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934a8896b9896555e7238988e81c09040cfd5dac
[openocd.git] / src / jtag / rlink / rlink.c
1 /***************************************************************************
2 * Copyright (C) 2005 by Dominic Rath *
3 * Dominic.Rath@gmx.de *
4 * *
5 * Copyright (C) 2007,2008 Øyvind Harboe *
6 * oyvind.harboe@zylin.com *
7 * *
8 * Copyright (C) 2008 Rob Brown, Lou Deluxe *
9 * rob@cobbleware.com, lou.openocd012@fixit.nospammail.net *
10 * *
11 * This program is free software; you can redistribute it and/or modify *
12 * it under the terms of the GNU General Public License as published by *
13 * the Free Software Foundation; either version 2 of the License, or *
14 * (at your option) any later version. *
15 * *
16 * This program is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
19 * GNU General Public License for more details. *
20 * *
21 * You should have received a copy of the GNU General Public License *
22 * along with this program; if not, write to the *
23 * Free Software Foundation, Inc., *
24 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
25 ***************************************************************************/
26 #ifdef HAVE_CONFIG_H
27 #include "config.h"
28 #endif
29
30 /* project specific includes */
31 #include "jtag.h"
32 #include "rlink.h"
33 #include "st7.h"
34 #include "ep1_cmd.h"
35 #include "dtc_cmd.h"
36
37 /* system includes */
38 #include <usb.h>
39
40
41 /* This feature is made useless by running the DTC all the time. When automatic, the LED is on whenever the DTC is running. Otherwise, USB messages are sent to turn it on and off. */
42 #undef AUTOMATIC_BUSY_LED
43
44 /* This feature may require derating the speed due to reduced hold time. */
45 #undef USE_HARDWARE_SHIFTER_FOR_TMS
46
47
48 #define INTERFACE_NAME "RLink"
49
50 #define USB_IDVENDOR (0x138e)
51 #define USB_IDPRODUCT (0x9000)
52
53 #define USB_EP1OUT_ADDR (0x01)
54 #define USB_EP1OUT_SIZE (16)
55 #define USB_EP1IN_ADDR (USB_EP1OUT_ADDR | 0x80)
56 #define USB_EP1IN_SIZE (USB_EP1OUT_SIZE)
57
58 #define USB_EP2OUT_ADDR (0x02)
59 #define USB_EP2OUT_SIZE (64)
60 #define USB_EP2IN_ADDR (USB_EP2OUT_ADDR | 0x80)
61 #define USB_EP2IN_SIZE (USB_EP2OUT_SIZE)
62 #define USB_EP2BANK_SIZE (512)
63
64 #define USB_TIMEOUT_MS (3 * 1000)
65
66 #define DTC_STATUS_POLL_BYTE (ST7_USB_BUF_EP0OUT + 0xff)
67
68
69 #define ST7_PD_NBUSY_LED ST7_PD0
70 #define ST7_PD_NRUN_LED ST7_PD1
71 /* low enables VPP at adapter header, high connects it to GND instead */
72 #define ST7_PD_VPP_SEL ST7_PD6
73 /* low: VPP = 12v, high: VPP <= 5v */
74 #define ST7_PD_VPP_SHDN ST7_PD7
75
76 /* These pins are connected together */
77 #define ST7_PE_ADAPTER_SENSE_IN ST7_PE3
78 #define ST7_PE_ADAPTER_SENSE_OUT ST7_PE4
79
80 /* Symbolic mapping between port pins and numbered IO lines */
81 #define ST7_PA_IO1 ST7_PA1
82 #define ST7_PA_IO2 ST7_PA2
83 #define ST7_PA_IO4 ST7_PA4
84 #define ST7_PA_IO8 ST7_PA6
85 #define ST7_PA_IO10 ST7_PA7
86 #define ST7_PB_IO5 ST7_PB5
87 #define ST7_PC_IO9 ST7_PC1
88 #define ST7_PC_IO3 ST7_PC2
89 #define ST7_PC_IO7 ST7_PC3
90 #define ST7_PE_IO6 ST7_PE5
91
92 /* Symbolic mapping between numbered IO lines and adapter signals */
93 #define ST7_PA_RTCK ST7_PA_IO0
94 #define ST7_PA_NTRST ST7_PA_IO1
95 #define ST7_PC_TDI ST7_PC_IO3
96 #define ST7_PA_DBGRQ ST7_PA_IO4
97 #define ST7_PB_NSRST ST7_PB_IO5
98 #define ST7_PE_TMS ST7_PE_IO6
99 #define ST7_PC_TCK ST7_PC_IO7
100 #define ST7_PC_TDO ST7_PC_IO9
101 #define ST7_PA_DBGACK ST7_PA_IO10
102
103 static usb_dev_handle *pHDev;
104
105
106 /*
107 * ep1 commands are up to USB_EP1OUT_SIZE bytes in length.
108 * This function takes care of zeroing the unused bytes before sending the packet.
109 * Any reply packet is not handled by this function.
110 */
111 static
112 int
113 ep1_generic_commandl(
114 usb_dev_handle *pHDev,
115 size_t length,
116 ...
117 ) {
118 uint8_t usb_buffer[USB_EP1OUT_SIZE];
119 uint8_t *usb_buffer_p;
120 va_list ap;
121 int usb_ret;
122
123 if(length > sizeof(usb_buffer)) {
124 length = sizeof(usb_buffer);
125 }
126
127 usb_buffer_p = usb_buffer;
128
129 va_start(ap, length);
130 while(length > 0) {
131 *usb_buffer_p++ = va_arg(ap, int);
132 length--;
133 }
134
135 memset(
136 usb_buffer_p,
137 0,
138 sizeof(usb_buffer) - (usb_buffer_p - usb_buffer)
139 );
140
141 usb_ret = usb_bulk_write(
142 pHDev,
143 USB_EP1OUT_ADDR,
144 (char *)usb_buffer, sizeof(usb_buffer),
145 USB_TIMEOUT_MS
146 );
147
148 return(usb_ret);
149 }
150
151
152
153 #if 0
154 static
155 ssize_t
156 ep1_memory_read(
157 usb_dev_handle *pHDev,
158 uint16_t addr,
159 size_t length,
160 uint8_t *buffer
161 ) {
162 uint8_t usb_buffer[USB_EP1OUT_SIZE];
163 int usb_ret;
164 size_t remain;
165 ssize_t count;
166
167 usb_buffer[0] = EP1_CMD_MEMORY_READ;
168 memset(
169 usb_buffer + 4,
170 0,
171 sizeof(usb_buffer) - 4
172 );
173
174 remain = length;
175 count = 0;
176
177 while(remain) {
178 if(remain > sizeof(usb_buffer)) {
179 length = sizeof(usb_buffer);
180 } else {
181 length = remain;
182 }
183
184 usb_buffer[1] = addr >> 8;
185 usb_buffer[2] = addr;
186 usb_buffer[3] = length;
187
188 usb_ret = usb_bulk_write(
189 pHDev, USB_EP1OUT_ADDR,
190 usb_buffer, sizeof(usb_buffer),
191 USB_TIMEOUT_MS
192 );
193
194 if(usb_ret < sizeof(usb_buffer)) {
195 break;
196 }
197
198 usb_ret = usb_bulk_read(
199 pHDev, USB_EP1IN_ADDR,
200 buffer, length,
201 USB_TIMEOUT_MS
202 );
203
204 if(usb_ret < length) {
205 break;
206 }
207
208 addr += length;
209 buffer += length;
210 count += length;
211 remain -= length;
212 }
213
214 return(count);
215 }
216 #endif
217
218
219
220 static
221 ssize_t
222 ep1_memory_write(
223 usb_dev_handle *pHDev,
224 uint16_t addr,
225 size_t length,
226 uint8_t const *buffer
227 ) {
228 uint8_t usb_buffer[USB_EP1OUT_SIZE];
229 int usb_ret;
230 size_t remain;
231 ssize_t count;
232
233 usb_buffer[0] = EP1_CMD_MEMORY_WRITE;
234
235 remain = length;
236 count = 0;
237
238 while(remain) {
239 if(remain > (sizeof(usb_buffer) - 4)) {
240 length = (sizeof(usb_buffer) - 4);
241 } else {
242 length = remain;
243 }
244
245 usb_buffer[1] = addr >> 8;
246 usb_buffer[2] = addr;
247 usb_buffer[3] = length;
248 memcpy(
249 usb_buffer + 4,
250 buffer,
251 length
252 );
253 memset(
254 usb_buffer + 4 + length,
255 0,
256 sizeof(usb_buffer) - 4 - length
257 );
258
259 usb_ret = usb_bulk_write(
260 pHDev, USB_EP1OUT_ADDR,
261 (char *)usb_buffer, sizeof(usb_buffer),
262 USB_TIMEOUT_MS
263 );
264
265 if((size_t)usb_ret < sizeof(usb_buffer)) {
266 break;
267 }
268
269 addr += length;
270 buffer += length;
271 count += length;
272 remain -= length;
273 }
274
275 return(count);
276 }
277
278
279 #if 0
280 static
281 ssize_t
282 ep1_memory_writel(
283 usb_dev_handle *pHDev,
284 uint16_t addr,
285 size_t length,
286 ...
287 ) {
288 uint8_t buffer[USB_EP1OUT_SIZE - 4];
289 uint8_t *buffer_p;
290 va_list ap;
291 size_t remain;
292
293 if(length > sizeof(buffer)) {
294 length = sizeof(buffer);
295 }
296
297 remain = length;
298 buffer_p = buffer;
299
300 va_start(ap, length);
301 while(remain > 0) {
302 *buffer_p++ = va_arg(ap, int);
303 remain--;
304 }
305
306 return(ep1_memory_write(pHDev, addr, length, buffer));
307 }
308 #endif
309
310
311 #define DTCLOAD_COMMENT (0)
312 #define DTCLOAD_ENTRY (1)
313 #define DTCLOAD_LOAD (2)
314 #define DTCLOAD_RUN (3)
315 #define DTCLOAD_LUT_START (4)
316 #define DTCLOAD_LUT (5)
317
318 #define DTC_LOAD_BUFFER ST7_USB_BUF_EP2UIDO
319
320 /* This gets set by the DTC loader */
321 static uint8_t dtc_entry_download;
322
323
324 /* The buffer is specially formatted to represent a valid image to load into the DTC. */
325 static
326 int
327 dtc_load_from_buffer(
328 usb_dev_handle *pHDev,
329 const u8 *buffer,
330 size_t length
331 ) {
332 struct header_s {
333 u8 type;
334 u8 length;
335 };
336
337 int usb_err;
338 struct header_s *header;
339 u8 lut_start = 0xc0;
340
341 dtc_entry_download = 0;
342
343 /* Stop the DTC before loading anything. */
344 usb_err = ep1_generic_commandl(
345 pHDev, 1,
346 EP1_CMD_DTC_STOP
347 );
348 if(usb_err < 0) return(usb_err);
349
350 while(length) {
351 if(length < sizeof(*header)) {
352 LOG_ERROR("Malformed DTC image\n");
353 exit(1);
354 }
355
356 header = (struct header_s *)buffer;
357 buffer += sizeof(*header);
358 length -= sizeof(*header);
359
360 if(length < (size_t)header->length + 1) {
361 LOG_ERROR("Malformed DTC image\n");
362 exit(1);
363 }
364
365 switch(header->type) {
366 case DTCLOAD_COMMENT:
367 break;
368
369 case DTCLOAD_ENTRY:
370 /* store entry addresses somewhere */
371 if(!strncmp("download", (char *)buffer + 1, 8)) {
372 dtc_entry_download = buffer[0];
373 }
374 break;
375
376 case DTCLOAD_LOAD:
377 /* Send the DTC program to ST7 RAM. */
378 usb_err = ep1_memory_write(
379 pHDev,
380 DTC_LOAD_BUFFER,
381 header->length + 1, buffer
382 );
383 if(usb_err < 0) return(usb_err);
384
385 /* Load it into the DTC. */
386 usb_err = ep1_generic_commandl(
387 pHDev, 3,
388 EP1_CMD_DTC_LOAD,
389 (DTC_LOAD_BUFFER >> 8),
390 DTC_LOAD_BUFFER
391 );
392 if(usb_err < 0) return(usb_err);
393
394 break;
395
396 case DTCLOAD_RUN:
397 usb_err = ep1_generic_commandl(
398 pHDev, 3,
399 EP1_CMD_DTC_CALL,
400 buffer[0],
401 EP1_CMD_DTC_WAIT
402 );
403 if(usb_err < 0) return(usb_err);
404
405 break;
406
407 case DTCLOAD_LUT_START:
408 lut_start = buffer[0];
409 break;
410
411 case DTCLOAD_LUT:
412 usb_err = ep1_memory_write(
413 pHDev,
414 ST7_USB_BUF_EP0OUT + lut_start,
415 header->length + 1, buffer
416 );
417 if(usb_err < 0) return(usb_err);
418 break;
419
420 default:
421 LOG_ERROR("Invalid DTC image record type: 0x%02x\n", header->type);
422 exit(1);
423 break;
424 }
425
426 buffer += (header->length + 1);
427 length -= (header->length + 1);
428 }
429
430 return(0);
431 }
432
433
434 /*
435 * Start the DTC running in download mode (waiting for 512 byte command packets on ep2).
436 */
437 static
438 int
439 dtc_start_download(void) {
440 int usb_err;
441 u8 ep2txr;
442
443 /* set up for download mode and make sure EP2 is set up to transmit */
444 usb_err = ep1_generic_commandl(
445 pHDev, 7,
446
447 EP1_CMD_DTC_STOP,
448 EP1_CMD_SET_UPLOAD,
449 EP1_CMD_SET_DOWNLOAD,
450 EP1_CMD_MEMORY_READ, /* read EP2TXR for its data toggle */
451 ST7_EP2TXR >> 8,
452 ST7_EP2TXR,
453 1
454 );
455 if(usb_err < 0) return(usb_err);
456
457 /* read back ep2txr */
458 usb_err = usb_bulk_read(
459 pHDev, USB_EP1IN_ADDR,
460 (char *)&ep2txr, 1,
461 USB_TIMEOUT_MS
462 );
463 if(usb_err < 0) return(usb_err);
464
465 usb_err = ep1_generic_commandl(
466 pHDev, 13,
467
468 EP1_CMD_MEMORY_WRITE, /* preinitialize poll byte */
469 DTC_STATUS_POLL_BYTE >> 8,
470 DTC_STATUS_POLL_BYTE,
471 1,
472 0x00,
473 EP1_CMD_MEMORY_WRITE, /* set EP2IN to return data */
474 ST7_EP2TXR >> 8,
475 ST7_EP2TXR,
476 1,
477 (ep2txr & ST7_EP2TXR_DTOG_TX) | ST7_EP2TXR_STAT_VALID,
478 EP1_CMD_DTC_CALL, /* start running the DTC */
479 dtc_entry_download,
480 EP1_CMD_DTC_GET_CACHED_STATUS
481 );
482 if(usb_err < 0) return(usb_err);
483
484 /* wait for completion */
485 usb_err = usb_bulk_read(
486 pHDev, USB_EP1IN_ADDR,
487 (char *)&ep2txr, 1,
488 USB_TIMEOUT_MS
489 );
490
491 return(usb_err);
492 }
493
494
495 static
496 int
497 dtc_run_download(
498 usb_dev_handle *pHDev,
499 u8 *command_buffer,
500 int command_buffer_size,
501 u8 *reply_buffer,
502 int reply_buffer_size
503 ) {
504 u8 ep2_buffer[USB_EP2IN_SIZE];
505 int usb_err;
506 int i;
507
508 LOG_DEBUG(": %d/%d\n", command_buffer_size, reply_buffer_size);
509
510 usb_err = usb_bulk_write(
511 pHDev,
512 USB_EP2OUT_ADDR,
513 (char *)command_buffer, USB_EP2BANK_SIZE,
514 USB_TIMEOUT_MS
515 );
516 if(usb_err < 0) return(usb_err);
517
518
519 /* Wait for DTC to finish running command buffer */
520 for(i = 5;;) {
521 usb_err = ep1_generic_commandl(
522 pHDev, 4,
523
524 EP1_CMD_MEMORY_READ,
525 DTC_STATUS_POLL_BYTE >> 8,
526 DTC_STATUS_POLL_BYTE,
527 1
528 );
529 if(usb_err < 0) return(usb_err);
530
531 usb_err = usb_bulk_read(
532 pHDev,
533 USB_EP1IN_ADDR,
534 (char *)ep2_buffer, 1,
535 USB_TIMEOUT_MS
536 );
537 if(usb_err < 0) return(usb_err);
538
539 if(ep2_buffer[0] & 0x01) break;
540
541 if(!--i) {
542 LOG_ERROR("%s, %d: too many retries waiting for DTC status\n",
543 __FILE__, __LINE__
544 );
545 return(-ETIMEDOUT);
546 }
547 }
548
549
550 if(!reply_buffer) reply_buffer_size = 0;
551 if(reply_buffer_size) {
552 usb_err = usb_bulk_read(
553 pHDev,
554 USB_EP2IN_ADDR,
555 (char *)ep2_buffer, sizeof(ep2_buffer),
556 USB_TIMEOUT_MS
557 );
558
559 if(usb_err < (int)sizeof(ep2_buffer)) {
560 LOG_ERROR("%s, %d: Read of endpoint 2 returned %d\n",
561 __FILE__, __LINE__, usb_err
562 );
563 return(usb_err);
564 }
565
566 memcpy(reply_buffer, ep2_buffer, reply_buffer_size);
567
568 }
569
570 return(usb_err);
571 }
572
573
574 /*
575 * The dtc reply queue is a singly linked list that describes what to do with the reply packet that comes from the DTC. Only SCAN_IN and SCAN_IO generate these entries.
576 */
577
578 typedef
579 struct dtc_reply_queue_entry_s {
580 struct dtc_reply_queue_entry_s *next;
581 jtag_command_t *cmd; /* the command that resulted in this entry */
582
583 struct {
584 u8 *buffer; /* the scan buffer */
585 int size; /* size of the scan buffer in bits */
586 int offset; /* how many bits were already done before this? */
587 int length; /* how many bits are processed in this operation? */
588 enum scan_type type; /* SCAN_IN/SCAN_OUT/SCAN_IO */
589 } scan;
590 } dtc_reply_queue_entry_t;
591
592
593 /*
594 * The dtc_queue consists of a buffer of pending commands and a reply queue.
595 * rlink_scan and tap_state_run add to the command buffer and maybe to the reply queue.
596 */
597
598 static
599 struct {
600 dtc_reply_queue_entry_t *rq_head;
601 dtc_reply_queue_entry_t *rq_tail;
602 u32 cmd_index;
603 u32 reply_index;
604 u8 cmd_buffer[USB_EP2BANK_SIZE];
605 } dtc_queue;
606
607
608 /*
609 * The tap state queue is for accumulating TAP state changes wiithout needlessly flushing the dtc_queue. When it fills or is run, it adds the accumulated bytes to the dtc_queue.
610 */
611
612 static
613 struct {
614 u32 length;
615 u32 buffer;
616 } tap_state_queue;
617
618
619
620 static
621 int
622 dtc_queue_init(void) {
623 dtc_queue.rq_head = NULL;
624 dtc_queue.rq_tail = NULL;
625 dtc_queue.cmd_index = 0;
626 dtc_queue.reply_index = 0;
627 return(0);
628 }
629
630
631 static
632 inline
633 dtc_reply_queue_entry_t *
634 dtc_queue_enqueue_reply(
635 enum scan_type type,
636 u8 *buffer,
637 int size,
638 int offset,
639 int length,
640 jtag_command_t *cmd
641 ) {
642 dtc_reply_queue_entry_t *rq_entry;
643
644 rq_entry = malloc(sizeof(dtc_reply_queue_entry_t));
645 if(rq_entry != NULL) {
646 rq_entry->scan.type = type;
647 rq_entry->scan.buffer = buffer;
648 rq_entry->scan.size = size;
649 rq_entry->scan.offset = offset;
650 rq_entry->scan.length = length;
651 rq_entry->cmd = cmd;
652 rq_entry->next = NULL;
653
654 if(dtc_queue.rq_head == NULL)
655 dtc_queue.rq_head = rq_entry;
656 else
657 dtc_queue.rq_tail->next = rq_entry;
658
659 dtc_queue.rq_tail = rq_entry;
660 }
661
662 return(rq_entry);
663 }
664
665
666 /*
667 * Running the queue means that any pending command buffer is run and any reply data dealt with. The command buffer is then cleared for subsequent processing.
668 * The queue is automatically run by append when it is necessary to get space for the append.
669 */
670
671 static
672 int
673 dtc_queue_run(void) {
674 dtc_reply_queue_entry_t *rq_p, *rq_next;
675 int retval;
676 int usb_err;
677 int bit_cnt;
678 int x;
679 u8 *dtc_p, *tdo_p;
680 u8 dtc_mask, tdo_mask;
681 u8 reply_buffer[USB_EP2IN_SIZE];
682
683 retval = ERROR_OK;
684
685 if(dtc_queue.cmd_index < 1) return(retval);
686
687 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = DTC_CMD_STOP;
688
689 /* run the cmd */
690 if(dtc_queue.rq_head == NULL) {
691 usb_err = dtc_run_download(pHDev,
692 dtc_queue.cmd_buffer, dtc_queue.cmd_index,
693 NULL, 0
694 );
695 if(usb_err < 0) {
696 LOG_ERROR("dtc_run_download: %s\n", usb_strerror());
697 exit(1);
698 }
699 } else {
700 usb_err = dtc_run_download(pHDev,
701 dtc_queue.cmd_buffer, dtc_queue.cmd_index,
702 reply_buffer, dtc_queue.reply_index
703 );
704 if(usb_err < 0) {
705 LOG_ERROR("dtc_run_download: %s\n", usb_strerror());
706 exit(1);
707 } else {
708 /* process the reply, which empties the reply queue and frees its entries */
709 dtc_p = reply_buffer;
710
711 /* The rigamarole with the masks and doing it bit-by-bit is due to the fact that the scan buffer is LSb-first and the DTC code is MSb-first for hardware reasons. It was that or craft a function to do the reversal, and that wouldn't work with bit-stuffing (supplying extra bits to use mostly byte operations), or any other scheme which would throw the byte alignment off. */
712
713 for(
714 rq_p = dtc_queue.rq_head;
715 rq_p != NULL;
716 rq_p = rq_next
717 ) {
718 tdo_p = rq_p->scan.buffer + (rq_p->scan.offset / 8);
719 tdo_mask = 1 << (rq_p->scan.offset % 8);
720
721
722 bit_cnt = rq_p->scan.length;
723 if(bit_cnt >= 8) {
724 /* bytes */
725
726 dtc_mask = 1 << (8 - 1);
727
728 for(
729 ;
730 bit_cnt;
731 bit_cnt--
732 ) {
733 if(*dtc_p & dtc_mask) {
734 *tdo_p |= tdo_mask;
735 } else {
736 *tdo_p &=~ tdo_mask;
737 }
738
739 dtc_mask >>= 1;
740 if(dtc_mask == 0) {
741 dtc_p++;
742 dtc_mask = 1 << (8 - 1);
743 }
744
745 tdo_mask <<= 1;
746 if(tdo_mask == 0) {
747 tdo_p++;
748 tdo_mask = 1;
749 }
750 }
751 } else {
752 /* extra bits or last bit */
753
754 x = *dtc_p++;
755 if((
756 rq_p->scan.type == SCAN_IN
757 ) && (
758 rq_p->scan.offset != rq_p->scan.size - 1
759 )) {
760 /* extra bits were sent as a full byte with padding on the end */
761 dtc_mask = 1 << (8 - 1);
762 } else {
763 dtc_mask = 1 << (bit_cnt - 1);
764 }
765
766 for(
767 ;
768 bit_cnt;
769 bit_cnt--
770 ) {
771 if(x & dtc_mask) {
772 *tdo_p |= tdo_mask;
773 } else {
774 *tdo_p &=~ tdo_mask;
775 }
776
777 dtc_mask >>= 1;
778
779 tdo_mask <<= 1;
780 if(tdo_mask == 0) {
781 tdo_p++;
782 tdo_mask = 1;
783 }
784
785 }
786 }
787
788 if((rq_p->scan.offset + rq_p->scan.length) >= rq_p->scan.size) {
789 /* feed scan buffer back into openocd and free it */
790 if(jtag_read_buffer(rq_p->scan.buffer, rq_p->cmd->cmd.scan) != ERROR_OK) {
791 retval = ERROR_JTAG_QUEUE_FAILED;
792 }
793 free(rq_p->scan.buffer);
794 }
795
796 rq_next = rq_p->next;
797 free(rq_p);
798 }
799 dtc_queue.rq_head = NULL;
800 dtc_queue.rq_tail = NULL;
801 }
802
803 }
804
805
806 /* reset state for new appends */
807 dtc_queue.cmd_index = 0;
808 dtc_queue.reply_index = 0;
809
810 return(retval);
811 }
812
813
814
815 static
816 int
817 tap_state_queue_init(void) {
818 tap_state_queue.length = 0;
819 tap_state_queue.buffer = 0;
820 return(0);
821 }
822
823
824 static
825 int
826 tap_state_queue_run(void) {
827 int i;
828 int bits;
829 u8 byte;
830 int retval;
831
832 retval = 0;
833 if(!tap_state_queue.length) return(retval);
834 bits = 1;
835 byte = 0;
836 for(i = tap_state_queue.length; i--;) {
837
838 byte <<= 1;
839 if(tap_state_queue.buffer & 1) {
840 byte |= 1;
841 }
842 if((bits >= 8) || !i) {
843 byte <<= (8 - bits);
844
845 /* make sure there's room for stop, byte op, and one byte */
846 if(dtc_queue.cmd_index >= (sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))) {
847 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
848 DTC_CMD_STOP;
849 dtc_queue_run();
850 }
851
852 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
853 if(bits == 8) {
854 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
855 DTC_CMD_SHIFT_TMS_BYTES(1);
856 } else {
857 #endif
858 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
859 DTC_CMD_SHIFT_TMS_BITS(bits);
860 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
861 }
862 #endif
863
864 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
865 byte;
866
867 byte = 0;
868 bits = 1;
869 } else {
870 bits++;
871 }
872
873 tap_state_queue.buffer >>= 1;
874 }
875 retval = tap_state_queue_init();
876 return(retval);
877 }
878
879
880 static
881 int
882 tap_state_queue_append(
883 u8 tms
884 ) {
885 int retval;
886
887 if(tap_state_queue.length >= sizeof(tap_state_queue.buffer) * 8) {
888 retval = tap_state_queue_run();
889 if(retval != 0) return(retval);
890 }
891
892 if(tms) {
893 tap_state_queue.buffer |= (1 << tap_state_queue.length);
894 }
895 tap_state_queue.length++;
896
897 return(0);
898 }
899
900
901 static
902 void rlink_end_state(tap_state_t state)
903 {
904 if (tap_is_state_stable(state))
905 tap_set_end_state(state);
906 else
907 {
908 LOG_ERROR("BUG: %i is not a valid end state", state);
909 exit(-1);
910 }
911 }
912
913
914 static
915 void rlink_state_move(void) {
916
917 int i=0, tms=0;
918 u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
919 int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
920
921 for (i = 0; i < tms_count; i++)
922 {
923 tms = (tms_scan >> i) & 1;
924 tap_state_queue_append(tms);
925 }
926
927 tap_set_state(tap_get_end_state());
928 }
929
930 static
931 void rlink_path_move(pathmove_command_t *cmd)
932 {
933 int num_states = cmd->num_states;
934 int state_count;
935 int tms = 0;
936
937 state_count = 0;
938 while (num_states)
939 {
940 if (tap_state_transition(tap_get_state(), false) == cmd->path[state_count])
941 {
942 tms = 0;
943 }
944 else if (tap_state_transition(tap_get_state(), true) == cmd->path[state_count])
945 {
946 tms = 1;
947 }
948 else
949 {
950 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(cmd->path[state_count]));
951 exit(-1);
952 }
953
954 tap_state_queue_append(tms);
955
956 tap_set_state(cmd->path[state_count]);
957 state_count++;
958 num_states--;
959 }
960
961 tap_set_end_state(tap_get_state());
962 }
963
964
965 static
966 void rlink_runtest(int num_cycles)
967 {
968 int i;
969
970 tap_state_t saved_end_state = tap_get_end_state();
971
972 /* only do a state_move when we're not already in RTI */
973 if (tap_get_state() != TAP_IDLE)
974 {
975 rlink_end_state(TAP_IDLE);
976 rlink_state_move();
977 }
978
979 /* execute num_cycles */
980 for (i = 0; i < num_cycles; i++)
981 {
982 tap_state_queue_append(0);
983 }
984
985 /* finish in end_state */
986 rlink_end_state(saved_end_state);
987 if (tap_get_state() != tap_get_end_state())
988 rlink_state_move();
989 }
990
991
992 /* (1) assert or (0) deassert reset lines */
993 static
994 void rlink_reset(int trst, int srst)
995 {
996 u8 bitmap;
997 int usb_err;
998
999 /* Read port A for bit op */
1000 usb_err = ep1_generic_commandl(
1001 pHDev, 4,
1002 EP1_CMD_MEMORY_READ,
1003 ST7_PADR >> 8,
1004 ST7_PADR,
1005 1
1006 );
1007 if(usb_err < 0) {
1008 LOG_ERROR("%s", usb_strerror());
1009 exit(1);
1010 }
1011
1012 usb_err = usb_bulk_read(
1013 pHDev, USB_EP1IN_ADDR,
1014 (char *)&bitmap, 1,
1015 USB_TIMEOUT_MS
1016 );
1017 if(usb_err < 1) {
1018 LOG_ERROR("%s", usb_strerror());
1019 exit(1);
1020 }
1021
1022 if(trst) {
1023 bitmap &= ~ST7_PA_NTRST;
1024 } else {
1025 bitmap |= ST7_PA_NTRST;
1026 }
1027
1028 /* Write port A and read port B for bit op */
1029 /* port B has no OR, and we want to emulate open drain on NSRST, so we initialize DR to 0 and assert NSRST by setting DDR to 1. */
1030 usb_err = ep1_generic_commandl(
1031 pHDev, 9,
1032 EP1_CMD_MEMORY_WRITE,
1033 ST7_PADR >> 8,
1034 ST7_PADR,
1035 1,
1036 bitmap,
1037 EP1_CMD_MEMORY_READ,
1038 ST7_PBDDR >> 8,
1039 ST7_PBDDR,
1040 1
1041 );
1042 if(usb_err < 0) {
1043 LOG_ERROR("%s", usb_strerror());
1044 exit(1);
1045 }
1046
1047 usb_err = usb_bulk_read(
1048 pHDev, USB_EP1IN_ADDR,
1049 (char *)&bitmap, 1,
1050 USB_TIMEOUT_MS
1051 );
1052 if(usb_err < 1) {
1053 LOG_ERROR("%s", usb_strerror());
1054 exit(1);
1055 }
1056
1057 if(srst) {
1058 bitmap |= ST7_PB_NSRST;
1059 } else {
1060 bitmap &= ~ST7_PB_NSRST;
1061 }
1062
1063 /* write port B and read dummy to ensure completion before returning */
1064 usb_err = ep1_generic_commandl(
1065 pHDev, 6,
1066 EP1_CMD_MEMORY_WRITE,
1067 ST7_PBDDR >> 8,
1068 ST7_PBDDR,
1069 1,
1070 bitmap,
1071 EP1_CMD_DTC_GET_CACHED_STATUS
1072 );
1073 if(usb_err < 0) {
1074 LOG_ERROR("%s", usb_strerror());
1075 exit(1);
1076 }
1077
1078 usb_err = usb_bulk_read(
1079 pHDev, USB_EP1IN_ADDR,
1080 (char *)&bitmap, 1,
1081 USB_TIMEOUT_MS
1082 );
1083 if(usb_err < 1) {
1084 LOG_ERROR("%s", usb_strerror());
1085 exit(1);
1086 }
1087 }
1088
1089
1090 static
1091 int
1092 rlink_scan(
1093 jtag_command_t *cmd,
1094 enum scan_type type,
1095 u8 *buffer,
1096 int scan_size
1097 ) {
1098 bool ir_scan;
1099 tap_state_t saved_end_state;
1100 int byte_bits;
1101 int extra_bits;
1102 int chunk_bits;
1103 int chunk_bytes;
1104 int x;
1105
1106 int tdi_bit_offset;
1107 u8 tdi_mask, *tdi_p;
1108 u8 dtc_mask;
1109
1110 if(scan_size < 1) {
1111 LOG_ERROR("scan_size cannot be less than 1 bit\n");
1112 exit(1);
1113 }
1114
1115 ir_scan = cmd->cmd.scan->ir_scan;
1116
1117 /* Move to the proper state before starting to shift TDI/TDO. */
1118 if (!(
1119 (!ir_scan && (tap_get_state() == TAP_DRSHIFT))
1120 ||
1121 (ir_scan && (tap_get_state() == TAP_IRSHIFT))
1122 )) {
1123 saved_end_state = tap_get_end_state();
1124 rlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
1125 rlink_state_move();
1126 rlink_end_state(saved_end_state);
1127 }
1128
1129 tap_state_queue_run();
1130
1131
1132 #if 0
1133 printf("scan_size = %d, type=0x%x\n", scan_size, type);
1134 {
1135 int i;
1136
1137 /* clear unused bits in scan buffer for ease of debugging */
1138 /* (it makes diffing output easier) */
1139 buffer[scan_size / 8] &= ((1 << ((scan_size - 1) % 8) + 1) - 1);
1140
1141 printf("before scan:");
1142 for(i = 0; i < (scan_size + 7) / 8; i++) {
1143 printf(" %02x", buffer[i]);
1144 }
1145 printf("\n");
1146 }
1147 #endif
1148
1149 /* The number of bits that can be shifted as complete bytes */
1150 byte_bits = (int)(scan_size - 1) / 8 * 8;
1151 /* The number of bits left over, not counting the last bit */
1152 extra_bits = (scan_size - 1) - byte_bits;
1153
1154 tdi_bit_offset = 0;
1155 tdi_p = buffer;
1156 tdi_mask = 1;
1157
1158 if(extra_bits && (type == SCAN_OUT)) {
1159 /* Schedule any extra bits into the DTC command buffer, padding as needed */
1160 /* For SCAN_OUT, this comes before the full bytes so the (leading) padding bits will fall off the end */
1161 /* make sure there's room for stop, byte op, and one byte */
1162 if(
1163 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))
1164 ) {
1165 dtc_queue_run();
1166 }
1167
1168 x = 0;
1169 dtc_mask = 1 << (extra_bits - 1);
1170
1171 while(extra_bits--) {
1172 if(*tdi_p & tdi_mask) {
1173 x |= dtc_mask;
1174 }
1175
1176 dtc_mask >>= 1;
1177
1178 tdi_mask <<= 1;
1179 if(tdi_mask == 0) {
1180 tdi_p++;
1181 tdi_mask = 1;
1182 }
1183 }
1184
1185 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1186 DTC_CMD_SHIFT_TDI_BYTES(1);
1187
1188 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1189 }
1190
1191 /* Loop scheduling full bytes into the DTC command buffer */
1192 while(byte_bits) {
1193 if(type == SCAN_IN) {
1194 /* make sure there's room for stop and byte op */
1195 x = (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1));
1196 } else {
1197 /* make sure there's room for stop, byte op, and at least one byte */
1198 x = (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1));
1199 }
1200
1201 if(type != SCAN_OUT) {
1202 /* make sure there's room for at least one reply byte */
1203 x |= (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1));
1204 }
1205
1206 if(x) {
1207 dtc_queue_run();
1208 }
1209
1210 chunk_bits = byte_bits;
1211 /* we can only use up to 16 bytes at a time */
1212 if(chunk_bits > (16 * 8)) chunk_bits = (16 * 8);
1213
1214 if(type != SCAN_IN) {
1215 /* how much is there room for, considering stop and byte op? */
1216 x = (sizeof(dtc_queue.cmd_buffer) - (dtc_queue.cmd_index + 1 + 1)) * 8;
1217 if(chunk_bits > x) chunk_bits = x;
1218 }
1219
1220 if(type != SCAN_OUT) {
1221 /* how much is there room for in the reply buffer? */
1222 x = (USB_EP2IN_SIZE - dtc_queue.reply_index) * 8;
1223 if(chunk_bits > x) chunk_bits = x;
1224 }
1225
1226 /* so the loop will end */
1227 byte_bits -= chunk_bits;
1228
1229 if(type != SCAN_OUT) {
1230 if(dtc_queue_enqueue_reply(
1231 type, buffer, scan_size, tdi_bit_offset,
1232 chunk_bits,
1233 cmd
1234 ) == NULL) {
1235 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1236 exit(1);
1237 }
1238
1239 tdi_bit_offset += chunk_bits;
1240 }
1241
1242 /* chunk_bits is a multiple of 8, so there are no rounding issues. */
1243 chunk_bytes = chunk_bits / 8;
1244
1245 switch(type) {
1246 case SCAN_IN:
1247 x = DTC_CMD_SHIFT_TDO_BYTES(chunk_bytes);
1248 break;
1249 case SCAN_OUT:
1250 x = DTC_CMD_SHIFT_TDI_BYTES(chunk_bytes);
1251 break;
1252 default:
1253 x = DTC_CMD_SHIFT_TDIO_BYTES(chunk_bytes);
1254 break;
1255 }
1256 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1257
1258 if(type != SCAN_IN) {
1259 x = 0;
1260 dtc_mask = 1 << (8 - 1);
1261
1262 while(chunk_bits--) {
1263 if(*tdi_p & tdi_mask) {
1264 x |= dtc_mask;
1265 }
1266
1267 dtc_mask >>= 1;
1268 if(dtc_mask == 0) {
1269 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1270 dtc_queue.reply_index++;
1271 x = 0;
1272 dtc_mask = 1 << (8 - 1);
1273 }
1274
1275 tdi_mask <<= 1;
1276 if(tdi_mask == 0) {
1277 tdi_p++;
1278 tdi_mask = 1;
1279 }
1280 }
1281 }
1282 }
1283
1284 if(extra_bits && (type != SCAN_OUT)) {
1285 /* Schedule any extra bits into the DTC command buffer */
1286 /* make sure there's room for stop, byte op, and one byte */
1287 if(
1288 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))
1289 ||
1290 (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1))
1291 ) {
1292 dtc_queue_run();
1293 }
1294
1295 if(dtc_queue_enqueue_reply(
1296 type, buffer, scan_size, tdi_bit_offset,
1297 extra_bits,
1298 cmd
1299 ) == NULL) {
1300 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1301 exit(1);
1302 }
1303
1304 tdi_bit_offset += extra_bits;
1305
1306 if(type == SCAN_IN) {
1307 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1308 DTC_CMD_SHIFT_TDO_BYTES(1);
1309
1310 } else {
1311 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1312 DTC_CMD_SHIFT_TDIO_BITS(extra_bits);
1313
1314 x = 0;
1315 dtc_mask = 1 << (8 - 1);
1316
1317 while(extra_bits--) {
1318 if(*tdi_p & tdi_mask) {
1319 x |= dtc_mask;
1320 }
1321
1322 dtc_mask >>= 1;
1323
1324 tdi_mask <<= 1;
1325 if(tdi_mask == 0) {
1326 tdi_p++;
1327 tdi_mask = 1;
1328 }
1329 }
1330
1331 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1332 }
1333
1334 dtc_queue.reply_index++;
1335 }
1336
1337 /* Schedule the last bit into the DTC command buffer */
1338 {
1339 /* make sure there's room for stop, and bit pair command */
1340 if(
1341 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1))
1342 ||
1343 (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1))
1344 ) {
1345 dtc_queue_run();
1346 }
1347
1348 if(type == SCAN_OUT) {
1349 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1350 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 0);
1351
1352 } else {
1353 if(dtc_queue_enqueue_reply(
1354 type, buffer, scan_size, tdi_bit_offset,
1355 1,
1356 cmd
1357 ) == NULL) {
1358 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1359 exit(1);
1360 }
1361
1362 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1363 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 1);
1364
1365 dtc_queue.reply_index++;
1366 }
1367 }
1368
1369 /* Move to pause state */
1370 tap_state_queue_append(0);
1371 tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
1372 if (tap_get_state() != tap_get_end_state()) rlink_state_move();
1373
1374 return(0);
1375 }
1376
1377
1378 static
1379 int rlink_execute_queue(void)
1380 {
1381 jtag_command_t *cmd = jtag_command_queue; /* currently processed command */
1382 int scan_size;
1383 enum scan_type type;
1384 u8 *buffer;
1385 int retval, tmp_retval;
1386
1387 /* return ERROR_OK, unless something goes wrong */
1388 retval = ERROR_OK;
1389
1390 #ifndef AUTOMATIC_BUSY_LED
1391 /* turn LED on */
1392 ep1_generic_commandl(pHDev, 2,
1393 EP1_CMD_SET_PORTD_LEDS,
1394 ~(ST7_PD_NBUSY_LED)
1395 );
1396 #endif
1397
1398 while (cmd)
1399 {
1400 switch (cmd->type)
1401 {
1402 case JTAG_END_STATE:
1403 case JTAG_RUNTEST:
1404 case JTAG_STATEMOVE:
1405 case JTAG_PATHMOVE:
1406 case JTAG_SCAN:
1407 break;
1408
1409 default:
1410 /* some events, such as resets, need a queue flush to ensure consistency */
1411 tap_state_queue_run();
1412 dtc_queue_run();
1413 break;
1414 }
1415
1416 switch (cmd->type)
1417 {
1418 case JTAG_END_STATE:
1419 #ifdef _DEBUG_JTAG_IO_
1420 LOG_DEBUG("end_state: %i", cmd->cmd.end_state->end_state);
1421 #endif
1422 if (cmd->cmd.end_state->end_state != -1)
1423 rlink_end_state(cmd->cmd.end_state->end_state);
1424 break;
1425 case JTAG_RESET:
1426 #ifdef _DEBUG_JTAG_IO_
1427 LOG_DEBUG("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1428 #endif
1429 if ((cmd->cmd.reset->trst == 1) || (cmd->cmd.reset->srst && (jtag_reset_config & RESET_SRST_PULLS_TRST)))
1430 {
1431 tap_set_state(TAP_RESET);
1432 }
1433 rlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1434 break;
1435 case JTAG_RUNTEST:
1436 #ifdef _DEBUG_JTAG_IO_
1437 LOG_DEBUG("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, cmd->cmd.runtest->end_state);
1438 #endif
1439 if (cmd->cmd.runtest->end_state != -1)
1440 rlink_end_state(cmd->cmd.runtest->end_state);
1441 rlink_runtest(cmd->cmd.runtest->num_cycles);
1442 break;
1443 case JTAG_STATEMOVE:
1444 #ifdef _DEBUG_JTAG_IO_
1445 LOG_DEBUG("statemove end in %i", cmd->cmd.statemove->end_state);
1446 #endif
1447 if (cmd->cmd.statemove->end_state != -1)
1448 rlink_end_state(cmd->cmd.statemove->end_state);
1449 rlink_state_move();
1450 break;
1451 case JTAG_PATHMOVE:
1452 #ifdef _DEBUG_JTAG_IO_
1453 LOG_DEBUG("pathmove: %i states, end in %i", cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1454 #endif
1455 rlink_path_move(cmd->cmd.pathmove);
1456 break;
1457 case JTAG_SCAN:
1458 #ifdef _DEBUG_JTAG_IO_
1459 LOG_DEBUG("%s scan end in %i", (cmd->cmd.scan->ir_scan) ? "IR" : "DR", cmd->cmd.scan->end_state);
1460 #endif
1461 if (cmd->cmd.scan->end_state != -1)
1462 rlink_end_state(cmd->cmd.scan->end_state);
1463 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
1464 type = jtag_scan_type(cmd->cmd.scan);
1465 if(rlink_scan(cmd, type, buffer, scan_size) != ERROR_OK) {
1466 retval = ERROR_FAIL;
1467 }
1468 break;
1469 case JTAG_SLEEP:
1470 #ifdef _DEBUG_JTAG_IO_
1471 LOG_DEBUG("sleep %i", cmd->cmd.sleep->us);
1472 #endif
1473 jtag_sleep(cmd->cmd.sleep->us);
1474 break;
1475 default:
1476 LOG_ERROR("BUG: unknown JTAG command type encountered");
1477 exit(-1);
1478 }
1479 cmd = cmd->next;
1480 }
1481
1482 /* Flush the DTC queue to make sure any pending reads have been done before exiting this function */
1483 tap_state_queue_run();
1484 tmp_retval = dtc_queue_run();
1485 if(tmp_retval != ERROR_OK) {
1486 retval = tmp_retval;
1487 }
1488
1489 #ifndef AUTOMATIC_BUSY_LED
1490 /* turn LED onff */
1491 ep1_generic_commandl(pHDev, 2,
1492 EP1_CMD_SET_PORTD_LEDS,
1493 ~0
1494 );
1495 #endif
1496
1497 return retval;
1498 }
1499
1500
1501 /* Using an unindexed table because it is infrequently accessed and it is short. The table must be in order of ascending speed (and descending prescaler), as it is scanned in reverse. */
1502
1503 static
1504 int rlink_speed(int speed)
1505 {
1506 int i;
1507
1508 if(speed == 0) {
1509 /* fastest speed */
1510 speed = rlink_speed_table[rlink_speed_table_size - 1].prescaler;
1511 }
1512
1513 for(i = rlink_speed_table_size; i--; ) {
1514 if(rlink_speed_table[i].prescaler == speed) {
1515 if(dtc_load_from_buffer(pHDev, rlink_speed_table[i].dtc, rlink_speed_table[i].dtc_size) != 0) {
1516 LOG_ERROR("An error occurred while trying to load DTC code for speed \"%d\".\n", speed);
1517 exit(1);
1518 }
1519
1520 if(dtc_start_download() < 0) {
1521 LOG_ERROR("%s, %d: starting DTC: %s",
1522 __FILE__, __LINE__,
1523 usb_strerror()
1524 );
1525 exit(1);
1526 }
1527
1528 return ERROR_OK;
1529 }
1530 }
1531
1532 LOG_ERROR("%d is not a supported speed", speed);
1533 return(ERROR_FAIL);
1534 }
1535
1536
1537 static
1538 int rlink_speed_div(
1539 int speed,
1540 int *khz
1541 ) {
1542 int i;
1543
1544 for(i = rlink_speed_table_size; i--; ) {
1545 if(rlink_speed_table[i].prescaler == speed) {
1546 *khz = rlink_speed_table[i].khz;
1547 return(ERROR_OK);
1548 }
1549 }
1550
1551 LOG_ERROR("%d is not a supported speed", speed);
1552 return(ERROR_FAIL);
1553 }
1554
1555
1556 static
1557 int rlink_khz(
1558 int khz,
1559 int *speed
1560 ) {
1561 int i;
1562
1563 if(khz == 0) {
1564 LOG_ERROR("RCLK not supported");
1565 return ERROR_FAIL;
1566 }
1567
1568 for(i = rlink_speed_table_size; i--; ) {
1569 if(rlink_speed_table[i].khz <= khz) {
1570 *speed = rlink_speed_table[i].prescaler;
1571 return(ERROR_OK);
1572 }
1573 }
1574
1575 LOG_WARNING("The lowest supported JTAG speed is %d KHz", rlink_speed_table[0].khz);
1576 *speed = rlink_speed_table[0].prescaler;
1577 return(ERROR_OK);
1578 }
1579
1580
1581 #if 0
1582 static
1583 int
1584 handle_dtc_directory_command(
1585 struct command_context_s *cmd_ctx,
1586 char *cmd,
1587 char **args,
1588 int argc
1589 ) {
1590 if(argc != 1) {
1591 LOG_ERROR("expected exactly one argument to rlink_dtc_directory <directory-path>");
1592 return(ERROR_INVALID_ARGUMENTS);
1593 }
1594
1595 printf("handle_dtc_directory_command called with \"%s\"\n", args[0]);
1596
1597 return(ERROR_OK);
1598 }
1599 #endif
1600
1601
1602 static
1603 int rlink_register_commands(struct command_context_s *cmd_ctx)
1604 {
1605
1606 #ifdef _DEBUG_JTAG_IO_
1607 LOG_DEBUG("rlink_register_commands called with cmd_ctx=%p\n", cmd_ctx);
1608 #endif
1609
1610 #if 0
1611 register_command(
1612 cmd_ctx, NULL,
1613 "rlink_dtc_directory",
1614 handle_dtc_directory_command,
1615 COMMAND_CONFIG,
1616 "The directory in which to search for DTC load images"
1617 );
1618 #endif
1619
1620 return ERROR_OK;
1621 }
1622
1623
1624 static
1625 int rlink_init(void)
1626 {
1627 struct usb_bus *busses;
1628 struct usb_bus *bus;
1629 int i, j, retries;
1630 int found=0;
1631 int success=0;
1632 u8 reply_buffer[USB_EP1IN_SIZE];
1633
1634 usb_init();
1635 usb_find_busses();
1636 usb_find_devices();
1637
1638 busses = usb_get_busses();
1639
1640 for(bus = busses; bus; bus = bus->next)
1641 {
1642 struct usb_device *dev;
1643
1644 for(dev = bus->devices; dev; dev = dev->next)
1645 {
1646 if( (dev->descriptor.idVendor == USB_IDVENDOR) && (dev->descriptor.idProduct == USB_IDPRODUCT) )
1647 {
1648 found = 1;
1649 LOG_DEBUG("Found device on bus.\n");
1650
1651 do
1652 {
1653 if( dev->descriptor.bNumConfigurations > 1 )
1654 {
1655 LOG_ERROR("Whoops! NumConfigurations is not 1, don't know what to do...\n");
1656 break;
1657 }
1658 if( dev->config->bNumInterfaces > 1 )
1659 {
1660 LOG_ERROR("Whoops! NumInterfaces is not 1, don't know what to do...\n");
1661 break;
1662 }
1663
1664 pHDev=usb_open(dev);
1665 if( !pHDev )
1666 LOG_ERROR ("Failed to open device.\n");
1667 else
1668 {
1669 LOG_DEBUG("Opened device, pHDev = %p\n",pHDev);
1670
1671 /* usb_set_configuration required under win32 */
1672 usb_set_configuration(pHDev, dev->config[0].bConfigurationValue);
1673
1674 retries = 3;
1675 do
1676 {
1677 i = usb_claim_interface(pHDev,0);
1678 if(i)
1679 {
1680 LOG_ERROR("usb_claim_interface: %s", usb_strerror());
1681 #ifdef LIBUSB_HAS_DETACH_KERNEL_DRIVER_NP
1682 j = usb_detach_kernel_driver_np(pHDev, 0);
1683 if(j)
1684 LOG_ERROR("detach kernel driver: %s", usb_strerror());
1685 #endif
1686 }
1687 else
1688 {
1689 LOG_DEBUG("interface claimed!\n");
1690 break;
1691 }
1692 } while(--retries);
1693
1694 if(!i)
1695 {
1696 if( usb_set_altinterface(pHDev,0) )
1697 {
1698 LOG_ERROR("Failed to set interface.\n");
1699 break;
1700 }
1701 else
1702 success=1;
1703 }
1704 }
1705 } while(0);
1706 }
1707 }
1708 }
1709
1710 if( !found )
1711 {
1712 LOG_ERROR("No device found on bus.\n");
1713 exit(1);
1714 }
1715
1716 if( !success )
1717 {
1718 LOG_ERROR("Initialisation failed.");
1719 exit(1);
1720 }
1721
1722
1723 /* The device starts out in an unknown state on open. As such, result reads time out, and it's not even known whether the command was accepted. So, for this first command, we issue it repeatedly until its response doesn't time out. Also, if sending a command is going to time out, we'll find that out here. */
1724 /* It must be possible to open the device in such a way that this special magic isn't needed, but, so far, it escapes us. */
1725 for(i = 0; i < 5; i++) {
1726 j = ep1_generic_commandl(
1727 pHDev, 1,
1728 EP1_CMD_GET_FWREV
1729 );
1730 if(j < USB_EP1OUT_SIZE) {
1731 LOG_ERROR("USB write error: %s", usb_strerror());
1732 return(ERROR_FAIL);
1733 }
1734 j = usb_bulk_read(
1735 pHDev, USB_EP1IN_ADDR,
1736 (char *)reply_buffer, sizeof(reply_buffer),
1737 200
1738 );
1739 if(j != -ETIMEDOUT) break;
1740 }
1741
1742 if(j < (int)sizeof(reply_buffer)) {
1743 LOG_ERROR("USB read error: %s", usb_strerror());
1744 return(ERROR_FAIL);
1745 }
1746 LOG_DEBUG(INTERFACE_NAME" firmware version: %d.%d.%d\n", reply_buffer[0], reply_buffer[1], reply_buffer[2]);
1747
1748 if((reply_buffer[0] != 0) || (reply_buffer[1] != 0) || (reply_buffer[2] != 3)) {
1749 LOG_WARNING("The rlink device is not of the version that the developers have played with. It may or may not work.\n");
1750 }
1751
1752 /* Probe port E for adapter presence */
1753 ep1_generic_commandl(
1754 pHDev, 16,
1755 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 0 */
1756 ST7_PEDR >> 8,
1757 ST7_PEDR,
1758 3,
1759 0x00, /* DR */
1760 ST7_PE_ADAPTER_SENSE_OUT, /* DDR */
1761 ST7_PE_ADAPTER_SENSE_OUT, /* OR */
1762 EP1_CMD_MEMORY_READ, /* Read back */
1763 ST7_PEDR >> 8,
1764 ST7_PEDR,
1765 1,
1766 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 1 */
1767 ST7_PEDR >> 8,
1768 ST7_PEDR,
1769 1,
1770 ST7_PE_ADAPTER_SENSE_OUT
1771 );
1772
1773 usb_bulk_read(
1774 pHDev, USB_EP1IN_ADDR,
1775 (char *)reply_buffer, 1,
1776 USB_TIMEOUT_MS
1777 );
1778
1779 if((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) != 0) {
1780 LOG_WARNING("target detection problem\n");
1781 }
1782
1783 ep1_generic_commandl(
1784 pHDev, 11,
1785 EP1_CMD_MEMORY_READ, /* Read back */
1786 ST7_PEDR >> 8,
1787 ST7_PEDR,
1788 1,
1789 EP1_CMD_MEMORY_WRITE, /* float port E */
1790 ST7_PEDR >> 8,
1791 ST7_PEDR,
1792 3,
1793 0x00, /* DR */
1794 0x00, /* DDR */
1795 0x00 /* OR */
1796 );
1797
1798 usb_bulk_read(
1799 pHDev, USB_EP1IN_ADDR,
1800 (char *)reply_buffer, 1,
1801 USB_TIMEOUT_MS
1802 );
1803
1804
1805 if((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) == 0) {
1806 LOG_WARNING("target not plugged in\n");
1807 }
1808
1809 /* float ports A and B */
1810 ep1_generic_commandl(
1811 pHDev, 11,
1812 EP1_CMD_MEMORY_WRITE,
1813 ST7_PADDR >> 8,
1814 ST7_PADDR,
1815 2,
1816 0x00,
1817 0x00,
1818 EP1_CMD_MEMORY_WRITE,
1819 ST7_PBDDR >> 8,
1820 ST7_PBDDR,
1821 1,
1822 0x00
1823 );
1824
1825 /* make sure DTC is stopped, set VPP control, set up ports A and B */
1826 ep1_generic_commandl(
1827 pHDev, 14,
1828 EP1_CMD_DTC_STOP,
1829 EP1_CMD_SET_PORTD_VPP,
1830 ~(ST7_PD_VPP_SHDN),
1831 EP1_CMD_MEMORY_WRITE,
1832 ST7_PADR >> 8,
1833 ST7_PADR,
1834 2,
1835 ((~(0)) & (ST7_PA_NTRST)),
1836 (ST7_PA_NTRST),
1837 /* port B has no OR, and we want to emulate open drain on NSRST, so we set DR to 0 here and later assert NSRST by setting DDR bit to 1. */
1838 EP1_CMD_MEMORY_WRITE,
1839 ST7_PBDR >> 8,
1840 ST7_PBDR,
1841 1,
1842 0x00
1843 );
1844
1845 /* set LED updating mode and make sure they're unlit */
1846 ep1_generic_commandl(
1847 pHDev, 3,
1848 #ifdef AUTOMATIC_BUSY_LED
1849 EP1_CMD_LEDUE_BUSY,
1850 #else
1851 EP1_CMD_LEDUE_NONE,
1852 #endif
1853 EP1_CMD_SET_PORTD_LEDS,
1854 ~0
1855 );
1856
1857 tap_state_queue_init();
1858 dtc_queue_init();
1859 rlink_speed(jtag_speed);
1860 rlink_reset(0, 0);
1861
1862 return ERROR_OK;
1863 }
1864
1865
1866 static
1867 int rlink_quit(void)
1868 {
1869 /* stop DTC and make sure LEDs are off */
1870 ep1_generic_commandl(
1871 pHDev, 6,
1872 EP1_CMD_DTC_STOP,
1873 EP1_CMD_LEDUE_NONE,
1874 EP1_CMD_SET_PORTD_LEDS,
1875 ~0,
1876 EP1_CMD_SET_PORTD_VPP,
1877 ~0
1878 );
1879
1880 usb_release_interface(pHDev,0);
1881 usb_close(pHDev);
1882
1883
1884 return ERROR_OK;
1885 }
1886
1887
1888 jtag_interface_t rlink_interface =
1889 {
1890 .name = "rlink",
1891 .init = rlink_init,
1892 .quit = rlink_quit,
1893 .register_commands = rlink_register_commands,
1894 .speed = rlink_speed,
1895 .speed_div = rlink_speed_div,
1896 .khz = rlink_khz,
1897 .execute_queue = rlink_execute_queue,
1898 };
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