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 static int ulink_usb_open(struct ulink **device);
166 static int ulink_usb_close(struct ulink **device);
168 /* ULINK MCU (Cypress EZ-USB) specific functions */
169 static int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit);
170 static int ulink_load_firmware_and_renumerate(struct ulink **device, const char *filename,
172 static int ulink_load_firmware(struct ulink *device, const char *filename);
173 static int ulink_write_firmware_section(struct ulink *device,
174 struct image *firmware_image, int section_index);
176 /* Generic helper functions */
177 static void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
179 /* OpenULINK command generation helper functions */
180 static int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
181 enum ulink_payload_direction direction);
183 /* OpenULINK command queue helper functions */
184 static int ulink_get_queue_size(struct ulink *device,
185 enum ulink_payload_direction direction);
186 static void ulink_clear_queue(struct ulink *device);
187 static int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd);
188 static int ulink_execute_queued_commands(struct ulink *device, int timeout);
190 static void ulink_print_queue(struct ulink *device);
192 static 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 static int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
206 static int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
207 static int ulink_append_get_signals_cmd(struct ulink *device);
208 static int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
210 static int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
211 static int ulink_append_configure_tck_cmd(struct ulink *device,
217 static int __attribute__((unused)) ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
218 static int ulink_append_test_cmd(struct ulink *device);
220 /* OpenULINK TCK frequency helper functions */
221 static 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 static int ulink_queue_statemove(struct ulink *device);
227 static int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
228 static int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
229 static int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
230 static int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
231 static int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
232 static int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
233 static int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
235 static int ulink_post_process_scan(struct ulink_cmd *ulink_cmd);
236 static 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 static 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 static 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 static 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 static 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 static 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 static 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 static 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 static 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 static 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 static 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 static 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 static int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd)
652 int newsize_out, newsize_in;
655 newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
656 + ulink_cmd->payload_out_size;
658 newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
659 + ulink_cmd->payload_in_size;
661 /* Check if the current command can be appended to the queue */
662 if ((newsize_out > 64) || (newsize_in > 64)) {
663 /* New command does not fit. Execute all commands in queue before starting
664 * new queue with the current command as first entry. */
665 ret = ulink_execute_queued_commands(device, USB_TIMEOUT);
668 ret = ulink_post_process_queue(device);
671 ulink_clear_queue(device);
674 if (device->queue_start == NULL) {
675 /* Queue was empty */
676 device->commands_in_queue = 1;
678 device->queue_start = ulink_cmd;
679 device->queue_end = ulink_cmd;
681 /* There are already commands in the queue */
682 device->commands_in_queue++;
684 device->queue_end->next = ulink_cmd;
685 device->queue_end = ulink_cmd;
689 ulink_clear_queue(device);
695 * Sends all queued OpenULINK commands to the ULINK for execution.
697 * @param device pointer to struct ulink identifying ULINK driver instance.
698 * @return on success: ERROR_OK
699 * @return on failure: ERROR_FAIL
701 static int ulink_execute_queued_commands(struct ulink *device, int timeout)
703 struct ulink_cmd *current;
704 int ret, i, index_out, index_in, count_out, count_in, transferred;
707 if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO))
708 ulink_print_queue(device);
714 for (current = device->queue_start; current; current = current->next) {
715 /* Add command to packet */
716 buffer[index_out] = current->id;
720 for (i = 0; i < current->payload_out_size; i++)
721 buffer[index_out + i] = current->payload_out[i];
722 index_out += current->payload_out_size;
723 count_in += current->payload_in_size;
724 count_out += current->payload_out_size;
727 /* Send packet to ULINK */
728 ret = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_OUT),
729 (unsigned char *)buffer, count_out, &transferred, timeout);
732 if (transferred != count_out)
735 /* Wait for response if commands contain IN payload data */
737 ret = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
738 (unsigned char *)buffer, 64, &transferred, timeout);
741 if (transferred != count_in)
744 /* Write back IN payload data */
746 for (current = device->queue_start; current; current = current->next) {
747 for (i = 0; i < current->payload_in_size; i++) {
748 current->payload_in[i] = buffer[index_in];
758 * Convert an OpenULINK command ID (\a id) to a human-readable string.
760 * @param id the OpenULINK command ID.
761 * @return the corresponding human-readable string.
763 static const char *ulink_cmd_id_string(uint8_t id)
767 return "CMD_SCAN_IN";
768 case CMD_SLOW_SCAN_IN:
769 return "CMD_SLOW_SCAN_IN";
771 return "CMD_SCAN_OUT";
772 case CMD_SLOW_SCAN_OUT:
773 return "CMD_SLOW_SCAN_OUT";
775 return "CMD_SCAN_IO";
776 case CMD_SLOW_SCAN_IO:
777 return "CMD_SLOW_SCAN_IO";
779 return "CMD_CLOCK_TMS";
780 case CMD_SLOW_CLOCK_TMS:
781 return "CMD_SLOW_CLOCK_TMS";
783 return "CMD_CLOCK_TCK";
784 case CMD_SLOW_CLOCK_TCK:
785 return "CMD_SLOW_CLOCK_TCK";
787 return "CMD_SLEEP_US";
789 return "CMD_SLEEP_MS";
790 case CMD_GET_SIGNALS:
791 return "CMD_GET_SIGNALS";
792 case CMD_SET_SIGNALS:
793 return "CMD_SET_SIGNALS";
794 case CMD_CONFIGURE_TCK_FREQ:
795 return "CMD_CONFIGURE_TCK_FREQ";
797 return "CMD_SET_LEDS";
801 return "CMD_UNKNOWN";
806 * Print one OpenULINK command to stdout.
808 * @param ulink_cmd pointer to OpenULINK command.
810 static void ulink_print_command(struct ulink_cmd *ulink_cmd)
814 printf(" %-22s | OUT size = %i, bytes = 0x",
815 ulink_cmd_id_string(ulink_cmd->id), ulink_cmd->payload_out_size);
817 for (i = 0; i < ulink_cmd->payload_out_size; i++)
818 printf("%02X ", ulink_cmd->payload_out[i]);
819 printf("\n | IN size = %i\n",
820 ulink_cmd->payload_in_size);
824 * Print the OpenULINK command queue to stdout.
826 * @param device pointer to struct ulink identifying ULINK driver instance.
828 static void ulink_print_queue(struct ulink *device)
830 struct ulink_cmd *current;
832 printf("OpenULINK command queue:\n");
834 for (current = device->queue_start; current; current = current->next)
835 ulink_print_command(current);
841 * Creates and appends a JTAG scan command to the OpenULINK command queue.
842 * A JTAG scan consists of three steps:
843 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
844 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
845 * - Move to the desired end state.
847 * @param device pointer to struct ulink identifying ULINK driver instance.
848 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
849 * @param scan_size_bits number of bits to shift into the JTAG chain.
850 * @param tdi pointer to array containing TDI data.
851 * @param tdo_start pointer to first element of array where TDO data shall be
852 * stored. See #ulink_cmd for details.
853 * @param tdo pointer to array where TDO data shall be stored
854 * @param tms_count_start number of TMS state transitions to perform BEFORE
855 * shifting data into the JTAG chain.
856 * @param tms_sequence_start sequence of TMS state transitions that will be
857 * performed BEFORE shifting data into the JTAG chain.
858 * @param tms_count_end number of TMS state transitions to perform AFTER
859 * shifting data into the JTAG chain.
860 * @param tms_sequence_end sequence of TMS state transitions that will be
861 * performed AFTER shifting data into the JTAG chain.
862 * @param origin pointer to OpenOCD command that generated this scan command.
863 * @param postprocess whether this command needs to be post-processed after
865 * @return on success: ERROR_OK
866 * @return on failure: ERROR_FAIL
868 static int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
869 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
870 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
871 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
873 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
874 int ret, i, scan_size_bytes;
875 uint8_t bits_last_byte;
880 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
881 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
882 if (scan_size_bits > (58 * 8)) {
883 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
889 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
891 bits_last_byte = scan_size_bits % 8;
892 if (bits_last_byte == 0)
895 /* Allocate out_payload depending on scan type */
898 if (device->delay_scan_in < 0)
899 cmd->id = CMD_SCAN_IN;
901 cmd->id = CMD_SLOW_SCAN_IN;
902 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
905 if (device->delay_scan_out < 0)
906 cmd->id = CMD_SCAN_OUT;
908 cmd->id = CMD_SLOW_SCAN_OUT;
909 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
912 if (device->delay_scan_io < 0)
913 cmd->id = CMD_SCAN_IO;
915 cmd->id = CMD_SLOW_SCAN_IO;
916 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
919 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
924 if (ret != ERROR_OK) {
929 /* Build payload_out that is common to all scan types */
930 cmd->payload_out[0] = scan_size_bytes & 0xFF;
931 cmd->payload_out[1] = bits_last_byte & 0xFF;
932 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
933 cmd->payload_out[3] = tms_sequence_start;
934 cmd->payload_out[4] = tms_sequence_end;
936 /* Setup payload_out for types with OUT transfer */
937 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
938 for (i = 0; i < scan_size_bytes; i++)
939 cmd->payload_out[i + 5] = tdi[i];
942 /* Setup payload_in pointers for types with IN transfer */
943 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
944 cmd->payload_in_start = tdo_start;
945 cmd->payload_in = tdo;
946 cmd->payload_in_size = scan_size_bytes;
949 cmd->needs_postprocessing = postprocess;
950 cmd->cmd_origin = origin;
952 /* For scan commands, we free payload_in_start only when the command is
953 * the last in a series of split commands or a stand-alone command */
954 cmd->free_payload_in_start = postprocess;
956 return ulink_append_queue(device, cmd);
960 * Perform TAP state transitions
962 * @param device pointer to struct ulink identifying ULINK driver instance.
963 * @param count defines the number of TCK clock cycles generated (up to 8).
964 * @param sequence defines the TMS pin levels for each state transition. The
965 * Least-Significant Bit is read first.
966 * @return on success: ERROR_OK
967 * @return on failure: ERROR_FAIL
969 static int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
972 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
978 if (device->delay_clock_tms < 0)
979 cmd->id = CMD_CLOCK_TMS;
981 cmd->id = CMD_SLOW_CLOCK_TMS;
983 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
984 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
985 if (ret != ERROR_OK) {
990 cmd->payload_out[0] = count;
991 cmd->payload_out[1] = sequence;
993 return ulink_append_queue(device, cmd);
997 * Generate a defined amount of TCK clock cycles
999 * All other JTAG signals are left unchanged.
1001 * @param device pointer to struct ulink identifying ULINK driver instance.
1002 * @param count the number of TCK clock cycles to generate.
1003 * @return on success: ERROR_OK
1004 * @return on failure: ERROR_FAIL
1006 static int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
1008 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1014 if (device->delay_clock_tck < 0)
1015 cmd->id = CMD_CLOCK_TCK;
1017 cmd->id = CMD_SLOW_CLOCK_TCK;
1019 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1020 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1021 if (ret != ERROR_OK) {
1026 cmd->payload_out[0] = count & 0xff;
1027 cmd->payload_out[1] = (count >> 8) & 0xff;
1029 return ulink_append_queue(device, cmd);
1033 * Read JTAG signals.
1035 * @param device pointer to struct ulink identifying ULINK driver instance.
1036 * @return on success: ERROR_OK
1037 * @return on failure: ERROR_FAIL
1039 static int ulink_append_get_signals_cmd(struct ulink *device)
1041 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1047 cmd->id = CMD_GET_SIGNALS;
1048 cmd->needs_postprocessing = true;
1050 /* CMD_GET_SIGNALS has two IN payload bytes */
1051 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1053 if (ret != ERROR_OK) {
1058 return ulink_append_queue(device, cmd);
1062 * Arbitrarily set JTAG output signals.
1064 * @param device pointer to struct ulink identifying ULINK driver instance.
1065 * @param low defines which signals will be de-asserted. Each bit corresponds
1074 * @param high defines which signals will be asserted.
1075 * @return on success: ERROR_OK
1076 * @return on failure: ERROR_FAIL
1078 static int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1081 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1087 cmd->id = CMD_SET_SIGNALS;
1089 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1090 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1092 if (ret != ERROR_OK) {
1097 cmd->payload_out[0] = low;
1098 cmd->payload_out[1] = high;
1100 return ulink_append_queue(device, cmd);
1104 * Sleep for a pre-defined number of microseconds
1106 * @param device pointer to struct ulink identifying ULINK driver instance.
1107 * @param us the number microseconds to sleep.
1108 * @return on success: ERROR_OK
1109 * @return on failure: ERROR_FAIL
1111 static int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1113 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1119 cmd->id = CMD_SLEEP_US;
1121 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1122 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1124 if (ret != ERROR_OK) {
1129 cmd->payload_out[0] = us & 0x00ff;
1130 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1132 return ulink_append_queue(device, cmd);
1136 * Set TCK delay counters
1138 * @param device pointer to struct ulink identifying ULINK driver instance.
1139 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1140 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1141 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1142 * @param delay_tck delay count top value in jtag_clock_tck() function.
1143 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1144 * @return on success: ERROR_OK
1145 * @return on failure: ERROR_FAIL
1147 static int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
1148 int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
1150 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1156 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1158 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1159 * IN payload bytes */
1160 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
1161 if (ret != ERROR_OK) {
1166 if (delay_scan_in < 0)
1167 cmd->payload_out[0] = 0;
1169 cmd->payload_out[0] = (uint8_t)delay_scan_in;
1171 if (delay_scan_out < 0)
1172 cmd->payload_out[1] = 0;
1174 cmd->payload_out[1] = (uint8_t)delay_scan_out;
1176 if (delay_scan_io < 0)
1177 cmd->payload_out[2] = 0;
1179 cmd->payload_out[2] = (uint8_t)delay_scan_io;
1182 cmd->payload_out[3] = 0;
1184 cmd->payload_out[3] = (uint8_t)delay_tck;
1187 cmd->payload_out[4] = 0;
1189 cmd->payload_out[4] = (uint8_t)delay_tms;
1191 return ulink_append_queue(device, cmd);
1195 * Turn on/off ULINK LEDs.
1197 * @param device pointer to struct ulink identifying ULINK driver instance.
1198 * @param led_state which LED(s) to turn on or off. The following bits
1199 * influence the LEDS:
1200 * - Bit 0: Turn COM LED on
1201 * - Bit 1: Turn RUN LED on
1202 * - Bit 2: Turn COM LED off
1203 * - Bit 3: Turn RUN LED off
1204 * If both the on-bit and the off-bit for the same LED is set, the LED is
1206 * @return on success: ERROR_OK
1207 * @return on failure: ERROR_FAIL
1209 static int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1211 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1217 cmd->id = CMD_SET_LEDS;
1219 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1220 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1221 if (ret != ERROR_OK) {
1226 cmd->payload_out[0] = led_state;
1228 return ulink_append_queue(device, cmd);
1232 * Test command. Used to check if the ULINK device is ready to accept new
1235 * @param device pointer to struct ulink identifying ULINK driver instance.
1236 * @return on success: ERROR_OK
1237 * @return on failure: ERROR_FAIL
1239 static int ulink_append_test_cmd(struct ulink *device)
1241 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1249 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1250 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1251 if (ret != ERROR_OK) {
1256 cmd->payload_out[0] = 0xAA;
1258 return ulink_append_queue(device, cmd);
1261 /****************** OpenULINK TCK frequency helper functions ******************/
1264 * Calculate delay values for a given TCK frequency.
1266 * The OpenULINK firmware uses five different speed values for different
1267 * commands. These speed values are calculated in these functions.
1269 * The five different commands which support variable TCK frequency are
1270 * implemented twice in the firmware:
1271 * 1. Maximum possible frequency without any artificial delay
1272 * 2. Variable frequency with artificial linear delay loop
1274 * To set the ULINK to maximum frequency, it is only necessary to use the
1275 * corresponding command IDs. To set the ULINK to a lower frequency, the
1276 * delay loop top values have to be calculated first. Then, a
1277 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1279 * The delay values are described by linear equations:
1281 * (t = period, k = constant, x = delay value, d = constant)
1283 * Thus, the delay can be calculated as in the following equation:
1286 * The constants in these equations have been determined and validated by
1287 * measuring the frequency resulting from different delay values.
1289 * @param type for which command to calculate the delay value.
1290 * @param f TCK frequency for which to calculate the delay value in Hz.
1291 * @param delay where to store resulting delay value.
1292 * @return on success: ERROR_OK
1293 * @return on failure: ERROR_FAIL
1295 static int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
1299 /* Calculate period of requested TCK frequency */
1300 t = 1.0 / (float)(f);
1303 case DELAY_CLOCK_TCK:
1304 x = (t - (float)(6E-6)) / (float)(4E-6);
1306 case DELAY_CLOCK_TMS:
1307 x = (t - (float)(8.5E-6)) / (float)(4E-6);
1310 x = (t - (float)(8.8308E-6)) / (float)(4E-6);
1312 case DELAY_SCAN_OUT:
1313 x = (t - (float)(1.0527E-5)) / (float)(4E-6);
1316 x = (t - (float)(1.3132E-5)) / (float)(4E-6);
1323 /* Check if the delay value is negative. This happens when a frequency is
1324 * requested that is too high for the delay loop implementation. In this
1325 * case, set delay value to zero. */
1329 /* We need to convert the exact delay value to an integer. Therefore, we
1330 * round the exact value UP to ensure that the resulting frequency is NOT
1331 * higher than the requested frequency. */
1334 /* Check if the value is within limits */
1338 *delay = (int)x_ceil;
1344 * Calculate frequency for a given delay value.
1346 * Similar to the #ulink_calculate_delay function, this function calculates the
1347 * TCK frequency for a given delay value by using linear equations of the form:
1349 * (t = period, k = constant, x = delay value, d = constant)
1351 * @param type for which command to calculate the delay value.
1352 * @param delay delay value for which to calculate the resulting TCK frequency.
1353 * @return the resulting TCK frequency
1355 static long ulink_calculate_frequency(enum ulink_delay_type type, int delay)
1363 case DELAY_CLOCK_TCK:
1365 t = (float)(2.666E-6);
1367 t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
1369 case DELAY_CLOCK_TMS:
1371 t = (float)(5.666E-6);
1373 t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
1377 t = (float)(5.5E-6);
1379 t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
1381 case DELAY_SCAN_OUT:
1383 t = (float)(7.0E-6);
1385 t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
1389 t = (float)(9.926E-6);
1391 t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
1398 return roundf(f_float);
1401 /******************* Interface between OpenULINK and OpenOCD ******************/
1404 * Sets the end state follower (see interface.h) if \a endstate is a stable
1407 * @param endstate the state the end state follower should be set to.
1409 static void ulink_set_end_state(tap_state_t endstate)
1411 if (tap_is_state_stable(endstate))
1412 tap_set_end_state(endstate);
1414 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1420 * Move from the current TAP state to the current TAP end state.
1422 * @param device pointer to struct ulink identifying ULINK driver instance.
1423 * @return on success: ERROR_OK
1424 * @return on failure: ERROR_FAIL
1426 static int ulink_queue_statemove(struct ulink *device)
1428 uint8_t tms_sequence, tms_count;
1431 if (tap_get_state() == tap_get_end_state()) {
1432 /* Do nothing if we are already there */
1436 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1437 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1439 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1441 if (ret == ERROR_OK)
1442 tap_set_state(tap_get_end_state());
1448 * Perform a scan operation on a JTAG register.
1450 * @param device pointer to struct ulink identifying ULINK driver instance.
1451 * @param cmd pointer to the command that shall be executed.
1452 * @return on success: ERROR_OK
1453 * @return on failure: ERROR_FAIL
1455 static int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1457 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1458 uint32_t scans_max_payload, bytecount;
1459 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1460 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1462 uint8_t first_tms_count, first_tms_sequence;
1463 uint8_t last_tms_count, last_tms_sequence;
1465 uint8_t tms_count_pause, tms_sequence_pause;
1466 uint8_t tms_count_resume, tms_sequence_resume;
1468 uint8_t tms_count_start, tms_sequence_start;
1469 uint8_t tms_count_end, tms_sequence_end;
1471 enum scan_type type;
1474 /* Determine scan size */
1475 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1476 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1478 /* Determine scan type (IN/OUT/IO) */
1479 type = jtag_scan_type(cmd->cmd.scan);
1481 /* Determine number of scan commands with maximum payload */
1482 scans_max_payload = scan_size_bytes / 58;
1484 /* Determine size of last shift command */
1485 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1487 /* Allocate TDO buffer if required */
1488 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1489 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1491 if (tdo_buffer_start == NULL)
1494 tdo_buffer = tdo_buffer_start;
1497 /* Fill TDI buffer if required */
1498 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1499 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1500 tdi_buffer = tdi_buffer_start;
1503 /* Get TAP state transitions */
1504 if (cmd->cmd.scan->ir_scan) {
1505 ulink_set_end_state(TAP_IRSHIFT);
1506 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1507 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1509 tap_set_state(TAP_IRSHIFT);
1510 tap_set_end_state(cmd->cmd.scan->end_state);
1511 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1512 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1514 /* TAP state transitions for split scans */
1515 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1516 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1517 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1518 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1520 ulink_set_end_state(TAP_DRSHIFT);
1521 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1522 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1524 tap_set_state(TAP_DRSHIFT);
1525 tap_set_end_state(cmd->cmd.scan->end_state);
1526 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1527 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1529 /* TAP state transitions for split scans */
1530 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1531 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1532 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1533 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1536 /* Generate scan commands */
1537 bytecount = scan_size_bytes;
1538 while (bytecount > 0) {
1539 if (bytecount == scan_size_bytes) {
1540 /* This is the first scan */
1541 tms_count_start = first_tms_count;
1542 tms_sequence_start = first_tms_sequence;
1544 /* Resume from previous scan */
1545 tms_count_start = tms_count_resume;
1546 tms_sequence_start = tms_sequence_resume;
1549 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1550 tms_count_end = tms_count_pause;
1551 tms_sequence_end = tms_sequence_pause;
1553 ret = ulink_append_scan_cmd(device,
1568 /* Update TDI and TDO buffer pointers */
1569 if (tdi_buffer_start != NULL)
1571 if (tdo_buffer_start != NULL)
1573 } else if (bytecount == 58) { /* Full scan, no further scans */
1574 tms_count_end = last_tms_count;
1575 tms_sequence_end = last_tms_sequence;
1577 ret = ulink_append_scan_cmd(device,
1591 } else {/* Scan with less than maximum payload, no further scans */
1592 tms_count_end = last_tms_count;
1593 tms_sequence_end = last_tms_sequence;
1595 ret = ulink_append_scan_cmd(device,
1611 if (ret != ERROR_OK) {
1612 free(tdi_buffer_start);
1613 free(tdo_buffer_start);
1618 free(tdi_buffer_start);
1620 /* Set current state to the end state requested by the command */
1621 tap_set_state(cmd->cmd.scan->end_state);
1627 * Move the TAP into the Test Logic Reset state.
1629 * @param device pointer to struct ulink identifying ULINK driver instance.
1630 * @param cmd pointer to the command that shall be executed.
1631 * @return on success: ERROR_OK
1632 * @return on failure: ERROR_FAIL
1634 static int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1638 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1640 if (ret == ERROR_OK)
1641 tap_set_state(TAP_RESET);
1649 * Generate TCK clock cycles while remaining
1650 * in the Run-Test/Idle state.
1652 * @param device pointer to struct ulink identifying ULINK driver instance.
1653 * @param cmd pointer to the command that shall be executed.
1654 * @return on success: ERROR_OK
1655 * @return on failure: ERROR_FAIL
1657 static int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1661 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1662 if (tap_get_state() != TAP_IDLE) {
1663 ulink_set_end_state(TAP_IDLE);
1664 ulink_queue_statemove(device);
1667 /* Generate the clock cycles */
1668 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1669 if (ret != ERROR_OK)
1672 /* Move to end state specified in command */
1673 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1674 tap_set_end_state(cmd->cmd.runtest->end_state);
1675 ulink_queue_statemove(device);
1682 * Execute a JTAG_RESET command
1684 * @param cmd pointer to the command that shall be executed.
1685 * @return on success: ERROR_OK
1686 * @return on failure: ERROR_FAIL
1688 static int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1690 uint8_t low = 0, high = 0;
1692 if (cmd->cmd.reset->trst) {
1693 tap_set_state(TAP_RESET);
1694 high |= SIGNAL_TRST;
1698 if (cmd->cmd.reset->srst)
1699 high |= SIGNAL_RESET;
1701 low |= SIGNAL_RESET;
1703 return ulink_append_set_signals_cmd(device, low, high);
1707 * Move to one TAP state or several states in succession.
1709 * @param device pointer to struct ulink identifying ULINK driver instance.
1710 * @param cmd pointer to the command that shall be executed.
1711 * @return on success: ERROR_OK
1712 * @return on failure: ERROR_FAIL
1714 static int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1716 int ret, i, num_states, batch_size, state_count;
1718 uint8_t tms_sequence;
1720 num_states = cmd->cmd.pathmove->num_states;
1721 path = cmd->cmd.pathmove->path;
1724 while (num_states > 0) {
1727 /* Determine batch size */
1728 if (num_states >= 8)
1731 batch_size = num_states;
1733 for (i = 0; i < batch_size; i++) {
1734 if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
1735 /* Append '0' transition: clear bit 'i' in tms_sequence */
1736 buf_set_u32(&tms_sequence, i, 1, 0x0);
1737 } else if (tap_state_transition(tap_get_state(), true)
1738 == path[state_count]) {
1739 /* Append '1' transition: set bit 'i' in tms_sequence */
1740 buf_set_u32(&tms_sequence, i, 1, 0x1);
1742 /* Invalid state transition */
1743 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1744 tap_state_name(tap_get_state()),
1745 tap_state_name(path[state_count]));
1749 tap_set_state(path[state_count]);
1754 /* Append CLOCK_TMS command to OpenULINK command queue */
1756 "pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
1757 ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
1758 if (ret != ERROR_OK)
1766 * Sleep for a specific amount of time.
1768 * @param device pointer to struct ulink identifying ULINK driver instance.
1769 * @param cmd pointer to the command that shall be executed.
1770 * @return on success: ERROR_OK
1771 * @return on failure: ERROR_FAIL
1773 static int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1775 /* IMPORTANT! Due to the time offset in command execution introduced by
1776 * command queueing, this needs to be implemented in the ULINK device */
1777 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1781 * Generate TCK cycles while remaining in a stable state.
1783 * @param device pointer to struct ulink identifying ULINK driver instance.
1784 * @param cmd pointer to the command that shall be executed.
1786 static int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
1789 unsigned num_cycles;
1791 if (!tap_is_state_stable(tap_get_state())) {
1792 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1796 num_cycles = cmd->cmd.stableclocks->num_cycles;
1798 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1799 if (tap_get_state() == TAP_RESET)
1800 ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
1802 ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
1804 if (ret != ERROR_OK)
1807 while (num_cycles > 0) {
1808 if (num_cycles > 0xFFFF) {
1809 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1810 ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1811 num_cycles -= 0xFFFF;
1813 ret = ulink_append_clock_tck_cmd(device, num_cycles);
1817 if (ret != ERROR_OK)
1825 * Post-process JTAG_SCAN command
1827 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1828 * @return on success: ERROR_OK
1829 * @return on failure: ERROR_FAIL
1831 static int ulink_post_process_scan(struct ulink_cmd *ulink_cmd)
1833 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1836 switch (jtag_scan_type(cmd->cmd.scan)) {
1839 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1842 /* Nothing to do for OUT scans */
1846 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1856 * Perform post-processing of commands after OpenULINK queue has been executed.
1858 * @param device pointer to struct ulink identifying ULINK driver instance.
1859 * @return on success: ERROR_OK
1860 * @return on failure: ERROR_FAIL
1862 static int ulink_post_process_queue(struct ulink *device)
1864 struct ulink_cmd *current;
1865 struct jtag_command *openocd_cmd;
1868 current = device->queue_start;
1870 while (current != NULL) {
1871 openocd_cmd = current->cmd_origin;
1873 /* Check if a corresponding OpenOCD command is stored for this
1874 * OpenULINK command */
1875 if ((current->needs_postprocessing == true) && (openocd_cmd != NULL)) {
1876 switch (openocd_cmd->type) {
1878 ret = ulink_post_process_scan(current);
1880 case JTAG_TLR_RESET:
1885 case JTAG_STABLECLOCKS:
1886 /* Nothing to do for these commands */
1891 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1896 if (ret != ERROR_OK)
1900 current = current->next;
1906 /**************************** JTAG driver functions ***************************/
1909 * Executes the JTAG Command Queue.
1911 * This is done in three stages: First, all OpenOCD commands are processed into
1912 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1913 * ULINK device and data received from the ULINK device is cached. Finally,
1914 * the post-processing function writes back data to the corresponding OpenOCD
1917 * @return on success: ERROR_OK
1918 * @return on failure: ERROR_FAIL
1920 static int ulink_execute_queue(void)
1922 struct jtag_command *cmd = jtag_command_queue;
1926 switch (cmd->type) {
1928 ret = ulink_queue_scan(ulink_handle, cmd);
1930 case JTAG_TLR_RESET:
1931 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1934 ret = ulink_queue_runtest(ulink_handle, cmd);
1937 ret = ulink_queue_reset(ulink_handle, cmd);
1940 ret = ulink_queue_pathmove(ulink_handle, cmd);
1943 ret = ulink_queue_sleep(ulink_handle, cmd);
1945 case JTAG_STABLECLOCKS:
1946 ret = ulink_queue_stableclocks(ulink_handle, cmd);
1950 LOG_ERROR("BUG: encountered unknown JTAG command type");
1954 if (ret != ERROR_OK)
1960 if (ulink_handle->commands_in_queue > 0) {
1961 ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
1962 if (ret != ERROR_OK)
1965 ret = ulink_post_process_queue(ulink_handle);
1966 if (ret != ERROR_OK)
1969 ulink_clear_queue(ulink_handle);
1976 * Set the TCK frequency of the ULINK adapter.
1978 * @param khz desired JTAG TCK frequency.
1979 * @param jtag_speed where to store corresponding adapter-specific speed value.
1980 * @return on success: ERROR_OK
1981 * @return on failure: ERROR_FAIL
1983 static int ulink_khz(int khz, int *jtag_speed)
1988 LOG_ERROR("RCLK not supported");
1992 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
1993 * setting can be done independently from all other commands. */
1995 ulink_handle->delay_clock_tck = -1;
1997 ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
1998 &ulink_handle->delay_clock_tck);
1999 if (ret != ERROR_OK)
2003 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2004 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2005 * commands, all SCAN commands MUST also use the variable frequency
2006 * implementation! */
2008 ulink_handle->delay_clock_tms = -1;
2009 ulink_handle->delay_scan_in = -1;
2010 ulink_handle->delay_scan_out = -1;
2011 ulink_handle->delay_scan_io = -1;
2013 ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
2014 &ulink_handle->delay_clock_tms);
2015 if (ret != ERROR_OK)
2018 ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
2019 &ulink_handle->delay_scan_in);
2020 if (ret != ERROR_OK)
2023 ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
2024 &ulink_handle->delay_scan_out);
2025 if (ret != ERROR_OK)
2028 ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
2029 &ulink_handle->delay_scan_io);
2030 if (ret != ERROR_OK)
2034 LOG_DEBUG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2035 ulink_handle->delay_clock_tck,
2036 ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck));
2037 LOG_DEBUG_IO(" delay_tms = %i (%li Hz),",
2038 ulink_handle->delay_clock_tms,
2039 ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms));
2040 LOG_DEBUG_IO(" delay_scan_in = %i (%li Hz),",
2041 ulink_handle->delay_scan_in,
2042 ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in));
2043 LOG_DEBUG_IO(" delay_scan_out = %i (%li Hz),",
2044 ulink_handle->delay_scan_out,
2045 ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out));
2046 LOG_DEBUG_IO(" delay_scan_io = %i (%li Hz),",
2047 ulink_handle->delay_scan_io,
2048 ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io));
2050 /* Configure the ULINK device with the new delay values */
2051 ret = ulink_append_configure_tck_cmd(ulink_handle,
2052 ulink_handle->delay_scan_in,
2053 ulink_handle->delay_scan_out,
2054 ulink_handle->delay_scan_io,
2055 ulink_handle->delay_clock_tck,
2056 ulink_handle->delay_clock_tms);
2058 if (ret != ERROR_OK)
2067 * Set the TCK frequency of the ULINK adapter.
2069 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2070 * there are five different speed settings. To simplify things, the
2071 * adapter-specific speed setting value is identical to the TCK frequency in
2074 * @param speed desired adapter-specific speed value.
2075 * @return on success: ERROR_OK
2076 * @return on failure: ERROR_FAIL
2078 static int ulink_speed(int speed)
2082 return ulink_khz(speed, &dummy);
2086 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2088 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2089 * there are five different speed settings. To simplify things, the
2090 * adapter-specific speed setting value is identical to the TCK frequency in
2093 * @param speed adapter-specific speed value.
2094 * @param khz where to store corresponding TCK frequency in kHz.
2095 * @return on success: ERROR_OK
2096 * @return on failure: ERROR_FAIL
2098 static int ulink_speed_div(int speed, int *khz)
2106 * Initiates the firmware download to the ULINK adapter and prepares
2109 * @return on success: ERROR_OK
2110 * @return on failure: ERROR_FAIL
2112 static int ulink_init(void)
2114 int ret, transferred;
2115 char str_manufacturer[20];
2116 bool download_firmware = false;
2117 unsigned char *dummy;
2118 uint8_t input_signals, output_signals;
2120 ulink_handle = calloc(1, sizeof(struct ulink));
2121 if (ulink_handle == NULL)
2124 libusb_init(&ulink_handle->libusb_ctx);
2126 ret = ulink_usb_open(&ulink_handle);
2127 if (ret != ERROR_OK) {
2128 LOG_ERROR("Could not open ULINK device");
2130 ulink_handle = NULL;
2134 /* Get String Descriptor to determine if firmware needs to be loaded */
2135 ret = libusb_get_string_descriptor_ascii(ulink_handle->usb_device_handle, 1, (unsigned char *)str_manufacturer, 20);
2137 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2138 download_firmware = true;
2140 /* We got a String Descriptor, check if it is the correct one */
2141 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0)
2142 download_firmware = true;
2145 if (download_firmware == true) {
2146 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2148 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
2149 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
2150 if (ret != ERROR_OK) {
2151 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2153 ulink_handle = NULL;
2157 LOG_INFO("ULINK device is already running OpenULINK firmware");
2159 /* Initialize OpenULINK command queue */
2160 ulink_clear_queue(ulink_handle);
2162 /* Issue one test command with short timeout */
2163 ret = ulink_append_test_cmd(ulink_handle);
2164 if (ret != ERROR_OK)
2167 ret = ulink_execute_queued_commands(ulink_handle, 200);
2168 if (ret != ERROR_OK) {
2169 /* Sending test command failed. The ULINK device may be forever waiting for
2170 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2171 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2172 dummy = calloc(64, sizeof(uint8_t));
2174 ret = libusb_bulk_transfer(ulink_handle->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
2175 dummy, 64, &transferred, 200);
2179 if (ret != 0 || transferred == 0) {
2180 /* Bulk IN transfer failed -> unrecoverable error condition */
2181 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2182 "the USB port and re-connect, then re-run OpenOCD");
2184 ulink_handle = NULL;
2187 #ifdef _DEBUG_USB_COMMS_
2189 /* Successfully received Bulk IN packet -> continue */
2190 LOG_INFO("Recovered from lost Bulk IN packet");
2194 ulink_clear_queue(ulink_handle);
2196 ret = ulink_append_get_signals_cmd(ulink_handle);
2197 if (ret == ERROR_OK)
2198 ret = ulink_execute_queued_commands(ulink_handle, 200);
2200 if (ret == ERROR_OK) {
2201 /* Post-process the single CMD_GET_SIGNALS command */
2202 input_signals = ulink_handle->queue_start->payload_in[0];
2203 output_signals = ulink_handle->queue_start->payload_in[1];
2205 ulink_print_signal_states(input_signals, output_signals);
2208 ulink_clear_queue(ulink_handle);
2214 * Closes the USB handle for the ULINK device.
2216 * @return on success: ERROR_OK
2217 * @return on failure: ERROR_FAIL
2219 static int ulink_quit(void)
2223 ret = ulink_usb_close(&ulink_handle);
2230 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2232 COMMAND_HANDLER(ulink_download_firmware_handler)
2237 return ERROR_COMMAND_SYNTAX_ERROR;
2240 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
2242 /* Download firmware image in CMD_ARGV[0] */
2243 ret = ulink_load_firmware_and_renumerate(&ulink_handle, CMD_ARGV[0],
2244 ULINK_RENUMERATION_DELAY);
2249 /*************************** Command Registration **************************/
2251 static const struct command_registration ulink_command_handlers[] = {
2253 .name = "ulink_download_firmware",
2254 .handler = &ulink_download_firmware_handler,
2255 .mode = COMMAND_EXEC,
2256 .help = "download firmware image to ULINK device",
2257 .usage = "path/to/ulink_firmware.hex",
2259 COMMAND_REGISTRATION_DONE,
2262 static struct jtag_interface ulink_interface = {
2263 .execute_queue = ulink_execute_queue,
2266 struct adapter_driver ulink_adapter_driver = {
2268 .transports = jtag_only,
2269 .commands = ulink_command_handlers,
2273 .speed = ulink_speed,
2275 .speed_div = ulink_speed_div,
2277 .jtag_ops = &ulink_interface,