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.
607 * @return on success: ERROR_OK
608 * @return on failure: ERROR_FAIL
610 static void ulink_clear_queue(struct ulink *device)
612 struct ulink_cmd *current = device->queue_start;
613 struct ulink_cmd *next = NULL;
616 /* Save pointer to next element */
617 next = current->next;
619 /* Free payloads: OUT payload can be freed immediately */
620 free(current->payload_out);
621 current->payload_out = NULL;
623 /* IN payload MUST be freed ONLY if no other commands use the
624 * payload_in_start buffer */
625 if (current->free_payload_in_start == true) {
626 free(current->payload_in_start);
627 current->payload_in_start = NULL;
628 current->payload_in = NULL;
631 /* Free queue element */
634 /* Proceed with next element */
638 device->commands_in_queue = 0;
639 device->queue_start = NULL;
640 device->queue_end = NULL;
644 * Add a command to the OpenULINK command queue.
646 * @param device pointer to struct ulink identifying ULINK driver instance.
647 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
649 * @return on success: ERROR_OK
650 * @return on failure: ERROR_FAIL
652 static int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd)
654 int newsize_out, newsize_in;
657 newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
658 + ulink_cmd->payload_out_size;
660 newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
661 + ulink_cmd->payload_in_size;
663 /* Check if the current command can be appended to the queue */
664 if ((newsize_out > 64) || (newsize_in > 64)) {
665 /* New command does not fit. Execute all commands in queue before starting
666 * new queue with the current command as first entry. */
667 ret = ulink_execute_queued_commands(device, USB_TIMEOUT);
670 ret = ulink_post_process_queue(device);
673 ulink_clear_queue(device);
676 if (!device->queue_start) {
677 /* Queue was empty */
678 device->commands_in_queue = 1;
680 device->queue_start = ulink_cmd;
681 device->queue_end = ulink_cmd;
683 /* There are already commands in the queue */
684 device->commands_in_queue++;
686 device->queue_end->next = ulink_cmd;
687 device->queue_end = ulink_cmd;
691 ulink_clear_queue(device);
697 * Sends all queued OpenULINK commands to the ULINK for execution.
699 * @param device pointer to struct ulink identifying ULINK driver instance.
701 * @return on success: ERROR_OK
702 * @return on failure: ERROR_FAIL
704 static int ulink_execute_queued_commands(struct ulink *device, int timeout)
706 struct ulink_cmd *current;
707 int ret, i, index_out, index_in, count_out, count_in, transferred;
710 if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO))
711 ulink_print_queue(device);
717 for (current = device->queue_start; current; current = current->next) {
718 /* Add command to packet */
719 buffer[index_out] = current->id;
723 for (i = 0; i < current->payload_out_size; i++)
724 buffer[index_out + i] = current->payload_out[i];
725 index_out += current->payload_out_size;
726 count_in += current->payload_in_size;
727 count_out += current->payload_out_size;
730 /* Send packet to ULINK */
731 ret = libusb_bulk_transfer(device->usb_device_handle, device->ep_out,
732 (unsigned char *)buffer, count_out, &transferred, timeout);
735 if (transferred != count_out)
738 /* Wait for response if commands contain IN payload data */
740 ret = libusb_bulk_transfer(device->usb_device_handle, device->ep_in,
741 (unsigned char *)buffer, 64, &transferred, timeout);
744 if (transferred != count_in)
747 /* Write back IN payload data */
749 for (current = device->queue_start; current; current = current->next) {
750 for (i = 0; i < current->payload_in_size; i++) {
751 current->payload_in[i] = buffer[index_in];
761 * Convert an OpenULINK command ID (\a id) to a human-readable string.
763 * @param id the OpenULINK command ID.
764 * @return the corresponding human-readable string.
766 static const char *ulink_cmd_id_string(uint8_t id)
770 return "CMD_SCAN_IN";
771 case CMD_SLOW_SCAN_IN:
772 return "CMD_SLOW_SCAN_IN";
774 return "CMD_SCAN_OUT";
775 case CMD_SLOW_SCAN_OUT:
776 return "CMD_SLOW_SCAN_OUT";
778 return "CMD_SCAN_IO";
779 case CMD_SLOW_SCAN_IO:
780 return "CMD_SLOW_SCAN_IO";
782 return "CMD_CLOCK_TMS";
783 case CMD_SLOW_CLOCK_TMS:
784 return "CMD_SLOW_CLOCK_TMS";
786 return "CMD_CLOCK_TCK";
787 case CMD_SLOW_CLOCK_TCK:
788 return "CMD_SLOW_CLOCK_TCK";
790 return "CMD_SLEEP_US";
792 return "CMD_SLEEP_MS";
793 case CMD_GET_SIGNALS:
794 return "CMD_GET_SIGNALS";
795 case CMD_SET_SIGNALS:
796 return "CMD_SET_SIGNALS";
797 case CMD_CONFIGURE_TCK_FREQ:
798 return "CMD_CONFIGURE_TCK_FREQ";
800 return "CMD_SET_LEDS";
804 return "CMD_UNKNOWN";
809 * Print one OpenULINK command to stdout.
811 * @param ulink_cmd pointer to OpenULINK command.
813 static void ulink_print_command(struct ulink_cmd *ulink_cmd)
817 printf(" %-22s | OUT size = %i, bytes = 0x",
818 ulink_cmd_id_string(ulink_cmd->id), ulink_cmd->payload_out_size);
820 for (i = 0; i < ulink_cmd->payload_out_size; i++)
821 printf("%02X ", ulink_cmd->payload_out[i]);
822 printf("\n | IN size = %i\n",
823 ulink_cmd->payload_in_size);
827 * Print the OpenULINK command queue to stdout.
829 * @param device pointer to struct ulink identifying ULINK driver instance.
831 static void ulink_print_queue(struct ulink *device)
833 struct ulink_cmd *current;
835 printf("OpenULINK command queue:\n");
837 for (current = device->queue_start; current; current = current->next)
838 ulink_print_command(current);
844 * Creates and appends a JTAG scan command to the OpenULINK command queue.
845 * A JTAG scan consists of three steps:
846 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
847 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
848 * - Move to the desired end state.
850 * @param device pointer to struct ulink identifying ULINK driver instance.
851 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
852 * @param scan_size_bits number of bits to shift into the JTAG chain.
853 * @param tdi pointer to array containing TDI data.
854 * @param tdo_start pointer to first element of array where TDO data shall be
855 * stored. See #ulink_cmd for details.
856 * @param tdo pointer to array where TDO data shall be stored
857 * @param tms_count_start number of TMS state transitions to perform BEFORE
858 * shifting data into the JTAG chain.
859 * @param tms_sequence_start sequence of TMS state transitions that will be
860 * performed BEFORE shifting data into the JTAG chain.
861 * @param tms_count_end number of TMS state transitions to perform AFTER
862 * shifting data into the JTAG chain.
863 * @param tms_sequence_end sequence of TMS state transitions that will be
864 * performed AFTER shifting data into the JTAG chain.
865 * @param origin pointer to OpenOCD command that generated this scan command.
866 * @param postprocess whether this command needs to be post-processed after
868 * @return on success: ERROR_OK
869 * @return on failure: ERROR_FAIL
871 static int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
872 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
873 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
874 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
876 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
877 int ret, i, scan_size_bytes;
878 uint8_t bits_last_byte;
883 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
884 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
885 if (scan_size_bits > (58 * 8)) {
886 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
892 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
894 bits_last_byte = scan_size_bits % 8;
895 if (bits_last_byte == 0)
898 /* Allocate out_payload depending on scan type */
901 if (device->delay_scan_in < 0)
902 cmd->id = CMD_SCAN_IN;
904 cmd->id = CMD_SLOW_SCAN_IN;
905 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
908 if (device->delay_scan_out < 0)
909 cmd->id = CMD_SCAN_OUT;
911 cmd->id = CMD_SLOW_SCAN_OUT;
912 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
915 if (device->delay_scan_io < 0)
916 cmd->id = CMD_SCAN_IO;
918 cmd->id = CMD_SLOW_SCAN_IO;
919 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
922 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
927 if (ret != ERROR_OK) {
932 /* Build payload_out that is common to all scan types */
933 cmd->payload_out[0] = scan_size_bytes & 0xFF;
934 cmd->payload_out[1] = bits_last_byte & 0xFF;
935 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
936 cmd->payload_out[3] = tms_sequence_start;
937 cmd->payload_out[4] = tms_sequence_end;
939 /* Setup payload_out for types with OUT transfer */
940 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
941 for (i = 0; i < scan_size_bytes; i++)
942 cmd->payload_out[i + 5] = tdi[i];
945 /* Setup payload_in pointers for types with IN transfer */
946 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
947 cmd->payload_in_start = tdo_start;
948 cmd->payload_in = tdo;
949 cmd->payload_in_size = scan_size_bytes;
952 cmd->needs_postprocessing = postprocess;
953 cmd->cmd_origin = origin;
955 /* For scan commands, we free payload_in_start only when the command is
956 * the last in a series of split commands or a stand-alone command */
957 cmd->free_payload_in_start = postprocess;
959 return ulink_append_queue(device, cmd);
963 * Perform TAP state transitions
965 * @param device pointer to struct ulink identifying ULINK driver instance.
966 * @param count defines the number of TCK clock cycles generated (up to 8).
967 * @param sequence defines the TMS pin levels for each state transition. The
968 * Least-Significant Bit is read first.
969 * @return on success: ERROR_OK
970 * @return on failure: ERROR_FAIL
972 static int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
975 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
981 if (device->delay_clock_tms < 0)
982 cmd->id = CMD_CLOCK_TMS;
984 cmd->id = CMD_SLOW_CLOCK_TMS;
986 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
987 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
988 if (ret != ERROR_OK) {
993 cmd->payload_out[0] = count;
994 cmd->payload_out[1] = sequence;
996 return ulink_append_queue(device, cmd);
1000 * Generate a defined amount of TCK clock cycles
1002 * All other JTAG signals are left unchanged.
1004 * @param device pointer to struct ulink identifying ULINK driver instance.
1005 * @param count the number of TCK clock cycles to generate.
1006 * @return on success: ERROR_OK
1007 * @return on failure: ERROR_FAIL
1009 static int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
1011 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1017 if (device->delay_clock_tck < 0)
1018 cmd->id = CMD_CLOCK_TCK;
1020 cmd->id = CMD_SLOW_CLOCK_TCK;
1022 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1023 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1024 if (ret != ERROR_OK) {
1029 cmd->payload_out[0] = count & 0xff;
1030 cmd->payload_out[1] = (count >> 8) & 0xff;
1032 return ulink_append_queue(device, cmd);
1036 * Read JTAG signals.
1038 * @param device pointer to struct ulink identifying ULINK driver instance.
1039 * @return on success: ERROR_OK
1040 * @return on failure: ERROR_FAIL
1042 static int ulink_append_get_signals_cmd(struct ulink *device)
1044 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1050 cmd->id = CMD_GET_SIGNALS;
1051 cmd->needs_postprocessing = true;
1053 /* CMD_GET_SIGNALS has two IN payload bytes */
1054 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1056 if (ret != ERROR_OK) {
1061 return ulink_append_queue(device, cmd);
1065 * Arbitrarily set JTAG output signals.
1067 * @param device pointer to struct ulink identifying ULINK driver instance.
1068 * @param low defines which signals will be de-asserted. Each bit corresponds
1077 * @param high defines which signals will be asserted.
1078 * @return on success: ERROR_OK
1079 * @return on failure: ERROR_FAIL
1081 static int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1084 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1090 cmd->id = CMD_SET_SIGNALS;
1092 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1093 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1095 if (ret != ERROR_OK) {
1100 cmd->payload_out[0] = low;
1101 cmd->payload_out[1] = high;
1103 return ulink_append_queue(device, cmd);
1107 * Sleep for a pre-defined number of microseconds
1109 * @param device pointer to struct ulink identifying ULINK driver instance.
1110 * @param us the number microseconds to sleep.
1111 * @return on success: ERROR_OK
1112 * @return on failure: ERROR_FAIL
1114 static int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1116 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1122 cmd->id = CMD_SLEEP_US;
1124 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1125 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1127 if (ret != ERROR_OK) {
1132 cmd->payload_out[0] = us & 0x00ff;
1133 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1135 return ulink_append_queue(device, cmd);
1139 * Set TCK delay counters
1141 * @param device pointer to struct ulink identifying ULINK driver instance.
1142 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1143 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1144 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1145 * @param delay_tck delay count top value in jtag_clock_tck() function.
1146 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1147 * @return on success: ERROR_OK
1148 * @return on failure: ERROR_FAIL
1150 static int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
1151 int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
1153 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1159 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1161 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1162 * IN payload bytes */
1163 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
1164 if (ret != ERROR_OK) {
1169 if (delay_scan_in < 0)
1170 cmd->payload_out[0] = 0;
1172 cmd->payload_out[0] = (uint8_t)delay_scan_in;
1174 if (delay_scan_out < 0)
1175 cmd->payload_out[1] = 0;
1177 cmd->payload_out[1] = (uint8_t)delay_scan_out;
1179 if (delay_scan_io < 0)
1180 cmd->payload_out[2] = 0;
1182 cmd->payload_out[2] = (uint8_t)delay_scan_io;
1185 cmd->payload_out[3] = 0;
1187 cmd->payload_out[3] = (uint8_t)delay_tck;
1190 cmd->payload_out[4] = 0;
1192 cmd->payload_out[4] = (uint8_t)delay_tms;
1194 return ulink_append_queue(device, cmd);
1198 * Turn on/off ULINK LEDs.
1200 * @param device pointer to struct ulink identifying ULINK driver instance.
1201 * @param led_state which LED(s) to turn on or off. The following bits
1202 * influence the LEDS:
1203 * - Bit 0: Turn COM LED on
1204 * - Bit 1: Turn RUN LED on
1205 * - Bit 2: Turn COM LED off
1206 * - Bit 3: Turn RUN LED off
1207 * If both the on-bit and the off-bit for the same LED is set, the LED is
1209 * @return on success: ERROR_OK
1210 * @return on failure: ERROR_FAIL
1212 static int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1214 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1220 cmd->id = CMD_SET_LEDS;
1222 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1223 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1224 if (ret != ERROR_OK) {
1229 cmd->payload_out[0] = led_state;
1231 return ulink_append_queue(device, cmd);
1235 * Test command. Used to check if the ULINK device is ready to accept new
1238 * @param device pointer to struct ulink identifying ULINK driver instance.
1239 * @return on success: ERROR_OK
1240 * @return on failure: ERROR_FAIL
1242 static int ulink_append_test_cmd(struct ulink *device)
1244 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1252 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1253 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1254 if (ret != ERROR_OK) {
1259 cmd->payload_out[0] = 0xAA;
1261 return ulink_append_queue(device, cmd);
1264 /****************** OpenULINK TCK frequency helper functions ******************/
1267 * Calculate delay values for a given TCK frequency.
1269 * The OpenULINK firmware uses five different speed values for different
1270 * commands. These speed values are calculated in these functions.
1272 * The five different commands which support variable TCK frequency are
1273 * implemented twice in the firmware:
1274 * 1. Maximum possible frequency without any artificial delay
1275 * 2. Variable frequency with artificial linear delay loop
1277 * To set the ULINK to maximum frequency, it is only necessary to use the
1278 * corresponding command IDs. To set the ULINK to a lower frequency, the
1279 * delay loop top values have to be calculated first. Then, a
1280 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1282 * The delay values are described by linear equations:
1284 * (t = period, k = constant, x = delay value, d = constant)
1286 * Thus, the delay can be calculated as in the following equation:
1289 * The constants in these equations have been determined and validated by
1290 * measuring the frequency resulting from different delay values.
1292 * @param type for which command to calculate the delay value.
1293 * @param f TCK frequency for which to calculate the delay value in Hz.
1294 * @param delay where to store resulting delay value.
1295 * @return on success: ERROR_OK
1296 * @return on failure: ERROR_FAIL
1298 static int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
1302 /* Calculate period of requested TCK frequency */
1303 t = 1.0 / (float)(f);
1306 case DELAY_CLOCK_TCK:
1307 x = (t - (float)(6E-6)) / (float)(4E-6);
1309 case DELAY_CLOCK_TMS:
1310 x = (t - (float)(8.5E-6)) / (float)(4E-6);
1313 x = (t - (float)(8.8308E-6)) / (float)(4E-6);
1315 case DELAY_SCAN_OUT:
1316 x = (t - (float)(1.0527E-5)) / (float)(4E-6);
1319 x = (t - (float)(1.3132E-5)) / (float)(4E-6);
1326 /* Check if the delay value is negative. This happens when a frequency is
1327 * requested that is too high for the delay loop implementation. In this
1328 * case, set delay value to zero. */
1332 /* We need to convert the exact delay value to an integer. Therefore, we
1333 * round the exact value UP to ensure that the resulting frequency is NOT
1334 * higher than the requested frequency. */
1337 /* Check if the value is within limits */
1341 *delay = (int)x_ceil;
1347 * Calculate frequency for a given delay value.
1349 * Similar to the #ulink_calculate_delay function, this function calculates the
1350 * TCK frequency for a given delay value by using linear equations of the form:
1352 * (t = period, k = constant, x = delay value, d = constant)
1354 * @param type for which command to calculate the delay value.
1355 * @param delay delay value for which to calculate the resulting TCK frequency.
1356 * @return the resulting TCK frequency
1358 static long ulink_calculate_frequency(enum ulink_delay_type type, int delay)
1366 case DELAY_CLOCK_TCK:
1368 t = (float)(2.666E-6);
1370 t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
1372 case DELAY_CLOCK_TMS:
1374 t = (float)(5.666E-6);
1376 t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
1380 t = (float)(5.5E-6);
1382 t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
1384 case DELAY_SCAN_OUT:
1386 t = (float)(7.0E-6);
1388 t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
1392 t = (float)(9.926E-6);
1394 t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
1401 return roundf(f_float);
1404 /******************* Interface between OpenULINK and OpenOCD ******************/
1407 * Sets the end state follower (see interface.h) if \a endstate is a stable
1410 * @param endstate the state the end state follower should be set to.
1412 static void ulink_set_end_state(tap_state_t endstate)
1414 if (tap_is_state_stable(endstate))
1415 tap_set_end_state(endstate);
1417 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1423 * Move from the current TAP state to the current TAP end state.
1425 * @param device pointer to struct ulink identifying ULINK driver instance.
1426 * @return on success: ERROR_OK
1427 * @return on failure: ERROR_FAIL
1429 static int ulink_queue_statemove(struct ulink *device)
1431 uint8_t tms_sequence, tms_count;
1434 if (tap_get_state() == tap_get_end_state()) {
1435 /* Do nothing if we are already there */
1439 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1440 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1442 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1444 if (ret == ERROR_OK)
1445 tap_set_state(tap_get_end_state());
1451 * Perform a scan operation on a JTAG register.
1453 * @param device pointer to struct ulink identifying ULINK driver instance.
1454 * @param cmd pointer to the command that shall be executed.
1455 * @return on success: ERROR_OK
1456 * @return on failure: ERROR_FAIL
1458 static int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1460 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1461 uint32_t scans_max_payload, bytecount;
1462 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1463 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1465 uint8_t first_tms_count, first_tms_sequence;
1466 uint8_t last_tms_count, last_tms_sequence;
1468 uint8_t tms_count_pause, tms_sequence_pause;
1469 uint8_t tms_count_resume, tms_sequence_resume;
1471 uint8_t tms_count_start, tms_sequence_start;
1472 uint8_t tms_count_end, tms_sequence_end;
1474 enum scan_type type;
1477 /* Determine scan size */
1478 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1479 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1481 /* Determine scan type (IN/OUT/IO) */
1482 type = jtag_scan_type(cmd->cmd.scan);
1484 /* Determine number of scan commands with maximum payload */
1485 scans_max_payload = scan_size_bytes / 58;
1487 /* Determine size of last shift command */
1488 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1490 /* Allocate TDO buffer if required */
1491 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1492 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1494 if (!tdo_buffer_start)
1497 tdo_buffer = tdo_buffer_start;
1500 /* Fill TDI buffer if required */
1501 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1502 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1503 tdi_buffer = tdi_buffer_start;
1506 /* Get TAP state transitions */
1507 if (cmd->cmd.scan->ir_scan) {
1508 ulink_set_end_state(TAP_IRSHIFT);
1509 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1510 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1512 tap_set_state(TAP_IRSHIFT);
1513 tap_set_end_state(cmd->cmd.scan->end_state);
1514 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1515 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1517 /* TAP state transitions for split scans */
1518 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1519 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1520 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1521 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1523 ulink_set_end_state(TAP_DRSHIFT);
1524 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1525 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1527 tap_set_state(TAP_DRSHIFT);
1528 tap_set_end_state(cmd->cmd.scan->end_state);
1529 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1530 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1532 /* TAP state transitions for split scans */
1533 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1534 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1535 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1536 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1539 /* Generate scan commands */
1540 bytecount = scan_size_bytes;
1541 while (bytecount > 0) {
1542 if (bytecount == scan_size_bytes) {
1543 /* This is the first scan */
1544 tms_count_start = first_tms_count;
1545 tms_sequence_start = first_tms_sequence;
1547 /* Resume from previous scan */
1548 tms_count_start = tms_count_resume;
1549 tms_sequence_start = tms_sequence_resume;
1552 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1553 tms_count_end = tms_count_pause;
1554 tms_sequence_end = tms_sequence_pause;
1556 ret = ulink_append_scan_cmd(device,
1571 /* Update TDI and TDO buffer pointers */
1572 if (tdi_buffer_start)
1574 if (tdo_buffer_start)
1576 } else if (bytecount == 58) { /* Full scan, no further scans */
1577 tms_count_end = last_tms_count;
1578 tms_sequence_end = last_tms_sequence;
1580 ret = ulink_append_scan_cmd(device,
1594 } else {/* Scan with less than maximum payload, no further scans */
1595 tms_count_end = last_tms_count;
1596 tms_sequence_end = last_tms_sequence;
1598 ret = ulink_append_scan_cmd(device,
1614 if (ret != ERROR_OK) {
1615 free(tdi_buffer_start);
1616 free(tdo_buffer_start);
1621 free(tdi_buffer_start);
1623 /* Set current state to the end state requested by the command */
1624 tap_set_state(cmd->cmd.scan->end_state);
1630 * Move the TAP into the Test Logic Reset state.
1632 * @param device pointer to struct ulink identifying ULINK driver instance.
1633 * @param cmd pointer to the command that shall be executed.
1634 * @return on success: ERROR_OK
1635 * @return on failure: ERROR_FAIL
1637 static int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1641 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1643 if (ret == ERROR_OK)
1644 tap_set_state(TAP_RESET);
1652 * Generate TCK clock cycles while remaining
1653 * in the Run-Test/Idle state.
1655 * @param device pointer to struct ulink identifying ULINK driver instance.
1656 * @param cmd pointer to the command that shall be executed.
1657 * @return on success: ERROR_OK
1658 * @return on failure: ERROR_FAIL
1660 static int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1664 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1665 if (tap_get_state() != TAP_IDLE) {
1666 ulink_set_end_state(TAP_IDLE);
1667 ulink_queue_statemove(device);
1670 /* Generate the clock cycles */
1671 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1672 if (ret != ERROR_OK)
1675 /* Move to end state specified in command */
1676 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1677 tap_set_end_state(cmd->cmd.runtest->end_state);
1678 ulink_queue_statemove(device);
1685 * Execute a JTAG_RESET command
1688 * @param cmd pointer to the command that shall be executed.
1689 * @return on success: ERROR_OK
1690 * @return on failure: ERROR_FAIL
1692 static int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1694 uint8_t low = 0, high = 0;
1696 if (cmd->cmd.reset->trst) {
1697 tap_set_state(TAP_RESET);
1698 high |= SIGNAL_TRST;
1702 if (cmd->cmd.reset->srst)
1703 high |= SIGNAL_RESET;
1705 low |= SIGNAL_RESET;
1707 return ulink_append_set_signals_cmd(device, low, high);
1711 * Move to one TAP state or several states in succession.
1713 * @param device pointer to struct ulink identifying ULINK driver instance.
1714 * @param cmd pointer to the command that shall be executed.
1715 * @return on success: ERROR_OK
1716 * @return on failure: ERROR_FAIL
1718 static int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1720 int ret, i, num_states, batch_size, state_count;
1722 uint8_t tms_sequence;
1724 num_states = cmd->cmd.pathmove->num_states;
1725 path = cmd->cmd.pathmove->path;
1728 while (num_states > 0) {
1731 /* Determine batch size */
1732 if (num_states >= 8)
1735 batch_size = num_states;
1737 for (i = 0; i < batch_size; i++) {
1738 if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
1739 /* Append '0' transition: clear bit 'i' in tms_sequence */
1740 buf_set_u32(&tms_sequence, i, 1, 0x0);
1741 } else if (tap_state_transition(tap_get_state(), true)
1742 == path[state_count]) {
1743 /* Append '1' transition: set bit 'i' in tms_sequence */
1744 buf_set_u32(&tms_sequence, i, 1, 0x1);
1746 /* Invalid state transition */
1747 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1748 tap_state_name(tap_get_state()),
1749 tap_state_name(path[state_count]));
1753 tap_set_state(path[state_count]);
1758 /* Append CLOCK_TMS command to OpenULINK command queue */
1760 "pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
1761 ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
1762 if (ret != ERROR_OK)
1770 * Sleep for a specific amount of time.
1772 * @param device pointer to struct ulink identifying ULINK driver instance.
1773 * @param cmd pointer to the command that shall be executed.
1774 * @return on success: ERROR_OK
1775 * @return on failure: ERROR_FAIL
1777 static int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1779 /* IMPORTANT! Due to the time offset in command execution introduced by
1780 * command queueing, this needs to be implemented in the ULINK device */
1781 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1785 * Generate TCK cycles while remaining in a stable state.
1787 * @param device pointer to struct ulink identifying ULINK driver instance.
1788 * @param cmd pointer to the command that shall be executed.
1790 static int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
1793 unsigned num_cycles;
1795 if (!tap_is_state_stable(tap_get_state())) {
1796 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1800 num_cycles = cmd->cmd.stableclocks->num_cycles;
1802 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1803 if (tap_get_state() == TAP_RESET)
1804 ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
1806 ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
1808 if (ret != ERROR_OK)
1811 while (num_cycles > 0) {
1812 if (num_cycles > 0xFFFF) {
1813 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1814 ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1815 num_cycles -= 0xFFFF;
1817 ret = ulink_append_clock_tck_cmd(device, num_cycles);
1821 if (ret != ERROR_OK)
1829 * Post-process JTAG_SCAN command
1831 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1832 * @return on success: ERROR_OK
1833 * @return on failure: ERROR_FAIL
1835 static int ulink_post_process_scan(struct ulink_cmd *ulink_cmd)
1837 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1840 switch (jtag_scan_type(cmd->cmd.scan)) {
1843 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1846 /* Nothing to do for OUT scans */
1850 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1860 * Perform post-processing of commands after OpenULINK queue has been executed.
1862 * @param device pointer to struct ulink identifying ULINK driver instance.
1863 * @return on success: ERROR_OK
1864 * @return on failure: ERROR_FAIL
1866 static int ulink_post_process_queue(struct ulink *device)
1868 struct ulink_cmd *current;
1869 struct jtag_command *openocd_cmd;
1872 current = device->queue_start;
1875 openocd_cmd = current->cmd_origin;
1877 /* Check if a corresponding OpenOCD command is stored for this
1878 * OpenULINK command */
1879 if ((current->needs_postprocessing == true) && (openocd_cmd)) {
1880 switch (openocd_cmd->type) {
1882 ret = ulink_post_process_scan(current);
1884 case JTAG_TLR_RESET:
1889 case JTAG_STABLECLOCKS:
1890 /* Nothing to do for these commands */
1895 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1900 if (ret != ERROR_OK)
1904 current = current->next;
1910 /**************************** JTAG driver functions ***************************/
1913 * Executes the JTAG Command Queue.
1915 * This is done in three stages: First, all OpenOCD commands are processed into
1916 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1917 * ULINK device and data received from the ULINK device is cached. Finally,
1918 * the post-processing function writes back data to the corresponding OpenOCD
1921 * @return on success: ERROR_OK
1922 * @return on failure: ERROR_FAIL
1924 static int ulink_execute_queue(void)
1926 struct jtag_command *cmd = jtag_command_queue;
1930 switch (cmd->type) {
1932 ret = ulink_queue_scan(ulink_handle, cmd);
1934 case JTAG_TLR_RESET:
1935 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1938 ret = ulink_queue_runtest(ulink_handle, cmd);
1941 ret = ulink_queue_reset(ulink_handle, cmd);
1944 ret = ulink_queue_pathmove(ulink_handle, cmd);
1947 ret = ulink_queue_sleep(ulink_handle, cmd);
1949 case JTAG_STABLECLOCKS:
1950 ret = ulink_queue_stableclocks(ulink_handle, cmd);
1954 LOG_ERROR("BUG: encountered unknown JTAG command type");
1958 if (ret != ERROR_OK)
1964 if (ulink_handle->commands_in_queue > 0) {
1965 ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
1966 if (ret != ERROR_OK)
1969 ret = ulink_post_process_queue(ulink_handle);
1970 if (ret != ERROR_OK)
1973 ulink_clear_queue(ulink_handle);
1980 * Set the TCK frequency of the ULINK adapter.
1982 * @param khz desired JTAG TCK frequency.
1983 * @param jtag_speed where to store corresponding adapter-specific speed value.
1984 * @return on success: ERROR_OK
1985 * @return on failure: ERROR_FAIL
1987 static int ulink_khz(int khz, int *jtag_speed)
1992 LOG_ERROR("RCLK not supported");
1996 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
1997 * setting can be done independently from all other commands. */
1999 ulink_handle->delay_clock_tck = -1;
2001 ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
2002 &ulink_handle->delay_clock_tck);
2003 if (ret != ERROR_OK)
2007 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2008 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2009 * commands, all SCAN commands MUST also use the variable frequency
2010 * implementation! */
2012 ulink_handle->delay_clock_tms = -1;
2013 ulink_handle->delay_scan_in = -1;
2014 ulink_handle->delay_scan_out = -1;
2015 ulink_handle->delay_scan_io = -1;
2017 ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
2018 &ulink_handle->delay_clock_tms);
2019 if (ret != ERROR_OK)
2022 ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
2023 &ulink_handle->delay_scan_in);
2024 if (ret != ERROR_OK)
2027 ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
2028 &ulink_handle->delay_scan_out);
2029 if (ret != ERROR_OK)
2032 ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
2033 &ulink_handle->delay_scan_io);
2034 if (ret != ERROR_OK)
2038 LOG_DEBUG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2039 ulink_handle->delay_clock_tck,
2040 ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck));
2041 LOG_DEBUG_IO(" delay_tms = %i (%li Hz),",
2042 ulink_handle->delay_clock_tms,
2043 ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms));
2044 LOG_DEBUG_IO(" delay_scan_in = %i (%li Hz),",
2045 ulink_handle->delay_scan_in,
2046 ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in));
2047 LOG_DEBUG_IO(" delay_scan_out = %i (%li Hz),",
2048 ulink_handle->delay_scan_out,
2049 ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out));
2050 LOG_DEBUG_IO(" delay_scan_io = %i (%li Hz),",
2051 ulink_handle->delay_scan_io,
2052 ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io));
2054 /* Configure the ULINK device with the new delay values */
2055 ret = ulink_append_configure_tck_cmd(ulink_handle,
2056 ulink_handle->delay_scan_in,
2057 ulink_handle->delay_scan_out,
2058 ulink_handle->delay_scan_io,
2059 ulink_handle->delay_clock_tck,
2060 ulink_handle->delay_clock_tms);
2062 if (ret != ERROR_OK)
2071 * Set the TCK frequency of the ULINK adapter.
2073 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2074 * there are five different speed settings. To simplify things, the
2075 * adapter-specific speed setting value is identical to the TCK frequency in
2078 * @param speed desired adapter-specific speed value.
2079 * @return on success: ERROR_OK
2080 * @return on failure: ERROR_FAIL
2082 static int ulink_speed(int speed)
2086 return ulink_khz(speed, &dummy);
2090 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2092 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2093 * there are five different speed settings. To simplify things, the
2094 * adapter-specific speed setting value is identical to the TCK frequency in
2097 * @param speed adapter-specific speed value.
2098 * @param khz where to store corresponding TCK frequency in kHz.
2099 * @return on success: ERROR_OK
2100 * @return on failure: ERROR_FAIL
2102 static int ulink_speed_div(int speed, int *khz)
2110 * Initiates the firmware download to the ULINK adapter and prepares
2113 * @return on success: ERROR_OK
2114 * @return on failure: ERROR_FAIL
2116 static int ulink_init(void)
2118 int ret, transferred;
2119 char str_manufacturer[20];
2120 bool download_firmware = false;
2121 unsigned char *dummy;
2122 uint8_t input_signals, output_signals;
2124 ulink_handle = calloc(1, sizeof(struct ulink));
2128 libusb_init(&ulink_handle->libusb_ctx);
2130 ret = ulink_usb_open(&ulink_handle);
2131 if (ret != ERROR_OK) {
2132 LOG_ERROR("Could not open ULINK device");
2134 ulink_handle = NULL;
2138 /* Get String Descriptor to determine if firmware needs to be loaded */
2139 ret = libusb_get_string_descriptor_ascii(ulink_handle->usb_device_handle, 1, (unsigned char *)str_manufacturer, 20);
2141 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2142 download_firmware = true;
2144 /* We got a String Descriptor, check if it is the correct one */
2145 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0)
2146 download_firmware = true;
2149 if (download_firmware == true) {
2150 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2152 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
2153 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
2154 if (ret != ERROR_OK) {
2155 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2157 ulink_handle = NULL;
2161 LOG_INFO("ULINK device is already running OpenULINK firmware");
2163 /* Get OpenULINK USB IN/OUT endpoints and claim the interface */
2164 ret = jtag_libusb_choose_interface(ulink_handle->usb_device_handle,
2165 &ulink_handle->ep_in, &ulink_handle->ep_out, -1, -1, -1, -1);
2166 if (ret != ERROR_OK)
2169 /* Initialize OpenULINK command queue */
2170 ulink_clear_queue(ulink_handle);
2172 /* Issue one test command with short timeout */
2173 ret = ulink_append_test_cmd(ulink_handle);
2174 if (ret != ERROR_OK)
2177 ret = ulink_execute_queued_commands(ulink_handle, 200);
2178 if (ret != ERROR_OK) {
2179 /* Sending test command failed. The ULINK device may be forever waiting for
2180 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2181 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2182 dummy = calloc(64, sizeof(uint8_t));
2184 ret = libusb_bulk_transfer(ulink_handle->usb_device_handle, ulink_handle->ep_in,
2185 dummy, 64, &transferred, 200);
2189 if (ret != 0 || transferred == 0) {
2190 /* Bulk IN transfer failed -> unrecoverable error condition */
2191 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2192 "the USB port and re-connect, then re-run OpenOCD");
2194 ulink_handle = NULL;
2197 #ifdef _DEBUG_USB_COMMS_
2199 /* Successfully received Bulk IN packet -> continue */
2200 LOG_INFO("Recovered from lost Bulk IN packet");
2204 ulink_clear_queue(ulink_handle);
2206 ret = ulink_append_get_signals_cmd(ulink_handle);
2207 if (ret == ERROR_OK)
2208 ret = ulink_execute_queued_commands(ulink_handle, 200);
2210 if (ret == ERROR_OK) {
2211 /* Post-process the single CMD_GET_SIGNALS command */
2212 input_signals = ulink_handle->queue_start->payload_in[0];
2213 output_signals = ulink_handle->queue_start->payload_in[1];
2215 ulink_print_signal_states(input_signals, output_signals);
2218 ulink_clear_queue(ulink_handle);
2224 * Closes the USB handle for the ULINK device.
2226 * @return on success: ERROR_OK
2227 * @return on failure: ERROR_FAIL
2229 static int ulink_quit(void)
2233 ret = ulink_usb_close(&ulink_handle);
2240 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2242 COMMAND_HANDLER(ulink_download_firmware_handler)
2247 return ERROR_COMMAND_SYNTAX_ERROR;
2250 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
2252 /* Download firmware image in CMD_ARGV[0] */
2253 ret = ulink_load_firmware_and_renumerate(&ulink_handle, CMD_ARGV[0],
2254 ULINK_RENUMERATION_DELAY);
2259 /*************************** Command Registration **************************/
2261 static const struct command_registration ulink_subcommand_handlers[] = {
2263 .name = "download_firmware",
2264 .handler = &ulink_download_firmware_handler,
2265 .mode = COMMAND_EXEC,
2266 .help = "download firmware image to ULINK device",
2267 .usage = "path/to/ulink_firmware.hex",
2269 COMMAND_REGISTRATION_DONE,
2272 static const struct command_registration ulink_command_handlers[] = {
2275 .mode = COMMAND_ANY,
2276 .help = "perform ulink management",
2277 .chain = ulink_subcommand_handlers,
2280 COMMAND_REGISTRATION_DONE
2283 static struct jtag_interface ulink_interface = {
2284 .execute_queue = ulink_execute_queue,
2287 struct adapter_driver ulink_adapter_driver = {
2289 .transports = jtag_only,
2290 .commands = ulink_command_handlers,
2294 .speed = ulink_speed,
2296 .speed_div = ulink_speed_div,
2298 .jtag_ops = &ulink_interface,