rlink.c

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// SPDX-License-Identifier: GPL-2.0-or-later
 
/***************************************************************************
 *   Copyright (C) 2005 by Dominic Rath                                    *
 *   Dominic.Rath@gmx.de                                                   *
 *                                                                         *
 *   Copyright (C) 2007,2008 Øyvind Harboe                                 *
 *   oyvind.harboe@zylin.com                                               *
 *                                                                         *
 *   Copyright (C) 2008 Rob Brown, Lou Deluxe                              *
 *   rob@cobbleware.com, lou.openocd012@fixit.nospammail.net               *
 ***************************************************************************/
 
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
 
/* project specific includes */
#include <jtag/interface.h>
#include <jtag/commands.h>
#include "helper/replacements.h"
#include "rlink.h"
#include "rlink_st7.h"
#include "rlink_ep1_cmd.h"
#include "rlink_dtc_cmd.h"
#include "libusb_helper.h"
 
/* This feature is made useless by running the DTC all the time.  When automatic, the LED is on
 *whenever the DTC is running.  Otherwise, USB messages are sent to turn it on and off. */
#undef AUTOMATIC_BUSY_LED
 
/* This feature may require derating the speed due to reduced hold time. */
#undef USE_HARDWARE_SHIFTER_FOR_TMS
 
#define INTERFACE_NAME          "RLink"
 
#define USB_IDVENDOR            (0x138e)
#define USB_IDPRODUCT           (0x9000)
 
#define USB_EP1OUT_ADDR         (0x01)
#define USB_EP1OUT_SIZE         (16)
#define USB_EP1IN_ADDR          (USB_EP1OUT_ADDR | 0x80)
#define USB_EP1IN_SIZE          (USB_EP1OUT_SIZE)
 
#define USB_EP2OUT_ADDR         (0x02)
#define USB_EP2OUT_SIZE         (64)
#define USB_EP2IN_ADDR          (USB_EP2OUT_ADDR | 0x80)
#define USB_EP2IN_SIZE          (USB_EP2OUT_SIZE)
#define USB_EP2BANK_SIZE        (512)
 
#define DTC_STATUS_POLL_BYTE    (ST7_USB_BUF_EP0OUT + 0xff)
 
#define ST7_PD_NBUSY_LED                ST7_PD0
#define ST7_PD_NRUN_LED                 ST7_PD1
/* low enables VPP at adapter header, high connects it to GND instead */
#define ST7_PD_VPP_SEL                  ST7_PD6
/* low: VPP = 12v, high: VPP <= 5v */
#define ST7_PD_VPP_SHDN                 ST7_PD7
 
/* These pins are connected together */
#define ST7_PE_ADAPTER_SENSE_IN         ST7_PE3
#define ST7_PE_ADAPTER_SENSE_OUT        ST7_PE4
 
/* Symbolic mapping between port pins and numbered IO lines */
#define ST7_PA_IO1      ST7_PA1
#define ST7_PA_IO2      ST7_PA2
#define ST7_PA_IO4      ST7_PA4
#define ST7_PA_IO8      ST7_PA6
#define ST7_PA_IO10     ST7_PA7
#define ST7_PB_IO5      ST7_PB5
#define ST7_PC_IO9      ST7_PC1
#define ST7_PC_IO3      ST7_PC2
#define ST7_PC_IO7      ST7_PC3
#define ST7_PE_IO6      ST7_PE5
 
/* Symbolic mapping between numbered IO lines and adapter signals */
#define ST7_PA_RTCK     ST7_PA_IO0
#define ST7_PA_NTRST    ST7_PA_IO1
#define ST7_PC_TDI      ST7_PC_IO3
#define ST7_PA_DBGRQ    ST7_PA_IO4
#define ST7_PB_NSRST    ST7_PB_IO5
#define ST7_PE_TMS      ST7_PE_IO6
#define ST7_PC_TCK      ST7_PC_IO7
#define ST7_PC_TDO      ST7_PC_IO9
#define ST7_PA_DBGACK   ST7_PA_IO10
 
static struct libusb_device_handle *hdev;
 
/*
 * ep1 commands are up to USB_EP1OUT_SIZE bytes in length.
 * This function takes care of zeroing the unused bytes before sending the packet.
 * Any reply packet is not handled by this function.
 */
static int ep1_generic_commandl(struct libusb_device_handle *hdev_param, size_t length, ...)
{
    uint8_t usb_buffer[USB_EP1OUT_SIZE];
    uint8_t *usb_buffer_p;
    va_list ap;
    int usb_ret;
    int transferred;
 
    if (length > sizeof(usb_buffer))
        length = sizeof(usb_buffer);
 
    usb_buffer_p = usb_buffer;
 
    va_start(ap, length);
    while (length > 0) {
        *usb_buffer_p++ = va_arg(ap, int);
        length--;
    }
 
    memset(
        usb_buffer_p,
        0,
        sizeof(usb_buffer) - (usb_buffer_p - usb_buffer)
        );
 
    usb_ret = jtag_libusb_bulk_write(
            hdev_param,
            USB_EP1OUT_ADDR,
            (char *)usb_buffer, sizeof(usb_buffer),
            LIBUSB_TIMEOUT_MS,
            &transferred
            );
 
    if (usb_ret != ERROR_OK)
        return usb_ret;
    return transferred;
}
 
#if 0
static ssize_t ep1_memory_read(
    struct libusb_device_handle *hdev_param, uint16_t addr,
    size_t length, uint8_t *buffer)
{
    uint8_t usb_buffer[USB_EP1OUT_SIZE];
    int usb_ret;
    size_t remain;
    ssize_t count;
    int transferred;
 
    usb_buffer[0] = EP1_CMD_MEMORY_READ;
    memset(
        usb_buffer + 4,
        0,
        sizeof(usb_buffer) - 4
        );
 
    remain = length;
    count = 0;
 
    while (remain) {
        if (remain > sizeof(usb_buffer))
            length = sizeof(usb_buffer);
        else
            length = remain;
 
        usb_buffer[1] = addr >> 8;
        usb_buffer[2] = addr;
        usb_buffer[3] = length;
 
        usb_ret = jtag_libusb_bulk_write(
                hdev_param, USB_EP1OUT_ADDR,
                (char *)usb_buffer, sizeof(usb_buffer),
                LIBUSB_TIMEOUT_MS,
                &transferred
                );
 
        if (usb_ret != ERROR_OK || transferred < (int)sizeof(usb_buffer))
            break;
 
        usb_ret = jtag_libusb_bulk_read(
                hdev_param, USB_EP1IN_ADDR,
                (char *)buffer, length,
                LIBUSB_TIMEOUT_MS,
                &transferred
                );
 
        if (usb_ret != ERROR_OK || transferred < (int)length)
            break;
 
        addr += length;
        buffer += length;
        count += length;
        remain -= length;
    }
 
    return count;
}
#endif
 
static ssize_t ep1_memory_write(struct libusb_device_handle *hdev_param, uint16_t addr,
    size_t length, uint8_t const *buffer)
{
    uint8_t usb_buffer[USB_EP1OUT_SIZE];
    int usb_ret;
    size_t remain;
    ssize_t count;
 
    usb_buffer[0] = EP1_CMD_MEMORY_WRITE;
 
    remain = length;
    count = 0;
 
    while (remain) {
        if (remain > (sizeof(usb_buffer) - 4))
            length = (sizeof(usb_buffer) - 4);
        else
            length = remain;
 
        usb_buffer[1] = addr >> 8;
        usb_buffer[2] = addr;
        usb_buffer[3] = length;
        memcpy(
            usb_buffer + 4,
            buffer,
            length
            );
        memset(
            usb_buffer + 4 + length,
            0,
            sizeof(usb_buffer) - 4 - length
            );
 
        int transferred;
 
        usb_ret = jtag_libusb_bulk_write(
                hdev_param, USB_EP1OUT_ADDR,
                (char *)usb_buffer, sizeof(usb_buffer),
                LIBUSB_TIMEOUT_MS,
                &transferred
                );
 
        if (usb_ret != ERROR_OK || transferred < (int)sizeof(usb_buffer))
            break;
 
        addr += length;
        buffer += length;
        count += length;
        remain -= length;
    }
 
    return count;
}
 
 
#if 0
static ssize_t ep1_memory_writel(struct libusb_device_handle *hdev_param, uint16_t addr,
    size_t length, ...)
{
    uint8_t buffer[USB_EP1OUT_SIZE - 4];
    uint8_t *buffer_p;
    va_list ap;
    size_t remain;
 
    if (length > sizeof(buffer))
        length = sizeof(buffer);
 
    remain = length;
    buffer_p = buffer;
 
    va_start(ap, length);
    while (remain > 0) {
        *buffer_p++ = va_arg(ap, int);
        remain--;
    }
 
    return ep1_memory_write(hdev_param, addr, length, buffer);
}
#endif
 
#define DTCLOAD_COMMENT         (0)
#define DTCLOAD_ENTRY           (1)
#define DTCLOAD_LOAD            (2)
#define DTCLOAD_RUN                     (3)
#define DTCLOAD_LUT_START       (4)
#define DTCLOAD_LUT                     (5)
 
#define DTC_LOAD_BUFFER         ST7_USB_BUF_EP2UIDO
 
/* This gets set by the DTC loader */
static uint8_t dtc_entry_download;
 
/* The buffer is specially formatted to represent a valid image to load into the DTC. */
static int dtc_load_from_buffer(struct libusb_device_handle *hdev_param, const uint8_t *buffer,
        size_t length)
{
    struct header {
        uint8_t type;
        uint8_t length;
    };
 
    int usb_err;
    struct header *header;
    uint8_t lut_start = 0xc0;
 
    dtc_entry_download = 0;
 
    /* Stop the DTC before loading anything. */
    usb_err = ep1_generic_commandl(
            hdev_param, 1,
            EP1_CMD_DTC_STOP
            );
    if (usb_err < 0)
        return usb_err;
 
    while (length) {
        if (length < sizeof(*header)) {
            LOG_ERROR("Malformed DTC image");
            exit(1);
        }
 
        header = (struct header *)buffer;
        buffer += sizeof(*header);
        length -= sizeof(*header);
 
        if (length < (size_t)header->length + 1) {
            LOG_ERROR("Malformed DTC image");
            exit(1);
        }
 
        switch (header->type) {
        case DTCLOAD_COMMENT:
            break;
 
        case DTCLOAD_ENTRY:
            /* store entry addresses somewhere */
            if (!strncmp("download", (char *)buffer + 1, 8))
                dtc_entry_download = buffer[0];
            break;
 
        case DTCLOAD_LOAD:
            /* Send the DTC program to ST7 RAM. */
            usb_err = ep1_memory_write(hdev_param, DTC_LOAD_BUFFER,
                header->length + 1, buffer);
            if (usb_err < 0)
                return usb_err;
 
            /* Load it into the DTC. */
            usb_err = ep1_generic_commandl(hdev_param, 3, EP1_CMD_DTC_LOAD,
                (DTC_LOAD_BUFFER >> 8), DTC_LOAD_BUFFER);
            if (usb_err < 0)
                return usb_err;
 
            break;
 
        case DTCLOAD_RUN:
            usb_err = ep1_generic_commandl(hdev_param, 3, EP1_CMD_DTC_CALL,
                buffer[0], EP1_CMD_DTC_WAIT);
            if (usb_err < 0)
                return usb_err;
 
            break;
 
        case DTCLOAD_LUT_START:
            lut_start = buffer[0];
            break;
 
        case DTCLOAD_LUT:
            usb_err = ep1_memory_write(hdev_param,
                ST7_USB_BUF_EP0OUT + lut_start, header->length + 1, buffer);
            if (usb_err < 0)
                return usb_err;
            break;
 
        default:
            LOG_ERROR("Invalid DTC image record type: 0x%02x", header->type);
            exit(1);
            break;
        }
 
        buffer += (header->length + 1);
        length -= (header->length + 1);
    }
 
    return 0;
}
 
/*
 * Start the DTC running in download mode (waiting for 512 byte command packets on ep2).
 */
static int dtc_start_download(void)
{
    int usb_err;
    uint8_t ep2txr;
    int transferred;
 
    /* set up for download mode and make sure EP2 is set up to transmit */
    usb_err = ep1_generic_commandl(
            hdev, 7,
 
            EP1_CMD_DTC_STOP,
            EP1_CMD_SET_UPLOAD,
            EP1_CMD_SET_DOWNLOAD,
            EP1_CMD_MEMORY_READ,    /* read EP2TXR for its data toggle */
            ST7_EP2TXR >> 8,
            ST7_EP2TXR,
            1
            );
    if (usb_err < 0)
        return usb_err;
 
    /* read back ep2txr */
    usb_err = jtag_libusb_bulk_read(
            hdev, USB_EP1IN_ADDR,
            (char *)&ep2txr, 1,
            LIBUSB_TIMEOUT_MS,
            &transferred
            );
    if (usb_err != ERROR_OK)
        return usb_err;
 
    usb_err = ep1_generic_commandl(
            hdev, 13,
 
            EP1_CMD_MEMORY_WRITE,   /* preinitialize poll byte */
            DTC_STATUS_POLL_BYTE >> 8,
            DTC_STATUS_POLL_BYTE,
            1,
            0x00,
            EP1_CMD_MEMORY_WRITE,   /* set EP2IN to return data */
            ST7_EP2TXR >> 8,
            ST7_EP2TXR,
            1,
            (ep2txr & ST7_EP2TXR_DTOG_TX) | ST7_EP2TXR_STAT_VALID,
            EP1_CMD_DTC_CALL,   /* start running the DTC */
            dtc_entry_download,
            EP1_CMD_DTC_GET_CACHED_STATUS
            );
    if (usb_err < 0)
        return usb_err;
 
    /* wait for completion */
    return jtag_libusb_bulk_read(hdev, USB_EP1IN_ADDR, (char *)&ep2txr, 1,
                     LIBUSB_TIMEOUT_MS, &transferred);
}
 
static int dtc_run_download(
    struct libusb_device_handle *hdev_param,
    uint8_t *command_buffer,
    int command_buffer_size,
    uint8_t *reply_buffer,
    int reply_buffer_size
    )
{
    char dtc_status;
    int usb_err;
    int i;
    int transferred;
 
    LOG_DEBUG("%d/%d", command_buffer_size, reply_buffer_size);
 
    usb_err = jtag_libusb_bulk_write(
            hdev_param,
            USB_EP2OUT_ADDR,
            (char *)command_buffer, USB_EP2BANK_SIZE,
            LIBUSB_TIMEOUT_MS,
            &transferred
            );
    if (usb_err < 0)
        return usb_err;
 
 
    /* Wait for DTC to finish running command buffer */
    for (i = 50;; ) {
        usb_err = ep1_generic_commandl(
                hdev_param, 4,
 
                EP1_CMD_MEMORY_READ,
                DTC_STATUS_POLL_BYTE >> 8,
                DTC_STATUS_POLL_BYTE,
                1
                );
        if (usb_err < 0)
            return usb_err;
 
        usb_err = jtag_libusb_bulk_read(
                hdev_param,
                USB_EP1IN_ADDR,
                &dtc_status, 1,
                LIBUSB_TIMEOUT_MS,
                &transferred
                );
        if (usb_err < 0)
            return usb_err;
 
        if (dtc_status & 0x01)
            break;
 
        if (!--i) {
            LOG_ERROR("too many retries waiting for DTC status");
            return LIBUSB_ERROR_TIMEOUT;
        }
    }
 
 
    if (reply_buffer && reply_buffer_size) {
        usb_err = jtag_libusb_bulk_read(
                hdev_param,
                USB_EP2IN_ADDR,
                (char *)reply_buffer, reply_buffer_size,
                LIBUSB_TIMEOUT_MS,
                &transferred
                );
 
        if (usb_err != ERROR_OK || transferred < reply_buffer_size) {
            LOG_ERROR("Read of endpoint 2 returned %d, expected %d",
                usb_err, reply_buffer_size
                );
            return usb_err;
        }
    }
 
    return usb_err;
}
 
/*
 * The dtc reply queue is a singly linked list that describes what to do
 * with the reply packet that comes from the DTC.  Only SCAN_IN and SCAN_IO generate
 * these entries.
 */
 
struct dtc_reply_queue_entry {
    struct dtc_reply_queue_entry *next;
    struct jtag_command *cmd;   /* the command that resulted in this entry */
 
    struct {
        uint8_t *buffer;        /* the scan buffer */
        int size;           /* size of the scan buffer in bits */
        int offset;         /* how many bits were already done before this? */
        int length;         /* how many bits are processed in this operation? */
        enum scan_type type;        /* SCAN_IN/SCAN_OUT/SCAN_IO */
    } scan;
};
 
 
/*
 * The dtc_queue consists of a buffer of pending commands and a reply queue.
 * rlink_scan and tap_state_run add to the command buffer and maybe to the reply queue.
 */
 
static struct {
    struct dtc_reply_queue_entry *rq_head;
    struct dtc_reply_queue_entry *rq_tail;
    uint32_t cmd_index;
    uint32_t reply_index;
    uint8_t cmd_buffer[USB_EP2BANK_SIZE];
} dtc_queue;
 
/*
 * The tap state queue is for accumulating TAP state changes without needlessly
 * flushing the dtc_queue.  When it fills or is run, it adds the accumulated bytes to
 * the dtc_queue.
 */
 
static struct {
    uint32_t length;
    uint32_t buffer;
} tap_state_queue;
 
static int dtc_queue_init(void)
{
    dtc_queue.rq_head = NULL;
    dtc_queue.rq_tail = NULL;
    dtc_queue.cmd_index = 0;
    dtc_queue.reply_index = 0;
    return 0;
}
 
static inline struct dtc_reply_queue_entry *dtc_queue_enqueue_reply(
    enum scan_type type, uint8_t *buffer, int size, int offset,
    int length, struct jtag_command *cmd)
{
    struct dtc_reply_queue_entry *rq_entry;
 
    rq_entry = malloc(sizeof(struct dtc_reply_queue_entry));
    if (rq_entry) {
        rq_entry->scan.type = type;
        rq_entry->scan.buffer = buffer;
        rq_entry->scan.size = size;
        rq_entry->scan.offset = offset;
        rq_entry->scan.length = length;
        rq_entry->cmd = cmd;
        rq_entry->next = NULL;
 
        if (!dtc_queue.rq_head)
            dtc_queue.rq_head = rq_entry;
        else
            dtc_queue.rq_tail->next = rq_entry;
 
        dtc_queue.rq_tail = rq_entry;
    }
 
    return rq_entry;
}
 
/*
 * Running the queue means that any pending command buffer is run
 * and any reply data dealt with.  The command buffer is then cleared for subsequent processing.
 * The queue is automatically run by append when it is necessary to get space for the append.
 */
 
static int dtc_queue_run(void)
{
    struct dtc_reply_queue_entry *rq_p, *rq_next;
    int retval;
    int usb_err;
    int bit_cnt;
    int x;
    uint8_t *dtc_p, *tdo_p;
    uint8_t dtc_mask, tdo_mask;
    uint8_t reply_buffer[USB_EP2IN_SIZE];
 
    assert((!!dtc_queue.rq_head) == (dtc_queue.reply_index > 0));
    assert(dtc_queue.cmd_index < USB_EP2BANK_SIZE);
    assert(dtc_queue.reply_index <= USB_EP2IN_SIZE);
 
    retval = ERROR_OK;
 
    if (dtc_queue.cmd_index < 1)
        return retval;
 
    dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = DTC_CMD_STOP;
 
    usb_err = dtc_run_download(hdev,
            dtc_queue.cmd_buffer, dtc_queue.cmd_index,
            reply_buffer, sizeof(reply_buffer)
            );
    if (usb_err < 0) {
        LOG_ERROR("dtc_run_download: %s", libusb_error_name(usb_err));
        exit(1);
    }
 
    if (dtc_queue.rq_head) {
        /* process the reply, which empties the reply queue and frees its entries */
        dtc_p = reply_buffer;
 
        /* The rigamarole with the masks and doing it bit-by-bit is due to the fact that the
         *scan buffer is LSb-first and the DTC code is MSb-first for hardware reasons.   It
         *was that or craft a function to do the reversal, and that wouldn't work with
         *bit-stuffing (supplying extra bits to use mostly byte operations), or any other
         *scheme which would throw the byte alignment off. */
 
        for (
            rq_p = dtc_queue.rq_head;
            rq_p;
            rq_p = rq_next
            ) {
            tdo_p = rq_p->scan.buffer + (rq_p->scan.offset / 8);
            tdo_mask = 1 << (rq_p->scan.offset % 8);
 
 
            bit_cnt = rq_p->scan.length;
            if (bit_cnt >= 8) {
                /* bytes */
 
                dtc_mask = 1 << (8 - 1);
 
                for (
                    ;
                    bit_cnt;
                    bit_cnt--
                    ) {
                    if (*dtc_p & dtc_mask)
                        *tdo_p |= tdo_mask;
                    else
                        *tdo_p &= ~tdo_mask;
 
                    dtc_mask >>= 1;
                    if (dtc_mask == 0) {
                        dtc_p++;
                        dtc_mask = 1 << (8 - 1);
                    }
 
                    tdo_mask <<= 1;
                    if (tdo_mask == 0) {
                        tdo_p++;
                        tdo_mask = 1;
                    }
                }
            } else {
                /*  extra bits or last bit */
 
                x = *dtc_p++;
                if ((rq_p->scan.type == SCAN_IN) && (
                        rq_p->scan.offset != rq_p->scan.size - 1
                    )) {
                    /* extra bits were sent as a full byte with padding on the
                     *end */
                    dtc_mask = 1 << (8 - 1);
                } else
                    dtc_mask = 1 << (bit_cnt - 1);
 
                for (
                    ;
                    bit_cnt;
                    bit_cnt--
                    ) {
                    if (x & dtc_mask)
                        *tdo_p |= tdo_mask;
                    else
                        *tdo_p &= ~tdo_mask;
 
                    dtc_mask >>= 1;
 
                    tdo_mask <<= 1;
                    if (tdo_mask == 0) {
                        tdo_p++;
                        tdo_mask = 1;
                    }
 
                }
            }
 
            if ((rq_p->scan.offset + rq_p->scan.length) >= rq_p->scan.size) {
                /* feed scan buffer back into openocd and free it */
                if (jtag_read_buffer(rq_p->scan.buffer,
                        rq_p->cmd->cmd.scan) != ERROR_OK)
                    retval = ERROR_JTAG_QUEUE_FAILED;
                free(rq_p->scan.buffer);
            }
 
            rq_next = rq_p->next;
            free(rq_p);
        }
        dtc_queue.rq_head = NULL;
        dtc_queue.rq_tail = NULL;
    }
 
    /* reset state for new appends */
    dtc_queue.cmd_index = 0;
    dtc_queue.reply_index = 0;
 
    return retval;
}
 
/* runs the queue if it cannot take reserved_cmd bytes of command data
 * or reserved_reply bytes of reply data */
static int dtc_queue_run_if_full(int reserved_cmd, int reserved_reply)
{
    /* reserve one additional byte for the STOP cmd appended during run */
    if (dtc_queue.cmd_index + reserved_cmd + 1 > USB_EP2BANK_SIZE)
        return dtc_queue_run();
 
    if (dtc_queue.reply_index + reserved_reply > USB_EP2IN_SIZE)
        return dtc_queue_run();
 
    return ERROR_OK;
}
 
static int tap_state_queue_init(void)
{
    tap_state_queue.length = 0;
    tap_state_queue.buffer = 0;
    return 0;
}
 
static int tap_state_queue_run(void)
{
    int i;
    int bits;
    uint8_t byte_param;
    int retval;
 
    retval = 0;
    if (!tap_state_queue.length)
        return retval;
    bits = 1;
    byte_param = 0;
    for (i = tap_state_queue.length; i--; ) {
 
        byte_param <<= 1;
        if (tap_state_queue.buffer & 1)
            byte_param |= 1;
        if ((bits >= 8) || !i) {
            byte_param <<= (8 - bits);
 
            /* make sure there's room for two cmd bytes */
            dtc_queue_run_if_full(2, 0);
 
#ifdef USE_HARDWARE_SHIFTER_FOR_TMS
            if (bits == 8) {
                dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
                    DTC_CMD_SHIFT_TMS_BYTES(1);
            } else {
#endif
            dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
                DTC_CMD_SHIFT_TMS_BITS(bits);
#ifdef USE_HARDWARE_SHIFTER_FOR_TMS
        }
#endif
 
            dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
                byte_param;
 
            byte_param = 0;
            bits = 1;
        } else
            bits++;
 
        tap_state_queue.buffer >>= 1;
    }
    return tap_state_queue_init();
}
 
static int tap_state_queue_append(uint8_t tms)
{
    int retval;
 
    if (tap_state_queue.length >= sizeof(tap_state_queue.buffer) * 8) {
        retval = tap_state_queue_run();
        if (retval != 0)
            return retval;
    }
 
    if (tms)
        tap_state_queue.buffer |= (1 << tap_state_queue.length);
    tap_state_queue.length++;
 
    return 0;
}
 
static void rlink_end_state(enum tap_state state)
{
    if (tap_is_state_stable(state))
        tap_set_end_state(state);
    else {
        LOG_ERROR("BUG: %i is not a valid end state", state);
        exit(-1);
    }
}
 
static void rlink_state_move(void)
{
 
    int i = 0, tms = 0;
    uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
    int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 
    for (i = 0; i < tms_count; i++) {
        tms = (tms_scan >> i) & 1;
        tap_state_queue_append(tms);
    }
 
    tap_set_state(tap_get_end_state());
}
 
static void rlink_path_move(struct pathmove_command *cmd)
{
    unsigned int num_states = cmd->num_states;
    int state_count;
    int tms = 0;
 
    state_count = 0;
    while (num_states) {
        if (tap_state_transition(tap_get_state(), false) == cmd->path[state_count])
            tms = 0;
        else if (tap_state_transition(tap_get_state(), true) == cmd->path[state_count])
            tms = 1;
        else {
            LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
                tap_state_name(tap_get_state()),
                tap_state_name(cmd->path[state_count]));
            exit(-1);
        }
 
        tap_state_queue_append(tms);
 
        tap_set_state(cmd->path[state_count]);
        state_count++;
        num_states--;
    }
 
    tap_set_end_state(tap_get_state());
}
 
static void rlink_runtest(unsigned int num_cycles)
{
    enum tap_state saved_end_state = tap_get_end_state();
 
    /* only do a state_move when we're not already in RTI */
    if (tap_get_state() != TAP_IDLE) {
        rlink_end_state(TAP_IDLE);
        rlink_state_move();
    }
 
    /* execute num_cycles */
    for (unsigned int i = 0; i < num_cycles; i++)
        tap_state_queue_append(0);
 
    /* finish in end_state */
    rlink_end_state(saved_end_state);
    if (tap_get_state() != tap_get_end_state())
        rlink_state_move();
}
 
/* (1) assert or (0) deassert reset lines */
static void rlink_reset(int trst, int srst)
{
    uint8_t bitmap;
    int usb_err;
    int transferred;
 
    /* Read port A for bit op */
    usb_err = ep1_generic_commandl(
            hdev, 4,
            EP1_CMD_MEMORY_READ,
            ST7_PADR >> 8,
            ST7_PADR,
            1
            );
    if (usb_err < 0) {
        LOG_ERROR("%s", libusb_error_name(usb_err));
        exit(1);
    }
 
    usb_err = jtag_libusb_bulk_read(
            hdev, USB_EP1IN_ADDR,
            (char *)&bitmap, 1,
            LIBUSB_TIMEOUT_MS,
            &transferred
            );
    if (usb_err != ERROR_OK || transferred < 1) {
        LOG_ERROR("%s", libusb_error_name(usb_err));
        exit(1);
    }
 
    if (trst)
        bitmap &= ~ST7_PA_NTRST;
    else
        bitmap |= ST7_PA_NTRST;
 
    /* Write port A and read port B for bit op
     * port B has no OR, and we want to emulate open drain on NSRST, so we initialize DR to 0
     *and assert NSRST by setting DDR to 1. */
    usb_err = ep1_generic_commandl(
            hdev, 9,
            EP1_CMD_MEMORY_WRITE,
            ST7_PADR >> 8,
            ST7_PADR,
            1,
            bitmap,
            EP1_CMD_MEMORY_READ,
            ST7_PBDDR >> 8,
            ST7_PBDDR,
            1
            );
    if (usb_err < 0) {
        LOG_ERROR("%s", libusb_error_name(usb_err));
        exit(1);
    }
 
    usb_err = jtag_libusb_bulk_read(
            hdev, USB_EP1IN_ADDR,
            (char *)&bitmap, 1,
            LIBUSB_TIMEOUT_MS,
            &transferred
            );
    if (usb_err != ERROR_OK || transferred < 1) {
        LOG_ERROR("%s", libusb_error_name(usb_err));
        exit(1);
    }
 
    if (srst)
        bitmap |= ST7_PB_NSRST;
    else
        bitmap &= ~ST7_PB_NSRST;
 
    /* write port B and read dummy to ensure completion before returning */
    usb_err = ep1_generic_commandl(
            hdev, 6,
            EP1_CMD_MEMORY_WRITE,
            ST7_PBDDR >> 8,
            ST7_PBDDR,
            1,
            bitmap,
            EP1_CMD_DTC_GET_CACHED_STATUS
            );
    if (usb_err < 0) {
        LOG_ERROR("%s", libusb_error_name(usb_err));
        exit(1);
    }
 
    usb_err = jtag_libusb_bulk_read(
            hdev, USB_EP1IN_ADDR,
            (char *)&bitmap, 1,
            LIBUSB_TIMEOUT_MS,
            &transferred
            );
    if (usb_err != ERROR_OK || transferred < 1) {
        LOG_ERROR("%s", libusb_error_name(usb_err));
        exit(1);
    }
}
 
static int rlink_scan(struct jtag_command *cmd, enum scan_type type,
        uint8_t *buffer, int scan_size)
{
    bool ir_scan;
    enum tap_state saved_end_state;
    int byte_bits;
    int extra_bits;
    int chunk_bits;
    int chunk_bytes;
    int x;
 
    int tdi_bit_offset;
    uint8_t tdi_mask, *tdi_p;
    uint8_t dtc_mask;
 
    if (scan_size < 1) {
        LOG_ERROR("scan_size cannot be less than 1 bit");
        exit(1);
    }
 
    ir_scan = cmd->cmd.scan->ir_scan;
 
    /* Move to the proper state before starting to shift TDI/TDO. */
    if (!((!ir_scan && (tap_get_state() == TAP_DRSHIFT)) ||
            (ir_scan && (tap_get_state() == TAP_IRSHIFT)))) {
        saved_end_state = tap_get_end_state();
        rlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
        rlink_state_move();
        rlink_end_state(saved_end_state);
    }
 
    tap_state_queue_run();
 
 
#if 0
    printf("scan_size = %d, type = 0x%x\n", scan_size, type);
    {
        int i;
 
        /* clear unused bits in scan buffer for ease of debugging
         * (it makes diffing output easier) */
        buffer[scan_size / 8] &= ((1 << ((scan_size - 1) % 8) + 1) - 1);
 
        printf("before scan:");
        for (i = 0; i < (scan_size + 7) / 8; i++)
            printf(" %02x", buffer[i]);
        printf("\n");
    }
#endif
 
    /* The number of bits that can be shifted as complete bytes */
    byte_bits = (int)(scan_size - 1) / 8 * 8;
    /* The number of bits left over, not counting the last bit */
    extra_bits = (scan_size - 1) - byte_bits;
 
    tdi_bit_offset = 0;
    tdi_p = buffer;
    tdi_mask = 1;
 
    if (extra_bits && (type == SCAN_OUT)) {
        /* Schedule any extra bits into the DTC command buffer, padding as needed
         * For SCAN_OUT, this comes before the full bytes so the (leading) padding bits will
         *fall off the end */
 
        /* make sure there's room for two cmd bytes */
        dtc_queue_run_if_full(2, 0);
 
        x = 0;
        dtc_mask = 1 << (extra_bits - 1);
 
        while (extra_bits--) {
            if (*tdi_p & tdi_mask)
                x |= dtc_mask;
 
            dtc_mask >>= 1;
 
            tdi_mask <<= 1;
            if (tdi_mask == 0) {
                tdi_p++;
                tdi_mask = 1;
            }
        }
 
        dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
            DTC_CMD_SHIFT_TDI_BYTES(1);
 
        dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
    }
 
    /* Loop scheduling full bytes into the DTC command buffer */
    while (byte_bits) {
        /* make sure there's room for one (for in scans) or two cmd bytes and
         * at least one reply byte for in or inout scans*/
        dtc_queue_run_if_full(type == SCAN_IN ? 1 : 2, type != SCAN_OUT ? 1 : 0);
 
        chunk_bits = byte_bits;
        /* we can only use up to 16 bytes at a time */
        if (chunk_bits > (16 * 8))
            chunk_bits = (16 * 8);
 
        if (type != SCAN_IN) {
            /* how much is there room for, considering stop and byte op? */
            x = (sizeof(dtc_queue.cmd_buffer) - (dtc_queue.cmd_index + 1 + 1)) * 8;
            if (chunk_bits > x)
                chunk_bits = x;
        }
 
        if (type != SCAN_OUT) {
            /* how much is there room for in the reply buffer? */
            x = (USB_EP2IN_SIZE - dtc_queue.reply_index) * 8;
            if (chunk_bits > x)
                chunk_bits = x;
        }
 
        /* so the loop will end */
        byte_bits -= chunk_bits;
 
        if (type != SCAN_OUT) {
            if (!dtc_queue_enqueue_reply(type, buffer, scan_size, tdi_bit_offset,
                    chunk_bits, cmd)) {
                LOG_ERROR("enqueuing DTC reply entry: %s", strerror(errno));
                exit(1);
            }
            dtc_queue.reply_index += (chunk_bits + 7) / 8;
 
            tdi_bit_offset += chunk_bits;
        }
 
        /* chunk_bits is a multiple of 8, so there are no rounding issues. */
        chunk_bytes = chunk_bits / 8;
 
        switch (type) {
        case SCAN_IN:
            x = DTC_CMD_SHIFT_TDO_BYTES(chunk_bytes);
            break;
        case SCAN_OUT:
            x = DTC_CMD_SHIFT_TDI_BYTES(chunk_bytes);
            break;
        default:
            x = DTC_CMD_SHIFT_TDIO_BYTES(chunk_bytes);
            break;
        }
        dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
 
        if (type != SCAN_IN) {
            x = 0;
            dtc_mask = 1 << (8 - 1);
 
            while (chunk_bits--) {
                if (*tdi_p & tdi_mask)
                    x |= dtc_mask;
 
                dtc_mask >>= 1;
                if (dtc_mask == 0) {
                    dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
                    x = 0;
                    dtc_mask = 1 << (8 - 1);
                }
 
                tdi_mask <<= 1;
                if (tdi_mask == 0) {
                    tdi_p++;
                    tdi_mask = 1;
                }
            }
        }
    }
 
    if (extra_bits && (type != SCAN_OUT)) {
        /* Schedule any extra bits into the DTC command buffer */
 
        /* make sure there's room for one (for in scans) or two cmd bytes
         * and one reply byte */
        dtc_queue_run_if_full(type == SCAN_IN ? 1 : 2, 1);
 
        if (!dtc_queue_enqueue_reply(type, buffer, scan_size, tdi_bit_offset,
                extra_bits, cmd)) {
            LOG_ERROR("enqueuing DTC reply entry: %s", strerror(errno));
            exit(1);
        }
 
        dtc_queue.reply_index++;
 
        tdi_bit_offset += extra_bits;
 
        if (type == SCAN_IN) {
            dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
                DTC_CMD_SHIFT_TDO_BYTES(1);
 
        } else {
            dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
                DTC_CMD_SHIFT_TDIO_BITS(extra_bits);
 
            x = 0;
            dtc_mask = 1 << (8 - 1);
 
            while (extra_bits--) {
                if (*tdi_p & tdi_mask)
                    x |= dtc_mask;
 
                dtc_mask >>= 1;
 
                tdi_mask <<= 1;
                if (tdi_mask == 0) {
                    tdi_p++;
                    tdi_mask = 1;
                }
            }
 
            dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
        }
    }
 
    /* Schedule the last bit into the DTC command buffer */
 
    /* make sure there's room for one cmd byte and one reply byte
     * for in or inout scans*/
    dtc_queue_run_if_full(1, type == SCAN_OUT ? 0 : 1);
 
    if (type == SCAN_OUT) {
        dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
            DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 0);
 
    } else {
        if (!dtc_queue_enqueue_reply(type, buffer, scan_size, tdi_bit_offset,
                1, cmd)) {
            LOG_ERROR("enqueuing DTC reply entry: %s", strerror(errno));
            exit(1);
        }
 
        dtc_queue.reply_index++;
 
        dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
            DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 1);
    }
 
    /* Move to pause state */
    tap_state_queue_append(0);
    tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
    if (tap_get_state() != tap_get_end_state())
        rlink_state_move();
 
    return 0;
}
 
static int rlink_execute_queue(struct jtag_command *cmd_queue)
{
    struct jtag_command *cmd = cmd_queue;   /* currently processed command */
    int scan_size;
    enum scan_type type;
    uint8_t *buffer;
    int retval, tmp_retval;
 
    /* return ERROR_OK, unless something goes wrong */
    retval = ERROR_OK;
 
#ifndef AUTOMATIC_BUSY_LED
    /* turn LED on */
    ep1_generic_commandl(hdev, 2,
        EP1_CMD_SET_PORTD_LEDS,
        ~(ST7_PD_NBUSY_LED)
        );
#endif
 
    while (cmd) {
        switch (cmd->type) {
        case JTAG_RUNTEST:
        case JTAG_TLR_RESET:
        case JTAG_PATHMOVE:
        case JTAG_SCAN:
            break;
 
        default:
            /* some events, such as resets, need a queue flush to ensure
             *consistency */
            tap_state_queue_run();
            dtc_queue_run();
            break;
        }
 
        switch (cmd->type) {
        case JTAG_RESET:
            LOG_DEBUG_IO("reset trst: %i srst %i",
                    cmd->cmd.reset->trst,
                    cmd->cmd.reset->srst);
            if (cmd->cmd.reset->trst == 1 ||
                    (cmd->cmd.reset->srst &&
                            (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
                tap_set_state(TAP_RESET);
            rlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
            break;
        case JTAG_RUNTEST:
            LOG_DEBUG_IO("runtest %i cycles, end in %i",
                    cmd->cmd.runtest->num_cycles,
                    cmd->cmd.runtest->end_state);
            if (cmd->cmd.runtest->end_state != -1)
                rlink_end_state(cmd->cmd.runtest->end_state);
            rlink_runtest(cmd->cmd.runtest->num_cycles);
            break;
        case JTAG_TLR_RESET:
            LOG_DEBUG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
            if (cmd->cmd.statemove->end_state != -1)
                rlink_end_state(cmd->cmd.statemove->end_state);
            rlink_state_move();
            break;
        case JTAG_PATHMOVE:
            LOG_DEBUG_IO("pathmove: %u states, end in %i",
                    cmd->cmd.pathmove->num_states,
                    cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
            rlink_path_move(cmd->cmd.pathmove);
            break;
        case JTAG_SCAN:
            LOG_DEBUG_IO("%s scan end in %i",
                    (cmd->cmd.scan->ir_scan) ? "IR" : "DR",
                            cmd->cmd.scan->end_state);
            if (cmd->cmd.scan->end_state != -1)
                rlink_end_state(cmd->cmd.scan->end_state);
            scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
            type = jtag_scan_type(cmd->cmd.scan);
            if (rlink_scan(cmd, type, buffer, scan_size) != ERROR_OK)
                retval = ERROR_FAIL;
            break;
        case JTAG_SLEEP:
            LOG_DEBUG_IO("sleep %" PRIu32, cmd->cmd.sleep->us);
            jtag_sleep(cmd->cmd.sleep->us);
            break;
        default:
            LOG_ERROR("BUG: unknown JTAG command type encountered");
            exit(-1);
        }
        cmd = cmd->next;
    }
 
    /* Flush the DTC queue to make sure any pending reads have been done before exiting this
     *function */
    tap_state_queue_run();
    tmp_retval = dtc_queue_run();
    if (tmp_retval != ERROR_OK)
        retval = tmp_retval;
 
#ifndef AUTOMATIC_BUSY_LED
    /* turn LED off */
    ep1_generic_commandl(hdev, 2,
        EP1_CMD_SET_PORTD_LEDS,
        ~0
        );
#endif
 
    return retval;
}
 
/* Using an unindexed table because it is infrequently accessed and it is short.  The table must be
 *in order of ascending speed (and descending prescaler), as it is scanned in reverse. */
 
static int rlink_speed(int speed)
{
    int i;
 
    if (speed == 0) {
        /* fastest speed */
        speed = rlink_speed_table[rlink_speed_table_size - 1].prescaler;
    }
 
    for (i = rlink_speed_table_size; i--; ) {
        if (rlink_speed_table[i].prescaler == speed) {
            if (dtc_load_from_buffer(hdev, rlink_speed_table[i].dtc,
                    rlink_speed_table[i].dtc_size) != 0) {
                LOG_ERROR(
                    "An error occurred while trying to load DTC code for speed \"%d\".",
                    speed);
                exit(1);
            }
 
            int ret = dtc_start_download();
            if (ret < 0) {
                LOG_ERROR("starting DTC: %s", libusb_error_name(ret));
                exit(1);
            }
 
            return ERROR_OK;
        }
    }
 
    LOG_ERROR("%d is not a supported speed", speed);
    return ERROR_FAIL;
}
 
static int rlink_speed_div(int speed, int *khz)
{
    int i;
 
    for (i = rlink_speed_table_size; i--; ) {
        if (rlink_speed_table[i].prescaler == speed) {
            *khz = rlink_speed_table[i].khz;
            return ERROR_OK;
        }
    }
 
    LOG_ERROR("%d is not a supported speed", speed);
    return ERROR_FAIL;
}
 
static int rlink_khz(int khz, int *speed)
{
    int i;
 
    if (khz == 0) {
        LOG_ERROR("RCLK not supported");
        return ERROR_FAIL;
    }
 
    for (i = rlink_speed_table_size; i--; ) {
        if (rlink_speed_table[i].khz <= khz) {
            *speed = rlink_speed_table[i].prescaler;
            return ERROR_OK;
        }
    }
 
    LOG_WARNING("The lowest supported JTAG speed is %d KHz", rlink_speed_table[0].khz);
    *speed = rlink_speed_table[0].prescaler;
    return ERROR_OK;
}
 
static int rlink_init(void)
{
    int i, j, retries;
    uint8_t reply_buffer[USB_EP1IN_SIZE];
    int transferred;
 
    const uint16_t vids[] = { USB_IDVENDOR, 0 };
    const uint16_t pids[] = { USB_IDPRODUCT, 0 };
    if (jtag_libusb_open(vids, pids, NULL, &hdev, NULL) != ERROR_OK)
        return ERROR_FAIL;
 
    struct libusb_device_descriptor descriptor;
    struct libusb_device *usb_dev = libusb_get_device(hdev);
    int r = libusb_get_device_descriptor(usb_dev, &descriptor);
    if (r < 0) {
        LOG_ERROR("error %d getting device descriptor", r);
        return ERROR_FAIL;
    }
 
    if (descriptor.bNumConfigurations > 1) {
        LOG_ERROR("Whoops! NumConfigurations is not 1, don't know what to do...");
        return ERROR_FAIL;
    }
    struct libusb_config_descriptor *config;
    libusb_get_config_descriptor(usb_dev, 0, &config);
    if (config->bNumInterfaces > 1) {
        LOG_ERROR("Whoops! NumInterfaces is not 1, don't know what to do...");
        return ERROR_FAIL;
    }
 
    LOG_DEBUG("Opened device, hdev = %p", hdev);
 
    /* usb_set_configuration required under win32 */
    libusb_set_configuration(hdev, config->bConfigurationValue);
 
    retries = 3;
    do {
        i = libusb_claim_interface(hdev, 0);
        if (i != LIBUSB_SUCCESS) {
            LOG_ERROR("usb_claim_interface: %s", libusb_error_name(i));
            j = libusb_detach_kernel_driver(hdev, 0);
            if (j != LIBUSB_SUCCESS)
                LOG_ERROR("detach kernel driver: %s", libusb_error_name(j));
        } else {
            LOG_DEBUG("interface claimed!");
            break;
        }
    } while (--retries);
 
    if (i != LIBUSB_SUCCESS) {
        LOG_ERROR("Initialisation failed.");
        return ERROR_FAIL;
    }
    if (libusb_set_interface_alt_setting(hdev, 0, 0) != LIBUSB_SUCCESS) {
        LOG_ERROR("Failed to set interface.");
        return ERROR_FAIL;
    }
 
    /* The device starts out in an unknown state on open.  As such,
     * result reads time out, and it's not even known whether the
     * command was accepted.  So, for this first command, we issue
     * it repeatedly until its response doesn't time out.  Also, if
     * sending a command is going to time out, we find that out here.
     *
     * It must be possible to open the device in such a way that
     * this special magic isn't needed, but, so far, it escapes us.
     */
    for (i = 0; i < 5; i++) {
        j = ep1_generic_commandl(
                hdev, 1,
                EP1_CMD_GET_FWREV
                );
        if (j < USB_EP1OUT_SIZE) {
            LOG_ERROR("USB write error: %s", libusb_error_name(j));
            return ERROR_FAIL;
        }
        j = jtag_libusb_bulk_read(
                hdev, USB_EP1IN_ADDR,
                (char *)reply_buffer, sizeof(reply_buffer),
                200,
                &transferred
                );
        if (j != LIBUSB_ERROR_TIMEOUT)
            break;
    }
 
    if (j != ERROR_OK || transferred != (int)sizeof(reply_buffer)) {
        LOG_ERROR("USB read error: %s", libusb_error_name(j));
        return ERROR_FAIL;
    }
    LOG_DEBUG(INTERFACE_NAME " firmware version: %d.%d.%d",
        reply_buffer[0],
        reply_buffer[1],
        reply_buffer[2]);
 
    if ((reply_buffer[0] != 0) || (reply_buffer[1] != 0) || (reply_buffer[2] != 3))
        LOG_WARNING(
            "The rlink device is not of the version that the developers have played with.  It may or may not work.");
 
    /* Probe port E for adapter presence */
    ep1_generic_commandl(
        hdev, 16,
        EP1_CMD_MEMORY_WRITE,       /* Drive sense pin with 0 */
        ST7_PEDR >> 8,
        ST7_PEDR,
        3,
        0x00,                           /* DR */
        ST7_PE_ADAPTER_SENSE_OUT,       /* DDR */
        ST7_PE_ADAPTER_SENSE_OUT,       /* OR */
        EP1_CMD_MEMORY_READ,        /* Read back */
        ST7_PEDR >> 8,
        ST7_PEDR,
        1,
        EP1_CMD_MEMORY_WRITE,       /* Drive sense pin with 1 */
        ST7_PEDR >> 8,
        ST7_PEDR,
        1,
        ST7_PE_ADAPTER_SENSE_OUT
        );
 
    jtag_libusb_bulk_read(
        hdev, USB_EP1IN_ADDR,
        (char *)reply_buffer, 1,
        LIBUSB_TIMEOUT_MS,
        &transferred
        );
 
    if ((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) != 0)
        LOG_WARNING("target detection problem");
 
    ep1_generic_commandl(
        hdev, 11,
        EP1_CMD_MEMORY_READ,        /* Read back */
        ST7_PEDR >> 8,
        ST7_PEDR,
        1,
        EP1_CMD_MEMORY_WRITE,       /* float port E */
        ST7_PEDR >> 8,
        ST7_PEDR,
        3,
        0x00,       /* DR */
        0x00,       /* DDR */
        0x00        /* OR */
        );
 
    jtag_libusb_bulk_read(
        hdev, USB_EP1IN_ADDR,
        (char *)reply_buffer, 1,
        LIBUSB_TIMEOUT_MS,
        &transferred
        );
 
 
    if ((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) == 0)
        LOG_WARNING("target not plugged in");
 
    /* float ports A and B */
    ep1_generic_commandl(
        hdev, 11,
        EP1_CMD_MEMORY_WRITE,
        ST7_PADDR >> 8,
        ST7_PADDR,
        2,
        0x00,
        0x00,
        EP1_CMD_MEMORY_WRITE,
        ST7_PBDDR >> 8,
        ST7_PBDDR,
        1,
        0x00
        );
 
    /* make sure DTC is stopped, set VPP control, set up ports A and B */
    ep1_generic_commandl(
        hdev, 14,
        EP1_CMD_DTC_STOP,
        EP1_CMD_SET_PORTD_VPP,
        ~(ST7_PD_VPP_SHDN),
        EP1_CMD_MEMORY_WRITE,
        ST7_PADR >> 8,
        ST7_PADR,
        2,
        ((~(0)) & (ST7_PA_NTRST)),
        (ST7_PA_NTRST),
        /* port B has no OR, and we want to emulate open drain on NSRST, so we set DR to 0
         *here and later assert NSRST by setting DDR bit to 1. */
        EP1_CMD_MEMORY_WRITE,
        ST7_PBDR >> 8,
        ST7_PBDR,
        1,
        0x00
        );
 
    /* set LED updating mode and make sure they're unlit */
    ep1_generic_commandl(
        hdev, 3,
#ifdef AUTOMATIC_BUSY_LED
        EP1_CMD_LEDUE_BUSY,
#else
        EP1_CMD_LEDUE_NONE,
#endif
        EP1_CMD_SET_PORTD_LEDS,
        ~0
        );
 
    tap_state_queue_init();
    dtc_queue_init();
    rlink_reset(0, 0);
 
    return ERROR_OK;
}
 
static int rlink_quit(void)
{
    /* stop DTC and make sure LEDs are off */
    ep1_generic_commandl(
        hdev, 6,
        EP1_CMD_DTC_STOP,
        EP1_CMD_LEDUE_NONE,
        EP1_CMD_SET_PORTD_LEDS,
        ~0,
        EP1_CMD_SET_PORTD_VPP,
        ~0
        );
 
    libusb_release_interface(hdev, 0);
    libusb_close(hdev);
 
    return ERROR_OK;
}
 
static struct jtag_interface rlink_interface = {
    .execute_queue = rlink_execute_queue,
};
 
struct adapter_driver rlink_adapter_driver = {
    .name = "rlink",
    .transport_ids = TRANSPORT_JTAG,
    .transport_preferred_id = TRANSPORT_JTAG,
 
    .init = rlink_init,
    .quit = rlink_quit,
    .speed = rlink_speed,
    .khz = rlink_khz,
    .speed_div = rlink_speed_div,
 
    .jtag_ops = &rlink_interface,
};