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, see <http://www.gnu.org/licenses/>. *
17 ***************************************************************************/
24 #include "helper/system.h"
25 #include <jtag/interface.h>
26 #include <jtag/commands.h>
27 #include <target/image.h>
29 #include "libusb_helper.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 unsigned int ep_in; /**< IN endpoint number */
154 unsigned int ep_out; /**< OUT endpoint number */
156 int delay_scan_in; /**< Delay value for SCAN_IN commands */
157 int delay_scan_out; /**< Delay value for SCAN_OUT commands */
158 int delay_scan_io; /**< Delay value for SCAN_IO commands */
159 int delay_clock_tck; /**< Delay value for CLOCK_TMS commands */
160 int delay_clock_tms; /**< Delay value for CLOCK_TCK commands */
162 int commands_in_queue; /**< Number of commands in queue */
163 struct ulink_cmd *queue_start; /**< Pointer to first command in queue */
164 struct ulink_cmd *queue_end; /**< Pointer to last command in queue */
167 /**************************** Function Prototypes *****************************/
169 /* USB helper functions */
170 static int ulink_usb_open(struct ulink **device);
171 static int ulink_usb_close(struct ulink **device);
173 /* ULINK MCU (Cypress EZ-USB) specific functions */
174 static int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit);
175 static int ulink_load_firmware_and_renumerate(struct ulink **device, const char *filename,
177 static int ulink_load_firmware(struct ulink *device, const char *filename);
178 static int ulink_write_firmware_section(struct ulink *device,
179 struct image *firmware_image, int section_index);
181 /* Generic helper functions */
182 static void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
184 /* OpenULINK command generation helper functions */
185 static int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
186 enum ulink_payload_direction direction);
188 /* OpenULINK command queue helper functions */
189 static int ulink_get_queue_size(struct ulink *device,
190 enum ulink_payload_direction direction);
191 static void ulink_clear_queue(struct ulink *device);
192 static int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd);
193 static int ulink_execute_queued_commands(struct ulink *device, int timeout);
195 static void ulink_print_queue(struct ulink *device);
197 static int ulink_append_scan_cmd(struct ulink *device,
198 enum scan_type scan_type,
203 uint8_t tms_count_start,
204 uint8_t tms_sequence_start,
205 uint8_t tms_count_end,
206 uint8_t tms_sequence_end,
207 struct jtag_command *origin,
209 static int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
211 static int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
212 static int ulink_append_get_signals_cmd(struct ulink *device);
213 static int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
215 static int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
216 static int ulink_append_configure_tck_cmd(struct ulink *device,
222 static int __attribute__((unused)) ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
223 static int ulink_append_test_cmd(struct ulink *device);
225 /* OpenULINK TCK frequency helper functions */
226 static int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay);
228 /* Interface between OpenULINK and OpenOCD */
229 static void ulink_set_end_state(tap_state_t endstate);
230 static int ulink_queue_statemove(struct ulink *device);
232 static int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
233 static int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
234 static int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
235 static int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
236 static int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
237 static int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
238 static int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
240 static int ulink_post_process_scan(struct ulink_cmd *ulink_cmd);
241 static int ulink_post_process_queue(struct ulink *device);
243 /* adapter driver functions */
244 static int ulink_execute_queue(void);
245 static int ulink_khz(int khz, int *jtag_speed);
246 static int ulink_speed(int speed);
247 static int ulink_speed_div(int speed, int *khz);
248 static int ulink_init(void);
249 static int ulink_quit(void);
251 /****************************** Global Variables ******************************/
253 static struct ulink *ulink_handle;
255 /**************************** USB helper functions ****************************/
258 * Opens the ULINK device
260 * Currently, only the original ULINK is supported
262 * @param device pointer to struct ulink identifying ULINK driver instance.
263 * @return on success: ERROR_OK
264 * @return on failure: ERROR_FAIL
266 static int ulink_usb_open(struct ulink **device)
268 ssize_t num_devices, i;
270 struct libusb_device **usb_devices;
271 struct libusb_device_descriptor usb_desc;
272 struct libusb_device_handle *usb_device_handle;
274 num_devices = libusb_get_device_list((*device)->libusb_ctx, &usb_devices);
276 if (num_devices <= 0)
280 for (i = 0; i < num_devices; i++) {
281 if (libusb_get_device_descriptor(usb_devices[i], &usb_desc) != 0)
283 else if (usb_desc.idVendor == ULINK_VID && usb_desc.idProduct == ULINK_PID) {
292 if (libusb_open(usb_devices[i], &usb_device_handle) != 0)
294 libusb_free_device_list(usb_devices, 1);
296 (*device)->usb_device_handle = usb_device_handle;
297 (*device)->type = ULINK_1;
303 * Releases the ULINK interface and closes the USB device handle.
305 * @param device pointer to struct ulink identifying ULINK driver instance.
306 * @return on success: ERROR_OK
307 * @return on failure: ERROR_FAIL
309 static int ulink_usb_close(struct ulink **device)
311 if (libusb_release_interface((*device)->usb_device_handle, 0) != 0)
314 libusb_close((*device)->usb_device_handle);
316 (*device)->usb_device_handle = NULL;
321 /******************* ULINK CPU (EZ-USB) specific functions ********************/
324 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
327 * @param device pointer to struct ulink identifying ULINK driver instance.
328 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
329 * @return on success: ERROR_OK
330 * @return on failure: ERROR_FAIL
332 static int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit)
336 ret = libusb_control_transfer(device->usb_device_handle,
337 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
338 REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, USB_TIMEOUT);
340 /* usb_control_msg() returns the number of bytes transferred during the
341 * DATA stage of the control transfer - must be exactly 1 in this case! */
348 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
349 * the firmware image, resumes the microcontroller and re-enumerates
352 * @param device pointer to struct ulink identifying ULINK driver instance.
353 * The usb_handle member will be modified during re-enumeration.
354 * @param filename path to the Intel HEX file containing the firmware image.
355 * @param delay the delay to wait for the device to re-enumerate.
356 * @return on success: ERROR_OK
357 * @return on failure: ERROR_FAIL
359 static int ulink_load_firmware_and_renumerate(struct ulink **device,
360 const char *filename, uint32_t delay)
364 /* Basic process: After downloading the firmware, the ULINK will disconnect
365 * itself and re-connect after a short amount of time so we have to close
366 * the handle and re-enumerate USB devices */
368 ret = ulink_load_firmware(*device, filename);
372 ret = ulink_usb_close(device);
378 ret = ulink_usb_open(device);
386 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
389 * @param device pointer to struct ulink identifying ULINK driver instance.
390 * @param filename an absolute or relative path to the Intel HEX file
391 * containing the firmware image.
392 * @return on success: ERROR_OK
393 * @return on failure: ERROR_FAIL
395 static int ulink_load_firmware(struct ulink *device, const char *filename)
397 struct image ulink_firmware_image;
400 ret = ulink_cpu_reset(device, CPU_RESET);
401 if (ret != ERROR_OK) {
402 LOG_ERROR("Could not halt ULINK CPU");
406 ulink_firmware_image.base_address = 0;
407 ulink_firmware_image.base_address_set = false;
409 ret = image_open(&ulink_firmware_image, filename, "ihex");
410 if (ret != ERROR_OK) {
411 LOG_ERROR("Could not load firmware image");
415 /* Download all sections in the image to ULINK */
416 for (unsigned int i = 0; i < ulink_firmware_image.num_sections; i++) {
417 ret = ulink_write_firmware_section(device, &ulink_firmware_image, i);
422 image_close(&ulink_firmware_image);
424 ret = ulink_cpu_reset(device, CPU_START);
425 if (ret != ERROR_OK) {
426 LOG_ERROR("Could not restart ULINK CPU");
434 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
437 * @param device pointer to struct ulink identifying ULINK driver instance.
438 * @param firmware_image pointer to the firmware image that contains the section
439 * which should be sent to the ULINK's EZ-USB microcontroller.
440 * @param section_index index of the section within the firmware image.
441 * @return on success: ERROR_OK
442 * @return on failure: ERROR_FAIL
444 static int ulink_write_firmware_section(struct ulink *device,
445 struct image *firmware_image, int section_index)
447 uint16_t addr, size, bytes_remaining, chunk_size;
448 uint8_t data[SECTION_BUFFERSIZE];
449 uint8_t *data_ptr = data;
453 size = (uint16_t)firmware_image->sections[section_index].size;
454 addr = (uint16_t)firmware_image->sections[section_index].base_address;
456 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
459 /* Copy section contents to local buffer */
460 ret = image_read_section(firmware_image, section_index, 0, size, data,
463 if ((ret != ERROR_OK) || (size_read != size)) {
464 /* Propagating the return code would return '0' (misleadingly indicating
465 * successful execution of the function) if only the size check fails. */
469 bytes_remaining = size;
471 /* Send section data in chunks of up to 64 bytes to ULINK */
472 while (bytes_remaining > 0) {
473 if (bytes_remaining > 64)
476 chunk_size = bytes_remaining;
478 ret = libusb_control_transfer(device->usb_device_handle,
479 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
480 REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (unsigned char *)data_ptr,
481 chunk_size, USB_TIMEOUT);
483 if (ret != (int)chunk_size) {
484 /* Abort if libusb sent less data than requested */
488 bytes_remaining -= chunk_size;
490 data_ptr += chunk_size;
496 /************************** Generic helper functions **************************/
499 * Print state of interesting signals via LOG_INFO().
501 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
502 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
504 static void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
506 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
508 (output_signals & SIGNAL_TDI ? 1 : 0),
509 (input_signals & SIGNAL_TDO ? 1 : 0),
510 (output_signals & SIGNAL_TMS ? 1 : 0),
511 (output_signals & SIGNAL_TCK ? 1 : 0),
512 (output_signals & SIGNAL_TRST ? 0 : 1), /* Inverted by hardware */
513 (output_signals & SIGNAL_RESET ? 0 : 1)); /* Inverted by hardware */
516 /**************** OpenULINK command generation helper functions ***************/
519 * Allocate and initialize space in memory for OpenULINK command payload.
521 * @param ulink_cmd pointer to command whose payload should be allocated.
522 * @param size the amount of memory to allocate (bytes).
523 * @param direction which payload to allocate.
524 * @return on success: ERROR_OK
525 * @return on failure: ERROR_FAIL
527 static int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
528 enum ulink_payload_direction direction)
532 payload = calloc(size, sizeof(uint8_t));
535 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
540 case PAYLOAD_DIRECTION_OUT:
541 if (ulink_cmd->payload_out) {
542 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
546 ulink_cmd->payload_out = payload;
547 ulink_cmd->payload_out_size = size;
550 case PAYLOAD_DIRECTION_IN:
551 if (ulink_cmd->payload_in_start) {
552 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
556 ulink_cmd->payload_in_start = payload;
557 ulink_cmd->payload_in = payload;
558 ulink_cmd->payload_in_size = size;
560 /* By default, free payload_in_start in ulink_clear_queue(). Commands
561 * that do not want this behavior (e. g. split scans) must turn it off
563 ulink_cmd->free_payload_in_start = true;
571 /****************** OpenULINK command queue helper functions ******************/
574 * Get the current number of bytes in the queue, including command IDs.
576 * @param device pointer to struct ulink identifying ULINK driver instance.
577 * @param direction the transfer direction for which to get byte count.
578 * @return the number of bytes currently stored in the queue for the specified
581 static int ulink_get_queue_size(struct ulink *device,
582 enum ulink_payload_direction direction)
584 struct ulink_cmd *current = device->queue_start;
589 case PAYLOAD_DIRECTION_OUT:
590 sum += current->payload_out_size + 1; /* + 1 byte for Command ID */
592 case PAYLOAD_DIRECTION_IN:
593 sum += current->payload_in_size;
597 current = current->next;
604 * Clear the OpenULINK command queue.
606 * @param device pointer to struct ulink identifying ULINK driver instance.
608 static void ulink_clear_queue(struct ulink *device)
610 struct ulink_cmd *current = device->queue_start;
611 struct ulink_cmd *next = NULL;
614 /* Save pointer to next element */
615 next = current->next;
617 /* Free payloads: OUT payload can be freed immediately */
618 free(current->payload_out);
619 current->payload_out = NULL;
621 /* IN payload MUST be freed ONLY if no other commands use the
622 * payload_in_start buffer */
623 if (current->free_payload_in_start == true) {
624 free(current->payload_in_start);
625 current->payload_in_start = NULL;
626 current->payload_in = NULL;
629 /* Free queue element */
632 /* Proceed with next element */
636 device->commands_in_queue = 0;
637 device->queue_start = NULL;
638 device->queue_end = NULL;
642 * Add a command to the OpenULINK command queue.
644 * @param device pointer to struct ulink identifying ULINK driver instance.
645 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
647 * @return on success: ERROR_OK
648 * @return on failure: ERROR_FAIL
650 static int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd)
652 int newsize_out, newsize_in;
655 newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
656 + ulink_cmd->payload_out_size;
658 newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
659 + ulink_cmd->payload_in_size;
661 /* Check if the current command can be appended to the queue */
662 if ((newsize_out > 64) || (newsize_in > 64)) {
663 /* New command does not fit. Execute all commands in queue before starting
664 * new queue with the current command as first entry. */
665 ret = ulink_execute_queued_commands(device, USB_TIMEOUT);
668 ret = ulink_post_process_queue(device);
671 ulink_clear_queue(device);
674 if (!device->queue_start) {
675 /* Queue was empty */
676 device->commands_in_queue = 1;
678 device->queue_start = ulink_cmd;
679 device->queue_end = ulink_cmd;
681 /* There are already commands in the queue */
682 device->commands_in_queue++;
684 device->queue_end->next = ulink_cmd;
685 device->queue_end = ulink_cmd;
689 ulink_clear_queue(device);
695 * Sends all queued OpenULINK commands to the ULINK for execution.
697 * @param device pointer to struct ulink identifying ULINK driver instance.
699 * @return on success: ERROR_OK
700 * @return on failure: ERROR_FAIL
702 static int ulink_execute_queued_commands(struct ulink *device, int timeout)
704 struct ulink_cmd *current;
705 int ret, i, index_out, index_in, count_out, count_in, transferred;
708 if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO))
709 ulink_print_queue(device);
715 for (current = device->queue_start; current; current = current->next) {
716 /* Add command to packet */
717 buffer[index_out] = current->id;
721 for (i = 0; i < current->payload_out_size; i++)
722 buffer[index_out + i] = current->payload_out[i];
723 index_out += current->payload_out_size;
724 count_in += current->payload_in_size;
725 count_out += current->payload_out_size;
728 /* Send packet to ULINK */
729 ret = libusb_bulk_transfer(device->usb_device_handle, device->ep_out,
730 (unsigned char *)buffer, count_out, &transferred, timeout);
733 if (transferred != count_out)
736 /* Wait for response if commands contain IN payload data */
738 ret = libusb_bulk_transfer(device->usb_device_handle, device->ep_in,
739 (unsigned char *)buffer, 64, &transferred, timeout);
742 if (transferred != count_in)
745 /* Write back IN payload data */
747 for (current = device->queue_start; current; current = current->next) {
748 for (i = 0; i < current->payload_in_size; i++) {
749 current->payload_in[i] = buffer[index_in];
759 * Convert an OpenULINK command ID (\a id) to a human-readable string.
761 * @param id the OpenULINK command ID.
762 * @return the corresponding human-readable string.
764 static const char *ulink_cmd_id_string(uint8_t id)
768 return "CMD_SCAN_IN";
769 case CMD_SLOW_SCAN_IN:
770 return "CMD_SLOW_SCAN_IN";
772 return "CMD_SCAN_OUT";
773 case CMD_SLOW_SCAN_OUT:
774 return "CMD_SLOW_SCAN_OUT";
776 return "CMD_SCAN_IO";
777 case CMD_SLOW_SCAN_IO:
778 return "CMD_SLOW_SCAN_IO";
780 return "CMD_CLOCK_TMS";
781 case CMD_SLOW_CLOCK_TMS:
782 return "CMD_SLOW_CLOCK_TMS";
784 return "CMD_CLOCK_TCK";
785 case CMD_SLOW_CLOCK_TCK:
786 return "CMD_SLOW_CLOCK_TCK";
788 return "CMD_SLEEP_US";
790 return "CMD_SLEEP_MS";
791 case CMD_GET_SIGNALS:
792 return "CMD_GET_SIGNALS";
793 case CMD_SET_SIGNALS:
794 return "CMD_SET_SIGNALS";
795 case CMD_CONFIGURE_TCK_FREQ:
796 return "CMD_CONFIGURE_TCK_FREQ";
798 return "CMD_SET_LEDS";
802 return "CMD_UNKNOWN";
807 * Print one OpenULINK command to stdout.
809 * @param ulink_cmd pointer to OpenULINK command.
811 static void ulink_print_command(struct ulink_cmd *ulink_cmd)
815 printf(" %-22s | OUT size = %i, bytes = 0x",
816 ulink_cmd_id_string(ulink_cmd->id), ulink_cmd->payload_out_size);
818 for (i = 0; i < ulink_cmd->payload_out_size; i++)
819 printf("%02X ", ulink_cmd->payload_out[i]);
820 printf("\n | IN size = %i\n",
821 ulink_cmd->payload_in_size);
825 * Print the OpenULINK command queue to stdout.
827 * @param device pointer to struct ulink identifying ULINK driver instance.
829 static void ulink_print_queue(struct ulink *device)
831 struct ulink_cmd *current;
833 printf("OpenULINK command queue:\n");
835 for (current = device->queue_start; current; current = current->next)
836 ulink_print_command(current);
842 * Creates and appends a JTAG scan command to the OpenULINK command queue.
843 * A JTAG scan consists of three steps:
844 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
845 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
846 * - Move to the desired end state.
848 * @param device pointer to struct ulink identifying ULINK driver instance.
849 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
850 * @param scan_size_bits number of bits to shift into the JTAG chain.
851 * @param tdi pointer to array containing TDI data.
852 * @param tdo_start pointer to first element of array where TDO data shall be
853 * stored. See #ulink_cmd for details.
854 * @param tdo pointer to array where TDO data shall be stored
855 * @param tms_count_start number of TMS state transitions to perform BEFORE
856 * shifting data into the JTAG chain.
857 * @param tms_sequence_start sequence of TMS state transitions that will be
858 * performed BEFORE shifting data into the JTAG chain.
859 * @param tms_count_end number of TMS state transitions to perform AFTER
860 * shifting data into the JTAG chain.
861 * @param tms_sequence_end sequence of TMS state transitions that will be
862 * performed AFTER shifting data into the JTAG chain.
863 * @param origin pointer to OpenOCD command that generated this scan command.
864 * @param postprocess whether this command needs to be post-processed after
866 * @return on success: ERROR_OK
867 * @return on failure: ERROR_FAIL
869 static int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
870 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
871 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
872 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
874 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
875 int ret, i, scan_size_bytes;
876 uint8_t bits_last_byte;
881 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
882 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
883 if (scan_size_bits > (58 * 8)) {
884 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
890 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
892 bits_last_byte = scan_size_bits % 8;
893 if (bits_last_byte == 0)
896 /* Allocate out_payload depending on scan type */
899 if (device->delay_scan_in < 0)
900 cmd->id = CMD_SCAN_IN;
902 cmd->id = CMD_SLOW_SCAN_IN;
903 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
906 if (device->delay_scan_out < 0)
907 cmd->id = CMD_SCAN_OUT;
909 cmd->id = CMD_SLOW_SCAN_OUT;
910 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
913 if (device->delay_scan_io < 0)
914 cmd->id = CMD_SCAN_IO;
916 cmd->id = CMD_SLOW_SCAN_IO;
917 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
920 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
925 if (ret != ERROR_OK) {
930 /* Build payload_out that is common to all scan types */
931 cmd->payload_out[0] = scan_size_bytes & 0xFF;
932 cmd->payload_out[1] = bits_last_byte & 0xFF;
933 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
934 cmd->payload_out[3] = tms_sequence_start;
935 cmd->payload_out[4] = tms_sequence_end;
937 /* Setup payload_out for types with OUT transfer */
938 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
939 for (i = 0; i < scan_size_bytes; i++)
940 cmd->payload_out[i + 5] = tdi[i];
943 /* Setup payload_in pointers for types with IN transfer */
944 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
945 cmd->payload_in_start = tdo_start;
946 cmd->payload_in = tdo;
947 cmd->payload_in_size = scan_size_bytes;
950 cmd->needs_postprocessing = postprocess;
951 cmd->cmd_origin = origin;
953 /* For scan commands, we free payload_in_start only when the command is
954 * the last in a series of split commands or a stand-alone command */
955 cmd->free_payload_in_start = postprocess;
957 return ulink_append_queue(device, cmd);
961 * Perform TAP state transitions
963 * @param device pointer to struct ulink identifying ULINK driver instance.
964 * @param count defines the number of TCK clock cycles generated (up to 8).
965 * @param sequence defines the TMS pin levels for each state transition. The
966 * Least-Significant Bit is read first.
967 * @return on success: ERROR_OK
968 * @return on failure: ERROR_FAIL
970 static int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
973 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
979 if (device->delay_clock_tms < 0)
980 cmd->id = CMD_CLOCK_TMS;
982 cmd->id = CMD_SLOW_CLOCK_TMS;
984 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
985 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
986 if (ret != ERROR_OK) {
991 cmd->payload_out[0] = count;
992 cmd->payload_out[1] = sequence;
994 return ulink_append_queue(device, cmd);
998 * Generate a defined amount of TCK clock cycles
1000 * All other JTAG signals are left unchanged.
1002 * @param device pointer to struct ulink identifying ULINK driver instance.
1003 * @param count the number of TCK clock cycles to generate.
1004 * @return on success: ERROR_OK
1005 * @return on failure: ERROR_FAIL
1007 static int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
1009 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1015 if (device->delay_clock_tck < 0)
1016 cmd->id = CMD_CLOCK_TCK;
1018 cmd->id = CMD_SLOW_CLOCK_TCK;
1020 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1021 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1022 if (ret != ERROR_OK) {
1027 cmd->payload_out[0] = count & 0xff;
1028 cmd->payload_out[1] = (count >> 8) & 0xff;
1030 return ulink_append_queue(device, cmd);
1034 * Read JTAG signals.
1036 * @param device pointer to struct ulink identifying ULINK driver instance.
1037 * @return on success: ERROR_OK
1038 * @return on failure: ERROR_FAIL
1040 static int ulink_append_get_signals_cmd(struct ulink *device)
1042 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1048 cmd->id = CMD_GET_SIGNALS;
1049 cmd->needs_postprocessing = true;
1051 /* CMD_GET_SIGNALS has two IN payload bytes */
1052 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1054 if (ret != ERROR_OK) {
1059 return ulink_append_queue(device, cmd);
1063 * Arbitrarily set JTAG output signals.
1065 * @param device pointer to struct ulink identifying ULINK driver instance.
1066 * @param low defines which signals will be de-asserted. Each bit corresponds
1075 * @param high defines which signals will be asserted.
1076 * @return on success: ERROR_OK
1077 * @return on failure: ERROR_FAIL
1079 static int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1082 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1088 cmd->id = CMD_SET_SIGNALS;
1090 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1091 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1093 if (ret != ERROR_OK) {
1098 cmd->payload_out[0] = low;
1099 cmd->payload_out[1] = high;
1101 return ulink_append_queue(device, cmd);
1105 * Sleep for a pre-defined number of microseconds
1107 * @param device pointer to struct ulink identifying ULINK driver instance.
1108 * @param us the number microseconds to sleep.
1109 * @return on success: ERROR_OK
1110 * @return on failure: ERROR_FAIL
1112 static int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1114 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1120 cmd->id = CMD_SLEEP_US;
1122 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1123 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1125 if (ret != ERROR_OK) {
1130 cmd->payload_out[0] = us & 0x00ff;
1131 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1133 return ulink_append_queue(device, cmd);
1137 * Set TCK delay counters
1139 * @param device pointer to struct ulink identifying ULINK driver instance.
1140 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1141 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1142 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1143 * @param delay_tck delay count top value in jtag_clock_tck() function.
1144 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1145 * @return on success: ERROR_OK
1146 * @return on failure: ERROR_FAIL
1148 static int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
1149 int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
1151 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1157 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1159 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1160 * IN payload bytes */
1161 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
1162 if (ret != ERROR_OK) {
1167 if (delay_scan_in < 0)
1168 cmd->payload_out[0] = 0;
1170 cmd->payload_out[0] = (uint8_t)delay_scan_in;
1172 if (delay_scan_out < 0)
1173 cmd->payload_out[1] = 0;
1175 cmd->payload_out[1] = (uint8_t)delay_scan_out;
1177 if (delay_scan_io < 0)
1178 cmd->payload_out[2] = 0;
1180 cmd->payload_out[2] = (uint8_t)delay_scan_io;
1183 cmd->payload_out[3] = 0;
1185 cmd->payload_out[3] = (uint8_t)delay_tck;
1188 cmd->payload_out[4] = 0;
1190 cmd->payload_out[4] = (uint8_t)delay_tms;
1192 return ulink_append_queue(device, cmd);
1196 * Turn on/off ULINK LEDs.
1198 * @param device pointer to struct ulink identifying ULINK driver instance.
1199 * @param led_state which LED(s) to turn on or off. The following bits
1200 * influence the LEDS:
1201 * - Bit 0: Turn COM LED on
1202 * - Bit 1: Turn RUN LED on
1203 * - Bit 2: Turn COM LED off
1204 * - Bit 3: Turn RUN LED off
1205 * If both the on-bit and the off-bit for the same LED is set, the LED is
1207 * @return on success: ERROR_OK
1208 * @return on failure: ERROR_FAIL
1210 static int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1212 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1218 cmd->id = CMD_SET_LEDS;
1220 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1221 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1222 if (ret != ERROR_OK) {
1227 cmd->payload_out[0] = led_state;
1229 return ulink_append_queue(device, cmd);
1233 * Test command. Used to check if the ULINK device is ready to accept new
1236 * @param device pointer to struct ulink identifying ULINK driver instance.
1237 * @return on success: ERROR_OK
1238 * @return on failure: ERROR_FAIL
1240 static int ulink_append_test_cmd(struct ulink *device)
1242 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1250 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1251 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1252 if (ret != ERROR_OK) {
1257 cmd->payload_out[0] = 0xAA;
1259 return ulink_append_queue(device, cmd);
1262 /****************** OpenULINK TCK frequency helper functions ******************/
1265 * Calculate delay values for a given TCK frequency.
1267 * The OpenULINK firmware uses five different speed values for different
1268 * commands. These speed values are calculated in these functions.
1270 * The five different commands which support variable TCK frequency are
1271 * implemented twice in the firmware:
1272 * 1. Maximum possible frequency without any artificial delay
1273 * 2. Variable frequency with artificial linear delay loop
1275 * To set the ULINK to maximum frequency, it is only necessary to use the
1276 * corresponding command IDs. To set the ULINK to a lower frequency, the
1277 * delay loop top values have to be calculated first. Then, a
1278 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1280 * The delay values are described by linear equations:
1282 * (t = period, k = constant, x = delay value, d = constant)
1284 * Thus, the delay can be calculated as in the following equation:
1287 * The constants in these equations have been determined and validated by
1288 * measuring the frequency resulting from different delay values.
1290 * @param type for which command to calculate the delay value.
1291 * @param f TCK frequency for which to calculate the delay value in Hz.
1292 * @param delay where to store resulting delay value.
1293 * @return on success: ERROR_OK
1294 * @return on failure: ERROR_FAIL
1296 static int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
1300 /* Calculate period of requested TCK frequency */
1301 t = 1.0 / (float)(f);
1304 case DELAY_CLOCK_TCK:
1305 x = (t - (float)(6E-6)) / (float)(4E-6);
1307 case DELAY_CLOCK_TMS:
1308 x = (t - (float)(8.5E-6)) / (float)(4E-6);
1311 x = (t - (float)(8.8308E-6)) / (float)(4E-6);
1313 case DELAY_SCAN_OUT:
1314 x = (t - (float)(1.0527E-5)) / (float)(4E-6);
1317 x = (t - (float)(1.3132E-5)) / (float)(4E-6);
1324 /* Check if the delay value is negative. This happens when a frequency is
1325 * requested that is too high for the delay loop implementation. In this
1326 * case, set delay value to zero. */
1330 /* We need to convert the exact delay value to an integer. Therefore, we
1331 * round the exact value UP to ensure that the resulting frequency is NOT
1332 * higher than the requested frequency. */
1335 /* Check if the value is within limits */
1339 *delay = (int)x_ceil;
1345 * Calculate frequency for a given delay value.
1347 * Similar to the #ulink_calculate_delay function, this function calculates the
1348 * TCK frequency for a given delay value by using linear equations of the form:
1350 * (t = period, k = constant, x = delay value, d = constant)
1352 * @param type for which command to calculate the delay value.
1353 * @param delay delay value for which to calculate the resulting TCK frequency.
1354 * @return the resulting TCK frequency
1356 static long ulink_calculate_frequency(enum ulink_delay_type type, int delay)
1364 case DELAY_CLOCK_TCK:
1366 t = (float)(2.666E-6);
1368 t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
1370 case DELAY_CLOCK_TMS:
1372 t = (float)(5.666E-6);
1374 t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
1378 t = (float)(5.5E-6);
1380 t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
1382 case DELAY_SCAN_OUT:
1384 t = (float)(7.0E-6);
1386 t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
1390 t = (float)(9.926E-6);
1392 t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
1399 return roundf(f_float);
1402 /******************* Interface between OpenULINK and OpenOCD ******************/
1405 * Sets the end state follower (see interface.h) if \a endstate is a stable
1408 * @param endstate the state the end state follower should be set to.
1410 static void ulink_set_end_state(tap_state_t endstate)
1412 if (tap_is_state_stable(endstate))
1413 tap_set_end_state(endstate);
1415 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1421 * Move from the current TAP state to the current TAP end state.
1423 * @param device pointer to struct ulink identifying ULINK driver instance.
1424 * @return on success: ERROR_OK
1425 * @return on failure: ERROR_FAIL
1427 static int ulink_queue_statemove(struct ulink *device)
1429 uint8_t tms_sequence, tms_count;
1432 if (tap_get_state() == tap_get_end_state()) {
1433 /* Do nothing if we are already there */
1437 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1438 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1440 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1442 if (ret == ERROR_OK)
1443 tap_set_state(tap_get_end_state());
1449 * Perform a scan operation on a JTAG register.
1451 * @param device pointer to struct ulink identifying ULINK driver instance.
1452 * @param cmd pointer to the command that shall be executed.
1453 * @return on success: ERROR_OK
1454 * @return on failure: ERROR_FAIL
1456 static int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1458 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1459 uint32_t scans_max_payload, bytecount;
1460 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1461 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1463 uint8_t first_tms_count, first_tms_sequence;
1464 uint8_t last_tms_count, last_tms_sequence;
1466 uint8_t tms_count_pause, tms_sequence_pause;
1467 uint8_t tms_count_resume, tms_sequence_resume;
1469 uint8_t tms_count_start, tms_sequence_start;
1470 uint8_t tms_count_end, tms_sequence_end;
1472 enum scan_type type;
1475 /* Determine scan size */
1476 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1477 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1479 /* Determine scan type (IN/OUT/IO) */
1480 type = jtag_scan_type(cmd->cmd.scan);
1482 /* Determine number of scan commands with maximum payload */
1483 scans_max_payload = scan_size_bytes / 58;
1485 /* Determine size of last shift command */
1486 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1488 /* Allocate TDO buffer if required */
1489 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1490 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1492 if (!tdo_buffer_start)
1495 tdo_buffer = tdo_buffer_start;
1498 /* Fill TDI buffer if required */
1499 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1500 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1501 tdi_buffer = tdi_buffer_start;
1504 /* Get TAP state transitions */
1505 if (cmd->cmd.scan->ir_scan) {
1506 ulink_set_end_state(TAP_IRSHIFT);
1507 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1508 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1510 tap_set_state(TAP_IRSHIFT);
1511 tap_set_end_state(cmd->cmd.scan->end_state);
1512 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1513 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1515 /* TAP state transitions for split scans */
1516 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1517 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1518 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1519 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1521 ulink_set_end_state(TAP_DRSHIFT);
1522 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1523 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1525 tap_set_state(TAP_DRSHIFT);
1526 tap_set_end_state(cmd->cmd.scan->end_state);
1527 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1528 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1530 /* TAP state transitions for split scans */
1531 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1532 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1533 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1534 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1537 /* Generate scan commands */
1538 bytecount = scan_size_bytes;
1539 while (bytecount > 0) {
1540 if (bytecount == scan_size_bytes) {
1541 /* This is the first scan */
1542 tms_count_start = first_tms_count;
1543 tms_sequence_start = first_tms_sequence;
1545 /* Resume from previous scan */
1546 tms_count_start = tms_count_resume;
1547 tms_sequence_start = tms_sequence_resume;
1550 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1551 tms_count_end = tms_count_pause;
1552 tms_sequence_end = tms_sequence_pause;
1554 ret = ulink_append_scan_cmd(device,
1569 /* Update TDI and TDO buffer pointers */
1570 if (tdi_buffer_start)
1572 if (tdo_buffer_start)
1574 } else if (bytecount == 58) { /* Full scan, no further scans */
1575 tms_count_end = last_tms_count;
1576 tms_sequence_end = last_tms_sequence;
1578 ret = ulink_append_scan_cmd(device,
1592 } else {/* Scan with less than maximum payload, no further scans */
1593 tms_count_end = last_tms_count;
1594 tms_sequence_end = last_tms_sequence;
1596 ret = ulink_append_scan_cmd(device,
1612 if (ret != ERROR_OK) {
1613 free(tdi_buffer_start);
1614 free(tdo_buffer_start);
1619 free(tdi_buffer_start);
1621 /* Set current state to the end state requested by the command */
1622 tap_set_state(cmd->cmd.scan->end_state);
1628 * Move the TAP into the Test Logic Reset state.
1630 * @param device pointer to struct ulink identifying ULINK driver instance.
1631 * @param cmd pointer to the command that shall be executed.
1632 * @return on success: ERROR_OK
1633 * @return on failure: ERROR_FAIL
1635 static int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1639 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1641 if (ret == ERROR_OK)
1642 tap_set_state(TAP_RESET);
1650 * Generate TCK clock cycles while remaining
1651 * in the Run-Test/Idle state.
1653 * @param device pointer to struct ulink identifying ULINK driver instance.
1654 * @param cmd pointer to the command that shall be executed.
1655 * @return on success: ERROR_OK
1656 * @return on failure: ERROR_FAIL
1658 static int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1662 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1663 if (tap_get_state() != TAP_IDLE) {
1664 ulink_set_end_state(TAP_IDLE);
1665 ulink_queue_statemove(device);
1668 /* Generate the clock cycles */
1669 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1670 if (ret != ERROR_OK)
1673 /* Move to end state specified in command */
1674 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1675 tap_set_end_state(cmd->cmd.runtest->end_state);
1676 ulink_queue_statemove(device);
1683 * Execute a JTAG_RESET command
1686 * @param cmd pointer to the command that shall be executed.
1687 * @return on success: ERROR_OK
1688 * @return on failure: ERROR_FAIL
1690 static int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1692 uint8_t low = 0, high = 0;
1694 if (cmd->cmd.reset->trst) {
1695 tap_set_state(TAP_RESET);
1696 high |= SIGNAL_TRST;
1700 if (cmd->cmd.reset->srst)
1701 high |= SIGNAL_RESET;
1703 low |= SIGNAL_RESET;
1705 return ulink_append_set_signals_cmd(device, low, high);
1709 * Move to one TAP state or several states in succession.
1711 * @param device pointer to struct ulink identifying ULINK driver instance.
1712 * @param cmd pointer to the command that shall be executed.
1713 * @return on success: ERROR_OK
1714 * @return on failure: ERROR_FAIL
1716 static int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1718 int ret, i, num_states, batch_size, state_count;
1720 uint8_t tms_sequence;
1722 num_states = cmd->cmd.pathmove->num_states;
1723 path = cmd->cmd.pathmove->path;
1726 while (num_states > 0) {
1729 /* Determine batch size */
1730 if (num_states >= 8)
1733 batch_size = num_states;
1735 for (i = 0; i < batch_size; i++) {
1736 if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
1737 /* Append '0' transition: clear bit 'i' in tms_sequence */
1738 buf_set_u32(&tms_sequence, i, 1, 0x0);
1739 } else if (tap_state_transition(tap_get_state(), true)
1740 == path[state_count]) {
1741 /* Append '1' transition: set bit 'i' in tms_sequence */
1742 buf_set_u32(&tms_sequence, i, 1, 0x1);
1744 /* Invalid state transition */
1745 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1746 tap_state_name(tap_get_state()),
1747 tap_state_name(path[state_count]));
1751 tap_set_state(path[state_count]);
1756 /* Append CLOCK_TMS command to OpenULINK command queue */
1758 "pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
1759 ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
1760 if (ret != ERROR_OK)
1768 * Sleep for a specific amount of time.
1770 * @param device pointer to struct ulink identifying ULINK driver instance.
1771 * @param cmd pointer to the command that shall be executed.
1772 * @return on success: ERROR_OK
1773 * @return on failure: ERROR_FAIL
1775 static int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1777 /* IMPORTANT! Due to the time offset in command execution introduced by
1778 * command queueing, this needs to be implemented in the ULINK device */
1779 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1783 * Generate TCK cycles while remaining in a stable state.
1785 * @param device pointer to struct ulink identifying ULINK driver instance.
1786 * @param cmd pointer to the command that shall be executed.
1788 static int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
1791 unsigned num_cycles;
1793 if (!tap_is_state_stable(tap_get_state())) {
1794 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1798 num_cycles = cmd->cmd.stableclocks->num_cycles;
1800 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1801 if (tap_get_state() == TAP_RESET)
1802 ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
1804 ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
1806 if (ret != ERROR_OK)
1809 while (num_cycles > 0) {
1810 if (num_cycles > 0xFFFF) {
1811 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1812 ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1813 num_cycles -= 0xFFFF;
1815 ret = ulink_append_clock_tck_cmd(device, num_cycles);
1819 if (ret != ERROR_OK)
1827 * Post-process JTAG_SCAN command
1829 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1830 * @return on success: ERROR_OK
1831 * @return on failure: ERROR_FAIL
1833 static int ulink_post_process_scan(struct ulink_cmd *ulink_cmd)
1835 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1838 switch (jtag_scan_type(cmd->cmd.scan)) {
1841 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1844 /* Nothing to do for OUT scans */
1848 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1858 * Perform post-processing of commands after OpenULINK queue has been executed.
1860 * @param device pointer to struct ulink identifying ULINK driver instance.
1861 * @return on success: ERROR_OK
1862 * @return on failure: ERROR_FAIL
1864 static int ulink_post_process_queue(struct ulink *device)
1866 struct ulink_cmd *current;
1867 struct jtag_command *openocd_cmd;
1870 current = device->queue_start;
1873 openocd_cmd = current->cmd_origin;
1875 /* Check if a corresponding OpenOCD command is stored for this
1876 * OpenULINK command */
1877 if ((current->needs_postprocessing == true) && (openocd_cmd)) {
1878 switch (openocd_cmd->type) {
1880 ret = ulink_post_process_scan(current);
1882 case JTAG_TLR_RESET:
1887 case JTAG_STABLECLOCKS:
1888 /* Nothing to do for these commands */
1893 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1898 if (ret != ERROR_OK)
1902 current = current->next;
1908 /**************************** JTAG driver functions ***************************/
1911 * Executes the JTAG Command Queue.
1913 * This is done in three stages: First, all OpenOCD commands are processed into
1914 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1915 * ULINK device and data received from the ULINK device is cached. Finally,
1916 * the post-processing function writes back data to the corresponding OpenOCD
1919 * @return on success: ERROR_OK
1920 * @return on failure: ERROR_FAIL
1922 static int ulink_execute_queue(void)
1924 struct jtag_command *cmd = jtag_command_queue;
1928 switch (cmd->type) {
1930 ret = ulink_queue_scan(ulink_handle, cmd);
1932 case JTAG_TLR_RESET:
1933 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1936 ret = ulink_queue_runtest(ulink_handle, cmd);
1939 ret = ulink_queue_reset(ulink_handle, cmd);
1942 ret = ulink_queue_pathmove(ulink_handle, cmd);
1945 ret = ulink_queue_sleep(ulink_handle, cmd);
1947 case JTAG_STABLECLOCKS:
1948 ret = ulink_queue_stableclocks(ulink_handle, cmd);
1952 LOG_ERROR("BUG: encountered unknown JTAG command type");
1956 if (ret != ERROR_OK)
1962 if (ulink_handle->commands_in_queue > 0) {
1963 ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
1964 if (ret != ERROR_OK)
1967 ret = ulink_post_process_queue(ulink_handle);
1968 if (ret != ERROR_OK)
1971 ulink_clear_queue(ulink_handle);
1978 * Set the TCK frequency of the ULINK adapter.
1980 * @param khz desired JTAG TCK frequency.
1981 * @param jtag_speed where to store corresponding adapter-specific speed value.
1982 * @return on success: ERROR_OK
1983 * @return on failure: ERROR_FAIL
1985 static int ulink_khz(int khz, int *jtag_speed)
1990 LOG_ERROR("RCLK not supported");
1994 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
1995 * setting can be done independently from all other commands. */
1997 ulink_handle->delay_clock_tck = -1;
1999 ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
2000 &ulink_handle->delay_clock_tck);
2001 if (ret != ERROR_OK)
2005 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2006 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2007 * commands, all SCAN commands MUST also use the variable frequency
2008 * implementation! */
2010 ulink_handle->delay_clock_tms = -1;
2011 ulink_handle->delay_scan_in = -1;
2012 ulink_handle->delay_scan_out = -1;
2013 ulink_handle->delay_scan_io = -1;
2015 ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
2016 &ulink_handle->delay_clock_tms);
2017 if (ret != ERROR_OK)
2020 ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
2021 &ulink_handle->delay_scan_in);
2022 if (ret != ERROR_OK)
2025 ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
2026 &ulink_handle->delay_scan_out);
2027 if (ret != ERROR_OK)
2030 ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
2031 &ulink_handle->delay_scan_io);
2032 if (ret != ERROR_OK)
2036 LOG_DEBUG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2037 ulink_handle->delay_clock_tck,
2038 ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck));
2039 LOG_DEBUG_IO(" delay_tms = %i (%li Hz),",
2040 ulink_handle->delay_clock_tms,
2041 ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms));
2042 LOG_DEBUG_IO(" delay_scan_in = %i (%li Hz),",
2043 ulink_handle->delay_scan_in,
2044 ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in));
2045 LOG_DEBUG_IO(" delay_scan_out = %i (%li Hz),",
2046 ulink_handle->delay_scan_out,
2047 ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out));
2048 LOG_DEBUG_IO(" delay_scan_io = %i (%li Hz),",
2049 ulink_handle->delay_scan_io,
2050 ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io));
2052 /* Configure the ULINK device with the new delay values */
2053 ret = ulink_append_configure_tck_cmd(ulink_handle,
2054 ulink_handle->delay_scan_in,
2055 ulink_handle->delay_scan_out,
2056 ulink_handle->delay_scan_io,
2057 ulink_handle->delay_clock_tck,
2058 ulink_handle->delay_clock_tms);
2060 if (ret != ERROR_OK)
2069 * Set the TCK frequency of the ULINK adapter.
2071 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2072 * there are five different speed settings. To simplify things, the
2073 * adapter-specific speed setting value is identical to the TCK frequency in
2076 * @param speed desired adapter-specific speed value.
2077 * @return on success: ERROR_OK
2078 * @return on failure: ERROR_FAIL
2080 static int ulink_speed(int speed)
2084 return ulink_khz(speed, &dummy);
2088 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2090 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2091 * there are five different speed settings. To simplify things, the
2092 * adapter-specific speed setting value is identical to the TCK frequency in
2095 * @param speed adapter-specific speed value.
2096 * @param khz where to store corresponding TCK frequency in kHz.
2097 * @return on success: ERROR_OK
2098 * @return on failure: ERROR_FAIL
2100 static int ulink_speed_div(int speed, int *khz)
2108 * Initiates the firmware download to the ULINK adapter and prepares
2111 * @return on success: ERROR_OK
2112 * @return on failure: ERROR_FAIL
2114 static int ulink_init(void)
2116 int ret, transferred;
2117 char str_manufacturer[20];
2118 bool download_firmware = false;
2119 unsigned char *dummy;
2120 uint8_t input_signals, output_signals;
2122 ulink_handle = calloc(1, sizeof(struct ulink));
2126 libusb_init(&ulink_handle->libusb_ctx);
2128 ret = ulink_usb_open(&ulink_handle);
2129 if (ret != ERROR_OK) {
2130 LOG_ERROR("Could not open ULINK device");
2132 ulink_handle = NULL;
2136 /* Get String Descriptor to determine if firmware needs to be loaded */
2137 ret = libusb_get_string_descriptor_ascii(ulink_handle->usb_device_handle, 1, (unsigned char *)str_manufacturer, 20);
2139 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2140 download_firmware = true;
2142 /* We got a String Descriptor, check if it is the correct one */
2143 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0)
2144 download_firmware = true;
2147 if (download_firmware == true) {
2148 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2150 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
2151 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
2152 if (ret != ERROR_OK) {
2153 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2155 ulink_handle = NULL;
2159 LOG_INFO("ULINK device is already running OpenULINK firmware");
2161 /* Get OpenULINK USB IN/OUT endpoints and claim the interface */
2162 ret = jtag_libusb_choose_interface(ulink_handle->usb_device_handle,
2163 &ulink_handle->ep_in, &ulink_handle->ep_out, -1, -1, -1, -1);
2164 if (ret != ERROR_OK)
2167 /* Initialize OpenULINK command queue */
2168 ulink_clear_queue(ulink_handle);
2170 /* Issue one test command with short timeout */
2171 ret = ulink_append_test_cmd(ulink_handle);
2172 if (ret != ERROR_OK)
2175 ret = ulink_execute_queued_commands(ulink_handle, 200);
2176 if (ret != ERROR_OK) {
2177 /* Sending test command failed. The ULINK device may be forever waiting for
2178 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2179 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2180 dummy = calloc(64, sizeof(uint8_t));
2182 ret = libusb_bulk_transfer(ulink_handle->usb_device_handle, ulink_handle->ep_in,
2183 dummy, 64, &transferred, 200);
2187 if (ret != 0 || transferred == 0) {
2188 /* Bulk IN transfer failed -> unrecoverable error condition */
2189 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2190 "the USB port and re-connect, then re-run OpenOCD");
2192 ulink_handle = NULL;
2195 #ifdef _DEBUG_USB_COMMS_
2197 /* Successfully received Bulk IN packet -> continue */
2198 LOG_INFO("Recovered from lost Bulk IN packet");
2202 ulink_clear_queue(ulink_handle);
2204 ret = ulink_append_get_signals_cmd(ulink_handle);
2205 if (ret == ERROR_OK)
2206 ret = ulink_execute_queued_commands(ulink_handle, 200);
2208 if (ret == ERROR_OK) {
2209 /* Post-process the single CMD_GET_SIGNALS command */
2210 input_signals = ulink_handle->queue_start->payload_in[0];
2211 output_signals = ulink_handle->queue_start->payload_in[1];
2213 ulink_print_signal_states(input_signals, output_signals);
2216 ulink_clear_queue(ulink_handle);
2222 * Closes the USB handle for the ULINK device.
2224 * @return on success: ERROR_OK
2225 * @return on failure: ERROR_FAIL
2227 static int ulink_quit(void)
2231 ret = ulink_usb_close(&ulink_handle);
2238 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2240 COMMAND_HANDLER(ulink_download_firmware_handler)
2245 return ERROR_COMMAND_SYNTAX_ERROR;
2248 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
2250 /* Download firmware image in CMD_ARGV[0] */
2251 ret = ulink_load_firmware_and_renumerate(&ulink_handle, CMD_ARGV[0],
2252 ULINK_RENUMERATION_DELAY);
2257 /*************************** Command Registration **************************/
2259 static const struct command_registration ulink_subcommand_handlers[] = {
2261 .name = "download_firmware",
2262 .handler = &ulink_download_firmware_handler,
2263 .mode = COMMAND_EXEC,
2264 .help = "download firmware image to ULINK device",
2265 .usage = "path/to/ulink_firmware.hex",
2267 COMMAND_REGISTRATION_DONE,
2270 static const struct command_registration ulink_command_handlers[] = {
2273 .mode = COMMAND_ANY,
2274 .help = "perform ulink management",
2275 .chain = ulink_subcommand_handlers,
2278 COMMAND_REGISTRATION_DONE
2281 static struct jtag_interface ulink_interface = {
2282 .execute_queue = ulink_execute_queue,
2285 struct adapter_driver ulink_adapter_driver = {
2287 .transports = jtag_only,
2288 .commands = ulink_command_handlers,
2292 .speed = ulink_speed,
2294 .speed_div = ulink_speed_div,
2296 .jtag_ops = &ulink_interface,