1 /***************************************************************************
2 * Copyright (C) 2005 by Dominic Rath *
3 * Dominic.Rath@gmx.de *
5 * Copyright (C) 2007,2008 Øyvind Harboe *
6 * oyvind.harboe@zylin.com *
8 * Copyright (C) 2008 Rob Brown, Lou Deluxe *
9 * rob@cobbleware.com, lou.openocd012@fixit.nospammail.net *
11 * This program is free software; you can redistribute it and/or modify *
12 * it under the terms of the GNU General Public License as published by *
13 * the Free Software Foundation; either version 2 of the License, or *
14 * (at your option) any later version. *
16 * This program is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
19 * GNU General Public License for more details. *
21 * You should have received a copy of the GNU General Public License *
22 * along with this program; if not, write to the *
23 * Free Software Foundation, Inc., *
24 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
25 ***************************************************************************/
30 /* project specific includes */
31 #include <jtag/interface.h>
32 #include <jtag/commands.h>
34 #include "rlink_st7.h"
35 #include "rlink_ep1_cmd.h"
36 #include "rlink_dtc_cmd.h"
37 #include "usb_common.h"
40 /* 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. */
41 #undef AUTOMATIC_BUSY_LED
43 /* This feature may require derating the speed due to reduced hold time. */
44 #undef USE_HARDWARE_SHIFTER_FOR_TMS
47 #define INTERFACE_NAME "RLink"
49 #define USB_IDVENDOR (0x138e)
50 #define USB_IDPRODUCT (0x9000)
52 #define USB_EP1OUT_ADDR (0x01)
53 #define USB_EP1OUT_SIZE (16)
54 #define USB_EP1IN_ADDR (USB_EP1OUT_ADDR | 0x80)
55 #define USB_EP1IN_SIZE (USB_EP1OUT_SIZE)
57 #define USB_EP2OUT_ADDR (0x02)
58 #define USB_EP2OUT_SIZE (64)
59 #define USB_EP2IN_ADDR (USB_EP2OUT_ADDR | 0x80)
60 #define USB_EP2IN_SIZE (USB_EP2OUT_SIZE)
61 #define USB_EP2BANK_SIZE (512)
63 #define USB_TIMEOUT_MS (3 * 1000)
65 #define DTC_STATUS_POLL_BYTE (ST7_USB_BUF_EP0OUT + 0xff)
68 #define ST7_PD_NBUSY_LED ST7_PD0
69 #define ST7_PD_NRUN_LED ST7_PD1
70 /* low enables VPP at adapter header, high connects it to GND instead */
71 #define ST7_PD_VPP_SEL ST7_PD6
72 /* low: VPP = 12v, high: VPP <= 5v */
73 #define ST7_PD_VPP_SHDN ST7_PD7
75 /* These pins are connected together */
76 #define ST7_PE_ADAPTER_SENSE_IN ST7_PE3
77 #define ST7_PE_ADAPTER_SENSE_OUT ST7_PE4
79 /* Symbolic mapping between port pins and numbered IO lines */
80 #define ST7_PA_IO1 ST7_PA1
81 #define ST7_PA_IO2 ST7_PA2
82 #define ST7_PA_IO4 ST7_PA4
83 #define ST7_PA_IO8 ST7_PA6
84 #define ST7_PA_IO10 ST7_PA7
85 #define ST7_PB_IO5 ST7_PB5
86 #define ST7_PC_IO9 ST7_PC1
87 #define ST7_PC_IO3 ST7_PC2
88 #define ST7_PC_IO7 ST7_PC3
89 #define ST7_PE_IO6 ST7_PE5
91 /* Symbolic mapping between numbered IO lines and adapter signals */
92 #define ST7_PA_RTCK ST7_PA_IO0
93 #define ST7_PA_NTRST ST7_PA_IO1
94 #define ST7_PC_TDI ST7_PC_IO3
95 #define ST7_PA_DBGRQ ST7_PA_IO4
96 #define ST7_PB_NSRST ST7_PB_IO5
97 #define ST7_PE_TMS ST7_PE_IO6
98 #define ST7_PC_TCK ST7_PC_IO7
99 #define ST7_PC_TDO ST7_PC_IO9
100 #define ST7_PA_DBGACK ST7_PA_IO10
102 static usb_dev_handle *pHDev;
106 * ep1 commands are up to USB_EP1OUT_SIZE bytes in length.
107 * This function takes care of zeroing the unused bytes before sending the packet.
108 * Any reply packet is not handled by this function.
112 ep1_generic_commandl(
113 usb_dev_handle *pHDev_param,
117 uint8_t usb_buffer[USB_EP1OUT_SIZE];
118 uint8_t *usb_buffer_p;
122 if (length > sizeof(usb_buffer)) {
123 length = sizeof(usb_buffer);
126 usb_buffer_p = usb_buffer;
128 va_start(ap, length);
130 *usb_buffer_p++ = va_arg(ap, int);
137 sizeof(usb_buffer) - (usb_buffer_p - usb_buffer)
140 usb_ret = usb_bulk_write(
143 (char *)usb_buffer, sizeof(usb_buffer),
156 usb_dev_handle *pHDev,
161 uint8_t usb_buffer[USB_EP1OUT_SIZE];
166 usb_buffer[0] = EP1_CMD_MEMORY_READ;
170 sizeof(usb_buffer) - 4
177 if (remain > sizeof(usb_buffer)) {
178 length = sizeof(usb_buffer);
183 usb_buffer[1] = addr >> 8;
184 usb_buffer[2] = addr;
185 usb_buffer[3] = length;
187 usb_ret = usb_bulk_write(
188 pHDev, USB_EP1OUT_ADDR,
189 usb_buffer, sizeof(usb_buffer),
193 if (usb_ret < sizeof(usb_buffer)) {
197 usb_ret = usb_bulk_read(
198 pHDev, USB_EP1IN_ADDR,
203 if (usb_ret < length) {
222 usb_dev_handle *pHDev_param,
225 uint8_t const *buffer
227 uint8_t usb_buffer[USB_EP1OUT_SIZE];
232 usb_buffer[0] = EP1_CMD_MEMORY_WRITE;
238 if (remain > (sizeof(usb_buffer) - 4)) {
239 length = (sizeof(usb_buffer) - 4);
244 usb_buffer[1] = addr >> 8;
245 usb_buffer[2] = addr;
246 usb_buffer[3] = length;
253 usb_buffer + 4 + length,
255 sizeof(usb_buffer) - 4 - length
258 usb_ret = usb_bulk_write(
259 pHDev_param, USB_EP1OUT_ADDR,
260 (char *)usb_buffer, sizeof(usb_buffer),
264 if ((size_t)usb_ret < sizeof(usb_buffer)) {
282 usb_dev_handle *pHDev,
287 uint8_t buffer[USB_EP1OUT_SIZE - 4];
292 if (length > sizeof(buffer)) {
293 length = sizeof(buffer);
299 va_start(ap, length);
301 *buffer_p++ = va_arg(ap, int);
305 return(ep1_memory_write(pHDev, addr, length, buffer));
310 #define DTCLOAD_COMMENT (0)
311 #define DTCLOAD_ENTRY (1)
312 #define DTCLOAD_LOAD (2)
313 #define DTCLOAD_RUN (3)
314 #define DTCLOAD_LUT_START (4)
315 #define DTCLOAD_LUT (5)
317 #define DTC_LOAD_BUFFER ST7_USB_BUF_EP2UIDO
319 /* This gets set by the DTC loader */
320 static uint8_t dtc_entry_download;
323 /* The buffer is specially formatted to represent a valid image to load into the DTC. */
326 dtc_load_from_buffer(
327 usb_dev_handle *pHDev_param,
328 const uint8_t *buffer,
337 struct header_s *header;
338 uint8_t lut_start = 0xc0;
340 dtc_entry_download = 0;
342 /* Stop the DTC before loading anything. */
343 usb_err = ep1_generic_commandl(
347 if (usb_err < 0) return(usb_err);
350 if (length < sizeof(*header)) {
351 LOG_ERROR("Malformed DTC image");
355 header = (struct header_s *)buffer;
356 buffer += sizeof(*header);
357 length -= sizeof(*header);
359 if (length < (size_t)header->length + 1) {
360 LOG_ERROR("Malformed DTC image");
364 switch (header->type) {
365 case DTCLOAD_COMMENT:
369 /* store entry addresses somewhere */
370 if (!strncmp("download", (char *)buffer + 1, 8)) {
371 dtc_entry_download = buffer[0];
376 /* Send the DTC program to ST7 RAM. */
377 usb_err = ep1_memory_write(
380 header->length + 1, buffer
382 if (usb_err < 0) return(usb_err);
384 /* Load it into the DTC. */
385 usb_err = ep1_generic_commandl(
388 (DTC_LOAD_BUFFER >> 8),
391 if (usb_err < 0) return(usb_err);
396 usb_err = ep1_generic_commandl(
402 if (usb_err < 0) return(usb_err);
406 case DTCLOAD_LUT_START:
407 lut_start = buffer[0];
411 usb_err = ep1_memory_write(
413 ST7_USB_BUF_EP0OUT + lut_start,
414 header->length + 1, buffer
416 if (usb_err < 0) return(usb_err);
420 LOG_ERROR("Invalid DTC image record type: 0x%02x", header->type);
425 buffer += (header->length + 1);
426 length -= (header->length + 1);
434 * Start the DTC running in download mode (waiting for 512 byte command packets on ep2).
438 dtc_start_download(void) {
442 /* set up for download mode and make sure EP2 is set up to transmit */
443 usb_err = ep1_generic_commandl(
448 EP1_CMD_SET_DOWNLOAD,
449 EP1_CMD_MEMORY_READ, /* read EP2TXR for its data toggle */
454 if (usb_err < 0) return(usb_err);
456 /* read back ep2txr */
457 usb_err = usb_bulk_read(
458 pHDev, USB_EP1IN_ADDR,
462 if (usb_err < 0) return(usb_err);
464 usb_err = ep1_generic_commandl(
467 EP1_CMD_MEMORY_WRITE, /* preinitialize poll byte */
468 DTC_STATUS_POLL_BYTE >> 8,
469 DTC_STATUS_POLL_BYTE,
472 EP1_CMD_MEMORY_WRITE, /* set EP2IN to return data */
476 (ep2txr & ST7_EP2TXR_DTOG_TX) | ST7_EP2TXR_STAT_VALID,
477 EP1_CMD_DTC_CALL, /* start running the DTC */
479 EP1_CMD_DTC_GET_CACHED_STATUS
481 if (usb_err < 0) return(usb_err);
483 /* wait for completion */
484 usb_err = usb_bulk_read(
485 pHDev, USB_EP1IN_ADDR,
497 usb_dev_handle *pHDev_param,
498 uint8_t *command_buffer,
499 int command_buffer_size,
500 uint8_t *reply_buffer,
501 int reply_buffer_size
503 uint8_t ep2_buffer[USB_EP2IN_SIZE];
507 LOG_DEBUG("%d/%d", command_buffer_size, reply_buffer_size);
509 usb_err = usb_bulk_write(
512 (char *)command_buffer, USB_EP2BANK_SIZE,
515 if (usb_err < 0) return(usb_err);
518 /* Wait for DTC to finish running command buffer */
520 usb_err = ep1_generic_commandl(
524 DTC_STATUS_POLL_BYTE >> 8,
525 DTC_STATUS_POLL_BYTE,
528 if (usb_err < 0) return(usb_err);
530 usb_err = usb_bulk_read(
533 (char *)ep2_buffer, 1,
536 if (usb_err < 0) return(usb_err);
538 if (ep2_buffer[0] & 0x01) break;
541 LOG_ERROR("too many retries waiting for DTC status");
547 if (!reply_buffer) reply_buffer_size = 0;
548 if (reply_buffer_size) {
549 usb_err = usb_bulk_read(
552 (char *)ep2_buffer, sizeof(ep2_buffer),
556 if (usb_err < (int)sizeof(ep2_buffer)) {
557 LOG_ERROR("Read of endpoint 2 returned %d, expected %d",
558 usb_err, reply_buffer_size
563 memcpy(reply_buffer, ep2_buffer, reply_buffer_size);
572 * 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.
575 struct dtc_reply_queue_entry {
576 struct dtc_reply_queue_entry *next;
577 struct jtag_command *cmd; /* the command that resulted in this entry */
580 uint8_t *buffer; /* the scan buffer */
581 int size; /* size of the scan buffer in bits */
582 int offset; /* how many bits were already done before this? */
583 int length; /* how many bits are processed in this operation? */
584 enum scan_type type; /* SCAN_IN/SCAN_OUT/SCAN_IO */
590 * The dtc_queue consists of a buffer of pending commands and a reply queue.
591 * rlink_scan and tap_state_run add to the command buffer and maybe to the reply queue.
596 struct dtc_reply_queue_entry *rq_head;
597 struct dtc_reply_queue_entry *rq_tail;
599 uint32_t reply_index;
600 uint8_t cmd_buffer[USB_EP2BANK_SIZE];
605 * The tap state queue is for accumulating TAP state changes wiithout needlessly flushing the dtc_queue. When it fills or is run, it adds the accumulated bytes to the dtc_queue.
618 dtc_queue_init(void) {
619 dtc_queue.rq_head = NULL;
620 dtc_queue.rq_tail = NULL;
621 dtc_queue.cmd_index = 0;
622 dtc_queue.reply_index = 0;
629 struct dtc_reply_queue_entry *
630 dtc_queue_enqueue_reply(
636 struct jtag_command *cmd
638 struct dtc_reply_queue_entry *rq_entry;
640 rq_entry = malloc(sizeof(struct dtc_reply_queue_entry));
641 if (rq_entry != NULL) {
642 rq_entry->scan.type = type;
643 rq_entry->scan.buffer = buffer;
644 rq_entry->scan.size = size;
645 rq_entry->scan.offset = offset;
646 rq_entry->scan.length = length;
648 rq_entry->next = NULL;
650 if (dtc_queue.rq_head == NULL)
651 dtc_queue.rq_head = rq_entry;
653 dtc_queue.rq_tail->next = rq_entry;
655 dtc_queue.rq_tail = rq_entry;
663 * 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.
664 * The queue is automatically run by append when it is necessary to get space for the append.
669 dtc_queue_run(void) {
670 struct dtc_reply_queue_entry *rq_p, *rq_next;
675 uint8_t *dtc_p, *tdo_p;
676 uint8_t dtc_mask, tdo_mask;
677 uint8_t reply_buffer[USB_EP2IN_SIZE];
679 assert((dtc_queue.rq_head != 0) == (dtc_queue.reply_index > 0));
680 assert(dtc_queue.cmd_index < USB_EP2BANK_SIZE);
681 assert(dtc_queue.reply_index <= USB_EP2IN_SIZE);
685 if (dtc_queue.cmd_index < 1) return(retval);
687 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = DTC_CMD_STOP;
689 usb_err = dtc_run_download(pHDev,
690 dtc_queue.cmd_buffer, dtc_queue.cmd_index,
691 reply_buffer, dtc_queue.reply_index
694 LOG_ERROR("dtc_run_download: %s", usb_strerror());
698 if (dtc_queue.rq_head != NULL) {
699 /* process the reply, which empties the reply queue and frees its entries */
700 dtc_p = reply_buffer;
702 /* 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. */
705 rq_p = dtc_queue.rq_head;
709 tdo_p = rq_p->scan.buffer + (rq_p->scan.offset / 8);
710 tdo_mask = 1 << (rq_p->scan.offset % 8);
713 bit_cnt = rq_p->scan.length;
717 dtc_mask = 1 << (8 - 1);
724 if (*dtc_p & dtc_mask) {
733 dtc_mask = 1 << (8 - 1);
743 /* extra bits or last bit */
747 rq_p->scan.type == SCAN_IN
749 rq_p->scan.offset != rq_p->scan.size - 1
751 /* extra bits were sent as a full byte with padding on the end */
752 dtc_mask = 1 << (8 - 1);
754 dtc_mask = 1 << (bit_cnt - 1);
779 if ((rq_p->scan.offset + rq_p->scan.length) >= rq_p->scan.size) {
780 /* feed scan buffer back into openocd and free it */
781 if (jtag_read_buffer(rq_p->scan.buffer, rq_p->cmd->cmd.scan) != ERROR_OK) {
782 retval = ERROR_JTAG_QUEUE_FAILED;
784 free(rq_p->scan.buffer);
787 rq_next = rq_p->next;
790 dtc_queue.rq_head = NULL;
791 dtc_queue.rq_tail = NULL;
795 /* reset state for new appends */
796 dtc_queue.cmd_index = 0;
797 dtc_queue.reply_index = 0;
802 /* runs the queue if it cannot take reserved_cmd bytes of command data
803 * or reserved_reply bytes of reply data */
806 dtc_queue_run_if_full(
810 /* reserve one additional byte for the STOP cmd appended during run */
811 if (dtc_queue.cmd_index + reserved_cmd + 1 > USB_EP2BANK_SIZE)
812 return dtc_queue_run();
814 if (dtc_queue.reply_index + reserved_reply > USB_EP2IN_SIZE)
815 return dtc_queue_run();
822 tap_state_queue_init(void) {
823 tap_state_queue.length = 0;
824 tap_state_queue.buffer = 0;
831 tap_state_queue_run(void) {
838 if (!tap_state_queue.length) return(retval);
841 for (i = tap_state_queue.length; i--;) {
844 if (tap_state_queue.buffer & 1) {
847 if ((bits >= 8) || !i) {
848 byte_param <<= (8 - bits);
850 /* make sure there's room for two cmd bytes */
851 dtc_queue_run_if_full(2, 0);
853 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
855 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
856 DTC_CMD_SHIFT_TMS_BYTES(1);
859 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
860 DTC_CMD_SHIFT_TMS_BITS(bits);
861 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
865 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
874 tap_state_queue.buffer >>= 1;
876 retval = tap_state_queue_init();
883 tap_state_queue_append(
888 if (tap_state_queue.length >= sizeof(tap_state_queue.buffer) * 8) {
889 retval = tap_state_queue_run();
890 if (retval != 0) return(retval);
894 tap_state_queue.buffer |= (1 << tap_state_queue.length);
896 tap_state_queue.length++;
903 void rlink_end_state(tap_state_t state)
905 if (tap_is_state_stable(state))
906 tap_set_end_state(state);
909 LOG_ERROR("BUG: %i is not a valid end state", state);
916 void rlink_state_move(void) {
919 uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
920 int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
922 for (i = 0; i < tms_count; i++)
924 tms = (tms_scan >> i) & 1;
925 tap_state_queue_append(tms);
928 tap_set_state(tap_get_end_state());
932 void rlink_path_move(struct pathmove_command *cmd)
934 int num_states = cmd->num_states;
941 if (tap_state_transition(tap_get_state(), false) == cmd->path[state_count])
945 else if (tap_state_transition(tap_get_state(), true) == cmd->path[state_count])
951 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(cmd->path[state_count]));
955 tap_state_queue_append(tms);
957 tap_set_state(cmd->path[state_count]);
962 tap_set_end_state(tap_get_state());
967 void rlink_runtest(int num_cycles)
971 tap_state_t saved_end_state = tap_get_end_state();
973 /* only do a state_move when we're not already in RTI */
974 if (tap_get_state() != TAP_IDLE)
976 rlink_end_state(TAP_IDLE);
980 /* execute num_cycles */
981 for (i = 0; i < num_cycles; i++)
983 tap_state_queue_append(0);
986 /* finish in end_state */
987 rlink_end_state(saved_end_state);
988 if (tap_get_state() != tap_get_end_state())
993 /* (1) assert or (0) deassert reset lines */
995 void rlink_reset(int trst, int srst)
1000 /* Read port A for bit op */
1001 usb_err = ep1_generic_commandl(
1003 EP1_CMD_MEMORY_READ,
1009 LOG_ERROR("%s", usb_strerror());
1013 usb_err = usb_bulk_read(
1014 pHDev, USB_EP1IN_ADDR,
1019 LOG_ERROR("%s", usb_strerror());
1024 bitmap &= ~ST7_PA_NTRST;
1026 bitmap |= ST7_PA_NTRST;
1029 /* Write port A and read port B for bit op */
1030 /* 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. */
1031 usb_err = ep1_generic_commandl(
1033 EP1_CMD_MEMORY_WRITE,
1038 EP1_CMD_MEMORY_READ,
1044 LOG_ERROR("%s", usb_strerror());
1048 usb_err = usb_bulk_read(
1049 pHDev, USB_EP1IN_ADDR,
1054 LOG_ERROR("%s", usb_strerror());
1059 bitmap |= ST7_PB_NSRST;
1061 bitmap &= ~ST7_PB_NSRST;
1064 /* write port B and read dummy to ensure completion before returning */
1065 usb_err = ep1_generic_commandl(
1067 EP1_CMD_MEMORY_WRITE,
1072 EP1_CMD_DTC_GET_CACHED_STATUS
1075 LOG_ERROR("%s", usb_strerror());
1079 usb_err = usb_bulk_read(
1080 pHDev, USB_EP1IN_ADDR,
1085 LOG_ERROR("%s", usb_strerror());
1094 struct jtag_command *cmd,
1095 enum scan_type type,
1100 tap_state_t saved_end_state;
1108 uint8_t tdi_mask, *tdi_p;
1111 if (scan_size < 1) {
1112 LOG_ERROR("scan_size cannot be less than 1 bit");
1116 ir_scan = cmd->cmd.scan->ir_scan;
1118 /* Move to the proper state before starting to shift TDI/TDO. */
1120 (!ir_scan && (tap_get_state() == TAP_DRSHIFT))
1122 (ir_scan && (tap_get_state() == TAP_IRSHIFT))
1124 saved_end_state = tap_get_end_state();
1125 rlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
1127 rlink_end_state(saved_end_state);
1130 tap_state_queue_run();
1134 printf("scan_size = %d, type = 0x%x\n", scan_size, type);
1138 /* clear unused bits in scan buffer for ease of debugging */
1139 /* (it makes diffing output easier) */
1140 buffer[scan_size / 8] &= ((1 << ((scan_size - 1) % 8) + 1) - 1);
1142 printf("before scan:");
1143 for (i = 0; i < (scan_size + 7) / 8; i++) {
1144 printf(" %02x", buffer[i]);
1150 /* The number of bits that can be shifted as complete bytes */
1151 byte_bits = (int)(scan_size - 1) / 8 * 8;
1152 /* The number of bits left over, not counting the last bit */
1153 extra_bits = (scan_size - 1) - byte_bits;
1159 if (extra_bits && (type == SCAN_OUT)) {
1160 /* Schedule any extra bits into the DTC command buffer, padding as needed */
1161 /* For SCAN_OUT, this comes before the full bytes so the (leading) padding bits will fall off the end */
1163 /* make sure there's room for two cmd bytes */
1164 dtc_queue_run_if_full(2, 0);
1167 dtc_mask = 1 << (extra_bits - 1);
1169 while (extra_bits--) {
1170 if (*tdi_p & tdi_mask) {
1177 if (tdi_mask == 0) {
1183 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1184 DTC_CMD_SHIFT_TDI_BYTES(1);
1186 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1189 /* Loop scheduling full bytes into the DTC command buffer */
1191 /* make sure there's room for one (for in scans) or two cmd bytes and
1192 * at least one reply byte for in or inout scans*/
1193 dtc_queue_run_if_full(type == SCAN_IN ? 1 : 2, type != SCAN_OUT ? 1 : 0);
1195 chunk_bits = byte_bits;
1196 /* we can only use up to 16 bytes at a time */
1197 if (chunk_bits > (16 * 8)) chunk_bits = (16 * 8);
1199 if (type != SCAN_IN) {
1200 /* how much is there room for, considering stop and byte op? */
1201 x = (sizeof(dtc_queue.cmd_buffer) - (dtc_queue.cmd_index + 1 + 1)) * 8;
1202 if (chunk_bits > x) chunk_bits = x;
1205 if (type != SCAN_OUT) {
1206 /* how much is there room for in the reply buffer? */
1207 x = (USB_EP2IN_SIZE - dtc_queue.reply_index) * 8;
1208 if (chunk_bits > x) chunk_bits = x;
1211 /* so the loop will end */
1212 byte_bits -= chunk_bits;
1214 if (type != SCAN_OUT) {
1215 if (dtc_queue_enqueue_reply(
1216 type, buffer, scan_size, tdi_bit_offset,
1220 LOG_ERROR("enqueuing DTC reply entry: %s", strerror(errno));
1223 dtc_queue.reply_index += (chunk_bits + 7) / 8;
1225 tdi_bit_offset += chunk_bits;
1228 /* chunk_bits is a multiple of 8, so there are no rounding issues. */
1229 chunk_bytes = chunk_bits / 8;
1233 x = DTC_CMD_SHIFT_TDO_BYTES(chunk_bytes);
1236 x = DTC_CMD_SHIFT_TDI_BYTES(chunk_bytes);
1239 x = DTC_CMD_SHIFT_TDIO_BYTES(chunk_bytes);
1242 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1244 if (type != SCAN_IN) {
1246 dtc_mask = 1 << (8 - 1);
1248 while (chunk_bits--) {
1249 if (*tdi_p & tdi_mask) {
1254 if (dtc_mask == 0) {
1255 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1257 dtc_mask = 1 << (8 - 1);
1261 if (tdi_mask == 0) {
1269 if (extra_bits && (type != SCAN_OUT)) {
1270 /* Schedule any extra bits into the DTC command buffer */
1272 /* make sure there's room for one (for in scans) or two cmd bytes
1273 * and one reply byte */
1274 dtc_queue_run_if_full(type == SCAN_IN ? 1 : 2, 1);
1276 if (dtc_queue_enqueue_reply(
1277 type, buffer, scan_size, tdi_bit_offset,
1281 LOG_ERROR("enqueuing DTC reply entry: %s", strerror(errno));
1285 dtc_queue.reply_index++;
1287 tdi_bit_offset += extra_bits;
1289 if (type == SCAN_IN) {
1290 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1291 DTC_CMD_SHIFT_TDO_BYTES(1);
1294 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1295 DTC_CMD_SHIFT_TDIO_BITS(extra_bits);
1298 dtc_mask = 1 << (8 - 1);
1300 while (extra_bits--) {
1301 if (*tdi_p & tdi_mask) {
1308 if (tdi_mask == 0) {
1314 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1318 /* Schedule the last bit into the DTC command buffer */
1320 /* make sure there's room for one cmd byte and one reply byte
1321 * for in or inout scans*/
1322 dtc_queue_run_if_full(1, type == SCAN_OUT ? 0 : 1);
1324 if (type == SCAN_OUT) {
1325 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1326 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 0);
1329 if (dtc_queue_enqueue_reply(
1330 type, buffer, scan_size, tdi_bit_offset,
1334 LOG_ERROR("enqueuing DTC reply entry: %s", strerror(errno));
1338 dtc_queue.reply_index++;
1340 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1341 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 1);
1344 /* Move to pause state */
1345 tap_state_queue_append(0);
1346 tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
1347 if (tap_get_state() != tap_get_end_state()) rlink_state_move();
1354 int rlink_execute_queue(void)
1356 struct jtag_command *cmd = jtag_command_queue; /* currently processed command */
1358 enum scan_type type;
1360 int retval, tmp_retval;
1362 /* return ERROR_OK, unless something goes wrong */
1365 #ifndef AUTOMATIC_BUSY_LED
1367 ep1_generic_commandl(pHDev, 2,
1368 EP1_CMD_SET_PORTD_LEDS,
1378 case JTAG_TLR_RESET:
1384 /* some events, such as resets, need a queue flush to ensure consistency */
1385 tap_state_queue_run();
1393 #ifdef _DEBUG_JTAG_IO_
1394 LOG_DEBUG("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1396 if ((cmd->cmd.reset->trst == 1) || (cmd->cmd.reset->srst && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
1398 tap_set_state(TAP_RESET);
1400 rlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1403 #ifdef _DEBUG_JTAG_IO_
1404 LOG_DEBUG("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, cmd->cmd.runtest->end_state);
1406 if (cmd->cmd.runtest->end_state != -1)
1407 rlink_end_state(cmd->cmd.runtest->end_state);
1408 rlink_runtest(cmd->cmd.runtest->num_cycles);
1410 case JTAG_TLR_RESET:
1411 #ifdef _DEBUG_JTAG_IO_
1412 LOG_DEBUG("statemove end in %i", cmd->cmd.statemove->end_state);
1414 if (cmd->cmd.statemove->end_state != -1)
1415 rlink_end_state(cmd->cmd.statemove->end_state);
1419 #ifdef _DEBUG_JTAG_IO_
1420 LOG_DEBUG("pathmove: %i states, end in %i", cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1422 rlink_path_move(cmd->cmd.pathmove);
1425 #ifdef _DEBUG_JTAG_IO_
1426 LOG_DEBUG("%s scan end in %i", (cmd->cmd.scan->ir_scan) ? "IR" : "DR", cmd->cmd.scan->end_state);
1428 if (cmd->cmd.scan->end_state != -1)
1429 rlink_end_state(cmd->cmd.scan->end_state);
1430 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
1431 type = jtag_scan_type(cmd->cmd.scan);
1432 if (rlink_scan(cmd, type, buffer, scan_size) != ERROR_OK) {
1433 retval = ERROR_FAIL;
1437 #ifdef _DEBUG_JTAG_IO_
1438 LOG_DEBUG("sleep %i", cmd->cmd.sleep->us);
1440 jtag_sleep(cmd->cmd.sleep->us);
1443 LOG_ERROR("BUG: unknown JTAG command type encountered");
1449 /* Flush the DTC queue to make sure any pending reads have been done before exiting this function */
1450 tap_state_queue_run();
1451 tmp_retval = dtc_queue_run();
1452 if (tmp_retval != ERROR_OK) {
1453 retval = tmp_retval;
1456 #ifndef AUTOMATIC_BUSY_LED
1458 ep1_generic_commandl(pHDev, 2,
1459 EP1_CMD_SET_PORTD_LEDS,
1468 /* 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. */
1471 int rlink_speed(int speed)
1477 speed = rlink_speed_table[rlink_speed_table_size - 1].prescaler;
1480 for (i = rlink_speed_table_size; i--;) {
1481 if (rlink_speed_table[i].prescaler == speed) {
1482 if (dtc_load_from_buffer(pHDev, rlink_speed_table[i].dtc, rlink_speed_table[i].dtc_size) != 0) {
1483 LOG_ERROR("An error occurred while trying to load DTC code for speed \"%d\".", speed);
1487 if (dtc_start_download() < 0) {
1488 LOG_ERROR("starting DTC: %s", usb_strerror());
1496 LOG_ERROR("%d is not a supported speed", speed);
1502 int rlink_speed_div(
1508 for (i = rlink_speed_table_size; i--;) {
1509 if (rlink_speed_table[i].prescaler == speed) {
1510 *khz = rlink_speed_table[i].khz;
1515 LOG_ERROR("%d is not a supported speed", speed);
1528 LOG_ERROR("RCLK not supported");
1532 for (i = rlink_speed_table_size; i--;) {
1533 if (rlink_speed_table[i].khz <= khz) {
1534 *speed = rlink_speed_table[i].prescaler;
1539 LOG_WARNING("The lowest supported JTAG speed is %d KHz", rlink_speed_table[0].khz);
1540 *speed = rlink_speed_table[0].prescaler;
1546 int rlink_init(void)
1549 uint8_t reply_buffer[USB_EP1IN_SIZE];
1552 const uint16_t vids[] = { USB_IDVENDOR, 0 };
1553 const uint16_t pids[] = { USB_IDPRODUCT, 0 };
1554 if (jtag_usb_open(vids, pids, &pHDev) != ERROR_OK)
1557 struct usb_device *dev = usb_device(pHDev);
1558 if (dev->descriptor.bNumConfigurations > 1)
1560 LOG_ERROR("Whoops! NumConfigurations is not 1, don't know what to do...");
1563 if (dev->config->bNumInterfaces > 1)
1565 LOG_ERROR("Whoops! NumInterfaces is not 1, don't know what to do...");
1569 LOG_DEBUG("Opened device, pHDev = %p", pHDev);
1571 /* usb_set_configuration required under win32 */
1572 usb_set_configuration(pHDev, dev->config[0].bConfigurationValue);
1577 i = usb_claim_interface(pHDev,0);
1580 LOG_ERROR("usb_claim_interface: %s", usb_strerror());
1581 #ifdef LIBUSB_HAS_DETACH_KERNEL_DRIVER_NP
1582 j = usb_detach_kernel_driver_np(pHDev, 0);
1584 LOG_ERROR("detach kernel driver: %s", usb_strerror());
1589 LOG_DEBUG("interface claimed!");
1592 } while (--retries);
1596 LOG_ERROR("Initialisation failed.");
1599 if (usb_set_altinterface(pHDev,0) != 0)
1601 LOG_ERROR("Failed to set interface.");
1605 /* The device starts out in an unknown state on open. As such,
1606 * result reads time out, and it's not even known whether the
1607 * command was accepted. So, for this first command, we issue
1608 * it repeatedly until its response doesn't time out. Also, if
1609 * sending a command is going to time out, we find that out here.
1611 * It must be possible to open the device in such a way that
1612 * this special magic isn't needed, but, so far, it escapes us.
1614 for (i = 0; i < 5; i++) {
1615 j = ep1_generic_commandl(
1619 if (j < USB_EP1OUT_SIZE) {
1620 LOG_ERROR("USB write error: %s", usb_strerror());
1624 pHDev, USB_EP1IN_ADDR,
1625 (char *)reply_buffer, sizeof(reply_buffer),
1628 if (j != -ETIMEDOUT) break;
1631 if (j < (int)sizeof(reply_buffer)) {
1632 LOG_ERROR("USB read error: %s", usb_strerror());
1635 LOG_DEBUG(INTERFACE_NAME" firmware version: %d.%d.%d", reply_buffer[0], reply_buffer[1], reply_buffer[2]);
1637 if ((reply_buffer[0] != 0) || (reply_buffer[1] != 0) || (reply_buffer[2] != 3)) {
1638 LOG_WARNING("The rlink device is not of the version that the developers have played with. It may or may not work.");
1641 /* Probe port E for adapter presence */
1642 ep1_generic_commandl(
1644 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 0 */
1649 ST7_PE_ADAPTER_SENSE_OUT, /* DDR */
1650 ST7_PE_ADAPTER_SENSE_OUT, /* OR */
1651 EP1_CMD_MEMORY_READ, /* Read back */
1655 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 1 */
1659 ST7_PE_ADAPTER_SENSE_OUT
1663 pHDev, USB_EP1IN_ADDR,
1664 (char *)reply_buffer, 1,
1668 if ((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) != 0) {
1669 LOG_WARNING("target detection problem");
1672 ep1_generic_commandl(
1674 EP1_CMD_MEMORY_READ, /* Read back */
1678 EP1_CMD_MEMORY_WRITE, /* float port E */
1688 pHDev, USB_EP1IN_ADDR,
1689 (char *)reply_buffer, 1,
1694 if ((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) == 0) {
1695 LOG_WARNING("target not plugged in");
1698 /* float ports A and B */
1699 ep1_generic_commandl(
1701 EP1_CMD_MEMORY_WRITE,
1707 EP1_CMD_MEMORY_WRITE,
1714 /* make sure DTC is stopped, set VPP control, set up ports A and B */
1715 ep1_generic_commandl(
1718 EP1_CMD_SET_PORTD_VPP,
1720 EP1_CMD_MEMORY_WRITE,
1724 ((~(0)) & (ST7_PA_NTRST)),
1726 /* 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. */
1727 EP1_CMD_MEMORY_WRITE,
1734 /* set LED updating mode and make sure they're unlit */
1735 ep1_generic_commandl(
1737 #ifdef AUTOMATIC_BUSY_LED
1742 EP1_CMD_SET_PORTD_LEDS,
1746 tap_state_queue_init();
1755 int rlink_quit(void)
1757 /* stop DTC and make sure LEDs are off */
1758 ep1_generic_commandl(
1762 EP1_CMD_SET_PORTD_LEDS,
1764 EP1_CMD_SET_PORTD_VPP,
1768 usb_release_interface(pHDev,0);
1776 struct jtag_interface rlink_interface =
1781 .speed = rlink_speed,
1782 .speed_div = rlink_speed_div,
1784 .execute_queue = rlink_execute_queue,