************/
7 
8 #ifdef HAVE_CONFIG_H
9 #include "config.h"
10 #endif
11 
12 #include <math.h>
13 #include "helper/system.h"
14 #include <jtag/interface.h>
15 #include <jtag/commands.h>
16 #include <target/image.h>
17 #include <libusb.h>
18 #include "libusb_helper.h"
20 
23 #define ULINK_VID 0xC251
24 
27 #define ULINK_PID 0x2710
28 
31 #define CPUCS_REG 0x7F92
32 
34 #define REQUEST_FIRMWARE_LOAD 0xA0
35 
37 #define CPU_RESET 0x01
38 
40 #define CPU_START 0x00
41 
43 #define FIRMWARE_ADDR 0x0000
44 
46 #define USB_INTERFACE 0
47 
49 #define ULINK_RENUMERATION_DELAY 1500000
50 
52 #define ULINK_FIRMWARE_FILE PKGDATADIR "/OpenULINK/ulink_firmware.hex"
53 
55 #define SECTION_BUFFERSIZE 8192
56 
58 #define SPLIT_SCAN_THRESHOLD 10
59 
61 enum ulink_type {
65 
68 
71 
73  ULINK_ME
74 };
75 
79 };
80 
87 };
88 
111 struct ulink_cmd {
112  uint8_t id;
114  uint8_t *payload_out;
117  uint8_t *payload_in_start;
118  uint8_t *payload_in;
119  uint8_t payload_in_size;
123 
126 
129 
130  struct ulink_cmd *next;
131 };
132 
134 struct ulink {
135  struct libusb_context *libusb_ctx;
136  struct libusb_device_handle *usb_device_handle;
137  enum ulink_type type;
138 
139  unsigned int ep_in;
140  unsigned int ep_out;
151 };
152 
153 /**************************** Function Prototypes *****************************/
154 
155 /* USB helper functions */
156 static int ulink_usb_open(struct ulink **device);
157 static int ulink_usb_close(struct ulink **device);
158 
159 /* ULINK MCU (Cypress EZ-USB) specific functions */
160 static int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit);
161 static int ulink_load_firmware_and_renumerate(struct ulink **device, const char *filename,
162  uint32_t delay);
163 static int ulink_load_firmware(struct ulink *device, const char *filename);
164 static int ulink_write_firmware_section(struct ulink *device,
165  struct image *firmware_image, int section_index);
166 
167 /* Generic helper functions */
168 static void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
169 
170 /* OpenULINK command generation helper functions */
171 static int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
173 
174 /* OpenULINK command queue helper functions */
175 static int ulink_get_queue_size(struct ulink *device,
177 static void ulink_clear_queue(struct ulink *device);
178 static int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd);
179 static int ulink_execute_queued_commands(struct ulink *device, int timeout);
180 
181 static void ulink_print_queue(struct ulink *device);
182 
183 static int ulink_append_scan_cmd(struct ulink *device,
184  enum scan_type scan_type,
185  int scan_size_bits,
186  uint8_t *tdi,
187  uint8_t *tdo_start,
188  uint8_t *tdo,
189  uint8_t tms_count_start,
190  uint8_t tms_sequence_start,
191  uint8_t tms_count_end,
192  uint8_t tms_sequence_end,
193  struct jtag_command *origin,
194  bool postprocess);
195 static int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
196  uint8_t sequence);
197 static int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
198 static int ulink_append_get_signals_cmd(struct ulink *device);
199 static int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
200  uint8_t high);
201 static int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
202 static int ulink_append_configure_tck_cmd(struct ulink *device,
203  int delay_scan_in,
204  int delay_scan_out,
205  int delay_scan_io,
206  int delay_tck,
207  int delay_tms);
208 static int __attribute__((unused)) ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
209 static int ulink_append_test_cmd(struct ulink *device);
210 
211 /* OpenULINK TCK frequency helper functions */
212 static int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay);
213 
214 /* Interface between OpenULINK and OpenOCD */
215 static void ulink_set_end_state(tap_state_t endstate);
216 static int ulink_queue_statemove(struct ulink *device);
217 
218 static int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
219 static int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
220 static int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
221 static int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
222 static int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
223 static int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
224 static int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
225 
226 static int ulink_post_process_scan(struct ulink_cmd *ulink_cmd);
227 static int ulink_post_process_queue(struct ulink *device);
228 
229 /* adapter driver functions */
230 static int ulink_execute_queue(void);
231 static int ulink_khz(int khz, int *jtag_speed);
232 static int ulink_speed(int speed);
233 static int ulink_speed_div(int speed, int *khz);
234 static int ulink_init(void);
235 static int ulink_quit(void);
236 
237 /****************************** Global Variables ******************************/
238 
239 static struct ulink *ulink_handle;
240 
241 /**************************** USB helper functions ****************************/
242 
252 static int ulink_usb_open(struct ulink **device)
253 {
254  ssize_t num_devices, i;
255  bool found;
256  struct libusb_device **usb_devices;
257  struct libusb_device_descriptor usb_desc;
258  struct libusb_device_handle *usb_device_handle;
259 
260  num_devices = libusb_get_device_list((*device)->libusb_ctx, &usb_devices);
261 
262  if (num_devices <= 0)
263  return ERROR_FAIL;
264 
265  found = false;
266  for (i = 0; i < num_devices; i++) {
267  if (libusb_get_device_descriptor(usb_devices[i], &usb_desc) != 0)
268  continue;
269  else if (usb_desc.idVendor == ULINK_VID && usb_desc.idProduct == ULINK_PID) {
270  found = true;
271  break;
272  }
273  }
274 
275  if (!found)
276  return ERROR_FAIL;
277 
278  if (libusb_open(usb_devices[i], &usb_device_handle) != 0)
279  return ERROR_FAIL;
280  libusb_free_device_list(usb_devices, 1);
281 
282  (*device)->usb_device_handle = usb_device_handle;
283  (*device)->type = ULINK_1;
284 
285  return ERROR_OK;
286 }
287 
295 static int ulink_usb_close(struct ulink **device)
296 {
297  if (libusb_release_interface((*device)->usb_device_handle, 0) != 0)
298  return ERROR_FAIL;
299 
300  libusb_close((*device)->usb_device_handle);
301 
302  (*device)->usb_device_handle = NULL;
303 
304  return ERROR_OK;
305 }
306 
307 /******************* ULINK CPU (EZ-USB) specific functions ********************/
308 
318 static int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit)
319 {
320  int ret;
321 
322  ret = libusb_control_transfer(device->usb_device_handle,
323  (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
325 
326  /* usb_control_msg() returns the number of bytes transferred during the
327  * DATA stage of the control transfer - must be exactly 1 in this case! */
328  if (ret != 1)
329  return ERROR_FAIL;
330  return ERROR_OK;
331 }
332 
346  const char *filename, uint32_t delay)
347 {
348  int ret;
349 
350  /* Basic process: After downloading the firmware, the ULINK will disconnect
351  * itself and re-connect after a short amount of time so we have to close
352  * the handle and re-enumerate USB devices */
353 
354  ret = ulink_load_firmware(*device, filename);
355  if (ret != ERROR_OK)
356  return ret;
357 
358  ret = ulink_usb_close(device);
359  if (ret != ERROR_OK)
360  return ret;
361 
362  usleep(delay);
363 
364  ret = ulink_usb_open(device);
365  if (ret != ERROR_OK)
366  return ret;
367 
368  return ERROR_OK;
369 }
370 
381 static int ulink_load_firmware(struct ulink *device, const char *filename)
382 {
383  struct image ulink_firmware_image;
384  int ret;
385 
387  if (ret != ERROR_OK) {
388  LOG_ERROR("Could not halt ULINK CPU");
389  return ret;
390  }
391 
392  ulink_firmware_image.base_address = 0;
393  ulink_firmware_image.base_address_set = false;
394 
395  ret = image_open(&ulink_firmware_image, filename, "ihex");
396  if (ret != ERROR_OK) {
397  LOG_ERROR("Could not load firmware image");
398  return ret;
399  }
400 
401  /* Download all sections in the image to ULINK */
402  for (unsigned int i = 0; i < ulink_firmware_image.num_sections; i++) {
403  ret = ulink_write_firmware_section(device, &ulink_firmware_image, i);
404  if (ret != ERROR_OK)
405  return ret;
406  }
407 
408  image_close(&ulink_firmware_image);
409 
411  if (ret != ERROR_OK) {
412  LOG_ERROR("Could not restart ULINK CPU");
413  return ret;
414  }
415 
416  return ERROR_OK;
417 }
418 
431  struct image *firmware_image, int section_index)
432 {
433  uint16_t addr, size, bytes_remaining, chunk_size;
434  uint8_t data[SECTION_BUFFERSIZE];
435  uint8_t *data_ptr = data;
436  size_t size_read;
437  int ret;
438 
439  size = (uint16_t)firmware_image->sections[section_index].size;
440  addr = (uint16_t)firmware_image->sections[section_index].base_address;
441 
442  LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
443  size);
444 
445  /* Copy section contents to local buffer */
446  ret = image_read_section(firmware_image, section_index, 0, size, data,
447  &size_read);
448 
449  if ((ret != ERROR_OK) || (size_read != size)) {
450  /* Propagating the return code would return '0' (misleadingly indicating
451  * successful execution of the function) if only the size check fails. */
452  return ERROR_FAIL;
453  }
454 
455  bytes_remaining = size;
456 
457  /* Send section data in chunks of up to 64 bytes to ULINK */
458  while (bytes_remaining > 0) {
459  if (bytes_remaining > 64)
460  chunk_size = 64;
461  else
462  chunk_size = bytes_remaining;
463 
464  ret = libusb_control_transfer(device->usb_device_handle,
465  (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
466  REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (unsigned char *)data_ptr,
467  chunk_size, LIBUSB_TIMEOUT_MS);
468 
469  if (ret != (int)chunk_size) {
470  /* Abort if libusb sent less data than requested */
471  return ERROR_FAIL;
472  }
473 
474  bytes_remaining -= chunk_size;
475  addr += chunk_size;
476  data_ptr += chunk_size;
477  }
478 
479  return ERROR_OK;
480 }
481 
482 /************************** Generic helper functions **************************/
483 
490 static void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
491 {
492  LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
493  " SRST: %i",
494  (output_signals & SIGNAL_TDI ? 1 : 0),
495  (input_signals & SIGNAL_TDO ? 1 : 0),
496  (output_signals & SIGNAL_TMS ? 1 : 0),
497  (output_signals & SIGNAL_TCK ? 1 : 0),
498  (output_signals & SIGNAL_TRST ? 0 : 1), /* Inverted by hardware */
499  (output_signals & SIGNAL_RESET ? 0 : 1)); /* Inverted by hardware */
500 }
501 
502 /**************** OpenULINK command generation helper functions ***************/
503 
515 {
516  uint8_t *payload;
517 
518  payload = calloc(size, sizeof(uint8_t));
519 
520  if (!payload) {
521  LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
522  return ERROR_FAIL;
523  }
524 
525  switch (direction) {
527  if (ulink_cmd->payload_out) {
528  LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
529  free(payload);
530  return ERROR_FAIL;
531  } else {
532  ulink_cmd->payload_out = payload;
534  }
535  break;
538  LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
539  free(payload);
540  return ERROR_FAIL;
541  } else {
542  ulink_cmd->payload_in_start = payload;
543  ulink_cmd->payload_in = payload;
545 
546  /* By default, free payload_in_start in ulink_clear_queue(). Commands
547  * that do not want this behavior (e. g. split scans) must turn it off
548  * separately! */
550  }
551  break;
552  }
553 
554  return ERROR_OK;
555 }
556 
557 /****************** OpenULINK command queue helper functions ******************/
558 
567 static int ulink_get_queue_size(struct ulink *device,
569 {
570  struct ulink_cmd *current = device->queue_start;
571  int sum = 0;
572 
573  while (current) {
574  switch (direction) {
576  sum += current->payload_out_size + 1; /* + 1 byte for Command ID */
577  break;
579  sum += current->payload_in_size;
580  break;
581  }
582 
583  current = current->next;
584  }
585 
586  return sum;
587 }
588 
594 static void ulink_clear_queue(struct ulink *device)
595 {
596  struct ulink_cmd *current = device->queue_start;
597  struct ulink_cmd *next = NULL;
598 
599  while (current) {
600  /* Save pointer to next element */
601  next = current->next;
602 
603  /* Free payloads: OUT payload can be freed immediately */
604  free(current->payload_out);
605  current->payload_out = NULL;
606 
607  /* IN payload MUST be freed ONLY if no other commands use the
608  * payload_in_start buffer */
609  if (current->free_payload_in_start == true) {
610  free(current->payload_in_start);
611  current->payload_in_start = NULL;
612  current->payload_in = NULL;
613  }
614 
615  /* Free queue element */
616  free(current);
617 
618  /* Proceed with next element */
619  current = next;
620  }
621 
622  device->commands_in_queue = 0;
623  device->queue_start = NULL;
624  device->queue_end = NULL;
625 }
626 
636 static int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd)
637 {
638  int newsize_out, newsize_in;
639  int ret = ERROR_OK;
640 
643 
646 
647  /* Check if the current command can be appended to the queue */
648  if ((newsize_out > 64) || (newsize_in > 64)) {
649  /* New command does not fit. Execute all commands in queue before starting
650  * new queue with the current command as first entry. */
652 
653  if (ret == ERROR_OK)
655 
656  if (ret == ERROR_OK)
658  }
659 
660  if (!device->queue_start) {
661  /* Queue was empty */
662  device->commands_in_queue = 1;
663 
664  device->queue_start = ulink_cmd;
665  device->queue_end = ulink_cmd;
666  } else {
667  /* There are already commands in the queue */
668  device->commands_in_queue++;
669 
670  device->queue_end->next = ulink_cmd;
671  device->queue_end = ulink_cmd;
672  }
673 
674  if (ret != ERROR_OK)
676 
677  return ret;
678 }
679 
689 {
690  struct ulink_cmd *current;
691  int ret, i, index_out, index_in, count_out, count_in, transferred;
692  uint8_t buffer[64];
693 
696 
697  index_out = 0;
698  count_out = 0;
699  count_in = 0;
700 
701  for (current = device->queue_start; current; current = current->next) {
702  /* Add command to packet */
703  buffer[index_out] = current->id;
704  index_out++;
705  count_out++;
706 
707  for (i = 0; i < current->payload_out_size; i++)
708  buffer[index_out + i] = current->payload_out[i];
709  index_out += current->payload_out_size;
710  count_in += current->payload_in_size;
711  count_out += current->payload_out_size;
712  }
713 
714  /* Send packet to ULINK */
715  ret = libusb_bulk_transfer(device->usb_device_handle, device->ep_out,
716  (unsigned char *)buffer, count_out, &transferred, timeout);
717  if (ret != 0)
718  return ERROR_FAIL;
719  if (transferred != count_out)
720  return ERROR_FAIL;
721 
722  /* Wait for response if commands contain IN payload data */
723  if (count_in > 0) {
724  ret = libusb_bulk_transfer(device->usb_device_handle, device->ep_in,
725  (unsigned char *)buffer, 64, &transferred, timeout);
726  if (ret != 0)
727  return ERROR_FAIL;
728  if (transferred != count_in)
729  return ERROR_FAIL;
730 
731  /* Write back IN payload data */
732  index_in = 0;
733  for (current = device->queue_start; current; current = current->next) {
734  for (i = 0; i < current->payload_in_size; i++) {
735  current->payload_in[i] = buffer[index_in];
736  index_in++;
737  }
738  }
739  }
740 
741  return ERROR_OK;
742 }
743 
750 static const char *ulink_cmd_id_string(uint8_t id)
751 {
752  switch (id) {
753  case CMD_SCAN_IN:
754  return "CMD_SCAN_IN";
755  case CMD_SLOW_SCAN_IN:
756  return "CMD_SLOW_SCAN_IN";
757  case CMD_SCAN_OUT:
758  return "CMD_SCAN_OUT";
759  case CMD_SLOW_SCAN_OUT:
760  return "CMD_SLOW_SCAN_OUT";
761  case CMD_SCAN_IO:
762  return "CMD_SCAN_IO";
763  case CMD_SLOW_SCAN_IO:
764  return "CMD_SLOW_SCAN_IO";
765  case CMD_CLOCK_TMS:
766  return "CMD_CLOCK_TMS";
767  case CMD_SLOW_CLOCK_TMS:
768  return "CMD_SLOW_CLOCK_TMS";
769  case CMD_CLOCK_TCK:
770  return "CMD_CLOCK_TCK";
771  case CMD_SLOW_CLOCK_TCK:
772  return "CMD_SLOW_CLOCK_TCK";
773  case CMD_SLEEP_US:
774  return "CMD_SLEEP_US";
775  case CMD_SLEEP_MS:
776  return "CMD_SLEEP_MS";
777  case CMD_GET_SIGNALS:
778  return "CMD_GET_SIGNALS";
779  case CMD_SET_SIGNALS:
780  return "CMD_SET_SIGNALS";
782  return "CMD_CONFIGURE_TCK_FREQ";
783  case CMD_SET_LEDS:
784  return "CMD_SET_LEDS";
785  case CMD_TEST:
786  return "CMD_TEST";
787  default:
788  return "CMD_UNKNOWN";
789  }
790 }
791 
798 {
799  int i;
800 
801  printf(" %-22s | OUT size = %i, bytes = 0x",
803 
804  for (i = 0; i < ulink_cmd->payload_out_size; i++)
805  printf("%02X ", ulink_cmd->payload_out[i]);
806  printf("\n | IN size = %i\n",
808 }
809 
815 static void ulink_print_queue(struct ulink *device)
816 {
817  struct ulink_cmd *current;
818 
819  printf("OpenULINK command queue:\n");
820 
821  for (current = device->queue_start; current; current = current->next)
822  ulink_print_command(current);
823 }
824 
856  int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
857  uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
858  uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
859 {
860  struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
861  int ret, i, scan_size_bytes;
862  uint8_t bits_last_byte;
863 
864  if (!cmd)
865  return ERROR_FAIL;
866 
867  /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
868  * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
869  if (scan_size_bits > (58 * 8)) {
870  LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
871  " large payload");
872  free(cmd);
873  return ERROR_FAIL;
874  }
875 
876  scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
877 
878  bits_last_byte = scan_size_bits % 8;
879  if (bits_last_byte == 0)
880  bits_last_byte = 8;
881 
882  /* Allocate out_payload depending on scan type */
883  switch (scan_type) {
884  case SCAN_IN:
885  if (device->delay_scan_in < 0)
886  cmd->id = CMD_SCAN_IN;
887  else
888  cmd->id = CMD_SLOW_SCAN_IN;
890  break;
891  case SCAN_OUT:
892  if (device->delay_scan_out < 0)
893  cmd->id = CMD_SCAN_OUT;
894  else
895  cmd->id = CMD_SLOW_SCAN_OUT;
896  ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
897  break;
898  case SCAN_IO:
899  if (device->delay_scan_io < 0)
900  cmd->id = CMD_SCAN_IO;
901  else
902  cmd->id = CMD_SLOW_SCAN_IO;
903  ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
904  break;
905  default:
906  LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
907  ret = ERROR_FAIL;
908  break;
909  }
910 
911  if (ret != ERROR_OK) {
912  free(cmd);
913  return ret;
914  }
915 
916  /* Build payload_out that is common to all scan types */
917  cmd->payload_out[0] = scan_size_bytes & 0xFF;
918  cmd->payload_out[1] = bits_last_byte & 0xFF;
919  cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
920  cmd->payload_out[3] = tms_sequence_start;
921  cmd->payload_out[4] = tms_sequence_end;
922 
923  /* Setup payload_out for types with OUT transfer */
924  if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
925  for (i = 0; i < scan_size_bytes; i++)
926  cmd->payload_out[i + 5] = tdi[i];
927  }
928 
929  /* Setup payload_in pointers for types with IN transfer */
930  if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
931  cmd->payload_in_start = tdo_start;
932  cmd->payload_in = tdo;
933  cmd->payload_in_size = scan_size_bytes;
934  }
935 
936  cmd->needs_postprocessing = postprocess;
937  cmd->cmd_origin = origin;
938 
939  /* For scan commands, we free payload_in_start only when the command is
940  * the last in a series of split commands or a stand-alone command */
941  cmd->free_payload_in_start = postprocess;
942 
943  return ulink_append_queue(device, cmd);
944 }
945 
956 static int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
957  uint8_t sequence)
958 {
959  struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
960  int ret;
961 
962  if (!cmd)
963  return ERROR_FAIL;
964 
965  if (device->delay_clock_tms < 0)
966  cmd->id = CMD_CLOCK_TMS;
967  else
968  cmd->id = CMD_SLOW_CLOCK_TMS;
969 
970  /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
972  if (ret != ERROR_OK) {
973  free(cmd);
974  return ret;
975  }
976 
977  cmd->payload_out[0] = count;
978  cmd->payload_out[1] = sequence;
979 
980  return ulink_append_queue(device, cmd);
981 }
982 
993 static int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
994 {
995  struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
996  int ret;
997 
998  if (!cmd)
999  return ERROR_FAIL;
1000 
1001  if (device->delay_clock_tck < 0)
1002  cmd->id = CMD_CLOCK_TCK;
1003  else
1004  cmd->id = CMD_SLOW_CLOCK_TCK;
1005 
1006  /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1008  if (ret != ERROR_OK) {
1009  free(cmd);
1010  return ret;
1011  }
1012 
1013  cmd->payload_out[0] = count & 0xff;
1014  cmd->payload_out[1] = (count >> 8) & 0xff;
1015 
1016  return ulink_append_queue(device, cmd);
1017 }
1018 
1027 {
1028  struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1029  int ret;
1030 
1031  if (!cmd)
1032  return ERROR_FAIL;
1033 
1034  cmd->id = CMD_GET_SIGNALS;
1035  cmd->needs_postprocessing = true;
1036 
1037  /* CMD_GET_SIGNALS has two IN payload bytes */
1039 
1040  if (ret != ERROR_OK) {
1041  free(cmd);
1042  return ret;
1043  }
1044 
1045  return ulink_append_queue(device, cmd);
1046 }
1047 
1065 static int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1066  uint8_t high)
1067 {
1068  struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1069  int ret;
1070 
1071  if (!cmd)
1072  return ERROR_FAIL;
1073 
1074  cmd->id = CMD_SET_SIGNALS;
1075 
1076  /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1078 
1079  if (ret != ERROR_OK) {
1080  free(cmd);
1081  return ret;
1082  }
1083 
1084  cmd->payload_out[0] = low;
1085  cmd->payload_out[1] = high;
1086 
1087  return ulink_append_queue(device, cmd);
1088 }
1089 
1098 static int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1099 {
1100  struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1101  int ret;
1102 
1103  if (!cmd)
1104  return ERROR_FAIL;
1105 
1106  cmd->id = CMD_SLEEP_US;
1107 
1108  /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1110 
1111  if (ret != ERROR_OK) {
1112  free(cmd);
1113  return ret;
1114  }
1115 
1116  cmd->payload_out[0] = us & 0x00ff;
1117  cmd->payload_out[1] = (us >> 8) & 0x00ff;
1118 
1119  return ulink_append_queue(device, cmd);
1120 }
1121 
1135  int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
1136 {
1137  struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1138  int ret;
1139 
1140  if (!cmd)
1141  return ERROR_FAIL;
1142 
1144 
1145  /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1146  * IN payload bytes */
1148  if (ret != ERROR_OK) {
1149  free(cmd);
1150  return ret;
1151  }
1152 
1153  if (delay_scan_in < 0)
1154  cmd->payload_out[0] = 0;
1155  else
1156  cmd->payload_out[0] = (uint8_t)delay_scan_in;
1157 
1158  if (delay_scan_out < 0)
1159  cmd->payload_out[1] = 0;
1160  else
1161  cmd->payload_out[1] = (uint8_t)delay_scan_out;
1162 
1163  if (delay_scan_io < 0)
1164  cmd->payload_out[2] = 0;
1165  else
1166  cmd->payload_out[2] = (uint8_t)delay_scan_io;
1167 
1168  if (delay_tck < 0)
1169  cmd->payload_out[3] = 0;
1170  else
1171  cmd->payload_out[3] = (uint8_t)delay_tck;
1172 
1173  if (delay_tms < 0)
1174  cmd->payload_out[4] = 0;
1175  else
1176  cmd->payload_out[4] = (uint8_t)delay_tms;
1177 
1178  return ulink_append_queue(device, cmd);
1179 }
1180 
1196 static int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1197 {
1198  struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1199  int ret;
1200 
1201  if (!cmd)
1202  return ERROR_FAIL;
1203 
1204  cmd->id = CMD_SET_LEDS;
1205 
1206  /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1208  if (ret != ERROR_OK) {
1209  free(cmd);
1210  return ret;
1211  }
1212 
1213  cmd->payload_out[0] = led_state;
1214 
1215  return ulink_append_queue(device, cmd);
1216 }
1217 
1227 {
1228  struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1229  int ret;
1230 
1231  if (!cmd)
1232  return ERROR_FAIL;
1233 
1234  cmd->id = CMD_TEST;
1235 
1236  /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1238  if (ret != ERROR_OK) {
1239  free(cmd);
1240  return ret;
1241  }
1242 
1243  cmd->payload_out[0] = 0xAA;
1244 
1245  return ulink_append_queue(device, cmd);
1246 }
1247 
1248 /****************** OpenULINK TCK frequency helper functions ******************/
1249 
1282 static int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
1283 {
1284  float t, x, x_ceil;
1285 
1286  /* Calculate period of requested TCK frequency */
1287  t = 1.0 / (float)(f);
1288 
1289  switch (type) {
1290  case DELAY_CLOCK_TCK:
1291  x = (t - (float)(6E-6)) / (float)(4E-6);
1292  break;
1293  case DELAY_CLOCK_TMS:
1294  x = (t - (float)(8.5E-6)) / (float)(4E-6);
1295  break;
1296  case DELAY_SCAN_IN:
1297  x = (t - (float)(8.8308E-6)) / (float)(4E-6);
1298  break;
1299  case DELAY_SCAN_OUT:
1300  x = (t - (float)(1.0527E-5)) / (float)(4E-6);
1301  break;
1302  case DELAY_SCAN_IO:
1303  x = (t - (float)(1.3132E-5)) / (float)(4E-6);
1304  break;
1305  default:
1306  return ERROR_FAIL;
1307  break;
1308  }
1309 
1310  /* Check if the delay value is negative. This happens when a frequency is
1311  * requested that is too high for the delay loop implementation. In this
1312  * case, set delay value to zero. */
1313  if (x < 0)
1314  x = 0;
1315 
1316  /* We need to convert the exact delay value to an integer. Therefore, we
1317  * round the exact value UP to ensure that the resulting frequency is NOT
1318  * higher than the requested frequency. */
1319  x_ceil = ceilf(x);
1320 
1321  /* Check if the value is within limits */
1322  if (x_ceil > 255)
1323  return ERROR_FAIL;
1324 
1325  *delay = (int)x_ceil;
1326 
1327  return ERROR_OK;
1328 }
1329 
1343 {
1344  float t, f_float;
1345 
1346  if (delay > 255)
1347  return 0;
1348 
1349  switch (type) {
1350  case DELAY_CLOCK_TCK:
1351  if (delay < 0)
1352  t = (float)(2.666E-6);
1353  else
1354  t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
1355  break;
1356  case DELAY_CLOCK_TMS:
1357  if (delay < 0)
1358  t = (float)(5.666E-6);
1359  else
1360  t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
1361  break;
1362  case DELAY_SCAN_IN:
1363  if (delay < 0)
1364  t = (float)(5.5E-6);
1365  else
1366  t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
1367  break;
1368  case DELAY_SCAN_OUT:
1369  if (delay < 0)
1370  t = (float)(7.0E-6);
1371  else
1372  t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
1373  break;
1374  case DELAY_SCAN_IO:
1375  if (delay < 0)
1376  t = (float)(9.926E-6);
1377  else
1378  t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
1379  break;
1380  default:
1381  return 0;
1382  }
1383 
1384  f_float = 1.0 / t;
1385  return roundf(f_float);
1386 }
1387 
1388 /******************* Interface between OpenULINK and OpenOCD ******************/
1389 
1396 static void ulink_set_end_state(tap_state_t endstate)
1397 {
1398  if (tap_is_state_stable(endstate))
1399  tap_set_end_state(endstate);
1400  else {
1401  LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1402  exit(EXIT_FAILURE);
1403  }
1404 }
1405 
1414 {
1415  uint8_t tms_sequence, tms_count;
1416  int ret;
1417 
1418  if (tap_get_state() == tap_get_end_state()) {
1419  /* Do nothing if we are already there */
1420  return ERROR_OK;
1421  }
1422 
1423  tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1425 
1426  ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1427 
1428  if (ret == ERROR_OK)
1430 
1431  return ret;
1432 }
1433 
1442 static int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1443 {
1444  uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1445  uint32_t scans_max_payload, bytecount;
1446  uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1447  uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1448 
1449  uint8_t first_tms_count, first_tms_sequence;
1450  uint8_t last_tms_count, last_tms_sequence;
1451 
1452  uint8_t tms_count_pause, tms_sequence_pause;
1453  uint8_t tms_count_resume, tms_sequence_resume;
1454 
1455  uint8_t tms_count_start, tms_sequence_start;
1456  uint8_t tms_count_end, tms_sequence_end;
1457 
1458  enum scan_type type;
1459  int ret;
1460 
1461  /* Determine scan size */
1462  scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1463  scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1464 
1465  /* Determine scan type (IN/OUT/IO) */
1466  type = jtag_scan_type(cmd->cmd.scan);
1467 
1468  /* Determine number of scan commands with maximum payload */
1469  scans_max_payload = scan_size_bytes / 58;
1470 
1471  /* Determine size of last shift command */
1472  bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1473 
1474  /* Allocate TDO buffer if required */
1475  if ((type == SCAN_IN) || (type == SCAN_IO)) {
1476  tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1477 
1478  if (!tdo_buffer_start)
1479  return ERROR_FAIL;
1480 
1481  tdo_buffer = tdo_buffer_start;
1482  }
1483 
1484  /* Fill TDI buffer if required */
1485  if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1486  jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1487  tdi_buffer = tdi_buffer_start;
1488  }
1489 
1490  /* Get TAP state transitions */
1491  if (cmd->cmd.scan->ir_scan) {
1493  first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1494  first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1495 
1497  tap_set_end_state(cmd->cmd.scan->end_state);
1498  last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1499  last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1500 
1501  /* TAP state transitions for split scans */
1502  tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1503  tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1504  tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1505  tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1506  } else {
1508  first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1509  first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1510 
1512  tap_set_end_state(cmd->cmd.scan->end_state);
1513  last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1514  last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1515 
1516  /* TAP state transitions for split scans */
1517  tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1518  tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1519  tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1520  tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1521  }
1522 
1523  /* Generate scan commands */
1524  bytecount = scan_size_bytes;
1525  while (bytecount > 0) {
1526  if (bytecount == scan_size_bytes) {
1527  /* This is the first scan */
1528  tms_count_start = first_tms_count;
1529  tms_sequence_start = first_tms_sequence;
1530  } else {
1531  /* Resume from previous scan */
1532  tms_count_start = tms_count_resume;
1533  tms_sequence_start = tms_sequence_resume;
1534  }
1535 
1536  if (bytecount > 58) { /* Full scan, at least one scan will follow */
1537  tms_count_end = tms_count_pause;
1538  tms_sequence_end = tms_sequence_pause;
1539 
1541  type,
1542  58 * 8,
1543  tdi_buffer,
1544  tdo_buffer_start,
1545  tdo_buffer,
1546  tms_count_start,
1547  tms_sequence_start,
1548  tms_count_end,
1549  tms_sequence_end,
1550  cmd,
1551  false);
1552 
1553  bytecount -= 58;
1554 
1555  /* Update TDI and TDO buffer pointers */
1556  if (tdi_buffer_start)
1557  tdi_buffer += 58;
1558  if (tdo_buffer_start)
1559  tdo_buffer += 58;
1560  } else if (bytecount == 58) { /* Full scan, no further scans */
1561  tms_count_end = last_tms_count;
1562  tms_sequence_end = last_tms_sequence;
1563 
1565  type,
1566  58 * 8,
1567  tdi_buffer,
1568  tdo_buffer_start,
1569  tdo_buffer,
1570  tms_count_start,
1571  tms_sequence_start,
1572  tms_count_end,
1573  tms_sequence_end,
1574  cmd,
1575  true);
1576 
1577  bytecount = 0;
1578  } else {/* Scan with less than maximum payload, no further scans */
1579  tms_count_end = last_tms_count;
1580  tms_sequence_end = last_tms_sequence;
1581 
1583  type,
1584  bits_last_scan,
1585  tdi_buffer,
1586  tdo_buffer_start,
1587  tdo_buffer,
1588  tms_count_start,
1589  tms_sequence_start,
1590  tms_count_end,
1591  tms_sequence_end,
1592  cmd,
1593  true);
1594 
1595  bytecount = 0;
1596  }
1597 
1598  if (ret != ERROR_OK) {
1599  free(tdi_buffer_start);
1600  free(tdo_buffer_start);
1601  return ret;
1602  }
1603  }
1604 
1605  free(tdi_buffer_start);
1606 
1607  /* Set current state to the end state requested by the command */
1608  tap_set_state(cmd->cmd.scan->end_state);
1609 
1610  return ERROR_OK;
1611 }
1612 
1621 static int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1622 {
1623  int ret;
1624 
1625  ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1626 
1627  if (ret == ERROR_OK)
1629 
1630  return ret;
1631 }
1632 
1644 static int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1645 {
1646  int ret;
1647 
1648  /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1649  if (tap_get_state() != TAP_IDLE) {
1652  }
1653 
1654  /* Generate the clock cycles */
1655  ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1656  if (ret != ERROR_OK)
1657  return ret;
1658 
1659  /* Move to end state specified in command */
1660  if (cmd->cmd.runtest->end_state != tap_get_state()) {
1661  tap_set_end_state(cmd->cmd.runtest->end_state);
1663  }
1664 
1665  return ERROR_OK;
1666 }
1667 
1676 static int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1677 {
1678  uint8_t low = 0, high = 0;
1679 
1680  if (cmd->cmd.reset->trst) {
1682  high |= SIGNAL_TRST;
1683  } else
1684  low |= SIGNAL_TRST;
1685 
1686  if (cmd->cmd.reset->srst)
1687  high |= SIGNAL_RESET;
1688  else
1689  low |= SIGNAL_RESET;
1690 
1691  return ulink_append_set_signals_cmd(device, low, high);
1692 }
1693 
1702 static int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1703 {
1704  int ret, i, num_states, batch_size, state_count;
1705  tap_state_t *path;
1706  uint8_t tms_sequence;
1707 
1708  num_states = cmd->cmd.pathmove->num_states;
1709  path = cmd->cmd.pathmove->path;
1710  state_count = 0;
1711 
1712  while (num_states > 0) {
1713  tms_sequence = 0;
1714 
1715  /* Determine batch size */
1716  if (num_states >= 8)
1717  batch_size = 8;
1718  else
1719  batch_size = num_states;
1720 
1721  for (i = 0; i < batch_size; i++) {
1722  if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
1723  /* Append '0' transition: clear bit 'i' in tms_sequence */
1724  buf_set_u32(&tms_sequence, i, 1, 0x0);
1725  } else if (tap_state_transition(tap_get_state(), true)
1726  == path[state_count]) {
1727  /* Append '1' transition: set bit 'i' in tms_sequence */
1728  buf_set_u32(&tms_sequence, i, 1, 0x1);
1729  } else {
1730  /* Invalid state transition */
1731  LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1733  tap_state_name(path[state_count]));
1734  return ERROR_FAIL;
1735  }
1736 
1737  tap_set_state(path[state_count]);
1738  state_count++;
1739  num_states--;
1740  }
1741 
1742  /* Append CLOCK_TMS command to OpenULINK command queue */
1743  LOG_INFO(
1744  "pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
1745  ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
1746  if (ret != ERROR_OK)
1747  return ret;
1748  }
1749 
1750  return ERROR_OK;
1751 }
1752 
1761 static int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1762 {
1763  /* IMPORTANT! Due to the time offset in command execution introduced by
1764  * command queueing, this needs to be implemented in the ULINK device */
1765  return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1766 }
1767 
1775 {
1776  int ret;
1777  unsigned num_cycles;
1778 
1780  LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1781  return ERROR_FAIL;
1782  }
1783 
1784  num_cycles = cmd->cmd.stableclocks->num_cycles;
1785 
1786  /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1787  if (tap_get_state() == TAP_RESET)
1789  else
1791 
1792  if (ret != ERROR_OK)
1793  return ret;
1794 
1795  while (num_cycles > 0) {
1796  if (num_cycles > 0xFFFF) {
1797  /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1798  ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1799  num_cycles -= 0xFFFF;
1800  } else {
1801  ret = ulink_append_clock_tck_cmd(device, num_cycles);
1802  num_cycles = 0;
1803  }
1804 
1805  if (ret != ERROR_OK)
1806  return ret;
1807  }
1808 
1809  return ERROR_OK;
1810 }
1811 
1820 {
1821  struct jtag_command *cmd = ulink_cmd->cmd_origin;
1822  int ret;
1823 
1824  switch (jtag_scan_type(cmd->cmd.scan)) {
1825  case SCAN_IN:
1826  case SCAN_IO:
1827  ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1828  break;
1829  case SCAN_OUT:
1830  /* Nothing to do for OUT scans */
1831  ret = ERROR_OK;
1832  break;
1833  default:
1834  LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1835  " JTAG scan type");
1836  ret = ERROR_FAIL;
1837  break;
1838  }
1839 
1840  return ret;
1841 }
1842 
1851 {
1852  struct ulink_cmd *current;
1853  struct jtag_command *openocd_cmd;
1854  int ret;
1855 
1856  current = device->queue_start;
1857 
1858  while (current) {
1859  openocd_cmd = current->cmd_origin;
1860 
1861  /* Check if a corresponding OpenOCD command is stored for this
1862  * OpenULINK command */
1863  if ((current->needs_postprocessing == true) && (openocd_cmd)) {
1864  switch (openocd_cmd->type) {
1865  case JTAG_SCAN:
1866  ret = ulink_post_process_scan(current);
1867  break;
1868  case JTAG_TLR_RESET:
1869  case JTAG_RUNTEST:
1870  case JTAG_RESET:
1871  case JTAG_PATHMOVE:
1872  case JTAG_SLEEP:
1873  case JTAG_STABLECLOCKS:
1874  /* Nothing to do for these commands */
1875  ret = ERROR_OK;
1876  break;
1877  default:
1878  ret = ERROR_FAIL;
1879  LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1880  "command type");
1881  break;
1882  }
1883 
1884  if (ret != ERROR_OK)
1885  return ret;
1886  }
1887 
1888  current = current->next;
1889  }
1890 
1891  return ERROR_OK;
1892 }
1893 
1894 /**************************** JTAG driver functions ***************************/
1895 
1908 static int ulink_execute_queue(void)
1909 {
1911  int ret;
1912 
1913  while (cmd) {
1914  switch (cmd->type) {
1915  case JTAG_SCAN:
1916  ret = ulink_queue_scan(ulink_handle, cmd);
1917  break;
1918  case JTAG_TLR_RESET:
1919  ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1920  break;
1921  case JTAG_RUNTEST:
1922  ret = ulink_queue_runtest(ulink_handle, cmd);
1923  break;
1924  case JTAG_RESET:
1925  ret = ulink_queue_reset(ulink_handle, cmd);
1926  break;
1927  case JTAG_PATHMOVE:
1928  ret = ulink_queue_pathmove(ulink_handle, cmd);
1929  break;
1930  case JTAG_SLEEP:
1931  ret = ulink_queue_sleep(ulink_handle, cmd);
1932  break;
1933  case JTAG_STABLECLOCKS:
1934  ret = ulink_queue_stableclocks(ulink_handle, cmd);
1935  break;
1936  default:
1937  ret = ERROR_FAIL;
1938  LOG_ERROR("BUG: encountered unknown JTAG command type");
1939  break;
1940  }
1941 
1942  if (ret != ERROR_OK)
1943  return ret;
1944 
1945  cmd = cmd->next;
1946  }
1947 
1948  if (ulink_handle->commands_in_queue > 0) {
1949  ret = ulink_execute_queued_commands(ulink_handle, LIBUSB_TIMEOUT_MS);
1950  if (ret != ERROR_OK)
1951  return ret;
1952 
1953  ret = ulink_post_process_queue(ulink_handle);
1954  if (ret != ERROR_OK)
1955  return ret;
1956 
1957  ulink_clear_queue(ulink_handle);
1958  }
1959 
1960  return ERROR_OK;
1961 }
1962 
1971 static int ulink_khz(int khz, int *jtag_speed)
1972 {
1973  int ret;
1974 
1975  if (khz == 0) {
1976  LOG_ERROR("RCLK not supported");
1977  return ERROR_FAIL;
1978  }
1979 
1980  /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
1981  * setting can be done independently from all other commands. */
1982  if (khz >= 375)
1983  ulink_handle->delay_clock_tck = -1;
1984  else {
1985  ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
1986  &ulink_handle->delay_clock_tck);
1987  if (ret != ERROR_OK)
1988  return ret;
1989  }
1990 
1991  /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
1992  * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
1993  * commands, all SCAN commands MUST also use the variable frequency
1994  * implementation! */
1995  if (khz >= 176) {
1996  ulink_handle->delay_clock_tms = -1;
1997  ulink_handle->delay_scan_in = -1;
1998  ulink_handle->delay_scan_out = -1;
1999  ulink_handle->delay_scan_io = -1;
2000  } else {
2001  ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
2002  &ulink_handle->delay_clock_tms);
2003  if (ret != ERROR_OK)
2004  return ret;
2005 
2006  ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
2007  &ulink_handle->delay_scan_in);
2008  if (ret != ERROR_OK)
2009  return ret;
2010 
2011  ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
2012  &ulink_handle->delay_scan_out);
2013  if (ret != ERROR_OK)
2014  return ret;
2015 
2016  ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
2017  &ulink_handle->delay_scan_io);
2018  if (ret != ERROR_OK)
2019  return ret;
2020  }
2021 
2022  LOG_DEBUG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2023  ulink_handle->delay_clock_tck,
2025  LOG_DEBUG_IO(" delay_tms = %i (%li Hz),",
2026  ulink_handle->delay_clock_tms,
2028  LOG_DEBUG_IO(" delay_scan_in = %i (%li Hz),",
2029  ulink_handle->delay_scan_in,
2031  LOG_DEBUG_IO(" delay_scan_out = %i (%li Hz),",
2032  ulink_handle->delay_scan_out,
2034  LOG_DEBUG_IO(" delay_scan_io = %i (%li Hz),",
2035  ulink_handle->delay_scan_io,
2037 
2038  /* Configure the ULINK device with the new delay values */
2039  ret = ulink_append_configure_tck_cmd(ulink_handle,
2040  ulink_handle->delay_scan_in,
2041  ulink_handle->delay_scan_out,
2042  ulink_handle->delay_scan_io,
2043  ulink_handle->delay_clock_tck,
2044  ulink_handle->delay_clock_tms);
2045 
2046  if (ret != ERROR_OK)
2047  return ret;
2048 
2049  *jtag_speed = khz;
2050 
2051  return ERROR_OK;
2052 }
2053 
2066 static int ulink_speed(int speed)
2067 {
2068  int dummy;
2069 
2070  return ulink_khz(speed, &dummy);
2071 }
2072 
2086 static int ulink_speed_div(int speed, int *khz)
2087 {
2088  *khz = speed;
2089 
2090  return ERROR_OK;
2091 }
2092 
2100 static int ulink_init(void)
2101 {
2102  int ret, transferred;
2103  char str_manufacturer[20];
2104  bool download_firmware = false;
2105  unsigned char *dummy;
2106  uint8_t input_signals, output_signals;
2107 
2108  ulink_handle = calloc(1, sizeof(struct ulink));
2109  if (!ulink_handle)
2110  return ERROR_FAIL;
2111 
2112  libusb_init(&ulink_handle->libusb_ctx);
2113 
2114  ret = ulink_usb_open(&ulink_handle);
2115  if (ret != ERROR_OK) {
2116  LOG_ERROR("Could not open ULINK device");
2117  free(ulink_handle);
2118  ulink_handle = NULL;
2119  return ret;
2120  }
2121 
2122  /* Get String Descriptor to determine if firmware needs to be loaded */
2123  ret = libusb_get_string_descriptor_ascii(ulink_handle->usb_device_handle, 1, (unsigned char *)str_manufacturer, 20);
2124  if (ret < 0) {
2125  /* Could not get descriptor -> Unconfigured or original Keil firmware */
2126  download_firmware = true;
2127  } else {
2128  /* We got a String Descriptor, check if it is the correct one */
2129  if (strncmp(str_manufacturer, "OpenULINK", 9) != 0)
2130  download_firmware = true;
2131  }
2132 
2133  if (download_firmware == true) {
2134  LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2135  " ULINK device.");
2136  ret = ulink_load_firmware_and_renumerate(&ulink_handle,
2138  if (ret != ERROR_OK) {
2139  LOG_ERROR("Could not download firmware and re-numerate ULINK");
2140  free(ulink_handle);
2141  ulink_handle = NULL;
2142  return ret;
2143  }
2144  } else
2145  LOG_INFO("ULINK device is already running OpenULINK firmware");
2146 
2147  /* Get OpenULINK USB IN/OUT endpoints and claim the interface */
2148  ret = jtag_libusb_choose_interface(ulink_handle->usb_device_handle,
2149  &ulink_handle->ep_in, &ulink_handle->ep_out, -1, -1, -1, -1);
2150  if (ret != ERROR_OK)
2151  return ret;
2152 
2153  /* Initialize OpenULINK command queue */
2154  ulink_clear_queue(ulink_handle);
2155 
2156  /* Issue one test command with short timeout */
2157  ret = ulink_append_test_cmd(ulink_handle);
2158  if (ret != ERROR_OK)
2159  return ret;
2160 
2161  ret = ulink_execute_queued_commands(ulink_handle, 200);
2162  if (ret != ERROR_OK) {
2163  /* Sending test command failed. The ULINK device may be forever waiting for
2164  * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2165  * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2166  dummy = calloc(64, sizeof(uint8_t));
2167 
2168  ret = libusb_bulk_transfer(ulink_handle->usb_device_handle, ulink_handle->ep_in,
2169  dummy, 64, &transferred, 200);
2170 
2171  free(dummy);
2172 
2173  if (ret != 0 || transferred == 0) {
2174  /* Bulk IN transfer failed -> unrecoverable error condition */
2175  LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2176  "the USB port and re-connect, then re-run OpenOCD");
2177  free(ulink_handle);
2178  ulink_handle = NULL;
2179  return ERROR_FAIL;
2180  }
2181 #ifdef _DEBUG_USB_COMMS_
2182  else {
2183  /* Successfully received Bulk IN packet -> continue */
2184  LOG_INFO("Recovered from lost Bulk IN packet");
2185  }
2186 #endif
2187  }
2188  ulink_clear_queue(ulink_handle);
2189 
2190  ret = ulink_append_get_signals_cmd(ulink_handle);
2191  if (ret == ERROR_OK)
2192  ret = ulink_execute_queued_commands(ulink_handle, 200);
2193 
2194  if (ret == ERROR_OK) {
2195  /* Post-process the single CMD_GET_SIGNALS command */
2196  input_signals = ulink_handle->queue_start->payload_in[0];
2197  output_signals = ulink_handle->queue_start->payload_in[1];
2198 
2199  ulink_print_signal_states(input_signals, output_signals);
2200  }
2201 
2202  ulink_clear_queue(ulink_handle);
2203 
2204  return ERROR_OK;
2205 }
2206 
2213 static int ulink_quit(void)
2214 {
2215  int ret;
2216 
2217  ret = ulink_usb_close(&ulink_handle);
2218  free(ulink_handle);
2219 
2220  return ret;
2221 }
2222 
2226 COMMAND_HANDLER(ulink_download_firmware_handler)
2227 {
2228  int ret;
2229 
2230  if (CMD_ARGC != 1)
2232 
2233 
2234  LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
2235 
2236  /* Download firmware image in CMD_ARGV[0] */
2237  ret = ulink_load_firmware_and_renumerate(&ulink_handle, CMD_ARGV[0],
2239 
2240  return ret;
2241 }
2242 
2243 /*************************** Command Registration **************************/
2244 
2245 static const struct command_registration ulink_subcommand_handlers[] = {
2246  {
2247  .name = "download_firmware",
2248  .handler = &ulink_download_firmware_handler,
2249  .mode = COMMAND_EXEC,
2250  .help = "download firmware image to ULINK device",
2251  .usage = "path/to/ulink_firmware.hex",
2252  },
2254 };
2255 
2256 static const struct command_registration ulink_command_handlers[] = {
2257  {
2258  .name = "ulink",
2259  .mode = COMMAND_ANY,
2260  .help = "perform ulink management",
2261  .chain = ulink_subcommand_handlers,
2262  .usage = "",
2263  },
2265 };
2266 
2267 static struct jtag_interface ulink_interface = {
2269 };
2270 
2272  .name = "ulink",
2273  .transports = jtag_only,
2274  .commands = ulink_command_handlers,
2275 
2276  .init = ulink_init,
2277  .quit = ulink_quit,
2278  .speed = ulink_speed,
2279  .khz = ulink_khz,
2280  .speed_div = ulink_speed_div,
2281 
2282  .jtag_ops = &ulink_interface,
2283 };
const char *const jtag_only[]
Definition: adapter.c:31
static uint8_t tdi_buffer[ARMJTAGEW_TAP_BUFFER_SIZE]
Definition: arm-jtag-ew.c:513
static uint8_t tdo_buffer[ARMJTAGEW_TAP_BUFFER_SIZE]
Definition: arm-jtag-ew.c:514
static const struct device_t * device
Definition: at91rm9200.c:94
static void buf_set_u32(uint8_t *_buffer, unsigned first, unsigned num, uint32_t value)
Sets num bits in _buffer, starting at the first bit, using the bits in value.
Definition: binarybuffer.h:30
#define CMD_ARGV
Use this macro to access the arguments for the command being handled, rather than accessing the varia...
Definition: command.h:155
#define ERROR_COMMAND_SYNTAX_ERROR
Definition: command.h:385
#define CMD_ARGC
Use this macro to access the number of arguments for the command being handled, rather than accessing...
Definition: command.h:150
#define COMMAND_REGISTRATION_DONE
Use this as the last entry in an array of command_registration records.
Definition: command.h:247
@ COMMAND_ANY
Definition: command.h:42
@ COMMAND_EXEC
Definition: command.h:40
struct jtag_command * jtag_command_queue
The current queue of jtag_command_s structures.
Definition: commands.c:36
int jtag_build_buffer(const struct scan_command *cmd, uint8_t **buffer)
Definition: commands.c:189
enum scan_type jtag_scan_type(const struct scan_command *cmd)
Definition: commands.c:162
int jtag_read_buffer(uint8_t *buffer, const struct scan_command *cmd)
Definition: commands.c:230
int jtag_scan_size(const struct scan_command *cmd)
Definition: commands.c:177
scan_type
The inferred type of a scan_command_s structure, indicating whether the command has the host scan in ...
Definition: commands.h:22
@ SCAN_IN
From device to host,.
Definition: commands.h:24
@ SCAN_OUT
From host to device,.
Definition: commands.h:26
@ SCAN_IO
Full-duplex scan.
Definition: commands.h:28
@ JTAG_TLR_RESET
Definition: commands.h:137
@ JTAG_SCAN
Definition: commands.h:129
@ JTAG_PATHMOVE
Definition: commands.h:140
@ JTAG_STABLECLOCKS
Definition: commands.h:142
@ JTAG_RUNTEST
Definition: commands.h:138
@ JTAG_SLEEP
Definition: commands.h:141
@ JTAG_RESET
Definition: commands.h:139
uint8_t type
Definition: esp_usb_jtag.c:0
static uint16_t direction
Definition: ftdi.c:119
void image_close(struct image *image)
Definition: image.c:1197
int image_read_section(struct image *image, int section, target_addr_t offset, uint32_t size, uint8_t *buffer, size_t *size_read)
Definition: image.c:1065
int image_open(struct image *image, const char *url, const char *type_string)
Definition: image.c:949
bool tap_is_state_stable(tap_state_t astate)
Function tap_is_state_stable returns true if the astate is stable.
Definition: interface.c:200
tap_state_t tap_state_transition(tap_state_t cur_state, bool tms)
Function tap_state_transition takes a current TAP state and returns the next state according to the t...
Definition: interface.c:223
const char * tap_state_name(tap_state_t state)
Function tap_state_name Returns a string suitable for display representing the JTAG tap_state.
Definition: interface.c:344
void tap_set_end_state(tap_state_t new_end_state)
This function sets the state of an "end state follower" which tracks the state that any cable driver ...
Definition: interface.c:48
tap_state_t tap_get_end_state(void)
For more information,.
Definition: interface.c:56
int tap_get_tms_path(tap_state_t from, tap_state_t to)
This function provides a "bit sequence" indicating what has to be done with TMS during a sequence of ...
Definition: interface.c:190
int tap_get_tms_path_len(tap_state_t from, tap_state_t to)
Function int tap_get_tms_path_len returns the total number of bits that represents a TMS path transit...
Definition: interface.c:195
tap_state_t tap_get_state(void)
This function gets the state of the "state follower" which tracks the state of the TAPs connected to ...
Definition: interface.c:37
#define tap_set_state(new_state)
This function sets the state of a "state follower" which tracks the state of the TAPs connected to th...
Definition: interface.h:49
uint8_t delay_scan_in
Delay value for SCAN_IN operations with less than maximum TCK frequency.
Definition: jtag.c:17
uint8_t delay_scan_out
Delay value for SCAN_OUT operations with less than maximum TCK frequency.
Definition: jtag.c:20
uint8_t delay_tck
Delay value for CLOCK_TCK operations with less than maximum frequency.
Definition: jtag.c:26
uint8_t delay_scan_io
Delay value for SCAN_IO operations with less than maximum TCK frequency.
Definition: jtag.c:23
uint8_t delay_tms
Delay value for CLOCK_TMS operations with less than maximum frequency.
Definition: jtag.c:29
@ TAP_RESET
Definition: jtag.h:55
@ TAP_DRPAUSE
Definition: jtag.h:43
@ TAP_IRSHIFT
Definition: jtag.h:50
@ TAP_IDLE
Definition: jtag.h:52
@ TAP_DRSHIFT
Definition: jtag.h:42
@ TAP_IRPAUSE
Definition: jtag.h:51
enum tap_state tap_state_t
Defines JTAG Test Access Port states.
int jtag_libusb_choose_interface(struct libusb_device_handle *devh, unsigned int *usb_read_ep, unsigned int *usb_write_ep, int bclass, int subclass, int protocol, int trans_type)
Find the first interface optionally matching class, subclass and protocol and claim it.
#define LIBUSB_TIMEOUT_MS
Definition: libusb_helper.h:26
#define LOG_DEBUG_IO(expr ...)
Definition: log.h:101
#define ERROR_FAIL
Definition: log.h:161
#define LOG_ERROR(expr ...)
Definition: log.h:123
#define LOG_LEVEL_IS(FOO)
Definition: log.h:99
#define LOG_INFO(expr ...)
Definition: log.h:117
#define LOG_DEBUG(expr ...)
Definition: log.h:109
#define ERROR_OK
Definition: log.h:155
@ LOG_LVL_DEBUG_IO
Definition: log.h:48
Definition of the commands supported by the OpenULINK firmware.
#define CMD_CONFIGURE_TCK_FREQ
Definition: msgtypes.h:153
#define SIGNAL_TDI
Definition: msgtypes.h:164
#define SIGNAL_TMS
Definition: msgtypes.h:165
#define CMD_SLOW_CLOCK_TCK
Definition: msgtypes.h:148
#define CMD_SET_LEDS
Definition: msgtypes.h:154
#define CMD_SLOW_SCAN_IN
Definition: msgtypes.h:138
#define SIGNAL_RESET
Definition: msgtypes.h:169
#define CMD_SLOW_SCAN_OUT
Definition: msgtypes.h:140
#define CMD_SLOW_SCAN_IO
Definition: msgtypes.h:142
#define CMD_SCAN_OUT
Definition: msgtypes.h:139
#define CMD_GET_SIGNALS
Definition: msgtypes.h:151
#define CMD_SLEEP_MS
Definition: msgtypes.h:150
#define SIGNAL_TCK
Definition: msgtypes.h:166
#define SIGNAL_TRST
Definition: msgtypes.h:167
#define CMD_SCAN_IN
Definition: msgtypes.h:137
#define CMD_TEST
Definition: msgtypes.h:155
#define CMD_CLOCK_TCK
Definition: msgtypes.h:147
#define CMD_CLOCK_TMS
Definition: msgtypes.h:145
#define CMD_SCAN_IO
Definition: msgtypes.h:141
#define CMD_SLOW_CLOCK_TMS
Definition: msgtypes.h:146
#define CMD_SET_SIGNALS
Definition: msgtypes.h:152
#define SIGNAL_TDO
Definition: msgtypes.h:158
#define CMD_SLEEP_US
Definition: msgtypes.h:149
uint32_t addr
Definition: nuttx.c:65
size_t size
Size of the control block search area.
Definition: rtt/rtt.c:30
Represents a driver for a debugging interface.
Definition: interface.h:207
const char *const name
The name of the interface driver.
Definition: interface.h:209
const char * name
Definition: command.h:229
const char * usage
a string listing the options and arguments, required or optional
Definition: command.h:235
Definition: image.h:48
unsigned int num_sections
Definition: image.h:51
struct imagesection * sections
Definition: image.h:52
long long base_address
Definition: image.h:54
bool base_address_set
Definition: image.h:53
target_addr_t base_address
Definition: image.h:42
uint32_t size
Definition: image.h:43
enum jtag_command_type type
Definition: commands.h:148
Represents a driver for a debugging interface.
Definition: interface.h:184
int(* execute_queue)(void)
Execute queued commands.
Definition: interface.h:195
Definition: osbdm.c:17
Definition: psoc6.c:84
#define DIV_ROUND_UP(m, n)
Rounds m up to the nearest multiple of n using division.
Definition: types.h:79
static struct ublast_lowlevel low
#define NULL
Definition: usb.h:16
uint8_t cmd
Definition: vdebug.c:1
uint8_t dummy[96]
Definition: vdebug.c:23
uint8_t count[4]
Definition: vdebug.c:22