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 <jtag/interface.h>
25 #include <jtag/commands.h>
26 #include <target/image.h>
28 #include "OpenULINK/include/msgtypes.h"
30 /** USB Vendor ID of ULINK device in unconfigured state (no firmware loaded
31 * yet) or with OpenULINK firmware. */
32 #define ULINK_VID 0xC251
34 /** USB Product ID of ULINK device in unconfigured state (no firmware loaded
35 * yet) or with OpenULINK firmware. */
36 #define ULINK_PID 0x2710
38 /** Address of EZ-USB CPU Control & Status register. This register can be
39 * written by issuing a Control EP0 vendor request. */
40 #define CPUCS_REG 0x7F92
42 /** USB Control EP0 bRequest: "Firmware Load". */
43 #define REQUEST_FIRMWARE_LOAD 0xA0
45 /** Value to write into CPUCS to put EZ-USB into reset. */
46 #define CPU_RESET 0x01
48 /** Value to write into CPUCS to put EZ-USB out of reset. */
49 #define CPU_START 0x00
51 /** Base address of firmware in EZ-USB code space. */
52 #define FIRMWARE_ADDR 0x0000
54 /** USB interface number */
55 #define USB_INTERFACE 0
57 /** libusb timeout in ms */
58 #define USB_TIMEOUT 5000
60 /** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
61 #define ULINK_RENUMERATION_DELAY 1500000
63 /** Default location of OpenULINK firmware image. */
64 #define ULINK_FIRMWARE_FILE PKGDATADIR "/OpenULINK/ulink_firmware.hex"
66 /** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
67 #define SECTION_BUFFERSIZE 8192
69 /** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
70 #define SPLIT_SCAN_THRESHOLD 10
72 /** ULINK hardware type */
74 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
75 * Full JTAG support, no SWD support. */
78 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
81 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
84 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
88 enum ulink_payload_direction {
89 PAYLOAD_DIRECTION_OUT,
93 enum ulink_delay_type {
102 * OpenULINK command (OpenULINK command queue element).
104 * For the OUT direction payload, things are quite easy: Payload is stored
105 * in a rather small array (up to 63 bytes), the payload is always allocated
106 * by the function generating the command and freed by ulink_clear_queue().
108 * For the IN direction payload, things get a little bit more complicated:
109 * The maximum IN payload size for a single command is 64 bytes. Assume that
110 * a single OpenOCD command needs to scan 256 bytes. This results in the
111 * generation of four OpenULINK commands. The function generating these
112 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
113 * pointer shall point to the corresponding offset where IN data shall be
114 * placed, while #payload_in_start shall point to the first element of the 256
116 * - first command: #payload_in_start + 0
117 * - second command: #payload_in_start + 64
118 * - third command: #payload_in_start + 128
119 * - fourth command: #payload_in_start + 192
121 * The last command sets #needs_postprocessing to true.
124 uint8_t id; /**< ULINK command ID */
126 uint8_t *payload_out; /**< OUT direction payload data */
127 uint8_t payload_out_size; /**< OUT direction payload size for this command */
129 uint8_t *payload_in_start; /**< Pointer to first element of IN payload array */
130 uint8_t *payload_in; /**< Pointer where IN payload shall be stored */
131 uint8_t payload_in_size; /**< IN direction payload size for this command */
133 /** Indicates if this command needs post-processing */
134 bool needs_postprocessing;
136 /** Indicates if ulink_clear_queue() should free payload_in_start */
137 bool free_payload_in_start;
139 /** Pointer to corresponding OpenOCD command for post-processing */
140 struct jtag_command *cmd_origin;
142 struct ulink_cmd *next; /**< Pointer to next command (linked list) */
145 /** Describes one driver instance */
147 struct libusb_context *libusb_ctx;
148 struct libusb_device_handle *usb_device_handle;
149 enum ulink_type type;
151 int delay_scan_in; /**< Delay value for SCAN_IN commands */
152 int delay_scan_out; /**< Delay value for SCAN_OUT commands */
153 int delay_scan_io; /**< Delay value for SCAN_IO commands */
154 int delay_clock_tck; /**< Delay value for CLOCK_TMS commands */
155 int delay_clock_tms; /**< Delay value for CLOCK_TCK commands */
157 int commands_in_queue; /**< Number of commands in queue */
158 struct ulink_cmd *queue_start; /**< Pointer to first command in queue */
159 struct ulink_cmd *queue_end; /**< Pointer to last command in queue */
162 /**************************** Function Prototypes *****************************/
164 /* USB helper functions */
165 int ulink_usb_open(struct ulink **device);
166 int ulink_usb_close(struct ulink **device);
168 /* ULINK MCU (Cypress EZ-USB) specific functions */
169 int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit);
170 int ulink_load_firmware_and_renumerate(struct ulink **device, const char *filename,
172 int ulink_load_firmware(struct ulink *device, const char *filename);
173 int ulink_write_firmware_section(struct ulink *device,
174 struct image *firmware_image, int section_index);
176 /* Generic helper functions */
177 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
179 /* OpenULINK command generation helper functions */
180 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
181 enum ulink_payload_direction direction);
183 /* OpenULINK command queue helper functions */
184 int ulink_get_queue_size(struct ulink *device,
185 enum ulink_payload_direction direction);
186 void ulink_clear_queue(struct ulink *device);
187 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd);
188 int ulink_execute_queued_commands(struct ulink *device, int timeout);
190 static void ulink_print_queue(struct ulink *device);
192 int ulink_append_scan_cmd(struct ulink *device,
193 enum scan_type scan_type,
198 uint8_t tms_count_start,
199 uint8_t tms_sequence_start,
200 uint8_t tms_count_end,
201 uint8_t tms_sequence_end,
202 struct jtag_command *origin,
204 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
206 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
207 int ulink_append_get_signals_cmd(struct ulink *device);
208 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
210 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
211 int ulink_append_configure_tck_cmd(struct ulink *device,
217 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
218 int ulink_append_test_cmd(struct ulink *device);
220 /* OpenULINK TCK frequency helper functions */
221 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay);
223 /* Interface between OpenULINK and OpenOCD */
224 static void ulink_set_end_state(tap_state_t endstate);
225 int ulink_queue_statemove(struct ulink *device);
227 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
228 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
229 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
230 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
231 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
232 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
233 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
235 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd);
236 int ulink_post_process_queue(struct ulink *device);
238 /* adapter driver functions */
239 static int ulink_execute_queue(void);
240 static int ulink_khz(int khz, int *jtag_speed);
241 static int ulink_speed(int speed);
242 static int ulink_speed_div(int speed, int *khz);
243 static int ulink_init(void);
244 static int ulink_quit(void);
246 /****************************** Global Variables ******************************/
248 struct ulink *ulink_handle;
250 /**************************** USB helper functions ****************************/
253 * Opens the ULINK device and claims its USB interface.
255 * Currently, only the original ULINK is supported
257 * @param device pointer to struct ulink identifying ULINK driver instance.
258 * @return on success: ERROR_OK
259 * @return on failure: ERROR_FAIL
261 int ulink_usb_open(struct ulink **device)
263 ssize_t num_devices, i;
265 libusb_device **usb_devices;
266 struct libusb_device_descriptor usb_desc;
267 struct libusb_device_handle *usb_device_handle;
269 num_devices = libusb_get_device_list((*device)->libusb_ctx, &usb_devices);
271 if (num_devices <= 0)
275 for (i = 0; i < num_devices; i++) {
276 if (libusb_get_device_descriptor(usb_devices[i], &usb_desc) != 0)
278 else if (usb_desc.idVendor == ULINK_VID && usb_desc.idProduct == ULINK_PID) {
287 if (libusb_open(usb_devices[i], &usb_device_handle) != 0)
289 libusb_free_device_list(usb_devices, 1);
291 if (libusb_claim_interface(usb_device_handle, 0) != 0)
294 (*device)->usb_device_handle = usb_device_handle;
295 (*device)->type = ULINK_1;
301 * Releases the ULINK interface and closes the USB device handle.
303 * @param device pointer to struct ulink identifying ULINK driver instance.
304 * @return on success: ERROR_OK
305 * @return on failure: ERROR_FAIL
307 int ulink_usb_close(struct ulink **device)
309 if (libusb_release_interface((*device)->usb_device_handle, 0) != 0)
312 libusb_close((*device)->usb_device_handle);
314 (*device)->usb_device_handle = NULL;
319 /******************* ULINK CPU (EZ-USB) specific functions ********************/
322 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
325 * @param device pointer to struct ulink identifying ULINK driver instance.
326 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
327 * @return on success: ERROR_OK
328 * @return on failure: ERROR_FAIL
330 int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit)
334 ret = libusb_control_transfer(device->usb_device_handle,
335 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
336 REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, USB_TIMEOUT);
338 /* usb_control_msg() returns the number of bytes transferred during the
339 * DATA stage of the control transfer - must be exactly 1 in this case! */
346 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
347 * the firmware image, resumes the microcontroller and re-enumerates
350 * @param device pointer to struct ulink identifying ULINK driver instance.
351 * The usb_handle member will be modified during re-enumeration.
352 * @param filename path to the Intel HEX file containing the firmware image.
353 * @param delay the delay to wait for the device to re-enumerate.
354 * @return on success: ERROR_OK
355 * @return on failure: ERROR_FAIL
357 int ulink_load_firmware_and_renumerate(struct ulink **device,
358 const char *filename, uint32_t delay)
362 /* Basic process: After downloading the firmware, the ULINK will disconnect
363 * itself and re-connect after a short amount of time so we have to close
364 * the handle and re-enumerate USB devices */
366 ret = ulink_load_firmware(*device, filename);
370 ret = ulink_usb_close(device);
376 ret = ulink_usb_open(device);
384 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
387 * @param device pointer to struct ulink identifying ULINK driver instance.
388 * @param filename an absolute or relative path to the Intel HEX file
389 * containing the firmware image.
390 * @return on success: ERROR_OK
391 * @return on failure: ERROR_FAIL
393 int ulink_load_firmware(struct ulink *device, const char *filename)
395 struct image ulink_firmware_image;
398 ret = ulink_cpu_reset(device, CPU_RESET);
399 if (ret != ERROR_OK) {
400 LOG_ERROR("Could not halt ULINK CPU");
404 ulink_firmware_image.base_address = 0;
405 ulink_firmware_image.base_address_set = 0;
407 ret = image_open(&ulink_firmware_image, filename, "ihex");
408 if (ret != ERROR_OK) {
409 LOG_ERROR("Could not load firmware image");
413 /* Download all sections in the image to ULINK */
414 for (i = 0; i < ulink_firmware_image.num_sections; i++) {
415 ret = ulink_write_firmware_section(device, &ulink_firmware_image, i);
420 image_close(&ulink_firmware_image);
422 ret = ulink_cpu_reset(device, CPU_START);
423 if (ret != ERROR_OK) {
424 LOG_ERROR("Could not restart ULINK CPU");
432 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
435 * @param device pointer to struct ulink identifying ULINK driver instance.
436 * @param firmware_image pointer to the firmware image that contains the section
437 * which should be sent to the ULINK's EZ-USB microcontroller.
438 * @param section_index index of the section within the firmware image.
439 * @return on success: ERROR_OK
440 * @return on failure: ERROR_FAIL
442 int ulink_write_firmware_section(struct ulink *device,
443 struct image *firmware_image, int section_index)
445 uint16_t addr, size, bytes_remaining, chunk_size;
446 uint8_t data[SECTION_BUFFERSIZE];
447 uint8_t *data_ptr = data;
451 size = (uint16_t)firmware_image->sections[section_index].size;
452 addr = (uint16_t)firmware_image->sections[section_index].base_address;
454 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
457 /* Copy section contents to local buffer */
458 ret = image_read_section(firmware_image, section_index, 0, size, data,
461 if ((ret != ERROR_OK) || (size_read != size)) {
462 /* Propagating the return code would return '0' (misleadingly indicating
463 * successful execution of the function) if only the size check fails. */
467 bytes_remaining = size;
469 /* Send section data in chunks of up to 64 bytes to ULINK */
470 while (bytes_remaining > 0) {
471 if (bytes_remaining > 64)
474 chunk_size = bytes_remaining;
476 ret = libusb_control_transfer(device->usb_device_handle,
477 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
478 REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (unsigned char *)data_ptr,
479 chunk_size, USB_TIMEOUT);
481 if (ret != (int)chunk_size) {
482 /* Abort if libusb sent less data than requested */
486 bytes_remaining -= chunk_size;
488 data_ptr += chunk_size;
494 /************************** Generic helper functions **************************/
497 * Print state of interesting signals via LOG_INFO().
499 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
500 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
502 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
504 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
506 (output_signals & SIGNAL_TDI ? 1 : 0),
507 (input_signals & SIGNAL_TDO ? 1 : 0),
508 (output_signals & SIGNAL_TMS ? 1 : 0),
509 (output_signals & SIGNAL_TCK ? 1 : 0),
510 (output_signals & SIGNAL_TRST ? 0 : 1), /* Inverted by hardware */
511 (output_signals & SIGNAL_RESET ? 0 : 1)); /* Inverted by hardware */
514 /**************** OpenULINK command generation helper functions ***************/
517 * Allocate and initialize space in memory for OpenULINK command payload.
519 * @param ulink_cmd pointer to command whose payload should be allocated.
520 * @param size the amount of memory to allocate (bytes).
521 * @param direction which payload to allocate.
522 * @return on success: ERROR_OK
523 * @return on failure: ERROR_FAIL
525 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
526 enum ulink_payload_direction direction)
530 payload = calloc(size, sizeof(uint8_t));
532 if (payload == NULL) {
533 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
538 case PAYLOAD_DIRECTION_OUT:
539 if (ulink_cmd->payload_out != NULL) {
540 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
544 ulink_cmd->payload_out = payload;
545 ulink_cmd->payload_out_size = size;
548 case PAYLOAD_DIRECTION_IN:
549 if (ulink_cmd->payload_in_start != NULL) {
550 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
554 ulink_cmd->payload_in_start = payload;
555 ulink_cmd->payload_in = payload;
556 ulink_cmd->payload_in_size = size;
558 /* By default, free payload_in_start in ulink_clear_queue(). Commands
559 * that do not want this behavior (e. g. split scans) must turn it off
561 ulink_cmd->free_payload_in_start = true;
569 /****************** OpenULINK command queue helper functions ******************/
572 * Get the current number of bytes in the queue, including command IDs.
574 * @param device pointer to struct ulink identifying ULINK driver instance.
575 * @param direction the transfer direction for which to get byte count.
576 * @return the number of bytes currently stored in the queue for the specified
579 int ulink_get_queue_size(struct ulink *device,
580 enum ulink_payload_direction direction)
582 struct ulink_cmd *current = device->queue_start;
585 while (current != NULL) {
587 case PAYLOAD_DIRECTION_OUT:
588 sum += current->payload_out_size + 1; /* + 1 byte for Command ID */
590 case PAYLOAD_DIRECTION_IN:
591 sum += current->payload_in_size;
595 current = current->next;
602 * Clear the OpenULINK command queue.
604 * @param device pointer to struct ulink identifying ULINK driver instance.
605 * @return on success: ERROR_OK
606 * @return on failure: ERROR_FAIL
608 void ulink_clear_queue(struct ulink *device)
610 struct ulink_cmd *current = device->queue_start;
611 struct ulink_cmd *next = NULL;
613 while (current != 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 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);
669 ret = ulink_post_process_queue(device);
673 ulink_clear_queue(device);
676 if (device->queue_start == NULL) {
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;
694 * Sends all queued OpenULINK commands to the ULINK for execution.
696 * @param device pointer to struct ulink identifying ULINK driver instance.
697 * @return on success: ERROR_OK
698 * @return on failure: ERROR_FAIL
700 int ulink_execute_queued_commands(struct ulink *device, int timeout)
702 struct ulink_cmd *current;
703 int ret, i, index_out, index_in, count_out, count_in, transferred;
706 if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO))
707 ulink_print_queue(device);
713 for (current = device->queue_start; current; current = current->next) {
714 /* Add command to packet */
715 buffer[index_out] = current->id;
719 for (i = 0; i < current->payload_out_size; i++)
720 buffer[index_out + i] = current->payload_out[i];
721 index_out += current->payload_out_size;
722 count_in += current->payload_in_size;
723 count_out += current->payload_out_size;
726 /* Send packet to ULINK */
727 ret = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_OUT),
728 (unsigned char *)buffer, count_out, &transferred, timeout);
731 if (transferred != count_out)
734 /* Wait for response if commands contain IN payload data */
736 ret = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
737 (unsigned char *)buffer, 64, &transferred, timeout);
740 if (transferred != count_in)
743 /* Write back IN payload data */
745 for (current = device->queue_start; current; current = current->next) {
746 for (i = 0; i < current->payload_in_size; i++) {
747 current->payload_in[i] = buffer[index_in];
757 * Convert an OpenULINK command ID (\a id) to a human-readable string.
759 * @param id the OpenULINK command ID.
760 * @return the corresponding human-readable string.
762 static const char *ulink_cmd_id_string(uint8_t id)
766 return "CMD_SCAN_IN";
768 case CMD_SLOW_SCAN_IN:
769 return "CMD_SLOW_SCAN_IN";
772 return "CMD_SCAN_OUT";
774 case CMD_SLOW_SCAN_OUT:
775 return "CMD_SLOW_SCAN_OUT";
778 return "CMD_SCAN_IO";
780 case CMD_SLOW_SCAN_IO:
781 return "CMD_SLOW_SCAN_IO";
784 return "CMD_CLOCK_TMS";
786 case CMD_SLOW_CLOCK_TMS:
787 return "CMD_SLOW_CLOCK_TMS";
790 return "CMD_CLOCK_TCK";
792 case CMD_SLOW_CLOCK_TCK:
793 return "CMD_SLOW_CLOCK_TCK";
796 return "CMD_SLEEP_US";
799 return "CMD_SLEEP_MS";
801 case CMD_GET_SIGNALS:
802 return "CMD_GET_SIGNALS";
804 case CMD_SET_SIGNALS:
805 return "CMD_SET_SIGNALS";
807 case CMD_CONFIGURE_TCK_FREQ:
808 return "CMD_CONFIGURE_TCK_FREQ";
811 return "CMD_SET_LEDS";
817 return "CMD_UNKNOWN";
823 * Print one OpenULINK command to stdout.
825 * @param ulink_cmd pointer to OpenULINK command.
827 static void ulink_print_command(struct ulink_cmd *ulink_cmd)
831 printf(" %-22s | OUT size = %i, bytes = 0x",
832 ulink_cmd_id_string(ulink_cmd->id), ulink_cmd->payload_out_size);
834 for (i = 0; i < ulink_cmd->payload_out_size; i++)
835 printf("%02X ", ulink_cmd->payload_out[i]);
836 printf("\n | IN size = %i\n",
837 ulink_cmd->payload_in_size);
841 * Print the OpenULINK command queue to stdout.
843 * @param device pointer to struct ulink identifying ULINK driver instance.
845 static void ulink_print_queue(struct ulink *device)
847 struct ulink_cmd *current;
849 printf("OpenULINK command queue:\n");
851 for (current = device->queue_start; current; current = current->next)
852 ulink_print_command(current);
858 * Creates and appends a JTAG scan command to the OpenULINK command queue.
859 * A JTAG scan consists of three steps:
860 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
861 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
862 * - Move to the desired end state.
864 * @param device pointer to struct ulink identifying ULINK driver instance.
865 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
866 * @param scan_size_bits number of bits to shift into the JTAG chain.
867 * @param tdi pointer to array containing TDI data.
868 * @param tdo_start pointer to first element of array where TDO data shall be
869 * stored. See #ulink_cmd for details.
870 * @param tdo pointer to array where TDO data shall be stored
871 * @param tms_count_start number of TMS state transitions to perform BEFORE
872 * shifting data into the JTAG chain.
873 * @param tms_sequence_start sequence of TMS state transitions that will be
874 * performed BEFORE shifting data into the JTAG chain.
875 * @param tms_count_end number of TMS state transitions to perform AFTER
876 * shifting data into the JTAG chain.
877 * @param tms_sequence_end sequence of TMS state transitions that will be
878 * performed AFTER shifting data into the JTAG chain.
879 * @param origin pointer to OpenOCD command that generated this scan command.
880 * @param postprocess whether this command needs to be post-processed after
882 * @return on success: ERROR_OK
883 * @return on failure: ERROR_FAIL
885 int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
886 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
887 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
888 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
890 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
891 int ret, i, scan_size_bytes;
892 uint8_t bits_last_byte;
897 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
898 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
899 if (scan_size_bits > (58 * 8)) {
900 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
906 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
908 bits_last_byte = scan_size_bits % 8;
909 if (bits_last_byte == 0)
912 /* Allocate out_payload depending on scan type */
915 if (device->delay_scan_in < 0)
916 cmd->id = CMD_SCAN_IN;
918 cmd->id = CMD_SLOW_SCAN_IN;
919 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
922 if (device->delay_scan_out < 0)
923 cmd->id = CMD_SCAN_OUT;
925 cmd->id = CMD_SLOW_SCAN_OUT;
926 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
929 if (device->delay_scan_io < 0)
930 cmd->id = CMD_SCAN_IO;
932 cmd->id = CMD_SLOW_SCAN_IO;
933 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
936 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
941 if (ret != ERROR_OK) {
946 /* Build payload_out that is common to all scan types */
947 cmd->payload_out[0] = scan_size_bytes & 0xFF;
948 cmd->payload_out[1] = bits_last_byte & 0xFF;
949 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
950 cmd->payload_out[3] = tms_sequence_start;
951 cmd->payload_out[4] = tms_sequence_end;
953 /* Setup payload_out for types with OUT transfer */
954 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
955 for (i = 0; i < scan_size_bytes; i++)
956 cmd->payload_out[i + 5] = tdi[i];
959 /* Setup payload_in pointers for types with IN transfer */
960 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
961 cmd->payload_in_start = tdo_start;
962 cmd->payload_in = tdo;
963 cmd->payload_in_size = scan_size_bytes;
966 cmd->needs_postprocessing = postprocess;
967 cmd->cmd_origin = origin;
969 /* For scan commands, we free payload_in_start only when the command is
970 * the last in a series of split commands or a stand-alone command */
971 cmd->free_payload_in_start = postprocess;
973 return ulink_append_queue(device, cmd);
977 * Perform TAP state transitions
979 * @param device pointer to struct ulink identifying ULINK driver instance.
980 * @param count defines the number of TCK clock cycles generated (up to 8).
981 * @param sequence defines the TMS pin levels for each state transition. The
982 * Least-Significant Bit is read first.
983 * @return on success: ERROR_OK
984 * @return on failure: ERROR_FAIL
986 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
989 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
995 if (device->delay_clock_tms < 0)
996 cmd->id = CMD_CLOCK_TMS;
998 cmd->id = CMD_SLOW_CLOCK_TMS;
1000 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
1001 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1002 if (ret != ERROR_OK) {
1007 cmd->payload_out[0] = count;
1008 cmd->payload_out[1] = sequence;
1010 return ulink_append_queue(device, cmd);
1014 * Generate a defined amount of TCK clock cycles
1016 * All other JTAG signals are left unchanged.
1018 * @param device pointer to struct ulink identifying ULINK driver instance.
1019 * @param count the number of TCK clock cycles to generate.
1020 * @return on success: ERROR_OK
1021 * @return on failure: ERROR_FAIL
1023 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
1025 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1031 if (device->delay_clock_tck < 0)
1032 cmd->id = CMD_CLOCK_TCK;
1034 cmd->id = CMD_SLOW_CLOCK_TCK;
1036 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1037 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1038 if (ret != ERROR_OK) {
1043 cmd->payload_out[0] = count & 0xff;
1044 cmd->payload_out[1] = (count >> 8) & 0xff;
1046 return ulink_append_queue(device, cmd);
1050 * Read JTAG signals.
1052 * @param device pointer to struct ulink identifying ULINK driver instance.
1053 * @return on success: ERROR_OK
1054 * @return on failure: ERROR_FAIL
1056 int ulink_append_get_signals_cmd(struct ulink *device)
1058 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1064 cmd->id = CMD_GET_SIGNALS;
1065 cmd->needs_postprocessing = true;
1067 /* CMD_GET_SIGNALS has two IN payload bytes */
1068 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1070 if (ret != ERROR_OK) {
1075 return ulink_append_queue(device, cmd);
1079 * Arbitrarily set JTAG output signals.
1081 * @param device pointer to struct ulink identifying ULINK driver instance.
1082 * @param low defines which signals will be de-asserted. Each bit corresponds
1091 * @param high defines which signals will be asserted.
1092 * @return on success: ERROR_OK
1093 * @return on failure: ERROR_FAIL
1095 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1098 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1104 cmd->id = CMD_SET_SIGNALS;
1106 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1107 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1109 if (ret != ERROR_OK) {
1114 cmd->payload_out[0] = low;
1115 cmd->payload_out[1] = high;
1117 return ulink_append_queue(device, cmd);
1121 * Sleep for a pre-defined number of microseconds
1123 * @param device pointer to struct ulink identifying ULINK driver instance.
1124 * @param us the number microseconds to sleep.
1125 * @return on success: ERROR_OK
1126 * @return on failure: ERROR_FAIL
1128 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1130 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1136 cmd->id = CMD_SLEEP_US;
1138 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1139 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1141 if (ret != ERROR_OK) {
1146 cmd->payload_out[0] = us & 0x00ff;
1147 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1149 return ulink_append_queue(device, cmd);
1153 * Set TCK delay counters
1155 * @param device pointer to struct ulink identifying ULINK driver instance.
1156 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1157 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1158 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1159 * @param delay_tck delay count top value in jtag_clock_tck() function.
1160 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1161 * @return on success: ERROR_OK
1162 * @return on failure: ERROR_FAIL
1164 int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
1165 int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
1167 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1173 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1175 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1176 * IN payload bytes */
1177 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
1178 if (ret != ERROR_OK) {
1183 if (delay_scan_in < 0)
1184 cmd->payload_out[0] = 0;
1186 cmd->payload_out[0] = (uint8_t)delay_scan_in;
1188 if (delay_scan_out < 0)
1189 cmd->payload_out[1] = 0;
1191 cmd->payload_out[1] = (uint8_t)delay_scan_out;
1193 if (delay_scan_io < 0)
1194 cmd->payload_out[2] = 0;
1196 cmd->payload_out[2] = (uint8_t)delay_scan_io;
1199 cmd->payload_out[3] = 0;
1201 cmd->payload_out[3] = (uint8_t)delay_tck;
1204 cmd->payload_out[4] = 0;
1206 cmd->payload_out[4] = (uint8_t)delay_tms;
1208 return ulink_append_queue(device, cmd);
1212 * Turn on/off ULINK LEDs.
1214 * @param device pointer to struct ulink identifying ULINK driver instance.
1215 * @param led_state which LED(s) to turn on or off. The following bits
1216 * influence the LEDS:
1217 * - Bit 0: Turn COM LED on
1218 * - Bit 1: Turn RUN LED on
1219 * - Bit 2: Turn COM LED off
1220 * - Bit 3: Turn RUN LED off
1221 * If both the on-bit and the off-bit for the same LED is set, the LED is
1223 * @return on success: ERROR_OK
1224 * @return on failure: ERROR_FAIL
1226 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1228 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1234 cmd->id = CMD_SET_LEDS;
1236 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1237 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1238 if (ret != ERROR_OK) {
1243 cmd->payload_out[0] = led_state;
1245 return ulink_append_queue(device, cmd);
1249 * Test command. Used to check if the ULINK device is ready to accept new
1252 * @param device pointer to struct ulink identifying ULINK driver instance.
1253 * @return on success: ERROR_OK
1254 * @return on failure: ERROR_FAIL
1256 int ulink_append_test_cmd(struct ulink *device)
1258 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1266 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1267 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1268 if (ret != ERROR_OK) {
1273 cmd->payload_out[0] = 0xAA;
1275 return ulink_append_queue(device, cmd);
1278 /****************** OpenULINK TCK frequency helper functions ******************/
1281 * Calculate delay values for a given TCK frequency.
1283 * The OpenULINK firmware uses five different speed values for different
1284 * commands. These speed values are calculated in these functions.
1286 * The five different commands which support variable TCK frequency are
1287 * implemented twice in the firmware:
1288 * 1. Maximum possible frequency without any artificial delay
1289 * 2. Variable frequency with artificial linear delay loop
1291 * To set the ULINK to maximum frequency, it is only neccessary to use the
1292 * corresponding command IDs. To set the ULINK to a lower frequency, the
1293 * delay loop top values have to be calculated first. Then, a
1294 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1296 * The delay values are described by linear equations:
1298 * (t = period, k = constant, x = delay value, d = constant)
1300 * Thus, the delay can be calculated as in the following equation:
1303 * The constants in these equations have been determined and validated by
1304 * measuring the frequency resulting from different delay values.
1306 * @param type for which command to calculate the delay value.
1307 * @param f TCK frequency for which to calculate the delay value in Hz.
1308 * @param delay where to store resulting delay value.
1309 * @return on success: ERROR_OK
1310 * @return on failure: ERROR_FAIL
1312 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
1316 /* Calculate period of requested TCK frequency */
1317 t = 1.0 / (float)(f);
1320 case DELAY_CLOCK_TCK:
1321 x = (t - (float)(6E-6)) / (float)(4E-6);
1323 case DELAY_CLOCK_TMS:
1324 x = (t - (float)(8.5E-6)) / (float)(4E-6);
1327 x = (t - (float)(8.8308E-6)) / (float)(4E-6);
1329 case DELAY_SCAN_OUT:
1330 x = (t - (float)(1.0527E-5)) / (float)(4E-6);
1333 x = (t - (float)(1.3132E-5)) / (float)(4E-6);
1340 /* Check if the delay value is negative. This happens when a frequency is
1341 * requested that is too high for the delay loop implementation. In this
1342 * case, set delay value to zero. */
1346 /* We need to convert the exact delay value to an integer. Therefore, we
1347 * round the exact value UP to ensure that the resulting frequency is NOT
1348 * higher than the requested frequency. */
1351 /* Check if the value is within limits */
1355 *delay = (int)x_ceil;
1361 * Calculate frequency for a given delay value.
1363 * Similar to the #ulink_calculate_delay function, this function calculates the
1364 * TCK frequency for a given delay value by using linear equations of the form:
1366 * (t = period, k = constant, x = delay value, d = constant)
1368 * @param type for which command to calculate the delay value.
1369 * @param delay delay value for which to calculate the resulting TCK frequency.
1370 * @return the resulting TCK frequency
1372 static long ulink_calculate_frequency(enum ulink_delay_type type, int delay)
1380 case DELAY_CLOCK_TCK:
1382 t = (float)(2.666E-6);
1384 t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
1386 case DELAY_CLOCK_TMS:
1388 t = (float)(5.666E-6);
1390 t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
1394 t = (float)(5.5E-6);
1396 t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
1398 case DELAY_SCAN_OUT:
1400 t = (float)(7.0E-6);
1402 t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
1406 t = (float)(9.926E-6);
1408 t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
1415 return roundf(f_float);
1418 /******************* Interface between OpenULINK and OpenOCD ******************/
1421 * Sets the end state follower (see interface.h) if \a endstate is a stable
1424 * @param endstate the state the end state follower should be set to.
1426 static void ulink_set_end_state(tap_state_t endstate)
1428 if (tap_is_state_stable(endstate))
1429 tap_set_end_state(endstate);
1431 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1437 * Move from the current TAP state to the current TAP end state.
1439 * @param device pointer to struct ulink identifying ULINK driver instance.
1440 * @return on success: ERROR_OK
1441 * @return on failure: ERROR_FAIL
1443 int ulink_queue_statemove(struct ulink *device)
1445 uint8_t tms_sequence, tms_count;
1448 if (tap_get_state() == tap_get_end_state()) {
1449 /* Do nothing if we are already there */
1453 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1454 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1456 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1458 if (ret == ERROR_OK)
1459 tap_set_state(tap_get_end_state());
1465 * Perform a scan operation on a JTAG register.
1467 * @param device pointer to struct ulink identifying ULINK driver instance.
1468 * @param cmd pointer to the command that shall be executed.
1469 * @return on success: ERROR_OK
1470 * @return on failure: ERROR_FAIL
1472 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1474 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1475 uint32_t scans_max_payload, bytecount;
1476 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1477 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1479 uint8_t first_tms_count, first_tms_sequence;
1480 uint8_t last_tms_count, last_tms_sequence;
1482 uint8_t tms_count_pause, tms_sequence_pause;
1483 uint8_t tms_count_resume, tms_sequence_resume;
1485 uint8_t tms_count_start, tms_sequence_start;
1486 uint8_t tms_count_end, tms_sequence_end;
1488 enum scan_type type;
1491 /* Determine scan size */
1492 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1493 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1495 /* Determine scan type (IN/OUT/IO) */
1496 type = jtag_scan_type(cmd->cmd.scan);
1498 /* Determine number of scan commands with maximum payload */
1499 scans_max_payload = scan_size_bytes / 58;
1501 /* Determine size of last shift command */
1502 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1504 /* Allocate TDO buffer if required */
1505 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1506 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1508 if (tdo_buffer_start == NULL)
1511 tdo_buffer = tdo_buffer_start;
1514 /* Fill TDI buffer if required */
1515 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1516 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1517 tdi_buffer = tdi_buffer_start;
1520 /* Get TAP state transitions */
1521 if (cmd->cmd.scan->ir_scan) {
1522 ulink_set_end_state(TAP_IRSHIFT);
1523 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1524 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1526 tap_set_state(TAP_IRSHIFT);
1527 tap_set_end_state(cmd->cmd.scan->end_state);
1528 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1529 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1531 /* TAP state transitions for split scans */
1532 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1533 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1534 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1535 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1537 ulink_set_end_state(TAP_DRSHIFT);
1538 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1539 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1541 tap_set_state(TAP_DRSHIFT);
1542 tap_set_end_state(cmd->cmd.scan->end_state);
1543 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1544 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1546 /* TAP state transitions for split scans */
1547 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1548 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1549 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1550 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1553 /* Generate scan commands */
1554 bytecount = scan_size_bytes;
1555 while (bytecount > 0) {
1556 if (bytecount == scan_size_bytes) {
1557 /* This is the first scan */
1558 tms_count_start = first_tms_count;
1559 tms_sequence_start = first_tms_sequence;
1561 /* Resume from previous scan */
1562 tms_count_start = tms_count_resume;
1563 tms_sequence_start = tms_sequence_resume;
1566 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1567 tms_count_end = tms_count_pause;
1568 tms_sequence_end = tms_sequence_pause;
1570 ret = ulink_append_scan_cmd(device,
1585 /* Update TDI and TDO buffer pointers */
1586 if (tdi_buffer_start != NULL)
1588 if (tdo_buffer_start != NULL)
1590 } else if (bytecount == 58) { /* Full scan, no further scans */
1591 tms_count_end = last_tms_count;
1592 tms_sequence_end = last_tms_sequence;
1594 ret = ulink_append_scan_cmd(device,
1608 } else {/* Scan with less than maximum payload, no further scans */
1609 tms_count_end = last_tms_count;
1610 tms_sequence_end = last_tms_sequence;
1612 ret = ulink_append_scan_cmd(device,
1628 if (ret != ERROR_OK) {
1629 free(tdi_buffer_start);
1630 free(tdo_buffer_start);
1635 free(tdi_buffer_start);
1637 /* Set current state to the end state requested by the command */
1638 tap_set_state(cmd->cmd.scan->end_state);
1644 * Move the TAP into the Test Logic Reset state.
1646 * @param device pointer to struct ulink identifying ULINK driver instance.
1647 * @param cmd pointer to the command that shall be executed.
1648 * @return on success: ERROR_OK
1649 * @return on failure: ERROR_FAIL
1651 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1655 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1657 if (ret == ERROR_OK)
1658 tap_set_state(TAP_RESET);
1666 * Generate TCK clock cycles while remaining
1667 * in the Run-Test/Idle state.
1669 * @param device pointer to struct ulink identifying ULINK driver instance.
1670 * @param cmd pointer to the command that shall be executed.
1671 * @return on success: ERROR_OK
1672 * @return on failure: ERROR_FAIL
1674 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1678 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1679 if (tap_get_state() != TAP_IDLE) {
1680 ulink_set_end_state(TAP_IDLE);
1681 ulink_queue_statemove(device);
1684 /* Generate the clock cycles */
1685 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1686 if (ret != ERROR_OK)
1689 /* Move to end state specified in command */
1690 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1691 tap_set_end_state(cmd->cmd.runtest->end_state);
1692 ulink_queue_statemove(device);
1699 * Execute a JTAG_RESET command
1701 * @param cmd pointer to the command that shall be executed.
1702 * @return on success: ERROR_OK
1703 * @return on failure: ERROR_FAIL
1705 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1707 uint8_t low = 0, high = 0;
1709 if (cmd->cmd.reset->trst) {
1710 tap_set_state(TAP_RESET);
1711 high |= SIGNAL_TRST;
1715 if (cmd->cmd.reset->srst)
1716 high |= SIGNAL_RESET;
1718 low |= SIGNAL_RESET;
1720 return ulink_append_set_signals_cmd(device, low, high);
1724 * Move to one TAP state or several states in succession.
1726 * @param device pointer to struct ulink identifying ULINK driver instance.
1727 * @param cmd pointer to the command that shall be executed.
1728 * @return on success: ERROR_OK
1729 * @return on failure: ERROR_FAIL
1731 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1733 int ret, i, num_states, batch_size, state_count;
1735 uint8_t tms_sequence;
1737 num_states = cmd->cmd.pathmove->num_states;
1738 path = cmd->cmd.pathmove->path;
1741 while (num_states > 0) {
1744 /* Determine batch size */
1745 if (num_states >= 8)
1748 batch_size = num_states;
1750 for (i = 0; i < batch_size; i++) {
1751 if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
1752 /* Append '0' transition: clear bit 'i' in tms_sequence */
1753 buf_set_u32(&tms_sequence, i, 1, 0x0);
1754 } else if (tap_state_transition(tap_get_state(), true)
1755 == path[state_count]) {
1756 /* Append '1' transition: set bit 'i' in tms_sequence */
1757 buf_set_u32(&tms_sequence, i, 1, 0x1);
1759 /* Invalid state transition */
1760 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1761 tap_state_name(tap_get_state()),
1762 tap_state_name(path[state_count]));
1766 tap_set_state(path[state_count]);
1771 /* Append CLOCK_TMS command to OpenULINK command queue */
1773 "pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
1774 ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
1775 if (ret != ERROR_OK)
1783 * Sleep for a specific amount of time.
1785 * @param device pointer to struct ulink identifying ULINK driver instance.
1786 * @param cmd pointer to the command that shall be executed.
1787 * @return on success: ERROR_OK
1788 * @return on failure: ERROR_FAIL
1790 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1792 /* IMPORTANT! Due to the time offset in command execution introduced by
1793 * command queueing, this needs to be implemented in the ULINK device */
1794 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1798 * Generate TCK cycles while remaining in a stable state.
1800 * @param device pointer to struct ulink identifying ULINK driver instance.
1801 * @param cmd pointer to the command that shall be executed.
1803 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
1806 unsigned num_cycles;
1808 if (!tap_is_state_stable(tap_get_state())) {
1809 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1813 num_cycles = cmd->cmd.stableclocks->num_cycles;
1815 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1816 if (tap_get_state() == TAP_RESET)
1817 ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
1819 ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
1821 if (ret != ERROR_OK)
1824 while (num_cycles > 0) {
1825 if (num_cycles > 0xFFFF) {
1826 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1827 ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1828 num_cycles -= 0xFFFF;
1830 ret = ulink_append_clock_tck_cmd(device, num_cycles);
1834 if (ret != ERROR_OK)
1842 * Post-process JTAG_SCAN command
1844 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1845 * @return on success: ERROR_OK
1846 * @return on failure: ERROR_FAIL
1848 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd)
1850 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1853 switch (jtag_scan_type(cmd->cmd.scan)) {
1856 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1859 /* Nothing to do for OUT scans */
1863 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1873 * Perform post-processing of commands after OpenULINK queue has been executed.
1875 * @param device pointer to struct ulink identifying ULINK driver instance.
1876 * @return on success: ERROR_OK
1877 * @return on failure: ERROR_FAIL
1879 int ulink_post_process_queue(struct ulink *device)
1881 struct ulink_cmd *current;
1882 struct jtag_command *openocd_cmd;
1885 current = device->queue_start;
1887 while (current != NULL) {
1888 openocd_cmd = current->cmd_origin;
1890 /* Check if a corresponding OpenOCD command is stored for this
1891 * OpenULINK command */
1892 if ((current->needs_postprocessing == true) && (openocd_cmd != NULL)) {
1893 switch (openocd_cmd->type) {
1895 ret = ulink_post_process_scan(current);
1897 case JTAG_TLR_RESET:
1902 case JTAG_STABLECLOCKS:
1903 /* Nothing to do for these commands */
1908 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1913 if (ret != ERROR_OK)
1917 current = current->next;
1923 /**************************** JTAG driver functions ***************************/
1926 * Executes the JTAG Command Queue.
1928 * This is done in three stages: First, all OpenOCD commands are processed into
1929 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1930 * ULINK device and data received from the ULINK device is cached. Finally,
1931 * the post-processing function writes back data to the corresponding OpenOCD
1934 * @return on success: ERROR_OK
1935 * @return on failure: ERROR_FAIL
1937 static int ulink_execute_queue(void)
1939 struct jtag_command *cmd = jtag_command_queue;
1943 switch (cmd->type) {
1945 ret = ulink_queue_scan(ulink_handle, cmd);
1947 case JTAG_TLR_RESET:
1948 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1951 ret = ulink_queue_runtest(ulink_handle, cmd);
1954 ret = ulink_queue_reset(ulink_handle, cmd);
1957 ret = ulink_queue_pathmove(ulink_handle, cmd);
1960 ret = ulink_queue_sleep(ulink_handle, cmd);
1962 case JTAG_STABLECLOCKS:
1963 ret = ulink_queue_stableclocks(ulink_handle, cmd);
1967 LOG_ERROR("BUG: encountered unknown JTAG command type");
1971 if (ret != ERROR_OK)
1977 if (ulink_handle->commands_in_queue > 0) {
1978 ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
1979 if (ret != ERROR_OK)
1982 ret = ulink_post_process_queue(ulink_handle);
1983 if (ret != ERROR_OK)
1986 ulink_clear_queue(ulink_handle);
1993 * Set the TCK frequency of the ULINK adapter.
1995 * @param khz desired JTAG TCK frequency.
1996 * @param jtag_speed where to store corresponding adapter-specific speed value.
1997 * @return on success: ERROR_OK
1998 * @return on failure: ERROR_FAIL
2000 static int ulink_khz(int khz, int *jtag_speed)
2005 LOG_ERROR("RCLK not supported");
2009 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
2010 * setting can be done independently from all other commands. */
2012 ulink_handle->delay_clock_tck = -1;
2014 ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
2015 &ulink_handle->delay_clock_tck);
2016 if (ret != ERROR_OK)
2020 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2021 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2022 * commands, all SCAN commands MUST also use the variable frequency
2023 * implementation! */
2025 ulink_handle->delay_clock_tms = -1;
2026 ulink_handle->delay_scan_in = -1;
2027 ulink_handle->delay_scan_out = -1;
2028 ulink_handle->delay_scan_io = -1;
2030 ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
2031 &ulink_handle->delay_clock_tms);
2032 if (ret != ERROR_OK)
2035 ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
2036 &ulink_handle->delay_scan_in);
2037 if (ret != ERROR_OK)
2040 ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
2041 &ulink_handle->delay_scan_out);
2042 if (ret != ERROR_OK)
2045 ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
2046 &ulink_handle->delay_scan_io);
2047 if (ret != ERROR_OK)
2051 LOG_DEBUG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2052 ulink_handle->delay_clock_tck,
2053 ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck));
2054 LOG_DEBUG_IO(" delay_tms = %i (%li Hz),",
2055 ulink_handle->delay_clock_tms,
2056 ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms));
2057 LOG_DEBUG_IO(" delay_scan_in = %i (%li Hz),",
2058 ulink_handle->delay_scan_in,
2059 ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in));
2060 LOG_DEBUG_IO(" delay_scan_out = %i (%li Hz),",
2061 ulink_handle->delay_scan_out,
2062 ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out));
2063 LOG_DEBUG_IO(" delay_scan_io = %i (%li Hz),",
2064 ulink_handle->delay_scan_io,
2065 ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io));
2067 /* Configure the ULINK device with the new delay values */
2068 ret = ulink_append_configure_tck_cmd(ulink_handle,
2069 ulink_handle->delay_scan_in,
2070 ulink_handle->delay_scan_out,
2071 ulink_handle->delay_scan_io,
2072 ulink_handle->delay_clock_tck,
2073 ulink_handle->delay_clock_tms);
2075 if (ret != ERROR_OK)
2084 * Set the TCK frequency of the ULINK adapter.
2086 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2087 * there are five different speed settings. To simplify things, the
2088 * adapter-specific speed setting value is identical to the TCK frequency in
2091 * @param speed desired adapter-specific speed value.
2092 * @return on success: ERROR_OK
2093 * @return on failure: ERROR_FAIL
2095 static int ulink_speed(int speed)
2099 return ulink_khz(speed, &dummy);
2103 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2105 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2106 * there are five different speed settings. To simplify things, the
2107 * adapter-specific speed setting value is identical to the TCK frequency in
2110 * @param speed adapter-specific speed value.
2111 * @param khz where to store corresponding TCK frequency in kHz.
2112 * @return on success: ERROR_OK
2113 * @return on failure: ERROR_FAIL
2115 static int ulink_speed_div(int speed, int *khz)
2123 * Initiates the firmware download to the ULINK adapter and prepares
2126 * @return on success: ERROR_OK
2127 * @return on failure: ERROR_FAIL
2129 static int ulink_init(void)
2131 int ret, transferred;
2132 char str_manufacturer[20];
2133 bool download_firmware = false;
2134 unsigned char *dummy;
2135 uint8_t input_signals, output_signals;
2137 ulink_handle = calloc(1, sizeof(struct ulink));
2138 if (ulink_handle == NULL)
2141 libusb_init(&ulink_handle->libusb_ctx);
2143 ret = ulink_usb_open(&ulink_handle);
2144 if (ret != ERROR_OK) {
2145 LOG_ERROR("Could not open ULINK device");
2147 ulink_handle = NULL;
2151 /* Get String Descriptor to determine if firmware needs to be loaded */
2152 ret = libusb_get_string_descriptor_ascii(ulink_handle->usb_device_handle, 1, (unsigned char *)str_manufacturer, 20);
2154 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2155 download_firmware = true;
2157 /* We got a String Descriptor, check if it is the correct one */
2158 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0)
2159 download_firmware = true;
2162 if (download_firmware == true) {
2163 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2165 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
2166 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
2167 if (ret != ERROR_OK) {
2168 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2170 ulink_handle = NULL;
2174 LOG_INFO("ULINK device is already running OpenULINK firmware");
2176 /* Initialize OpenULINK command queue */
2177 ulink_clear_queue(ulink_handle);
2179 /* Issue one test command with short timeout */
2180 ret = ulink_append_test_cmd(ulink_handle);
2181 if (ret != ERROR_OK)
2184 ret = ulink_execute_queued_commands(ulink_handle, 200);
2185 if (ret != ERROR_OK) {
2186 /* Sending test command failed. The ULINK device may be forever waiting for
2187 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2188 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2189 dummy = calloc(64, sizeof(uint8_t));
2191 ret = libusb_bulk_transfer(ulink_handle->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
2192 dummy, 64, &transferred, 200);
2196 if (ret != 0 || transferred == 0) {
2197 /* Bulk IN transfer failed -> unrecoverable error condition */
2198 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2199 "the USB port and re-connect, then re-run OpenOCD");
2201 ulink_handle = NULL;
2204 #ifdef _DEBUG_USB_COMMS_
2206 /* Successfully received Bulk IN packet -> continue */
2207 LOG_INFO("Recovered from lost Bulk IN packet");
2211 ulink_clear_queue(ulink_handle);
2213 ret = ulink_append_get_signals_cmd(ulink_handle);
2214 if (ret == ERROR_OK)
2215 ret = ulink_execute_queued_commands(ulink_handle, 200);
2217 if (ret == ERROR_OK) {
2218 /* Post-process the single CMD_GET_SIGNALS command */
2219 input_signals = ulink_handle->queue_start->payload_in[0];
2220 output_signals = ulink_handle->queue_start->payload_in[1];
2222 ulink_print_signal_states(input_signals, output_signals);
2225 ulink_clear_queue(ulink_handle);
2231 * Closes the USB handle for the ULINK device.
2233 * @return on success: ERROR_OK
2234 * @return on failure: ERROR_FAIL
2236 static int ulink_quit(void)
2240 ret = ulink_usb_close(&ulink_handle);
2247 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2249 COMMAND_HANDLER(ulink_download_firmware_handler)
2254 return ERROR_COMMAND_SYNTAX_ERROR;
2257 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
2259 /* Download firmware image in CMD_ARGV[0] */
2260 ret = ulink_load_firmware_and_renumerate(&ulink_handle, CMD_ARGV[0],
2261 ULINK_RENUMERATION_DELAY);
2266 /*************************** Command Registration **************************/
2268 static const struct command_registration ulink_command_handlers[] = {
2270 .name = "ulink_download_firmware",
2271 .handler = &ulink_download_firmware_handler,
2272 .mode = COMMAND_EXEC,
2273 .help = "download firmware image to ULINK device",
2274 .usage = "path/to/ulink_firmware.hex",
2276 COMMAND_REGISTRATION_DONE,
2279 static struct jtag_interface ulink_interface = {
2280 .execute_queue = ulink_execute_queue,
2283 struct adapter_driver ulink_adapter_driver = {
2285 .transports = jtag_only,
2286 .commands = ulink_command_handlers,
2290 .speed = ulink_speed,
2292 .speed_div = ulink_speed_div,
2294 .jtag_ops = &ulink_interface,