1 /***************************************************************************
2 * Copyright (C) 2011-2013 by Martin Schmoelzer *
3 * <martin.schmoelzer@student.tuwien.ac.at> *
5 * This program is free software; you can redistribute it and/or modify *
6 * it under the terms of the GNU General Public License as published by *
7 * the Free Software Foundation; either version 2 of the License, or *
8 * (at your option) any later version. *
10 * This program is distributed in the hope that it will be useful, *
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13 * GNU General Public License for more details. *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program; if not, write to the *
17 * Free Software Foundation, Inc., *
18 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
19 ***************************************************************************/
26 #include <jtag/interface.h>
27 #include <jtag/commands.h>
28 #include <target/image.h>
30 #include "OpenULINK/include/msgtypes.h"
32 /** USB Vendor ID of ULINK device in unconfigured state (no firmware loaded
33 * yet) or with OpenULINK firmware. */
34 #define ULINK_VID 0xC251
36 /** USB Product ID of ULINK device in unconfigured state (no firmware loaded
37 * yet) or with OpenULINK firmware. */
38 #define ULINK_PID 0x2710
40 /** Address of EZ-USB CPU Control & Status register. This register can be
41 * written by issuing a Control EP0 vendor request. */
42 #define CPUCS_REG 0x7F92
44 /** USB Control EP0 bRequest: "Firmware Load". */
45 #define REQUEST_FIRMWARE_LOAD 0xA0
47 /** Value to write into CPUCS to put EZ-USB into reset. */
48 #define CPU_RESET 0x01
50 /** Value to write into CPUCS to put EZ-USB out of reset. */
51 #define CPU_START 0x00
53 /** Base address of firmware in EZ-USB code space. */
54 #define FIRMWARE_ADDR 0x0000
56 /** USB interface number */
57 #define USB_INTERFACE 0
59 /** libusb timeout in ms */
60 #define USB_TIMEOUT 5000
62 /** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
63 #define ULINK_RENUMERATION_DELAY 1500000
65 /** Default location of OpenULINK firmware image. */
66 #define ULINK_FIRMWARE_FILE PKGDATADIR "/OpenULINK/ulink_firmware.hex"
68 /** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
69 #define SECTION_BUFFERSIZE 8192
71 /** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
72 #define SPLIT_SCAN_THRESHOLD 10
74 /** ULINK hardware type */
76 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
77 * Full JTAG support, no SWD support. */
80 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
83 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
86 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
90 enum ulink_payload_direction {
91 PAYLOAD_DIRECTION_OUT,
95 enum ulink_delay_type {
104 * OpenULINK command (OpenULINK command queue element).
106 * For the OUT direction payload, things are quite easy: Payload is stored
107 * in a rather small array (up to 63 bytes), the payload is always allocated
108 * by the function generating the command and freed by ulink_clear_queue().
110 * For the IN direction payload, things get a little bit more complicated:
111 * The maximum IN payload size for a single command is 64 bytes. Assume that
112 * a single OpenOCD command needs to scan 256 bytes. This results in the
113 * generation of four OpenULINK commands. The function generating these
114 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
115 * pointer shall point to the corresponding offset where IN data shall be
116 * placed, while #payload_in_start shall point to the first element of the 256
118 * - first command: #payload_in_start + 0
119 * - second command: #payload_in_start + 64
120 * - third command: #payload_in_start + 128
121 * - fourth command: #payload_in_start + 192
123 * The last command sets #needs_postprocessing to true.
126 uint8_t id; /**< ULINK command ID */
128 uint8_t *payload_out; /**< OUT direction payload data */
129 uint8_t payload_out_size; /**< OUT direction payload size for this command */
131 uint8_t *payload_in_start; /**< Pointer to first element of IN payload array */
132 uint8_t *payload_in; /**< Pointer where IN payload shall be stored */
133 uint8_t payload_in_size; /**< IN direction payload size for this command */
135 /** Indicates if this command needs post-processing */
136 bool needs_postprocessing;
138 /** Indicates if ulink_clear_queue() should free payload_in_start */
139 bool free_payload_in_start;
141 /** Pointer to corresponding OpenOCD command for post-processing */
142 struct jtag_command *cmd_origin;
144 struct ulink_cmd *next; /**< Pointer to next command (linked list) */
147 /** Describes one driver instance */
149 struct libusb_context *libusb_ctx;
150 struct libusb_device_handle *usb_device_handle;
151 enum ulink_type type;
153 int delay_scan_in; /**< Delay value for SCAN_IN commands */
154 int delay_scan_out; /**< Delay value for SCAN_OUT commands */
155 int delay_scan_io; /**< Delay value for SCAN_IO commands */
156 int delay_clock_tck; /**< Delay value for CLOCK_TMS commands */
157 int delay_clock_tms; /**< Delay value for CLOCK_TCK commands */
159 int commands_in_queue; /**< Number of commands in queue */
160 struct ulink_cmd *queue_start; /**< Pointer to first command in queue */
161 struct ulink_cmd *queue_end; /**< Pointer to last command in queue */
164 /**************************** Function Prototypes *****************************/
166 /* USB helper functions */
167 int ulink_usb_open(struct ulink **device);
168 int ulink_usb_close(struct ulink **device);
170 /* ULINK MCU (Cypress EZ-USB) specific functions */
171 int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit);
172 int ulink_load_firmware_and_renumerate(struct ulink **device, const char *filename,
174 int ulink_load_firmware(struct ulink *device, const char *filename);
175 int ulink_write_firmware_section(struct ulink *device,
176 struct image *firmware_image, int section_index);
178 /* Generic helper functions */
179 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
181 /* OpenULINK command generation helper functions */
182 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
183 enum ulink_payload_direction direction);
185 /* OpenULINK command queue helper functions */
186 int ulink_get_queue_size(struct ulink *device,
187 enum ulink_payload_direction direction);
188 void ulink_clear_queue(struct ulink *device);
189 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd);
190 int ulink_execute_queued_commands(struct ulink *device, int timeout);
192 #ifdef _DEBUG_JTAG_IO_
193 const char *ulink_cmd_id_string(uint8_t id);
194 void ulink_print_command(struct ulink_cmd *ulink_cmd);
195 void ulink_print_queue(struct ulink *device);
196 static int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f);
199 int ulink_append_scan_cmd(struct ulink *device,
200 enum scan_type scan_type,
205 uint8_t tms_count_start,
206 uint8_t tms_sequence_start,
207 uint8_t tms_count_end,
208 uint8_t tms_sequence_end,
209 struct jtag_command *origin,
211 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
213 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
214 int ulink_append_get_signals_cmd(struct ulink *device);
215 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
217 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
218 int ulink_append_configure_tck_cmd(struct ulink *device,
224 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
225 int ulink_append_test_cmd(struct ulink *device);
227 /* OpenULINK TCK frequency helper functions */
228 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay);
230 /* Interface between OpenULINK and OpenOCD */
231 static void ulink_set_end_state(tap_state_t endstate);
232 int ulink_queue_statemove(struct ulink *device);
234 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
235 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
236 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
237 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
238 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
239 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
240 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
242 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd);
243 int ulink_post_process_queue(struct ulink *device);
245 /* JTAG driver functions (registered in struct jtag_interface) */
246 static int ulink_execute_queue(void);
247 static int ulink_khz(int khz, int *jtag_speed);
248 static int ulink_speed(int speed);
249 static int ulink_speed_div(int speed, int *khz);
250 static int ulink_init(void);
251 static int ulink_quit(void);
253 /****************************** Global Variables ******************************/
255 struct ulink *ulink_handle;
257 /**************************** USB helper functions ****************************/
260 * Opens the ULINK device and claims its USB interface.
262 * Currently, only the original ULINK is supported
264 * @param device pointer to struct ulink identifying ULINK driver instance.
265 * @return on success: ERROR_OK
266 * @return on failure: ERROR_FAIL
268 int ulink_usb_open(struct ulink **device)
270 ssize_t num_devices, i;
272 libusb_device **usb_devices;
273 struct libusb_device_descriptor usb_desc;
274 struct libusb_device_handle *usb_device_handle;
276 num_devices = libusb_get_device_list((*device)->libusb_ctx, &usb_devices);
278 if (num_devices <= 0)
282 for (i = 0; i < num_devices; i++) {
283 if (libusb_get_device_descriptor(usb_devices[i], &usb_desc) != 0)
285 else if (usb_desc.idVendor == ULINK_VID && usb_desc.idProduct == ULINK_PID) {
294 if (libusb_open(usb_devices[i], &usb_device_handle) != 0)
296 libusb_free_device_list(usb_devices, 1);
298 if (libusb_claim_interface(usb_device_handle, 0) != 0)
301 (*device)->usb_device_handle = usb_device_handle;
302 (*device)->type = ULINK_1;
308 * Releases the ULINK interface and closes the USB device handle.
310 * @param device pointer to struct ulink identifying ULINK driver instance.
311 * @return on success: ERROR_OK
312 * @return on failure: ERROR_FAIL
314 int ulink_usb_close(struct ulink **device)
316 if (libusb_release_interface((*device)->usb_device_handle, 0) != 0)
319 libusb_close((*device)->usb_device_handle);
321 (*device)->usb_device_handle = NULL;
326 /******************* ULINK CPU (EZ-USB) specific functions ********************/
329 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
332 * @param device pointer to struct ulink identifying ULINK driver instance.
333 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
334 * @return on success: ERROR_OK
335 * @return on failure: ERROR_FAIL
337 int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit)
341 ret = libusb_control_transfer(device->usb_device_handle,
342 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
343 REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, USB_TIMEOUT);
345 /* usb_control_msg() returns the number of bytes transferred during the
346 * DATA stage of the control transfer - must be exactly 1 in this case! */
353 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
354 * the firmware image, resumes the microcontroller and re-enumerates
357 * @param device pointer to struct ulink identifying ULINK driver instance.
358 * The usb_handle member will be modified during re-enumeration.
359 * @param filename path to the Intel HEX file containing the firmware image.
360 * @param delay the delay to wait for the device to re-enumerate.
361 * @return on success: ERROR_OK
362 * @return on failure: ERROR_FAIL
364 int ulink_load_firmware_and_renumerate(struct ulink **device,
365 const char *filename, uint32_t delay)
369 /* Basic process: After downloading the firmware, the ULINK will disconnect
370 * itself and re-connect after a short amount of time so we have to close
371 * the handle and re-enumerate USB devices */
373 ret = ulink_load_firmware(*device, filename);
377 ret = ulink_usb_close(device);
383 ret = ulink_usb_open(device);
391 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
394 * @param device pointer to struct ulink identifying ULINK driver instance.
395 * @param filename an absolute or relative path to the Intel HEX file
396 * containing the firmware image.
397 * @return on success: ERROR_OK
398 * @return on failure: ERROR_FAIL
400 int ulink_load_firmware(struct ulink *device, const char *filename)
402 struct image ulink_firmware_image;
405 ret = ulink_cpu_reset(device, CPU_RESET);
406 if (ret != ERROR_OK) {
407 LOG_ERROR("Could not halt ULINK CPU");
411 ulink_firmware_image.base_address = 0;
412 ulink_firmware_image.base_address_set = 0;
414 ret = image_open(&ulink_firmware_image, filename, "ihex");
415 if (ret != ERROR_OK) {
416 LOG_ERROR("Could not load firmware image");
420 /* Download all sections in the image to ULINK */
421 for (i = 0; i < ulink_firmware_image.num_sections; i++) {
422 ret = ulink_write_firmware_section(device, &ulink_firmware_image, i);
427 image_close(&ulink_firmware_image);
429 ret = ulink_cpu_reset(device, CPU_START);
430 if (ret != ERROR_OK) {
431 LOG_ERROR("Could not restart ULINK CPU");
439 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
442 * @param device pointer to struct ulink identifying ULINK driver instance.
443 * @param firmware_image pointer to the firmware image that contains the section
444 * which should be sent to the ULINK's EZ-USB microcontroller.
445 * @param section_index index of the section within the firmware image.
446 * @return on success: ERROR_OK
447 * @return on failure: ERROR_FAIL
449 int ulink_write_firmware_section(struct ulink *device,
450 struct image *firmware_image, int section_index)
452 uint16_t addr, size, bytes_remaining, chunk_size;
453 uint8_t data[SECTION_BUFFERSIZE];
454 uint8_t *data_ptr = data;
458 size = (uint16_t)firmware_image->sections[section_index].size;
459 addr = (uint16_t)firmware_image->sections[section_index].base_address;
461 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
464 /* Copy section contents to local buffer */
465 ret = image_read_section(firmware_image, section_index, 0, size, data,
468 if ((ret != ERROR_OK) || (size_read != size)) {
469 /* Propagating the return code would return '0' (misleadingly indicating
470 * successful execution of the function) if only the size check fails. */
474 bytes_remaining = size;
476 /* Send section data in chunks of up to 64 bytes to ULINK */
477 while (bytes_remaining > 0) {
478 if (bytes_remaining > 64)
481 chunk_size = bytes_remaining;
483 ret = libusb_control_transfer(device->usb_device_handle,
484 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
485 REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (unsigned char *)data_ptr,
486 chunk_size, USB_TIMEOUT);
488 if (ret != (int)chunk_size) {
489 /* Abort if libusb sent less data than requested */
493 bytes_remaining -= chunk_size;
495 data_ptr += chunk_size;
501 /************************** Generic helper functions **************************/
504 * Print state of interesting signals via LOG_INFO().
506 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
507 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
509 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
511 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
513 (output_signals & SIGNAL_TDI ? 1 : 0),
514 (input_signals & SIGNAL_TDO ? 1 : 0),
515 (output_signals & SIGNAL_TMS ? 1 : 0),
516 (output_signals & SIGNAL_TCK ? 1 : 0),
517 (output_signals & SIGNAL_TRST ? 0 : 1), /* Inverted by hardware */
518 (output_signals & SIGNAL_RESET ? 0 : 1)); /* Inverted by hardware */
521 /**************** OpenULINK command generation helper functions ***************/
524 * Allocate and initialize space in memory for OpenULINK command payload.
526 * @param ulink_cmd pointer to command whose payload should be allocated.
527 * @param size the amount of memory to allocate (bytes).
528 * @param direction which payload to allocate.
529 * @return on success: ERROR_OK
530 * @return on failure: ERROR_FAIL
532 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
533 enum ulink_payload_direction direction)
537 payload = calloc(size, sizeof(uint8_t));
539 if (payload == NULL) {
540 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
545 case PAYLOAD_DIRECTION_OUT:
546 if (ulink_cmd->payload_out != NULL) {
547 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
551 ulink_cmd->payload_out = payload;
552 ulink_cmd->payload_out_size = size;
555 case PAYLOAD_DIRECTION_IN:
556 if (ulink_cmd->payload_in_start != NULL) {
557 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
561 ulink_cmd->payload_in_start = payload;
562 ulink_cmd->payload_in = payload;
563 ulink_cmd->payload_in_size = size;
565 /* By default, free payload_in_start in ulink_clear_queue(). Commands
566 * that do not want this behavior (e. g. split scans) must turn it off
568 ulink_cmd->free_payload_in_start = true;
576 /****************** OpenULINK command queue helper functions ******************/
579 * Get the current number of bytes in the queue, including command IDs.
581 * @param device pointer to struct ulink identifying ULINK driver instance.
582 * @param direction the transfer direction for which to get byte count.
583 * @return the number of bytes currently stored in the queue for the specified
586 int ulink_get_queue_size(struct ulink *device,
587 enum ulink_payload_direction direction)
589 struct ulink_cmd *current = device->queue_start;
592 while (current != NULL) {
594 case PAYLOAD_DIRECTION_OUT:
595 sum += current->payload_out_size + 1; /* + 1 byte for Command ID */
597 case PAYLOAD_DIRECTION_IN:
598 sum += current->payload_in_size;
602 current = current->next;
609 * Clear the OpenULINK command queue.
611 * @param device pointer to struct ulink identifying ULINK driver instance.
612 * @return on success: ERROR_OK
613 * @return on failure: ERROR_FAIL
615 void ulink_clear_queue(struct ulink *device)
617 struct ulink_cmd *current = device->queue_start;
618 struct ulink_cmd *next = NULL;
620 while (current != NULL) {
621 /* Save pointer to next element */
622 next = current->next;
624 /* Free payloads: OUT payload can be freed immediately */
625 free(current->payload_out);
626 current->payload_out = NULL;
628 /* IN payload MUST be freed ONLY if no other commands use the
629 * payload_in_start buffer */
630 if (current->free_payload_in_start == true) {
631 free(current->payload_in_start);
632 current->payload_in_start = NULL;
633 current->payload_in = NULL;
636 /* Free queue element */
639 /* Proceed with next element */
643 device->commands_in_queue = 0;
644 device->queue_start = NULL;
645 device->queue_end = NULL;
649 * Add a command to the OpenULINK command queue.
651 * @param device pointer to struct ulink identifying ULINK driver instance.
652 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
654 * @return on success: ERROR_OK
655 * @return on failure: ERROR_FAIL
657 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd)
659 int newsize_out, newsize_in;
662 newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
663 + ulink_cmd->payload_out_size;
665 newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
666 + ulink_cmd->payload_in_size;
668 /* Check if the current command can be appended to the queue */
669 if ((newsize_out > 64) || (newsize_in > 64)) {
670 /* New command does not fit. Execute all commands in queue before starting
671 * new queue with the current command as first entry. */
672 ret = ulink_execute_queued_commands(device, USB_TIMEOUT);
676 ret = ulink_post_process_queue(device);
680 ulink_clear_queue(device);
683 if (device->queue_start == NULL) {
684 /* Queue was empty */
685 device->commands_in_queue = 1;
687 device->queue_start = ulink_cmd;
688 device->queue_end = ulink_cmd;
690 /* There are already commands in the queue */
691 device->commands_in_queue++;
693 device->queue_end->next = ulink_cmd;
694 device->queue_end = ulink_cmd;
701 * Sends all queued OpenULINK commands to the ULINK for execution.
703 * @param device pointer to struct ulink identifying ULINK driver instance.
704 * @return on success: ERROR_OK
705 * @return on failure: ERROR_FAIL
707 int ulink_execute_queued_commands(struct ulink *device, int timeout)
709 struct ulink_cmd *current;
710 int ret, i, index_out, index_in, count_out, count_in, transferred;
713 #ifdef _DEBUG_JTAG_IO_
714 ulink_print_queue(device);
721 for (current = device->queue_start; current; current = current->next) {
722 /* Add command to packet */
723 buffer[index_out] = current->id;
727 for (i = 0; i < current->payload_out_size; i++)
728 buffer[index_out + i] = current->payload_out[i];
729 index_out += current->payload_out_size;
730 count_in += current->payload_in_size;
731 count_out += current->payload_out_size;
734 /* Send packet to ULINK */
735 ret = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_OUT),
736 (unsigned char *)buffer, count_out, &transferred, timeout);
739 if (transferred != count_out)
742 /* Wait for response if commands contain IN payload data */
744 ret = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
745 (unsigned char *)buffer, 64, &transferred, timeout);
748 if (transferred != count_in)
751 /* Write back IN payload data */
753 for (current = device->queue_start; current; current = current->next) {
754 for (i = 0; i < current->payload_in_size; i++) {
755 current->payload_in[i] = buffer[index_in];
764 #ifdef _DEBUG_JTAG_IO_
767 * Convert an OpenULINK command ID (\a id) to a human-readable string.
769 * @param id the OpenULINK command ID.
770 * @return the corresponding human-readable string.
772 const char *ulink_cmd_id_string(uint8_t id)
776 return "CMD_SCAN_IN";
778 case CMD_SLOW_SCAN_IN:
779 return "CMD_SLOW_SCAN_IN";
782 return "CMD_SCAN_OUT";
784 case CMD_SLOW_SCAN_OUT:
785 return "CMD_SLOW_SCAN_OUT";
788 return "CMD_SCAN_IO";
790 case CMD_SLOW_SCAN_IO:
791 return "CMD_SLOW_SCAN_IO";
794 return "CMD_CLOCK_TMS";
796 case CMD_SLOW_CLOCK_TMS:
797 return "CMD_SLOW_CLOCK_TMS";
800 return "CMD_CLOCK_TCK";
802 case CMD_SLOW_CLOCK_TCK:
803 return "CMD_SLOW_CLOCK_TCK";
806 return "CMD_SLEEP_US";
809 return "CMD_SLEEP_MS";
811 case CMD_GET_SIGNALS:
812 return "CMD_GET_SIGNALS";
814 case CMD_SET_SIGNALS:
815 return "CMD_SET_SIGNALS";
817 case CMD_CONFIGURE_TCK_FREQ:
818 return "CMD_CONFIGURE_TCK_FREQ";
821 return "CMD_SET_LEDS";
827 return "CMD_UNKNOWN";
833 * Print one OpenULINK command to stdout.
835 * @param ulink_cmd pointer to OpenULINK command.
837 void ulink_print_command(struct ulink_cmd *ulink_cmd)
841 printf(" %-22s | OUT size = %i, bytes = 0x",
842 ulink_cmd_id_string(ulink_cmd->id), ulink_cmd->payload_out_size);
844 for (i = 0; i < ulink_cmd->payload_out_size; i++)
845 printf("%02X ", ulink_cmd->payload_out[i]);
846 printf("\n | IN size = %i\n",
847 ulink_cmd->payload_in_size);
851 * Print the OpenULINK command queue to stdout.
853 * @param device pointer to struct ulink identifying ULINK driver instance.
855 void ulink_print_queue(struct ulink *device)
857 struct ulink_cmd *current;
859 printf("OpenULINK command queue:\n");
861 for (current = device->queue_start; current; current = current->next)
862 ulink_print_command(current);
865 #endif /* _DEBUG_JTAG_IO_ */
870 * Creates and appends a JTAG scan command to the OpenULINK command queue.
871 * A JTAG scan consists of three steps:
872 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
873 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
874 * - Move to the desired end state.
876 * @param device pointer to struct ulink identifying ULINK driver instance.
877 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
878 * @param scan_size_bits number of bits to shift into the JTAG chain.
879 * @param tdi pointer to array containing TDI data.
880 * @param tdo_start pointer to first element of array where TDO data shall be
881 * stored. See #ulink_cmd for details.
882 * @param tdo pointer to array where TDO data shall be stored
883 * @param tms_count_start number of TMS state transitions to perform BEFORE
884 * shifting data into the JTAG chain.
885 * @param tms_sequence_start sequence of TMS state transitions that will be
886 * performed BEFORE shifting data into the JTAG chain.
887 * @param tms_count_end number of TMS state transitions to perform AFTER
888 * shifting data into the JTAG chain.
889 * @param tms_sequence_end sequence of TMS state transitions that will be
890 * performed AFTER shifting data into the JTAG chain.
891 * @param origin pointer to OpenOCD command that generated this scan command.
892 * @param postprocess whether this command needs to be post-processed after
894 * @return on success: ERROR_OK
895 * @return on failure: ERROR_FAIL
897 int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
898 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
899 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
900 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
902 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
903 int ret, i, scan_size_bytes;
904 uint8_t bits_last_byte;
909 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
910 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
911 if (scan_size_bits > (58 * 8)) {
912 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
918 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
920 bits_last_byte = scan_size_bits % 8;
921 if (bits_last_byte == 0)
924 /* Allocate out_payload depending on scan type */
927 if (device->delay_scan_in < 0)
928 cmd->id = CMD_SCAN_IN;
930 cmd->id = CMD_SLOW_SCAN_IN;
931 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
934 if (device->delay_scan_out < 0)
935 cmd->id = CMD_SCAN_OUT;
937 cmd->id = CMD_SLOW_SCAN_OUT;
938 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
941 if (device->delay_scan_io < 0)
942 cmd->id = CMD_SCAN_IO;
944 cmd->id = CMD_SLOW_SCAN_IO;
945 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
948 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
953 if (ret != ERROR_OK) {
958 /* Build payload_out that is common to all scan types */
959 cmd->payload_out[0] = scan_size_bytes & 0xFF;
960 cmd->payload_out[1] = bits_last_byte & 0xFF;
961 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
962 cmd->payload_out[3] = tms_sequence_start;
963 cmd->payload_out[4] = tms_sequence_end;
965 /* Setup payload_out for types with OUT transfer */
966 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
967 for (i = 0; i < scan_size_bytes; i++)
968 cmd->payload_out[i + 5] = tdi[i];
971 /* Setup payload_in pointers for types with IN transfer */
972 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
973 cmd->payload_in_start = tdo_start;
974 cmd->payload_in = tdo;
975 cmd->payload_in_size = scan_size_bytes;
978 cmd->needs_postprocessing = postprocess;
979 cmd->cmd_origin = origin;
981 /* For scan commands, we free payload_in_start only when the command is
982 * the last in a series of split commands or a stand-alone command */
983 cmd->free_payload_in_start = postprocess;
985 return ulink_append_queue(device, cmd);
989 * Perform TAP state transitions
991 * @param device pointer to struct ulink identifying ULINK driver instance.
992 * @param count defines the number of TCK clock cycles generated (up to 8).
993 * @param sequence defines the TMS pin levels for each state transition. The
994 * Least-Significant Bit is read first.
995 * @return on success: ERROR_OK
996 * @return on failure: ERROR_FAIL
998 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
1001 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1007 if (device->delay_clock_tms < 0)
1008 cmd->id = CMD_CLOCK_TMS;
1010 cmd->id = CMD_SLOW_CLOCK_TMS;
1012 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
1013 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1014 if (ret != ERROR_OK) {
1019 cmd->payload_out[0] = count;
1020 cmd->payload_out[1] = sequence;
1022 return ulink_append_queue(device, cmd);
1026 * Generate a defined amount of TCK clock cycles
1028 * All other JTAG signals are left unchanged.
1030 * @param device pointer to struct ulink identifying ULINK driver instance.
1031 * @param count the number of TCK clock cycles to generate.
1032 * @return on success: ERROR_OK
1033 * @return on failure: ERROR_FAIL
1035 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
1037 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1043 if (device->delay_clock_tck < 0)
1044 cmd->id = CMD_CLOCK_TCK;
1046 cmd->id = CMD_SLOW_CLOCK_TCK;
1048 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1049 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1050 if (ret != ERROR_OK) {
1055 cmd->payload_out[0] = count & 0xff;
1056 cmd->payload_out[1] = (count >> 8) & 0xff;
1058 return ulink_append_queue(device, cmd);
1062 * Read JTAG signals.
1064 * @param device pointer to struct ulink identifying ULINK driver instance.
1065 * @return on success: ERROR_OK
1066 * @return on failure: ERROR_FAIL
1068 int ulink_append_get_signals_cmd(struct ulink *device)
1070 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1076 cmd->id = CMD_GET_SIGNALS;
1077 cmd->needs_postprocessing = true;
1079 /* CMD_GET_SIGNALS has two IN payload bytes */
1080 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1082 if (ret != ERROR_OK) {
1087 return ulink_append_queue(device, cmd);
1091 * Arbitrarily set JTAG output signals.
1093 * @param device pointer to struct ulink identifying ULINK driver instance.
1094 * @param low defines which signals will be de-asserted. Each bit corresponds
1103 * @param high defines which signals will be asserted.
1104 * @return on success: ERROR_OK
1105 * @return on failure: ERROR_FAIL
1107 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1110 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1116 cmd->id = CMD_SET_SIGNALS;
1118 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1119 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1121 if (ret != ERROR_OK) {
1126 cmd->payload_out[0] = low;
1127 cmd->payload_out[1] = high;
1129 return ulink_append_queue(device, cmd);
1133 * Sleep for a pre-defined number of microseconds
1135 * @param device pointer to struct ulink identifying ULINK driver instance.
1136 * @param us the number microseconds to sleep.
1137 * @return on success: ERROR_OK
1138 * @return on failure: ERROR_FAIL
1140 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1142 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1148 cmd->id = CMD_SLEEP_US;
1150 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1151 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1153 if (ret != ERROR_OK) {
1158 cmd->payload_out[0] = us & 0x00ff;
1159 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1161 return ulink_append_queue(device, cmd);
1165 * Set TCK delay counters
1167 * @param device pointer to struct ulink identifying ULINK driver instance.
1168 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1169 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1170 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1171 * @param delay_tck delay count top value in jtag_clock_tck() function.
1172 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1173 * @return on success: ERROR_OK
1174 * @return on failure: ERROR_FAIL
1176 int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
1177 int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
1179 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1185 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1187 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1188 * IN payload bytes */
1189 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
1190 if (ret != ERROR_OK) {
1195 if (delay_scan_in < 0)
1196 cmd->payload_out[0] = 0;
1198 cmd->payload_out[0] = (uint8_t)delay_scan_in;
1200 if (delay_scan_out < 0)
1201 cmd->payload_out[1] = 0;
1203 cmd->payload_out[1] = (uint8_t)delay_scan_out;
1205 if (delay_scan_io < 0)
1206 cmd->payload_out[2] = 0;
1208 cmd->payload_out[2] = (uint8_t)delay_scan_io;
1211 cmd->payload_out[3] = 0;
1213 cmd->payload_out[3] = (uint8_t)delay_tck;
1216 cmd->payload_out[4] = 0;
1218 cmd->payload_out[4] = (uint8_t)delay_tms;
1220 return ulink_append_queue(device, cmd);
1224 * Turn on/off ULINK LEDs.
1226 * @param device pointer to struct ulink identifying ULINK driver instance.
1227 * @param led_state which LED(s) to turn on or off. The following bits
1228 * influence the LEDS:
1229 * - Bit 0: Turn COM LED on
1230 * - Bit 1: Turn RUN LED on
1231 * - Bit 2: Turn COM LED off
1232 * - Bit 3: Turn RUN LED off
1233 * If both the on-bit and the off-bit for the same LED is set, the LED is
1235 * @return on success: ERROR_OK
1236 * @return on failure: ERROR_FAIL
1238 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1240 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1246 cmd->id = CMD_SET_LEDS;
1248 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1249 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1250 if (ret != ERROR_OK) {
1255 cmd->payload_out[0] = led_state;
1257 return ulink_append_queue(device, cmd);
1261 * Test command. Used to check if the ULINK device is ready to accept new
1264 * @param device pointer to struct ulink identifying ULINK driver instance.
1265 * @return on success: ERROR_OK
1266 * @return on failure: ERROR_FAIL
1268 int ulink_append_test_cmd(struct ulink *device)
1270 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1278 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1279 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1280 if (ret != ERROR_OK) {
1285 cmd->payload_out[0] = 0xAA;
1287 return ulink_append_queue(device, cmd);
1290 /****************** OpenULINK TCK frequency helper functions ******************/
1293 * Calculate delay values for a given TCK frequency.
1295 * The OpenULINK firmware uses five different speed values for different
1296 * commands. These speed values are calculated in these functions.
1298 * The five different commands which support variable TCK frequency are
1299 * implemented twice in the firmware:
1300 * 1. Maximum possible frequency without any artificial delay
1301 * 2. Variable frequency with artificial linear delay loop
1303 * To set the ULINK to maximum frequency, it is only neccessary to use the
1304 * corresponding command IDs. To set the ULINK to a lower frequency, the
1305 * delay loop top values have to be calculated first. Then, a
1306 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1308 * The delay values are described by linear equations:
1310 * (t = period, k = constant, x = delay value, d = constant)
1312 * Thus, the delay can be calculated as in the following equation:
1315 * The constants in these equations have been determined and validated by
1316 * measuring the frequency resulting from different delay values.
1318 * @param type for which command to calculate the delay value.
1319 * @param f TCK frequency for which to calculate the delay value in Hz.
1320 * @param delay where to store resulting delay value.
1321 * @return on success: ERROR_OK
1322 * @return on failure: ERROR_FAIL
1324 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
1328 /* Calculate period of requested TCK frequency */
1329 t = 1.0 / (float)(f);
1332 case DELAY_CLOCK_TCK:
1333 x = (t - (float)(6E-6)) / (float)(4E-6);
1335 case DELAY_CLOCK_TMS:
1336 x = (t - (float)(8.5E-6)) / (float)(4E-6);
1339 x = (t - (float)(8.8308E-6)) / (float)(4E-6);
1341 case DELAY_SCAN_OUT:
1342 x = (t - (float)(1.0527E-5)) / (float)(4E-6);
1345 x = (t - (float)(1.3132E-5)) / (float)(4E-6);
1352 /* Check if the delay value is negative. This happens when a frequency is
1353 * requested that is too high for the delay loop implementation. In this
1354 * case, set delay value to zero. */
1358 /* We need to convert the exact delay value to an integer. Therefore, we
1359 * round the exact value UP to ensure that the resulting frequency is NOT
1360 * higher than the requested frequency. */
1363 /* Check if the value is within limits */
1367 *delay = (int)x_ceil;
1372 #ifdef _DEBUG_JTAG_IO_
1374 * Calculate frequency for a given delay value.
1376 * Similar to the #ulink_calculate_delay function, this function calculates the
1377 * TCK frequency for a given delay value by using linear equations of the form:
1379 * (t = period, k = constant, x = delay value, d = constant)
1381 * @param type for which command to calculate the delay value.
1382 * @param delay delay value for which to calculate the resulting TCK frequency.
1383 * @param f where to store the resulting TCK frequency.
1384 * @return on success: ERROR_OK
1385 * @return on failure: ERROR_FAIL
1387 static int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f)
1389 float t, f_float, f_rounded;
1395 case DELAY_CLOCK_TCK:
1397 t = (float)(2.666E-6);
1399 t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
1401 case DELAY_CLOCK_TMS:
1403 t = (float)(5.666E-6);
1405 t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
1409 t = (float)(5.5E-6);
1411 t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
1413 case DELAY_SCAN_OUT:
1415 t = (float)(7.0E-6);
1417 t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
1421 t = (float)(9.926E-6);
1423 t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
1431 f_rounded = roundf(f_float);
1432 *f = (long)f_rounded;
1438 /******************* Interface between OpenULINK and OpenOCD ******************/
1441 * Sets the end state follower (see interface.h) if \a endstate is a stable
1444 * @param endstate the state the end state follower should be set to.
1446 static void ulink_set_end_state(tap_state_t endstate)
1448 if (tap_is_state_stable(endstate))
1449 tap_set_end_state(endstate);
1451 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1457 * Move from the current TAP state to the current TAP end state.
1459 * @param device pointer to struct ulink identifying ULINK driver instance.
1460 * @return on success: ERROR_OK
1461 * @return on failure: ERROR_FAIL
1463 int ulink_queue_statemove(struct ulink *device)
1465 uint8_t tms_sequence, tms_count;
1468 if (tap_get_state() == tap_get_end_state()) {
1469 /* Do nothing if we are already there */
1473 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1474 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1476 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1478 if (ret == ERROR_OK)
1479 tap_set_state(tap_get_end_state());
1485 * Perform a scan operation on a JTAG register.
1487 * @param device pointer to struct ulink identifying ULINK driver instance.
1488 * @param cmd pointer to the command that shall be executed.
1489 * @return on success: ERROR_OK
1490 * @return on failure: ERROR_FAIL
1492 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1494 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1495 uint32_t scans_max_payload, bytecount;
1496 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1497 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1499 uint8_t first_tms_count, first_tms_sequence;
1500 uint8_t last_tms_count, last_tms_sequence;
1502 uint8_t tms_count_pause, tms_sequence_pause;
1503 uint8_t tms_count_resume, tms_sequence_resume;
1505 uint8_t tms_count_start, tms_sequence_start;
1506 uint8_t tms_count_end, tms_sequence_end;
1508 enum scan_type type;
1511 /* Determine scan size */
1512 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1513 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1515 /* Determine scan type (IN/OUT/IO) */
1516 type = jtag_scan_type(cmd->cmd.scan);
1518 /* Determine number of scan commands with maximum payload */
1519 scans_max_payload = scan_size_bytes / 58;
1521 /* Determine size of last shift command */
1522 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1524 /* Allocate TDO buffer if required */
1525 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1526 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1528 if (tdo_buffer_start == NULL)
1531 tdo_buffer = tdo_buffer_start;
1534 /* Fill TDI buffer if required */
1535 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1536 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1537 tdi_buffer = tdi_buffer_start;
1540 /* Get TAP state transitions */
1541 if (cmd->cmd.scan->ir_scan) {
1542 ulink_set_end_state(TAP_IRSHIFT);
1543 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1544 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1546 tap_set_state(TAP_IRSHIFT);
1547 tap_set_end_state(cmd->cmd.scan->end_state);
1548 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1549 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1551 /* TAP state transitions for split scans */
1552 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1553 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1554 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1555 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1557 ulink_set_end_state(TAP_DRSHIFT);
1558 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1559 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1561 tap_set_state(TAP_DRSHIFT);
1562 tap_set_end_state(cmd->cmd.scan->end_state);
1563 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1564 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1566 /* TAP state transitions for split scans */
1567 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1568 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1569 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1570 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1573 /* Generate scan commands */
1574 bytecount = scan_size_bytes;
1575 while (bytecount > 0) {
1576 if (bytecount == scan_size_bytes) {
1577 /* This is the first scan */
1578 tms_count_start = first_tms_count;
1579 tms_sequence_start = first_tms_sequence;
1581 /* Resume from previous scan */
1582 tms_count_start = tms_count_resume;
1583 tms_sequence_start = tms_sequence_resume;
1586 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1587 tms_count_end = tms_count_pause;
1588 tms_sequence_end = tms_sequence_pause;
1590 ret = ulink_append_scan_cmd(device,
1605 /* Update TDI and TDO buffer pointers */
1606 if (tdi_buffer_start != NULL)
1608 if (tdo_buffer_start != NULL)
1610 } else if (bytecount == 58) { /* Full scan, no further scans */
1611 tms_count_end = last_tms_count;
1612 tms_sequence_end = last_tms_sequence;
1614 ret = ulink_append_scan_cmd(device,
1628 } else {/* Scan with less than maximum payload, no further scans */
1629 tms_count_end = last_tms_count;
1630 tms_sequence_end = last_tms_sequence;
1632 ret = ulink_append_scan_cmd(device,
1648 if (ret != ERROR_OK) {
1649 free(tdi_buffer_start);
1654 free(tdi_buffer_start);
1656 /* Set current state to the end state requested by the command */
1657 tap_set_state(cmd->cmd.scan->end_state);
1663 * Move the TAP into the Test Logic Reset state.
1665 * @param device pointer to struct ulink identifying ULINK driver instance.
1666 * @param cmd pointer to the command that shall be executed.
1667 * @return on success: ERROR_OK
1668 * @return on failure: ERROR_FAIL
1670 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1674 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1676 if (ret == ERROR_OK)
1677 tap_set_state(TAP_RESET);
1685 * Generate TCK clock cycles while remaining
1686 * in the Run-Test/Idle state.
1688 * @param device pointer to struct ulink identifying ULINK driver instance.
1689 * @param cmd pointer to the command that shall be executed.
1690 * @return on success: ERROR_OK
1691 * @return on failure: ERROR_FAIL
1693 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1697 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1698 if (tap_get_state() != TAP_IDLE) {
1699 ulink_set_end_state(TAP_IDLE);
1700 ulink_queue_statemove(device);
1703 /* Generate the clock cycles */
1704 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1705 if (ret != ERROR_OK)
1708 /* Move to end state specified in command */
1709 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1710 tap_set_end_state(cmd->cmd.runtest->end_state);
1711 ulink_queue_statemove(device);
1718 * Execute a JTAG_RESET command
1720 * @param cmd pointer to the command that shall be executed.
1721 * @return on success: ERROR_OK
1722 * @return on failure: ERROR_FAIL
1724 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1726 uint8_t low = 0, high = 0;
1728 if (cmd->cmd.reset->trst) {
1729 tap_set_state(TAP_RESET);
1730 high |= SIGNAL_TRST;
1734 if (cmd->cmd.reset->srst)
1735 high |= SIGNAL_RESET;
1737 low |= SIGNAL_RESET;
1739 return ulink_append_set_signals_cmd(device, low, high);
1743 * Move to one TAP state or several states in succession.
1745 * @param device pointer to struct ulink identifying ULINK driver instance.
1746 * @param cmd pointer to the command that shall be executed.
1747 * @return on success: ERROR_OK
1748 * @return on failure: ERROR_FAIL
1750 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1752 int ret, i, num_states, batch_size, state_count;
1754 uint8_t tms_sequence;
1756 num_states = cmd->cmd.pathmove->num_states;
1757 path = cmd->cmd.pathmove->path;
1760 while (num_states > 0) {
1763 /* Determine batch size */
1764 if (num_states >= 8)
1767 batch_size = num_states;
1769 for (i = 0; i < batch_size; i++) {
1770 if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
1771 /* Append '0' transition: clear bit 'i' in tms_sequence */
1772 buf_set_u32(&tms_sequence, i, 1, 0x0);
1773 } else if (tap_state_transition(tap_get_state(), true)
1774 == path[state_count]) {
1775 /* Append '1' transition: set bit 'i' in tms_sequence */
1776 buf_set_u32(&tms_sequence, i, 1, 0x1);
1778 /* Invalid state transition */
1779 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1780 tap_state_name(tap_get_state()),
1781 tap_state_name(path[state_count]));
1785 tap_set_state(path[state_count]);
1790 /* Append CLOCK_TMS command to OpenULINK command queue */
1792 "pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
1793 ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
1794 if (ret != ERROR_OK)
1802 * Sleep for a specific amount of time.
1804 * @param device pointer to struct ulink identifying ULINK driver instance.
1805 * @param cmd pointer to the command that shall be executed.
1806 * @return on success: ERROR_OK
1807 * @return on failure: ERROR_FAIL
1809 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1811 /* IMPORTANT! Due to the time offset in command execution introduced by
1812 * command queueing, this needs to be implemented in the ULINK device */
1813 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1817 * Generate TCK cycles while remaining in a stable state.
1819 * @param device pointer to struct ulink identifying ULINK driver instance.
1820 * @param cmd pointer to the command that shall be executed.
1822 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
1825 unsigned num_cycles;
1827 if (!tap_is_state_stable(tap_get_state())) {
1828 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1832 num_cycles = cmd->cmd.stableclocks->num_cycles;
1834 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1835 if (tap_get_state() == TAP_RESET)
1836 ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
1838 ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
1840 if (ret != ERROR_OK)
1843 while (num_cycles > 0) {
1844 if (num_cycles > 0xFFFF) {
1845 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1846 ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1847 num_cycles -= 0xFFFF;
1849 ret = ulink_append_clock_tck_cmd(device, num_cycles);
1853 if (ret != ERROR_OK)
1861 * Post-process JTAG_SCAN command
1863 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1864 * @return on success: ERROR_OK
1865 * @return on failure: ERROR_FAIL
1867 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd)
1869 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1872 switch (jtag_scan_type(cmd->cmd.scan)) {
1875 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1878 /* Nothing to do for OUT scans */
1882 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1892 * Perform post-processing of commands after OpenULINK queue has been executed.
1894 * @param device pointer to struct ulink identifying ULINK driver instance.
1895 * @return on success: ERROR_OK
1896 * @return on failure: ERROR_FAIL
1898 int ulink_post_process_queue(struct ulink *device)
1900 struct ulink_cmd *current;
1901 struct jtag_command *openocd_cmd;
1904 current = device->queue_start;
1906 while (current != NULL) {
1907 openocd_cmd = current->cmd_origin;
1909 /* Check if a corresponding OpenOCD command is stored for this
1910 * OpenULINK command */
1911 if ((current->needs_postprocessing == true) && (openocd_cmd != NULL)) {
1912 switch (openocd_cmd->type) {
1914 ret = ulink_post_process_scan(current);
1916 case JTAG_TLR_RESET:
1921 case JTAG_STABLECLOCKS:
1922 /* Nothing to do for these commands */
1927 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1932 if (ret != ERROR_OK)
1936 current = current->next;
1942 /**************************** JTAG driver functions ***************************/
1945 * Executes the JTAG Command Queue.
1947 * This is done in three stages: First, all OpenOCD commands are processed into
1948 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1949 * ULINK device and data received from the ULINK device is cached. Finally,
1950 * the post-processing function writes back data to the corresponding OpenOCD
1953 * @return on success: ERROR_OK
1954 * @return on failure: ERROR_FAIL
1956 static int ulink_execute_queue(void)
1958 struct jtag_command *cmd = jtag_command_queue;
1962 switch (cmd->type) {
1964 ret = ulink_queue_scan(ulink_handle, cmd);
1966 case JTAG_TLR_RESET:
1967 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1970 ret = ulink_queue_runtest(ulink_handle, cmd);
1973 ret = ulink_queue_reset(ulink_handle, cmd);
1976 ret = ulink_queue_pathmove(ulink_handle, cmd);
1979 ret = ulink_queue_sleep(ulink_handle, cmd);
1981 case JTAG_STABLECLOCKS:
1982 ret = ulink_queue_stableclocks(ulink_handle, cmd);
1986 LOG_ERROR("BUG: encountered unknown JTAG command type");
1990 if (ret != ERROR_OK)
1996 if (ulink_handle->commands_in_queue > 0) {
1997 ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
1998 if (ret != ERROR_OK)
2001 ret = ulink_post_process_queue(ulink_handle);
2002 if (ret != ERROR_OK)
2005 ulink_clear_queue(ulink_handle);
2012 * Set the TCK frequency of the ULINK adapter.
2014 * @param khz desired JTAG TCK frequency.
2015 * @param jtag_speed where to store corresponding adapter-specific speed value.
2016 * @return on success: ERROR_OK
2017 * @return on failure: ERROR_FAIL
2019 static int ulink_khz(int khz, int *jtag_speed)
2024 LOG_ERROR("RCLK not supported");
2028 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
2029 * setting can be done independently from all other commands. */
2031 ulink_handle->delay_clock_tck = -1;
2033 ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
2034 &ulink_handle->delay_clock_tck);
2035 if (ret != ERROR_OK)
2039 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2040 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2041 * commands, all SCAN commands MUST also use the variable frequency
2042 * implementation! */
2044 ulink_handle->delay_clock_tms = -1;
2045 ulink_handle->delay_scan_in = -1;
2046 ulink_handle->delay_scan_out = -1;
2047 ulink_handle->delay_scan_io = -1;
2049 ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
2050 &ulink_handle->delay_clock_tms);
2051 if (ret != ERROR_OK)
2054 ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
2055 &ulink_handle->delay_scan_in);
2056 if (ret != ERROR_OK)
2059 ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
2060 &ulink_handle->delay_scan_out);
2061 if (ret != ERROR_OK)
2064 ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
2065 &ulink_handle->delay_scan_io);
2066 if (ret != ERROR_OK)
2070 #ifdef _DEBUG_JTAG_IO_
2071 long f_tck, f_tms, f_scan_in, f_scan_out, f_scan_io;
2073 ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck,
2075 ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms,
2077 ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in,
2079 ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out,
2081 ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io,
2084 DEBUG_JTAG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2085 ulink_handle->delay_clock_tck, f_tck);
2086 DEBUG_JTAG_IO(" delay_tms = %i (%li Hz),",
2087 ulink_handle->delay_clock_tms, f_tms);
2088 DEBUG_JTAG_IO(" delay_scan_in = %i (%li Hz),",
2089 ulink_handle->delay_scan_in, f_scan_in);
2090 DEBUG_JTAG_IO(" delay_scan_out = %i (%li Hz),",
2091 ulink_handle->delay_scan_out, f_scan_out);
2092 DEBUG_JTAG_IO(" delay_scan_io = %i (%li Hz),",
2093 ulink_handle->delay_scan_io, f_scan_io);
2096 /* Configure the ULINK device with the new delay values */
2097 ret = ulink_append_configure_tck_cmd(ulink_handle,
2098 ulink_handle->delay_scan_in,
2099 ulink_handle->delay_scan_out,
2100 ulink_handle->delay_scan_io,
2101 ulink_handle->delay_clock_tck,
2102 ulink_handle->delay_clock_tms);
2104 if (ret != ERROR_OK)
2113 * Set the TCK frequency of the ULINK adapter.
2115 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2116 * there are five different speed settings. To simplify things, the
2117 * adapter-specific speed setting value is identical to the TCK frequency in
2120 * @param speed desired adapter-specific speed value.
2121 * @return on success: ERROR_OK
2122 * @return on failure: ERROR_FAIL
2124 static int ulink_speed(int speed)
2128 return ulink_khz(speed, &dummy);
2132 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2134 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2135 * there are five different speed settings. To simplify things, the
2136 * adapter-specific speed setting value is identical to the TCK frequency in
2139 * @param speed adapter-specific speed value.
2140 * @param khz where to store corresponding TCK frequency in kHz.
2141 * @return on success: ERROR_OK
2142 * @return on failure: ERROR_FAIL
2144 static int ulink_speed_div(int speed, int *khz)
2152 * Initiates the firmware download to the ULINK adapter and prepares
2155 * @return on success: ERROR_OK
2156 * @return on failure: ERROR_FAIL
2158 static int ulink_init(void)
2160 int ret, transferred;
2161 char str_manufacturer[20];
2162 bool download_firmware = false;
2163 unsigned char *dummy;
2164 uint8_t input_signals, output_signals;
2166 ulink_handle = calloc(1, sizeof(struct ulink));
2167 if (ulink_handle == NULL)
2170 libusb_init(&ulink_handle->libusb_ctx);
2172 ret = ulink_usb_open(&ulink_handle);
2173 if (ret != ERROR_OK) {
2174 LOG_ERROR("Could not open ULINK device");
2176 ulink_handle = NULL;
2180 /* Get String Descriptor to determine if firmware needs to be loaded */
2181 ret = libusb_get_string_descriptor_ascii(ulink_handle->usb_device_handle, 1, (unsigned char *)str_manufacturer, 20);
2183 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2184 download_firmware = true;
2186 /* We got a String Descriptor, check if it is the correct one */
2187 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0)
2188 download_firmware = true;
2191 if (download_firmware == true) {
2192 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2194 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
2195 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
2196 if (ret != ERROR_OK) {
2197 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2199 ulink_handle = NULL;
2203 LOG_INFO("ULINK device is already running OpenULINK firmware");
2205 /* Initialize OpenULINK command queue */
2206 ulink_clear_queue(ulink_handle);
2208 /* Issue one test command with short timeout */
2209 ret = ulink_append_test_cmd(ulink_handle);
2210 if (ret != ERROR_OK)
2213 ret = ulink_execute_queued_commands(ulink_handle, 200);
2214 if (ret != ERROR_OK) {
2215 /* Sending test command failed. The ULINK device may be forever waiting for
2216 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2217 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2218 dummy = calloc(64, sizeof(uint8_t));
2220 ret = libusb_bulk_transfer(ulink_handle->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
2221 dummy, 64, &transferred, 200);
2225 if (ret != 0 || transferred == 0) {
2226 /* Bulk IN transfer failed -> unrecoverable error condition */
2227 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2228 "the USB port and re-connect, then re-run OpenOCD");
2230 ulink_handle = NULL;
2233 #ifdef _DEBUG_USB_COMMS_
2235 /* Successfully received Bulk IN packet -> continue */
2236 LOG_INFO("Recovered from lost Bulk IN packet");
2240 ulink_clear_queue(ulink_handle);
2242 ulink_append_get_signals_cmd(ulink_handle);
2243 ulink_execute_queued_commands(ulink_handle, 200);
2245 /* Post-process the single CMD_GET_SIGNALS command */
2246 input_signals = ulink_handle->queue_start->payload_in[0];
2247 output_signals = ulink_handle->queue_start->payload_in[1];
2249 ulink_print_signal_states(input_signals, output_signals);
2251 ulink_clear_queue(ulink_handle);
2257 * Closes the USB handle for the ULINK device.
2259 * @return on success: ERROR_OK
2260 * @return on failure: ERROR_FAIL
2262 static int ulink_quit(void)
2266 ret = ulink_usb_close(&ulink_handle);
2273 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2275 COMMAND_HANDLER(ulink_download_firmware_handler)
2280 return ERROR_COMMAND_SYNTAX_ERROR;
2283 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
2285 /* Download firmware image in CMD_ARGV[0] */
2286 ret = ulink_load_firmware_and_renumerate(&ulink_handle, CMD_ARGV[0],
2287 ULINK_RENUMERATION_DELAY);
2292 /*************************** Command Registration **************************/
2294 static const struct command_registration ulink_command_handlers[] = {
2296 .name = "ulink_download_firmware",
2297 .handler = &ulink_download_firmware_handler,
2298 .mode = COMMAND_EXEC,
2299 .help = "download firmware image to ULINK device",
2300 .usage = "path/to/ulink_firmware.hex",
2302 COMMAND_REGISTRATION_DONE,
2305 struct jtag_interface ulink_interface = {
2308 .commands = ulink_command_handlers,
2309 .transports = jtag_only,
2311 .execute_queue = ulink_execute_queue,
2313 .speed = ulink_speed,
2314 .speed_div = ulink_speed_div,