1 // SPDX-License-Identifier: GPL-2.0-or-later
3 /***************************************************************************
4 * Copyright (C) 2011-2013 by Martin Schmoelzer *
5 * <martin.schmoelzer@student.tuwien.ac.at> *
6 ***************************************************************************/
13 #include "helper/system.h"
14 #include <jtag/interface.h>
15 #include <jtag/commands.h>
16 #include <target/image.h>
18 #include "libusb_helper.h"
19 #include "OpenULINK/include/msgtypes.h"
21 /** USB Vendor ID of ULINK device in unconfigured state (no firmware loaded
22 * yet) or with OpenULINK firmware. */
23 #define ULINK_VID 0xC251
25 /** USB Product ID of ULINK device in unconfigured state (no firmware loaded
26 * yet) or with OpenULINK firmware. */
27 #define ULINK_PID 0x2710
29 /** Address of EZ-USB CPU Control & Status register. This register can be
30 * written by issuing a Control EP0 vendor request. */
31 #define CPUCS_REG 0x7F92
33 /** USB Control EP0 bRequest: "Firmware Load". */
34 #define REQUEST_FIRMWARE_LOAD 0xA0
36 /** Value to write into CPUCS to put EZ-USB into reset. */
37 #define CPU_RESET 0x01
39 /** Value to write into CPUCS to put EZ-USB out of reset. */
40 #define CPU_START 0x00
42 /** Base address of firmware in EZ-USB code space. */
43 #define FIRMWARE_ADDR 0x0000
45 /** USB interface number */
46 #define USB_INTERFACE 0
48 /** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
49 #define ULINK_RENUMERATION_DELAY 1500000
51 /** Default location of OpenULINK firmware image. */
52 #define ULINK_FIRMWARE_FILE PKGDATADIR "/OpenULINK/ulink_firmware.hex"
54 /** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
55 #define SECTION_BUFFERSIZE 8192
57 /** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
58 #define SPLIT_SCAN_THRESHOLD 10
60 /** ULINK hardware type */
62 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
63 * Full JTAG support, no SWD support. */
66 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
69 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
72 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
76 enum ulink_payload_direction {
77 PAYLOAD_DIRECTION_OUT,
81 enum ulink_delay_type {
90 * OpenULINK command (OpenULINK command queue element).
92 * For the OUT direction payload, things are quite easy: Payload is stored
93 * in a rather small array (up to 63 bytes), the payload is always allocated
94 * by the function generating the command and freed by ulink_clear_queue().
96 * For the IN direction payload, things get a little bit more complicated:
97 * The maximum IN payload size for a single command is 64 bytes. Assume that
98 * a single OpenOCD command needs to scan 256 bytes. This results in the
99 * generation of four OpenULINK commands. The function generating these
100 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
101 * pointer shall point to the corresponding offset where IN data shall be
102 * placed, while #payload_in_start shall point to the first element of the 256
104 * - first command: #payload_in_start + 0
105 * - second command: #payload_in_start + 64
106 * - third command: #payload_in_start + 128
107 * - fourth command: #payload_in_start + 192
109 * The last command sets #needs_postprocessing to true.
112 uint8_t id; /**< ULINK command ID */
114 uint8_t *payload_out; /**< OUT direction payload data */
115 uint8_t payload_out_size; /**< OUT direction payload size for this command */
117 uint8_t *payload_in_start; /**< Pointer to first element of IN payload array */
118 uint8_t *payload_in; /**< Pointer where IN payload shall be stored */
119 uint8_t payload_in_size; /**< IN direction payload size for this command */
121 /** Indicates if this command needs post-processing */
122 bool needs_postprocessing;
124 /** Indicates if ulink_clear_queue() should free payload_in_start */
125 bool free_payload_in_start;
127 /** Pointer to corresponding OpenOCD command for post-processing */
128 struct jtag_command *cmd_origin;
130 struct ulink_cmd *next; /**< Pointer to next command (linked list) */
133 /** Describes one driver instance */
135 struct libusb_context *libusb_ctx;
136 struct libusb_device_handle *usb_device_handle;
137 enum ulink_type type;
139 unsigned int ep_in; /**< IN endpoint number */
140 unsigned int ep_out; /**< OUT endpoint number */
142 int delay_scan_in; /**< Delay value for SCAN_IN commands */
143 int delay_scan_out; /**< Delay value for SCAN_OUT commands */
144 int delay_scan_io; /**< Delay value for SCAN_IO commands */
145 int delay_clock_tck; /**< Delay value for CLOCK_TMS commands */
146 int delay_clock_tms; /**< Delay value for CLOCK_TCK commands */
148 int commands_in_queue; /**< Number of commands in queue */
149 struct ulink_cmd *queue_start; /**< Pointer to first command in queue */
150 struct ulink_cmd *queue_end; /**< Pointer to last command in queue */
153 /**************************** Function Prototypes *****************************/
155 /* USB helper functions */
156 static int ulink_usb_open(struct ulink **device);
157 static int ulink_usb_close(struct ulink **device);
159 /* ULINK MCU (Cypress EZ-USB) specific functions */
160 static int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit);
161 static int ulink_load_firmware_and_renumerate(struct ulink **device, const char *filename,
163 static int ulink_load_firmware(struct ulink *device, const char *filename);
164 static int ulink_write_firmware_section(struct ulink *device,
165 struct image *firmware_image, int section_index);
167 /* Generic helper functions */
168 static void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
170 /* OpenULINK command generation helper functions */
171 static int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
172 enum ulink_payload_direction direction);
174 /* OpenULINK command queue helper functions */
175 static int ulink_get_queue_size(struct ulink *device,
176 enum ulink_payload_direction direction);
177 static void ulink_clear_queue(struct ulink *device);
178 static int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd);
179 static int ulink_execute_queued_commands(struct ulink *device, int timeout);
181 static void ulink_print_queue(struct ulink *device);
183 static int ulink_append_scan_cmd(struct ulink *device,
184 enum scan_type scan_type,
189 uint8_t tms_count_start,
190 uint8_t tms_sequence_start,
191 uint8_t tms_count_end,
192 uint8_t tms_sequence_end,
193 struct jtag_command *origin,
195 static int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
197 static int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
198 static int ulink_append_get_signals_cmd(struct ulink *device);
199 static int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
201 static int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
202 static int ulink_append_configure_tck_cmd(struct ulink *device,
208 static int __attribute__((unused)) ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
209 static int ulink_append_test_cmd(struct ulink *device);
211 /* OpenULINK TCK frequency helper functions */
212 static int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay);
214 /* Interface between OpenULINK and OpenOCD */
215 static void ulink_set_end_state(tap_state_t endstate);
216 static int ulink_queue_statemove(struct ulink *device);
218 static int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
219 static int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
220 static int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
221 static int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
222 static int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
223 static int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
224 static int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
226 static int ulink_post_process_scan(struct ulink_cmd *ulink_cmd);
227 static int ulink_post_process_queue(struct ulink *device);
229 /* adapter driver functions */
230 static int ulink_execute_queue(void);
231 static int ulink_khz(int khz, int *jtag_speed);
232 static int ulink_speed(int speed);
233 static int ulink_speed_div(int speed, int *khz);
234 static int ulink_init(void);
235 static int ulink_quit(void);
237 /****************************** Global Variables ******************************/
239 static struct ulink *ulink_handle;
241 /**************************** USB helper functions ****************************/
244 * Opens the ULINK device
246 * Currently, only the original ULINK is supported
248 * @param device pointer to struct ulink identifying ULINK driver instance.
249 * @return on success: ERROR_OK
250 * @return on failure: ERROR_FAIL
252 static int ulink_usb_open(struct ulink **device)
254 ssize_t num_devices, i;
256 struct libusb_device **usb_devices;
257 struct libusb_device_descriptor usb_desc;
258 struct libusb_device_handle *usb_device_handle;
260 num_devices = libusb_get_device_list((*device)->libusb_ctx, &usb_devices);
262 if (num_devices <= 0)
266 for (i = 0; i < num_devices; i++) {
267 if (libusb_get_device_descriptor(usb_devices[i], &usb_desc) != 0)
269 else if (usb_desc.idVendor == ULINK_VID && usb_desc.idProduct == ULINK_PID) {
278 if (libusb_open(usb_devices[i], &usb_device_handle) != 0)
280 libusb_free_device_list(usb_devices, 1);
282 (*device)->usb_device_handle = usb_device_handle;
283 (*device)->type = ULINK_1;
289 * Releases the ULINK interface and closes the USB device handle.
291 * @param device pointer to struct ulink identifying ULINK driver instance.
292 * @return on success: ERROR_OK
293 * @return on failure: ERROR_FAIL
295 static int ulink_usb_close(struct ulink **device)
297 if (libusb_release_interface((*device)->usb_device_handle, 0) != 0)
300 libusb_close((*device)->usb_device_handle);
302 (*device)->usb_device_handle = NULL;
307 /******************* ULINK CPU (EZ-USB) specific functions ********************/
310 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
313 * @param device pointer to struct ulink identifying ULINK driver instance.
314 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
315 * @return on success: ERROR_OK
316 * @return on failure: ERROR_FAIL
318 static int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit)
322 ret = libusb_control_transfer(device->usb_device_handle,
323 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
324 REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, LIBUSB_TIMEOUT_MS);
326 /* usb_control_msg() returns the number of bytes transferred during the
327 * DATA stage of the control transfer - must be exactly 1 in this case! */
334 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
335 * the firmware image, resumes the microcontroller and re-enumerates
338 * @param device pointer to struct ulink identifying ULINK driver instance.
339 * The usb_handle member will be modified during re-enumeration.
340 * @param filename path to the Intel HEX file containing the firmware image.
341 * @param delay the delay to wait for the device to re-enumerate.
342 * @return on success: ERROR_OK
343 * @return on failure: ERROR_FAIL
345 static int ulink_load_firmware_and_renumerate(struct ulink **device,
346 const char *filename, uint32_t delay)
350 /* Basic process: After downloading the firmware, the ULINK will disconnect
351 * itself and re-connect after a short amount of time so we have to close
352 * the handle and re-enumerate USB devices */
354 ret = ulink_load_firmware(*device, filename);
358 ret = ulink_usb_close(device);
364 ret = ulink_usb_open(device);
372 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
375 * @param device pointer to struct ulink identifying ULINK driver instance.
376 * @param filename an absolute or relative path to the Intel HEX file
377 * containing the firmware image.
378 * @return on success: ERROR_OK
379 * @return on failure: ERROR_FAIL
381 static int ulink_load_firmware(struct ulink *device, const char *filename)
383 struct image ulink_firmware_image;
386 ret = ulink_cpu_reset(device, CPU_RESET);
387 if (ret != ERROR_OK) {
388 LOG_ERROR("Could not halt ULINK CPU");
392 ulink_firmware_image.base_address = 0;
393 ulink_firmware_image.base_address_set = false;
395 ret = image_open(&ulink_firmware_image, filename, "ihex");
396 if (ret != ERROR_OK) {
397 LOG_ERROR("Could not load firmware image");
401 /* Download all sections in the image to ULINK */
402 for (unsigned int i = 0; i < ulink_firmware_image.num_sections; i++) {
403 ret = ulink_write_firmware_section(device, &ulink_firmware_image, i);
408 image_close(&ulink_firmware_image);
410 ret = ulink_cpu_reset(device, CPU_START);
411 if (ret != ERROR_OK) {
412 LOG_ERROR("Could not restart ULINK CPU");
420 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
423 * @param device pointer to struct ulink identifying ULINK driver instance.
424 * @param firmware_image pointer to the firmware image that contains the section
425 * which should be sent to the ULINK's EZ-USB microcontroller.
426 * @param section_index index of the section within the firmware image.
427 * @return on success: ERROR_OK
428 * @return on failure: ERROR_FAIL
430 static int ulink_write_firmware_section(struct ulink *device,
431 struct image *firmware_image, int section_index)
433 uint16_t addr, size, bytes_remaining, chunk_size;
434 uint8_t data[SECTION_BUFFERSIZE];
435 uint8_t *data_ptr = data;
439 size = (uint16_t)firmware_image->sections[section_index].size;
440 addr = (uint16_t)firmware_image->sections[section_index].base_address;
442 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
445 /* Copy section contents to local buffer */
446 ret = image_read_section(firmware_image, section_index, 0, size, data,
449 if ((ret != ERROR_OK) || (size_read != size)) {
450 /* Propagating the return code would return '0' (misleadingly indicating
451 * successful execution of the function) if only the size check fails. */
455 bytes_remaining = size;
457 /* Send section data in chunks of up to 64 bytes to ULINK */
458 while (bytes_remaining > 0) {
459 if (bytes_remaining > 64)
462 chunk_size = bytes_remaining;
464 ret = libusb_control_transfer(device->usb_device_handle,
465 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
466 REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (unsigned char *)data_ptr,
467 chunk_size, LIBUSB_TIMEOUT_MS);
469 if (ret != (int)chunk_size) {
470 /* Abort if libusb sent less data than requested */
474 bytes_remaining -= chunk_size;
476 data_ptr += chunk_size;
482 /************************** Generic helper functions **************************/
485 * Print state of interesting signals via LOG_INFO().
487 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
488 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
490 static void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
492 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
494 (output_signals & SIGNAL_TDI ? 1 : 0),
495 (input_signals & SIGNAL_TDO ? 1 : 0),
496 (output_signals & SIGNAL_TMS ? 1 : 0),
497 (output_signals & SIGNAL_TCK ? 1 : 0),
498 (output_signals & SIGNAL_TRST ? 0 : 1), /* Inverted by hardware */
499 (output_signals & SIGNAL_RESET ? 0 : 1)); /* Inverted by hardware */
502 /**************** OpenULINK command generation helper functions ***************/
505 * Allocate and initialize space in memory for OpenULINK command payload.
507 * @param ulink_cmd pointer to command whose payload should be allocated.
508 * @param size the amount of memory to allocate (bytes).
509 * @param direction which payload to allocate.
510 * @return on success: ERROR_OK
511 * @return on failure: ERROR_FAIL
513 static int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
514 enum ulink_payload_direction direction)
518 payload = calloc(size, sizeof(uint8_t));
521 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
526 case PAYLOAD_DIRECTION_OUT:
527 if (ulink_cmd->payload_out) {
528 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
532 ulink_cmd->payload_out = payload;
533 ulink_cmd->payload_out_size = size;
536 case PAYLOAD_DIRECTION_IN:
537 if (ulink_cmd->payload_in_start) {
538 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
542 ulink_cmd->payload_in_start = payload;
543 ulink_cmd->payload_in = payload;
544 ulink_cmd->payload_in_size = size;
546 /* By default, free payload_in_start in ulink_clear_queue(). Commands
547 * that do not want this behavior (e. g. split scans) must turn it off
549 ulink_cmd->free_payload_in_start = true;
557 /****************** OpenULINK command queue helper functions ******************/
560 * Get the current number of bytes in the queue, including command IDs.
562 * @param device pointer to struct ulink identifying ULINK driver instance.
563 * @param direction the transfer direction for which to get byte count.
564 * @return the number of bytes currently stored in the queue for the specified
567 static int ulink_get_queue_size(struct ulink *device,
568 enum ulink_payload_direction direction)
570 struct ulink_cmd *current = device->queue_start;
575 case PAYLOAD_DIRECTION_OUT:
576 sum += current->payload_out_size + 1; /* + 1 byte for Command ID */
578 case PAYLOAD_DIRECTION_IN:
579 sum += current->payload_in_size;
583 current = current->next;
590 * Clear the OpenULINK command queue.
592 * @param device pointer to struct ulink identifying ULINK driver instance.
594 static void ulink_clear_queue(struct ulink *device)
596 struct ulink_cmd *current = device->queue_start;
597 struct ulink_cmd *next = NULL;
600 /* Save pointer to next element */
601 next = current->next;
603 /* Free payloads: OUT payload can be freed immediately */
604 free(current->payload_out);
605 current->payload_out = NULL;
607 /* IN payload MUST be freed ONLY if no other commands use the
608 * payload_in_start buffer */
609 if (current->free_payload_in_start == true) {
610 free(current->payload_in_start);
611 current->payload_in_start = NULL;
612 current->payload_in = NULL;
615 /* Free queue element */
618 /* Proceed with next element */
622 device->commands_in_queue = 0;
623 device->queue_start = NULL;
624 device->queue_end = NULL;
628 * Add a command to the OpenULINK command queue.
630 * @param device pointer to struct ulink identifying ULINK driver instance.
631 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
633 * @return on success: ERROR_OK
634 * @return on failure: ERROR_FAIL
636 static int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd)
638 int newsize_out, newsize_in;
641 newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
642 + ulink_cmd->payload_out_size;
644 newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
645 + ulink_cmd->payload_in_size;
647 /* Check if the current command can be appended to the queue */
648 if ((newsize_out > 64) || (newsize_in > 64)) {
649 /* New command does not fit. Execute all commands in queue before starting
650 * new queue with the current command as first entry. */
651 ret = ulink_execute_queued_commands(device, LIBUSB_TIMEOUT_MS);
654 ret = ulink_post_process_queue(device);
657 ulink_clear_queue(device);
660 if (!device->queue_start) {
661 /* Queue was empty */
662 device->commands_in_queue = 1;
664 device->queue_start = ulink_cmd;
665 device->queue_end = ulink_cmd;
667 /* There are already commands in the queue */
668 device->commands_in_queue++;
670 device->queue_end->next = ulink_cmd;
671 device->queue_end = ulink_cmd;
675 ulink_clear_queue(device);
681 * Sends all queued OpenULINK commands to the ULINK for execution.
683 * @param device pointer to struct ulink identifying ULINK driver instance.
685 * @return on success: ERROR_OK
686 * @return on failure: ERROR_FAIL
688 static int ulink_execute_queued_commands(struct ulink *device, int timeout)
690 struct ulink_cmd *current;
691 int ret, i, index_out, index_in, count_out, count_in, transferred;
694 if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO))
695 ulink_print_queue(device);
701 for (current = device->queue_start; current; current = current->next) {
702 /* Add command to packet */
703 buffer[index_out] = current->id;
707 for (i = 0; i < current->payload_out_size; i++)
708 buffer[index_out + i] = current->payload_out[i];
709 index_out += current->payload_out_size;
710 count_in += current->payload_in_size;
711 count_out += current->payload_out_size;
714 /* Send packet to ULINK */
715 ret = libusb_bulk_transfer(device->usb_device_handle, device->ep_out,
716 (unsigned char *)buffer, count_out, &transferred, timeout);
719 if (transferred != count_out)
722 /* Wait for response if commands contain IN payload data */
724 ret = libusb_bulk_transfer(device->usb_device_handle, device->ep_in,
725 (unsigned char *)buffer, 64, &transferred, timeout);
728 if (transferred != count_in)
731 /* Write back IN payload data */
733 for (current = device->queue_start; current; current = current->next) {
734 for (i = 0; i < current->payload_in_size; i++) {
735 current->payload_in[i] = buffer[index_in];
745 * Convert an OpenULINK command ID (\a id) to a human-readable string.
747 * @param id the OpenULINK command ID.
748 * @return the corresponding human-readable string.
750 static const char *ulink_cmd_id_string(uint8_t id)
754 return "CMD_SCAN_IN";
755 case CMD_SLOW_SCAN_IN:
756 return "CMD_SLOW_SCAN_IN";
758 return "CMD_SCAN_OUT";
759 case CMD_SLOW_SCAN_OUT:
760 return "CMD_SLOW_SCAN_OUT";
762 return "CMD_SCAN_IO";
763 case CMD_SLOW_SCAN_IO:
764 return "CMD_SLOW_SCAN_IO";
766 return "CMD_CLOCK_TMS";
767 case CMD_SLOW_CLOCK_TMS:
768 return "CMD_SLOW_CLOCK_TMS";
770 return "CMD_CLOCK_TCK";
771 case CMD_SLOW_CLOCK_TCK:
772 return "CMD_SLOW_CLOCK_TCK";
774 return "CMD_SLEEP_US";
776 return "CMD_SLEEP_MS";
777 case CMD_GET_SIGNALS:
778 return "CMD_GET_SIGNALS";
779 case CMD_SET_SIGNALS:
780 return "CMD_SET_SIGNALS";
781 case CMD_CONFIGURE_TCK_FREQ:
782 return "CMD_CONFIGURE_TCK_FREQ";
784 return "CMD_SET_LEDS";
788 return "CMD_UNKNOWN";
793 * Print one OpenULINK command to stdout.
795 * @param ulink_cmd pointer to OpenULINK command.
797 static void ulink_print_command(struct ulink_cmd *ulink_cmd)
801 printf(" %-22s | OUT size = %i, bytes = 0x",
802 ulink_cmd_id_string(ulink_cmd->id), ulink_cmd->payload_out_size);
804 for (i = 0; i < ulink_cmd->payload_out_size; i++)
805 printf("%02X ", ulink_cmd->payload_out[i]);
806 printf("\n | IN size = %i\n",
807 ulink_cmd->payload_in_size);
811 * Print the OpenULINK command queue to stdout.
813 * @param device pointer to struct ulink identifying ULINK driver instance.
815 static void ulink_print_queue(struct ulink *device)
817 struct ulink_cmd *current;
819 printf("OpenULINK command queue:\n");
821 for (current = device->queue_start; current; current = current->next)
822 ulink_print_command(current);
828 * Creates and appends a JTAG scan command to the OpenULINK command queue.
829 * A JTAG scan consists of three steps:
830 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
831 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
832 * - Move to the desired end state.
834 * @param device pointer to struct ulink identifying ULINK driver instance.
835 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
836 * @param scan_size_bits number of bits to shift into the JTAG chain.
837 * @param tdi pointer to array containing TDI data.
838 * @param tdo_start pointer to first element of array where TDO data shall be
839 * stored. See #ulink_cmd for details.
840 * @param tdo pointer to array where TDO data shall be stored
841 * @param tms_count_start number of TMS state transitions to perform BEFORE
842 * shifting data into the JTAG chain.
843 * @param tms_sequence_start sequence of TMS state transitions that will be
844 * performed BEFORE shifting data into the JTAG chain.
845 * @param tms_count_end number of TMS state transitions to perform AFTER
846 * shifting data into the JTAG chain.
847 * @param tms_sequence_end sequence of TMS state transitions that will be
848 * performed AFTER shifting data into the JTAG chain.
849 * @param origin pointer to OpenOCD command that generated this scan command.
850 * @param postprocess whether this command needs to be post-processed after
852 * @return on success: ERROR_OK
853 * @return on failure: ERROR_FAIL
855 static int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
856 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
857 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
858 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
860 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
861 int ret, i, scan_size_bytes;
862 uint8_t bits_last_byte;
867 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
868 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
869 if (scan_size_bits > (58 * 8)) {
870 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
876 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
878 bits_last_byte = scan_size_bits % 8;
879 if (bits_last_byte == 0)
882 /* Allocate out_payload depending on scan type */
885 if (device->delay_scan_in < 0)
886 cmd->id = CMD_SCAN_IN;
888 cmd->id = CMD_SLOW_SCAN_IN;
889 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
892 if (device->delay_scan_out < 0)
893 cmd->id = CMD_SCAN_OUT;
895 cmd->id = CMD_SLOW_SCAN_OUT;
896 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
899 if (device->delay_scan_io < 0)
900 cmd->id = CMD_SCAN_IO;
902 cmd->id = CMD_SLOW_SCAN_IO;
903 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
906 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
911 if (ret != ERROR_OK) {
916 /* Build payload_out that is common to all scan types */
917 cmd->payload_out[0] = scan_size_bytes & 0xFF;
918 cmd->payload_out[1] = bits_last_byte & 0xFF;
919 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
920 cmd->payload_out[3] = tms_sequence_start;
921 cmd->payload_out[4] = tms_sequence_end;
923 /* Setup payload_out for types with OUT transfer */
924 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
925 for (i = 0; i < scan_size_bytes; i++)
926 cmd->payload_out[i + 5] = tdi[i];
929 /* Setup payload_in pointers for types with IN transfer */
930 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
931 cmd->payload_in_start = tdo_start;
932 cmd->payload_in = tdo;
933 cmd->payload_in_size = scan_size_bytes;
936 cmd->needs_postprocessing = postprocess;
937 cmd->cmd_origin = origin;
939 /* For scan commands, we free payload_in_start only when the command is
940 * the last in a series of split commands or a stand-alone command */
941 cmd->free_payload_in_start = postprocess;
943 return ulink_append_queue(device, cmd);
947 * Perform TAP state transitions
949 * @param device pointer to struct ulink identifying ULINK driver instance.
950 * @param count defines the number of TCK clock cycles generated (up to 8).
951 * @param sequence defines the TMS pin levels for each state transition. The
952 * Least-Significant Bit is read first.
953 * @return on success: ERROR_OK
954 * @return on failure: ERROR_FAIL
956 static int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
959 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
965 if (device->delay_clock_tms < 0)
966 cmd->id = CMD_CLOCK_TMS;
968 cmd->id = CMD_SLOW_CLOCK_TMS;
970 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
971 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
972 if (ret != ERROR_OK) {
977 cmd->payload_out[0] = count;
978 cmd->payload_out[1] = sequence;
980 return ulink_append_queue(device, cmd);
984 * Generate a defined amount of TCK clock cycles
986 * All other JTAG signals are left unchanged.
988 * @param device pointer to struct ulink identifying ULINK driver instance.
989 * @param count the number of TCK clock cycles to generate.
990 * @return on success: ERROR_OK
991 * @return on failure: ERROR_FAIL
993 static int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
995 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1001 if (device->delay_clock_tck < 0)
1002 cmd->id = CMD_CLOCK_TCK;
1004 cmd->id = CMD_SLOW_CLOCK_TCK;
1006 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1007 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1008 if (ret != ERROR_OK) {
1013 cmd->payload_out[0] = count & 0xff;
1014 cmd->payload_out[1] = (count >> 8) & 0xff;
1016 return ulink_append_queue(device, cmd);
1020 * Read JTAG signals.
1022 * @param device pointer to struct ulink identifying ULINK driver instance.
1023 * @return on success: ERROR_OK
1024 * @return on failure: ERROR_FAIL
1026 static int ulink_append_get_signals_cmd(struct ulink *device)
1028 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1034 cmd->id = CMD_GET_SIGNALS;
1035 cmd->needs_postprocessing = true;
1037 /* CMD_GET_SIGNALS has two IN payload bytes */
1038 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1040 if (ret != ERROR_OK) {
1045 return ulink_append_queue(device, cmd);
1049 * Arbitrarily set JTAG output signals.
1051 * @param device pointer to struct ulink identifying ULINK driver instance.
1052 * @param low defines which signals will be de-asserted. Each bit corresponds
1061 * @param high defines which signals will be asserted.
1062 * @return on success: ERROR_OK
1063 * @return on failure: ERROR_FAIL
1065 static int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1068 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1074 cmd->id = CMD_SET_SIGNALS;
1076 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1077 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1079 if (ret != ERROR_OK) {
1084 cmd->payload_out[0] = low;
1085 cmd->payload_out[1] = high;
1087 return ulink_append_queue(device, cmd);
1091 * Sleep for a pre-defined number of microseconds
1093 * @param device pointer to struct ulink identifying ULINK driver instance.
1094 * @param us the number microseconds to sleep.
1095 * @return on success: ERROR_OK
1096 * @return on failure: ERROR_FAIL
1098 static int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1100 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1106 cmd->id = CMD_SLEEP_US;
1108 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1109 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1111 if (ret != ERROR_OK) {
1116 cmd->payload_out[0] = us & 0x00ff;
1117 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1119 return ulink_append_queue(device, cmd);
1123 * Set TCK delay counters
1125 * @param device pointer to struct ulink identifying ULINK driver instance.
1126 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1127 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1128 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1129 * @param delay_tck delay count top value in jtag_clock_tck() function.
1130 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1131 * @return on success: ERROR_OK
1132 * @return on failure: ERROR_FAIL
1134 static int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
1135 int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
1137 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1143 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1145 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1146 * IN payload bytes */
1147 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
1148 if (ret != ERROR_OK) {
1153 if (delay_scan_in < 0)
1154 cmd->payload_out[0] = 0;
1156 cmd->payload_out[0] = (uint8_t)delay_scan_in;
1158 if (delay_scan_out < 0)
1159 cmd->payload_out[1] = 0;
1161 cmd->payload_out[1] = (uint8_t)delay_scan_out;
1163 if (delay_scan_io < 0)
1164 cmd->payload_out[2] = 0;
1166 cmd->payload_out[2] = (uint8_t)delay_scan_io;
1169 cmd->payload_out[3] = 0;
1171 cmd->payload_out[3] = (uint8_t)delay_tck;
1174 cmd->payload_out[4] = 0;
1176 cmd->payload_out[4] = (uint8_t)delay_tms;
1178 return ulink_append_queue(device, cmd);
1182 * Turn on/off ULINK LEDs.
1184 * @param device pointer to struct ulink identifying ULINK driver instance.
1185 * @param led_state which LED(s) to turn on or off. The following bits
1186 * influence the LEDS:
1187 * - Bit 0: Turn COM LED on
1188 * - Bit 1: Turn RUN LED on
1189 * - Bit 2: Turn COM LED off
1190 * - Bit 3: Turn RUN LED off
1191 * If both the on-bit and the off-bit for the same LED is set, the LED is
1193 * @return on success: ERROR_OK
1194 * @return on failure: ERROR_FAIL
1196 static int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1198 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1204 cmd->id = CMD_SET_LEDS;
1206 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1207 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1208 if (ret != ERROR_OK) {
1213 cmd->payload_out[0] = led_state;
1215 return ulink_append_queue(device, cmd);
1219 * Test command. Used to check if the ULINK device is ready to accept new
1222 * @param device pointer to struct ulink identifying ULINK driver instance.
1223 * @return on success: ERROR_OK
1224 * @return on failure: ERROR_FAIL
1226 static int ulink_append_test_cmd(struct ulink *device)
1228 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1236 /* CMD_TEST 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] = 0xAA;
1245 return ulink_append_queue(device, cmd);
1248 /****************** OpenULINK TCK frequency helper functions ******************/
1251 * Calculate delay values for a given TCK frequency.
1253 * The OpenULINK firmware uses five different speed values for different
1254 * commands. These speed values are calculated in these functions.
1256 * The five different commands which support variable TCK frequency are
1257 * implemented twice in the firmware:
1258 * 1. Maximum possible frequency without any artificial delay
1259 * 2. Variable frequency with artificial linear delay loop
1261 * To set the ULINK to maximum frequency, it is only necessary to use the
1262 * corresponding command IDs. To set the ULINK to a lower frequency, the
1263 * delay loop top values have to be calculated first. Then, a
1264 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1266 * The delay values are described by linear equations:
1268 * (t = period, k = constant, x = delay value, d = constant)
1270 * Thus, the delay can be calculated as in the following equation:
1273 * The constants in these equations have been determined and validated by
1274 * measuring the frequency resulting from different delay values.
1276 * @param type for which command to calculate the delay value.
1277 * @param f TCK frequency for which to calculate the delay value in Hz.
1278 * @param delay where to store resulting delay value.
1279 * @return on success: ERROR_OK
1280 * @return on failure: ERROR_FAIL
1282 static int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
1286 /* Calculate period of requested TCK frequency */
1287 t = 1.0 / (float)(f);
1290 case DELAY_CLOCK_TCK:
1291 x = (t - (float)(6E-6)) / (float)(4E-6);
1293 case DELAY_CLOCK_TMS:
1294 x = (t - (float)(8.5E-6)) / (float)(4E-6);
1297 x = (t - (float)(8.8308E-6)) / (float)(4E-6);
1299 case DELAY_SCAN_OUT:
1300 x = (t - (float)(1.0527E-5)) / (float)(4E-6);
1303 x = (t - (float)(1.3132E-5)) / (float)(4E-6);
1310 /* Check if the delay value is negative. This happens when a frequency is
1311 * requested that is too high for the delay loop implementation. In this
1312 * case, set delay value to zero. */
1316 /* We need to convert the exact delay value to an integer. Therefore, we
1317 * round the exact value UP to ensure that the resulting frequency is NOT
1318 * higher than the requested frequency. */
1321 /* Check if the value is within limits */
1325 *delay = (int)x_ceil;
1331 * Calculate frequency for a given delay value.
1333 * Similar to the #ulink_calculate_delay function, this function calculates the
1334 * TCK frequency for a given delay value by using linear equations of the form:
1336 * (t = period, k = constant, x = delay value, d = constant)
1338 * @param type for which command to calculate the delay value.
1339 * @param delay delay value for which to calculate the resulting TCK frequency.
1340 * @return the resulting TCK frequency
1342 static long ulink_calculate_frequency(enum ulink_delay_type type, int delay)
1350 case DELAY_CLOCK_TCK:
1352 t = (float)(2.666E-6);
1354 t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
1356 case DELAY_CLOCK_TMS:
1358 t = (float)(5.666E-6);
1360 t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
1364 t = (float)(5.5E-6);
1366 t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
1368 case DELAY_SCAN_OUT:
1370 t = (float)(7.0E-6);
1372 t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
1376 t = (float)(9.926E-6);
1378 t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
1385 return roundf(f_float);
1388 /******************* Interface between OpenULINK and OpenOCD ******************/
1391 * Sets the end state follower (see interface.h) if \a endstate is a stable
1394 * @param endstate the state the end state follower should be set to.
1396 static void ulink_set_end_state(tap_state_t endstate)
1398 if (tap_is_state_stable(endstate))
1399 tap_set_end_state(endstate);
1401 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1407 * Move from the current TAP state to the current TAP end state.
1409 * @param device pointer to struct ulink identifying ULINK driver instance.
1410 * @return on success: ERROR_OK
1411 * @return on failure: ERROR_FAIL
1413 static int ulink_queue_statemove(struct ulink *device)
1415 uint8_t tms_sequence, tms_count;
1418 if (tap_get_state() == tap_get_end_state()) {
1419 /* Do nothing if we are already there */
1423 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1424 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1426 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1428 if (ret == ERROR_OK)
1429 tap_set_state(tap_get_end_state());
1435 * Perform a scan operation on a JTAG register.
1437 * @param device pointer to struct ulink identifying ULINK driver instance.
1438 * @param cmd pointer to the command that shall be executed.
1439 * @return on success: ERROR_OK
1440 * @return on failure: ERROR_FAIL
1442 static int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1444 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1445 uint32_t scans_max_payload, bytecount;
1446 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1447 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1449 uint8_t first_tms_count, first_tms_sequence;
1450 uint8_t last_tms_count, last_tms_sequence;
1452 uint8_t tms_count_pause, tms_sequence_pause;
1453 uint8_t tms_count_resume, tms_sequence_resume;
1455 uint8_t tms_count_start, tms_sequence_start;
1456 uint8_t tms_count_end, tms_sequence_end;
1458 enum scan_type type;
1461 /* Determine scan size */
1462 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1463 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1465 /* Determine scan type (IN/OUT/IO) */
1466 type = jtag_scan_type(cmd->cmd.scan);
1468 /* Determine number of scan commands with maximum payload */
1469 scans_max_payload = scan_size_bytes / 58;
1471 /* Determine size of last shift command */
1472 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1474 /* Allocate TDO buffer if required */
1475 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1476 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1478 if (!tdo_buffer_start)
1481 tdo_buffer = tdo_buffer_start;
1484 /* Fill TDI buffer if required */
1485 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1486 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1487 tdi_buffer = tdi_buffer_start;
1490 /* Get TAP state transitions */
1491 if (cmd->cmd.scan->ir_scan) {
1492 ulink_set_end_state(TAP_IRSHIFT);
1493 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1494 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1496 tap_set_state(TAP_IRSHIFT);
1497 tap_set_end_state(cmd->cmd.scan->end_state);
1498 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1499 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1501 /* TAP state transitions for split scans */
1502 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1503 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1504 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1505 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1507 ulink_set_end_state(TAP_DRSHIFT);
1508 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1509 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1511 tap_set_state(TAP_DRSHIFT);
1512 tap_set_end_state(cmd->cmd.scan->end_state);
1513 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1514 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1516 /* TAP state transitions for split scans */
1517 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1518 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1519 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1520 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1523 /* Generate scan commands */
1524 bytecount = scan_size_bytes;
1525 while (bytecount > 0) {
1526 if (bytecount == scan_size_bytes) {
1527 /* This is the first scan */
1528 tms_count_start = first_tms_count;
1529 tms_sequence_start = first_tms_sequence;
1531 /* Resume from previous scan */
1532 tms_count_start = tms_count_resume;
1533 tms_sequence_start = tms_sequence_resume;
1536 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1537 tms_count_end = tms_count_pause;
1538 tms_sequence_end = tms_sequence_pause;
1540 ret = ulink_append_scan_cmd(device,
1555 /* Update TDI and TDO buffer pointers */
1556 if (tdi_buffer_start)
1558 if (tdo_buffer_start)
1560 } else if (bytecount == 58) { /* Full scan, no further scans */
1561 tms_count_end = last_tms_count;
1562 tms_sequence_end = last_tms_sequence;
1564 ret = ulink_append_scan_cmd(device,
1578 } else {/* Scan with less than maximum payload, no further scans */
1579 tms_count_end = last_tms_count;
1580 tms_sequence_end = last_tms_sequence;
1582 ret = ulink_append_scan_cmd(device,
1598 if (ret != ERROR_OK) {
1599 free(tdi_buffer_start);
1600 free(tdo_buffer_start);
1605 free(tdi_buffer_start);
1607 /* Set current state to the end state requested by the command */
1608 tap_set_state(cmd->cmd.scan->end_state);
1614 * Move the TAP into the Test Logic Reset state.
1616 * @param device pointer to struct ulink identifying ULINK driver instance.
1617 * @param cmd pointer to the command that shall be executed.
1618 * @return on success: ERROR_OK
1619 * @return on failure: ERROR_FAIL
1621 static int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1625 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1627 if (ret == ERROR_OK)
1628 tap_set_state(TAP_RESET);
1636 * Generate TCK clock cycles while remaining
1637 * in the Run-Test/Idle state.
1639 * @param device pointer to struct ulink identifying ULINK driver instance.
1640 * @param cmd pointer to the command that shall be executed.
1641 * @return on success: ERROR_OK
1642 * @return on failure: ERROR_FAIL
1644 static int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1648 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1649 if (tap_get_state() != TAP_IDLE) {
1650 ulink_set_end_state(TAP_IDLE);
1651 ulink_queue_statemove(device);
1654 /* Generate the clock cycles */
1655 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1656 if (ret != ERROR_OK)
1659 /* Move to end state specified in command */
1660 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1661 tap_set_end_state(cmd->cmd.runtest->end_state);
1662 ulink_queue_statemove(device);
1669 * Execute a JTAG_RESET command
1672 * @param cmd pointer to the command that shall be executed.
1673 * @return on success: ERROR_OK
1674 * @return on failure: ERROR_FAIL
1676 static int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1678 uint8_t low = 0, high = 0;
1680 if (cmd->cmd.reset->trst) {
1681 tap_set_state(TAP_RESET);
1682 high |= SIGNAL_TRST;
1686 if (cmd->cmd.reset->srst)
1687 high |= SIGNAL_RESET;
1689 low |= SIGNAL_RESET;
1691 return ulink_append_set_signals_cmd(device, low, high);
1695 * Move to one TAP state or several states in succession.
1697 * @param device pointer to struct ulink identifying ULINK driver instance.
1698 * @param cmd pointer to the command that shall be executed.
1699 * @return on success: ERROR_OK
1700 * @return on failure: ERROR_FAIL
1702 static int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1704 int ret, i, num_states, batch_size, state_count;
1706 uint8_t tms_sequence;
1708 num_states = cmd->cmd.pathmove->num_states;
1709 path = cmd->cmd.pathmove->path;
1712 while (num_states > 0) {
1715 /* Determine batch size */
1716 if (num_states >= 8)
1719 batch_size = num_states;
1721 for (i = 0; i < batch_size; i++) {
1722 if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
1723 /* Append '0' transition: clear bit 'i' in tms_sequence */
1724 buf_set_u32(&tms_sequence, i, 1, 0x0);
1725 } else if (tap_state_transition(tap_get_state(), true)
1726 == path[state_count]) {
1727 /* Append '1' transition: set bit 'i' in tms_sequence */
1728 buf_set_u32(&tms_sequence, i, 1, 0x1);
1730 /* Invalid state transition */
1731 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1732 tap_state_name(tap_get_state()),
1733 tap_state_name(path[state_count]));
1737 tap_set_state(path[state_count]);
1742 /* Append CLOCK_TMS command to OpenULINK command queue */
1744 "pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
1745 ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
1746 if (ret != ERROR_OK)
1754 * Sleep for a specific amount of time.
1756 * @param device pointer to struct ulink identifying ULINK driver instance.
1757 * @param cmd pointer to the command that shall be executed.
1758 * @return on success: ERROR_OK
1759 * @return on failure: ERROR_FAIL
1761 static int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1763 /* IMPORTANT! Due to the time offset in command execution introduced by
1764 * command queueing, this needs to be implemented in the ULINK device */
1765 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1769 * Generate TCK cycles while remaining in a stable state.
1771 * @param device pointer to struct ulink identifying ULINK driver instance.
1772 * @param cmd pointer to the command that shall be executed.
1774 static int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
1777 unsigned num_cycles;
1779 if (!tap_is_state_stable(tap_get_state())) {
1780 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1784 num_cycles = cmd->cmd.stableclocks->num_cycles;
1786 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1787 if (tap_get_state() == TAP_RESET)
1788 ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
1790 ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
1792 if (ret != ERROR_OK)
1795 while (num_cycles > 0) {
1796 if (num_cycles > 0xFFFF) {
1797 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1798 ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1799 num_cycles -= 0xFFFF;
1801 ret = ulink_append_clock_tck_cmd(device, num_cycles);
1805 if (ret != ERROR_OK)
1813 * Post-process JTAG_SCAN command
1815 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1816 * @return on success: ERROR_OK
1817 * @return on failure: ERROR_FAIL
1819 static int ulink_post_process_scan(struct ulink_cmd *ulink_cmd)
1821 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1824 switch (jtag_scan_type(cmd->cmd.scan)) {
1827 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1830 /* Nothing to do for OUT scans */
1834 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1844 * Perform post-processing of commands after OpenULINK queue has been executed.
1846 * @param device pointer to struct ulink identifying ULINK driver instance.
1847 * @return on success: ERROR_OK
1848 * @return on failure: ERROR_FAIL
1850 static int ulink_post_process_queue(struct ulink *device)
1852 struct ulink_cmd *current;
1853 struct jtag_command *openocd_cmd;
1856 current = device->queue_start;
1859 openocd_cmd = current->cmd_origin;
1861 /* Check if a corresponding OpenOCD command is stored for this
1862 * OpenULINK command */
1863 if ((current->needs_postprocessing == true) && (openocd_cmd)) {
1864 switch (openocd_cmd->type) {
1866 ret = ulink_post_process_scan(current);
1868 case JTAG_TLR_RESET:
1873 case JTAG_STABLECLOCKS:
1874 /* Nothing to do for these commands */
1879 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1884 if (ret != ERROR_OK)
1888 current = current->next;
1894 /**************************** JTAG driver functions ***************************/
1897 * Executes the JTAG Command Queue.
1899 * This is done in three stages: First, all OpenOCD commands are processed into
1900 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1901 * ULINK device and data received from the ULINK device is cached. Finally,
1902 * the post-processing function writes back data to the corresponding OpenOCD
1905 * @return on success: ERROR_OK
1906 * @return on failure: ERROR_FAIL
1908 static int ulink_execute_queue(void)
1910 struct jtag_command *cmd = jtag_command_queue;
1914 switch (cmd->type) {
1916 ret = ulink_queue_scan(ulink_handle, cmd);
1918 case JTAG_TLR_RESET:
1919 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1922 ret = ulink_queue_runtest(ulink_handle, cmd);
1925 ret = ulink_queue_reset(ulink_handle, cmd);
1928 ret = ulink_queue_pathmove(ulink_handle, cmd);
1931 ret = ulink_queue_sleep(ulink_handle, cmd);
1933 case JTAG_STABLECLOCKS:
1934 ret = ulink_queue_stableclocks(ulink_handle, cmd);
1938 LOG_ERROR("BUG: encountered unknown JTAG command type");
1942 if (ret != ERROR_OK)
1948 if (ulink_handle->commands_in_queue > 0) {
1949 ret = ulink_execute_queued_commands(ulink_handle, LIBUSB_TIMEOUT_MS);
1950 if (ret != ERROR_OK)
1953 ret = ulink_post_process_queue(ulink_handle);
1954 if (ret != ERROR_OK)
1957 ulink_clear_queue(ulink_handle);
1964 * Set the TCK frequency of the ULINK adapter.
1966 * @param khz desired JTAG TCK frequency.
1967 * @param jtag_speed where to store corresponding adapter-specific speed value.
1968 * @return on success: ERROR_OK
1969 * @return on failure: ERROR_FAIL
1971 static int ulink_khz(int khz, int *jtag_speed)
1976 LOG_ERROR("RCLK not supported");
1980 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
1981 * setting can be done independently from all other commands. */
1983 ulink_handle->delay_clock_tck = -1;
1985 ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
1986 &ulink_handle->delay_clock_tck);
1987 if (ret != ERROR_OK)
1991 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
1992 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
1993 * commands, all SCAN commands MUST also use the variable frequency
1994 * implementation! */
1996 ulink_handle->delay_clock_tms = -1;
1997 ulink_handle->delay_scan_in = -1;
1998 ulink_handle->delay_scan_out = -1;
1999 ulink_handle->delay_scan_io = -1;
2001 ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
2002 &ulink_handle->delay_clock_tms);
2003 if (ret != ERROR_OK)
2006 ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
2007 &ulink_handle->delay_scan_in);
2008 if (ret != ERROR_OK)
2011 ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
2012 &ulink_handle->delay_scan_out);
2013 if (ret != ERROR_OK)
2016 ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
2017 &ulink_handle->delay_scan_io);
2018 if (ret != ERROR_OK)
2022 LOG_DEBUG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2023 ulink_handle->delay_clock_tck,
2024 ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck));
2025 LOG_DEBUG_IO(" delay_tms = %i (%li Hz),",
2026 ulink_handle->delay_clock_tms,
2027 ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms));
2028 LOG_DEBUG_IO(" delay_scan_in = %i (%li Hz),",
2029 ulink_handle->delay_scan_in,
2030 ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in));
2031 LOG_DEBUG_IO(" delay_scan_out = %i (%li Hz),",
2032 ulink_handle->delay_scan_out,
2033 ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out));
2034 LOG_DEBUG_IO(" delay_scan_io = %i (%li Hz),",
2035 ulink_handle->delay_scan_io,
2036 ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io));
2038 /* Configure the ULINK device with the new delay values */
2039 ret = ulink_append_configure_tck_cmd(ulink_handle,
2040 ulink_handle->delay_scan_in,
2041 ulink_handle->delay_scan_out,
2042 ulink_handle->delay_scan_io,
2043 ulink_handle->delay_clock_tck,
2044 ulink_handle->delay_clock_tms);
2046 if (ret != ERROR_OK)
2055 * Set the TCK frequency of the ULINK adapter.
2057 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2058 * there are five different speed settings. To simplify things, the
2059 * adapter-specific speed setting value is identical to the TCK frequency in
2062 * @param speed desired adapter-specific speed value.
2063 * @return on success: ERROR_OK
2064 * @return on failure: ERROR_FAIL
2066 static int ulink_speed(int speed)
2070 return ulink_khz(speed, &dummy);
2074 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2076 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2077 * there are five different speed settings. To simplify things, the
2078 * adapter-specific speed setting value is identical to the TCK frequency in
2081 * @param speed adapter-specific speed value.
2082 * @param khz where to store corresponding TCK frequency in kHz.
2083 * @return on success: ERROR_OK
2084 * @return on failure: ERROR_FAIL
2086 static int ulink_speed_div(int speed, int *khz)
2094 * Initiates the firmware download to the ULINK adapter and prepares
2097 * @return on success: ERROR_OK
2098 * @return on failure: ERROR_FAIL
2100 static int ulink_init(void)
2102 int ret, transferred;
2103 char str_manufacturer[20];
2104 bool download_firmware = false;
2105 unsigned char *dummy;
2106 uint8_t input_signals, output_signals;
2108 ulink_handle = calloc(1, sizeof(struct ulink));
2112 libusb_init(&ulink_handle->libusb_ctx);
2114 ret = ulink_usb_open(&ulink_handle);
2115 if (ret != ERROR_OK) {
2116 LOG_ERROR("Could not open ULINK device");
2118 ulink_handle = NULL;
2122 /* Get String Descriptor to determine if firmware needs to be loaded */
2123 ret = libusb_get_string_descriptor_ascii(ulink_handle->usb_device_handle, 1, (unsigned char *)str_manufacturer, 20);
2125 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2126 download_firmware = true;
2128 /* We got a String Descriptor, check if it is the correct one */
2129 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0)
2130 download_firmware = true;
2133 if (download_firmware == true) {
2134 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2136 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
2137 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
2138 if (ret != ERROR_OK) {
2139 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2141 ulink_handle = NULL;
2145 LOG_INFO("ULINK device is already running OpenULINK firmware");
2147 /* Get OpenULINK USB IN/OUT endpoints and claim the interface */
2148 ret = jtag_libusb_choose_interface(ulink_handle->usb_device_handle,
2149 &ulink_handle->ep_in, &ulink_handle->ep_out, -1, -1, -1, -1);
2150 if (ret != ERROR_OK)
2153 /* Initialize OpenULINK command queue */
2154 ulink_clear_queue(ulink_handle);
2156 /* Issue one test command with short timeout */
2157 ret = ulink_append_test_cmd(ulink_handle);
2158 if (ret != ERROR_OK)
2161 ret = ulink_execute_queued_commands(ulink_handle, 200);
2162 if (ret != ERROR_OK) {
2163 /* Sending test command failed. The ULINK device may be forever waiting for
2164 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2165 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2166 dummy = calloc(64, sizeof(uint8_t));
2168 ret = libusb_bulk_transfer(ulink_handle->usb_device_handle, ulink_handle->ep_in,
2169 dummy, 64, &transferred, 200);
2173 if (ret != 0 || transferred == 0) {
2174 /* Bulk IN transfer failed -> unrecoverable error condition */
2175 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2176 "the USB port and re-connect, then re-run OpenOCD");
2178 ulink_handle = NULL;
2181 #ifdef _DEBUG_USB_COMMS_
2183 /* Successfully received Bulk IN packet -> continue */
2184 LOG_INFO("Recovered from lost Bulk IN packet");
2188 ulink_clear_queue(ulink_handle);
2190 ret = ulink_append_get_signals_cmd(ulink_handle);
2191 if (ret == ERROR_OK)
2192 ret = ulink_execute_queued_commands(ulink_handle, 200);
2194 if (ret == ERROR_OK) {
2195 /* Post-process the single CMD_GET_SIGNALS command */
2196 input_signals = ulink_handle->queue_start->payload_in[0];
2197 output_signals = ulink_handle->queue_start->payload_in[1];
2199 ulink_print_signal_states(input_signals, output_signals);
2202 ulink_clear_queue(ulink_handle);
2208 * Closes the USB handle for the ULINK device.
2210 * @return on success: ERROR_OK
2211 * @return on failure: ERROR_FAIL
2213 static int ulink_quit(void)
2217 ret = ulink_usb_close(&ulink_handle);
2224 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2226 COMMAND_HANDLER(ulink_download_firmware_handler)
2231 return ERROR_COMMAND_SYNTAX_ERROR;
2234 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
2236 /* Download firmware image in CMD_ARGV[0] */
2237 ret = ulink_load_firmware_and_renumerate(&ulink_handle, CMD_ARGV[0],
2238 ULINK_RENUMERATION_DELAY);
2243 /*************************** Command Registration **************************/
2245 static const struct command_registration ulink_subcommand_handlers[] = {
2247 .name = "download_firmware",
2248 .handler = &ulink_download_firmware_handler,
2249 .mode = COMMAND_EXEC,
2250 .help = "download firmware image to ULINK device",
2251 .usage = "path/to/ulink_firmware.hex",
2253 COMMAND_REGISTRATION_DONE,
2256 static const struct command_registration ulink_command_handlers[] = {
2259 .mode = COMMAND_ANY,
2260 .help = "perform ulink management",
2261 .chain = ulink_subcommand_handlers,
2264 COMMAND_REGISTRATION_DONE
2267 static struct jtag_interface ulink_interface = {
2268 .execute_queue = ulink_execute_queue,
2271 struct adapter_driver ulink_adapter_driver = {
2273 .transports = jtag_only,
2274 .commands = ulink_command_handlers,
2278 .speed = ulink_speed,
2280 .speed_div = ulink_speed_div,
2282 .jtag_ops = &ulink_interface,