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- Cable driver helper API courtesy of Dick Hollenbeck <dick@softplc.com>
[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 /* system includes */
31 #include <errno.h>
32 #include <string.h>
33 #include <usb.h>
34 #include <stdint.h>
35
36 /* project specific includes */
37 #include "log.h"
38 #include "types.h"
39 #include "jtag.h"
40 #include "configuration.h"
41 #include "rlink.h"
42 #include "st7.h"
43 #include "ep1_cmd.h"
44 #include "dtc_cmd.h"
45
46
47 /* 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. */
48 #undef AUTOMATIC_BUSY_LED
49
50 /* This feature may require derating the speed due to reduced hold time. */
51 #undef USE_HARDWARE_SHIFTER_FOR_TMS
52
53
54 #define INTERFACE_NAME "RLink"
55
56 #define USB_IDVENDOR (0x138e)
57 #define USB_IDPRODUCT (0x9000)
58
59 #define USB_EP1OUT_ADDR (0x01)
60 #define USB_EP1OUT_SIZE (16)
61 #define USB_EP1IN_ADDR (USB_EP1OUT_ADDR | 0x80)
62 #define USB_EP1IN_SIZE (USB_EP1OUT_SIZE)
63
64 #define USB_EP2OUT_ADDR (0x02)
65 #define USB_EP2OUT_SIZE (64)
66 #define USB_EP2IN_ADDR (USB_EP2OUT_ADDR | 0x80)
67 #define USB_EP2IN_SIZE (USB_EP2OUT_SIZE)
68 #define USB_EP2BANK_SIZE (512)
69
70 #define USB_TIMEOUT_MS (3 * 1000)
71
72 #define DTC_STATUS_POLL_BYTE (ST7_USB_BUF_EP0OUT + 0xff)
73
74
75 /* Symbolic names for some pins */
76 #define ST7_PA_NJTAG_TRST ST7_PA1
77 #define ST7_PA_NRLINK_RST ST7_PA3
78 #define ST7_PA_NLINE_DRIVER_ENABLE ST7_PA5
79
80 /* mask for negative-logic pins */
81 #define ST7_PA_NUNASSERTED (0 \
82 | ST7_PA_NJTAG_TRST \
83 | ST7_PA_NRLINK_RST \
84 | ST7_PA_NLINE_DRIVER_ENABLE \
85 )
86
87 #define ST7_PD_NBUSY_LED ST7_PD0
88 #define ST7_PD_NERROR_LED ST7_PD1
89 #define ST7_PD_NRUN_LED ST7_PD7
90
91 #define ST7_PE_ADAPTER_SENSE_IN ST7_PE3
92 #define ST7_PE_ADAPTER_SENSE_OUT ST7_PE4
93
94 static usb_dev_handle *pHDev;
95
96
97 /*
98 * ep1 commands are up to USB_EP1OUT_SIZE bytes in length.
99 * This function takes care of zeroing the unused bytes before sending the packet.
100 * Any reply packet is not handled by this function.
101 */
102 static
103 int
104 ep1_generic_commandl(
105 usb_dev_handle *pHDev,
106 size_t length,
107 ...
108 ) {
109 uint8_t usb_buffer[USB_EP1OUT_SIZE];
110 uint8_t *usb_buffer_p;
111 va_list ap;
112 int usb_ret;
113
114 if(length > sizeof(usb_buffer)) {
115 length = sizeof(usb_buffer);
116 }
117
118 usb_buffer_p = usb_buffer;
119
120 va_start(ap, length);
121 while(length > 0) {
122 *usb_buffer_p++ = va_arg(ap, int);
123 length--;
124 }
125
126 memset(
127 usb_buffer_p,
128 0,
129 sizeof(usb_buffer) - (usb_buffer_p - usb_buffer)
130 );
131
132 usb_ret = usb_bulk_write(
133 pHDev,
134 USB_EP1OUT_ADDR,
135 (char *)usb_buffer, sizeof(usb_buffer),
136 USB_TIMEOUT_MS
137 );
138
139 return(usb_ret);
140 }
141
142
143
144 #if 0
145 static
146 ssize_t
147 ep1_memory_read(
148 usb_dev_handle *pHDev,
149 uint16_t addr,
150 size_t length,
151 uint8_t *buffer
152 ) {
153 uint8_t usb_buffer[USB_EP1OUT_SIZE];
154 int usb_ret;
155 size_t remain;
156 ssize_t count;
157
158 usb_buffer[0] = EP1_CMD_MEMORY_READ;
159 memset(
160 usb_buffer + 4,
161 0,
162 sizeof(usb_buffer) - 4
163 );
164
165 remain = length;
166 count = 0;
167
168 while(remain) {
169 if(remain > sizeof(usb_buffer)) {
170 length = sizeof(usb_buffer);
171 } else {
172 length = remain;
173 }
174
175 usb_buffer[1] = addr >> 8;
176 usb_buffer[2] = addr;
177 usb_buffer[3] = length;
178
179 usb_ret = usb_bulk_write(
180 pHDev, USB_EP1OUT_ADDR,
181 usb_buffer, sizeof(usb_buffer),
182 USB_TIMEOUT_MS
183 );
184
185 if(usb_ret < sizeof(usb_buffer)) {
186 break;
187 }
188
189 usb_ret = usb_bulk_read(
190 pHDev, USB_EP1IN_ADDR,
191 buffer, length,
192 USB_TIMEOUT_MS
193 );
194
195 if(usb_ret < length) {
196 break;
197 }
198
199 addr += length;
200 buffer += length;
201 count += length;
202 remain -= length;
203 }
204
205 return(count);
206 }
207 #endif
208
209
210
211 static
212 ssize_t
213 ep1_memory_write(
214 usb_dev_handle *pHDev,
215 uint16_t addr,
216 size_t length,
217 uint8_t const *buffer
218 ) {
219 uint8_t usb_buffer[USB_EP1OUT_SIZE];
220 int usb_ret;
221 size_t remain;
222 ssize_t count;
223
224 usb_buffer[0] = EP1_CMD_MEMORY_WRITE;
225
226 remain = length;
227 count = 0;
228
229 while(remain) {
230 if(remain > (sizeof(usb_buffer) - 4)) {
231 length = (sizeof(usb_buffer) - 4);
232 } else {
233 length = remain;
234 }
235
236 usb_buffer[1] = addr >> 8;
237 usb_buffer[2] = addr;
238 usb_buffer[3] = length;
239 memcpy(
240 usb_buffer + 4,
241 buffer,
242 length
243 );
244 memset(
245 usb_buffer + 4 + length,
246 0,
247 sizeof(usb_buffer) - 4 - length
248 );
249
250 usb_ret = usb_bulk_write(
251 pHDev, USB_EP1OUT_ADDR,
252 (char *)usb_buffer, sizeof(usb_buffer),
253 USB_TIMEOUT_MS
254 );
255
256 if(usb_ret < sizeof(usb_buffer)) {
257 break;
258 }
259
260 addr += length;
261 buffer += length;
262 count += length;
263 remain -= length;
264 }
265
266 return(count);
267 }
268
269
270 #if 0
271 static
272 ssize_t
273 ep1_memory_writel(
274 usb_dev_handle *pHDev,
275 uint16_t addr,
276 size_t length,
277 ...
278 ) {
279 uint8_t buffer[USB_EP1OUT_SIZE - 4];
280 uint8_t *buffer_p;
281 va_list ap;
282 size_t remain;
283
284 if(length > sizeof(buffer)) {
285 length = sizeof(buffer);
286 }
287
288 remain = length;
289 buffer_p = buffer;
290
291 va_start(ap, length);
292 while(remain > 0) {
293 *buffer_p++ = va_arg(ap, int);
294 remain--;
295 }
296
297 return(ep1_memory_write(pHDev, addr, length, buffer));
298 }
299 #endif
300
301
302 #define DTCLOAD_COMMENT (0)
303 #define DTCLOAD_ENTRY (1)
304 #define DTCLOAD_LOAD (2)
305 #define DTCLOAD_RUN (3)
306 #define DTCLOAD_LUT_START (4)
307 #define DTCLOAD_LUT (5)
308
309 #define DTC_LOAD_BUFFER ST7_USB_BUF_EP2UIDO
310
311 /* This gets set by the DTC loader */
312 static uint8_t dtc_entry_download;
313
314
315 /* The buffer is specially formatted to represent a valid image to load into the DTC. */
316 static
317 int
318 dtc_load_from_buffer(
319 usb_dev_handle *pHDev,
320 const u8 *buffer,
321 size_t length
322 ) {
323 struct header_s {
324 u8 type;
325 u8 length;
326 };
327
328 int usb_err;
329 struct header_s *header;
330 u8 lut_start = 0xc0;
331
332 dtc_entry_download = 0;
333
334 /* Stop the DTC before loading anything. */
335 usb_err = ep1_generic_commandl(
336 pHDev, 1,
337 EP1_CMD_DTC_STOP
338 );
339 if(usb_err < 0) return(usb_err);
340
341 while(length) {
342 if(length < sizeof(*header)) {
343 LOG_ERROR("Malformed DTC image\n");
344 exit(1);
345 }
346
347 header = (struct header_s *)buffer;
348 buffer += sizeof(*header);
349 length -= sizeof(*header);
350
351 if(length < header->length + 1) {
352 LOG_ERROR("Malformed DTC image\n");
353 exit(1);
354 }
355
356 switch(header->type) {
357 case DTCLOAD_COMMENT:
358 break;
359
360 case DTCLOAD_ENTRY:
361 /* store entry addresses somewhere */
362 if(!strncmp("download", (char *)buffer + 1, 8)) {
363 dtc_entry_download = buffer[0];
364 }
365 break;
366
367 case DTCLOAD_LOAD:
368 /* Send the DTC program to ST7 RAM. */
369 usb_err = ep1_memory_write(
370 pHDev,
371 DTC_LOAD_BUFFER,
372 header->length + 1, buffer
373 );
374 if(usb_err < 0) return(usb_err);
375
376 /* Load it into the DTC. */
377 usb_err = ep1_generic_commandl(
378 pHDev, 3,
379 EP1_CMD_DTC_LOAD,
380 (DTC_LOAD_BUFFER >> 8),
381 DTC_LOAD_BUFFER
382 );
383 if(usb_err < 0) return(usb_err);
384
385 break;
386
387 case DTCLOAD_RUN:
388 usb_err = ep1_generic_commandl(
389 pHDev, 3,
390 EP1_CMD_DTC_CALL,
391 buffer[0],
392 EP1_CMD_DTC_WAIT
393 );
394 if(usb_err < 0) return(usb_err);
395
396 break;
397
398 case DTCLOAD_LUT_START:
399 lut_start = buffer[0];
400 break;
401
402 case DTCLOAD_LUT:
403 usb_err = ep1_memory_write(
404 pHDev,
405 ST7_USB_BUF_EP0OUT + lut_start,
406 header->length + 1, buffer
407 );
408 if(usb_err < 0) return(usb_err);
409 break;
410
411 default:
412 LOG_ERROR("Invalid DTC image record type: 0x%02x\n", header->type);
413 exit(1);
414 break;
415 }
416
417 buffer += (header->length + 1);
418 length -= (header->length + 1);
419 }
420
421 return(0);
422 }
423
424
425 /*
426 * Start the DTC running in download mode (waiting for 512 byte command packets on ep2).
427 */
428 static
429 int
430 dtc_start_download(void) {
431 int usb_err;
432 u8 ep2txr;
433
434 /* set up for download mode and make sure EP2 is set up to transmit */
435 usb_err = ep1_generic_commandl(
436 pHDev, 7,
437
438 EP1_CMD_DTC_STOP,
439 EP1_CMD_SET_UPLOAD,
440 EP1_CMD_SET_DOWNLOAD,
441 EP1_CMD_MEMORY_READ, /* read EP2TXR for its data toggle */
442 ST7_EP2TXR >> 8,
443 ST7_EP2TXR,
444 1
445 );
446 if(usb_err < 0) return(usb_err);
447
448 /* read back ep2txr */
449 usb_err = usb_bulk_read(
450 pHDev, USB_EP1IN_ADDR,
451 (char *)&ep2txr, 1,
452 USB_TIMEOUT_MS
453 );
454 if(usb_err < 0) return(usb_err);
455
456 usb_err = ep1_generic_commandl(
457 pHDev, 13,
458
459 EP1_CMD_MEMORY_WRITE, /* preinitialize poll byte */
460 DTC_STATUS_POLL_BYTE >> 8,
461 DTC_STATUS_POLL_BYTE,
462 1,
463 0x00,
464 EP1_CMD_MEMORY_WRITE, /* set EP2IN to return data */
465 ST7_EP2TXR >> 8,
466 ST7_EP2TXR,
467 1,
468 (ep2txr & ST7_EP2TXR_DTOG_TX) | ST7_EP2TXR_STAT_VALID,
469 EP1_CMD_DTC_CALL, /* start running the DTC */
470 dtc_entry_download,
471 EP1_CMD_DTC_GET_CACHED_STATUS
472 );
473 if(usb_err < 0) return(usb_err);
474
475 /* wait for completion */
476 usb_err = usb_bulk_read(
477 pHDev, USB_EP1IN_ADDR,
478 (char *)&ep2txr, 1,
479 USB_TIMEOUT_MS
480 );
481
482 return(usb_err);
483 }
484
485
486 static
487 int
488 dtc_run_download(
489 usb_dev_handle *pHDev,
490 u8 *command_buffer,
491 int command_buffer_size,
492 u8 *reply_buffer,
493 int reply_buffer_size
494 ) {
495 u8 ep2_buffer[USB_EP2IN_SIZE];
496 int usb_err;
497 int i;
498
499 LOG_DEBUG(": %d/%d\n", command_buffer_size, reply_buffer_size);
500
501 usb_err = usb_bulk_write(
502 pHDev,
503 USB_EP2OUT_ADDR,
504 (char *)command_buffer, USB_EP2BANK_SIZE,
505 USB_TIMEOUT_MS
506 );
507 if(usb_err < 0) return(usb_err);
508
509
510 /* Wait for DTC to finish running command buffer */
511 for(i = 5;;) {
512 usb_err = ep1_generic_commandl(
513 pHDev, 4,
514
515 EP1_CMD_MEMORY_READ,
516 DTC_STATUS_POLL_BYTE >> 8,
517 DTC_STATUS_POLL_BYTE,
518 1
519 );
520 if(usb_err < 0) return(usb_err);
521
522 usb_err = usb_bulk_read(
523 pHDev,
524 USB_EP1IN_ADDR,
525 (char *)ep2_buffer, 1,
526 USB_TIMEOUT_MS
527 );
528 if(usb_err < 0) return(usb_err);
529
530 if(ep2_buffer[0] & 0x01) break;
531
532 if(!--i) {
533 LOG_ERROR("%s, %d: too many retries waiting for DTC status\n",
534 __FILE__, __LINE__
535 );
536 return(-ETIMEDOUT);
537 }
538 }
539
540
541 if(!reply_buffer) reply_buffer_size = 0;
542 if(reply_buffer_size) {
543 usb_err = usb_bulk_read(
544 pHDev,
545 USB_EP2IN_ADDR,
546 (char *)ep2_buffer, sizeof(ep2_buffer),
547 USB_TIMEOUT_MS
548 );
549
550 if(usb_err < (int)sizeof(ep2_buffer)) {
551 LOG_ERROR("%s, %d: Read of endpoint 2 returned %d\n",
552 __FILE__, __LINE__, usb_err
553 );
554 return(usb_err);
555 }
556
557 memcpy(reply_buffer, ep2_buffer, reply_buffer_size);
558
559 }
560
561 return(usb_err);
562 }
563
564
565 /*
566 * 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.
567 */
568
569 typedef
570 struct dtc_reply_queue_entry_s {
571 struct dtc_reply_queue_entry_s *next;
572 jtag_command_t *cmd; /* the command that resulted in this entry */
573
574 struct {
575 u8 *buffer; /* the scan buffer */
576 int size; /* size of the scan buffer in bits */
577 int offset; /* how many bits were already done before this? */
578 int length; /* how many bits are processed in this operation? */
579 enum scan_type type; /* SCAN_IN/SCAN_OUT/SCAN_IO */
580 } scan;
581 } dtc_reply_queue_entry_t;
582
583
584 /*
585 * The dtc_queue consists of a buffer of pending commands and a reply queue.
586 * rlink_scan and tap_state_run add to the command buffer and maybe to the reply queue.
587 */
588
589 static
590 struct {
591 dtc_reply_queue_entry_t *rq_head;
592 dtc_reply_queue_entry_t *rq_tail;
593 int cmd_index;
594 int reply_index;
595 u8 cmd_buffer[USB_EP2BANK_SIZE];
596 } dtc_queue;
597
598
599 /*
600 * 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.
601 */
602
603 static
604 struct {
605 int length;
606 u32 buffer;
607 } tap_state_queue;
608
609
610
611 static
612 int
613 dtc_queue_init(void) {
614 dtc_queue.rq_head = NULL;
615 dtc_queue.rq_tail = NULL;
616 dtc_queue.cmd_index = 0;
617 dtc_queue.reply_index = 0;
618 return(0);
619 }
620
621
622 static
623 inline
624 dtc_reply_queue_entry_t *
625 dtc_queue_enqueue_reply(
626 enum scan_type type,
627 u8 *buffer,
628 int size,
629 int offset,
630 int length,
631 jtag_command_t *cmd
632 ) {
633 dtc_reply_queue_entry_t *rq_entry;
634
635 rq_entry = malloc(sizeof(dtc_reply_queue_entry_t));
636 if(rq_entry != NULL) {
637 rq_entry->scan.type = type;
638 rq_entry->scan.buffer = buffer;
639 rq_entry->scan.size = size;
640 rq_entry->scan.offset = offset;
641 rq_entry->scan.length = length;
642 rq_entry->cmd = cmd;
643 rq_entry->next = NULL;
644
645 if(dtc_queue.rq_head == NULL)
646 dtc_queue.rq_head = rq_entry;
647 else
648 dtc_queue.rq_tail->next = rq_entry;
649
650 dtc_queue.rq_tail = rq_entry;
651 }
652
653 return(rq_entry);
654 }
655
656
657 /*
658 * 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.
659 * The queue is automatically run by append when it is necessary to get space for the append.
660 */
661
662 static
663 int
664 dtc_queue_run(void) {
665 dtc_reply_queue_entry_t *rq_p, *rq_next;
666 int retval;
667 int usb_err;
668 int bit_cnt;
669 int x;
670 u8 *dtc_p, *tdo_p;
671 u8 dtc_mask, tdo_mask;
672 u8 reply_buffer[USB_EP2IN_SIZE];
673
674 retval = ERROR_OK;
675
676 if(dtc_queue.cmd_index < 1) return(retval);
677
678 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = DTC_CMD_STOP;
679
680 /* run the cmd */
681 if(dtc_queue.rq_head == NULL) {
682 usb_err = dtc_run_download(pHDev,
683 dtc_queue.cmd_buffer, dtc_queue.cmd_index,
684 NULL, 0
685 );
686 if(usb_err < 0) {
687 LOG_ERROR("dtc_run_download: %s\n", usb_strerror());
688 exit(1);
689 }
690 } else {
691 usb_err = dtc_run_download(pHDev,
692 dtc_queue.cmd_buffer, dtc_queue.cmd_index,
693 reply_buffer, dtc_queue.reply_index
694 );
695 if(usb_err < 0) {
696 LOG_ERROR("dtc_run_download: %s\n", usb_strerror());
697 exit(1);
698 } else {
699 /* process the reply, which empties the reply queue and frees its entries */
700 dtc_p = reply_buffer;
701
702 /* 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. */
703
704 for(
705 rq_p = dtc_queue.rq_head;
706 rq_p != NULL;
707 rq_p = rq_next
708 ) {
709 tdo_p = rq_p->scan.buffer + (rq_p->scan.offset / 8);
710 tdo_mask = 1 << (rq_p->scan.offset % 8);
711
712
713 bit_cnt = rq_p->scan.length;
714 if(bit_cnt >= 8) {
715 /* bytes */
716
717 dtc_mask = 1 << (8 - 1);
718
719 for(
720 ;
721 bit_cnt;
722 bit_cnt--
723 ) {
724 if(*dtc_p & dtc_mask) {
725 *tdo_p |= tdo_mask;
726 } else {
727 *tdo_p &=~ tdo_mask;
728 }
729
730 dtc_mask >>= 1;
731 if(dtc_mask == 0) {
732 dtc_p++;
733 dtc_mask = 1 << (8 - 1);
734 }
735
736 tdo_mask <<= 1;
737 if(tdo_mask == 0) {
738 tdo_p++;
739 tdo_mask = 1;
740 }
741 }
742 } else {
743 /* extra bits or last bit */
744
745 x = *dtc_p++;
746 if((
747 rq_p->scan.type == SCAN_IN
748 ) && (
749 rq_p->scan.offset != rq_p->scan.size - 1
750 )) {
751 /* extra bits were sent as a full byte with padding on the end */
752 dtc_mask = 1 << (8 - 1);
753 } else {
754 dtc_mask = 1 << (bit_cnt - 1);
755 }
756
757 for(
758 ;
759 bit_cnt;
760 bit_cnt--
761 ) {
762 if(x & dtc_mask) {
763 *tdo_p |= tdo_mask;
764 } else {
765 *tdo_p &=~ tdo_mask;
766 }
767
768 dtc_mask >>= 1;
769
770 tdo_mask <<= 1;
771 if(tdo_mask == 0) {
772 tdo_p++;
773 tdo_mask = 1;
774 }
775
776 }
777 }
778
779 if((rq_p->scan.offset + rq_p->scan.length) >= rq_p->scan.size) {
780 /* feed scan buffer back into openocd and free it */
781 if(jtag_read_buffer(rq_p->scan.buffer, rq_p->cmd->cmd.scan) != ERROR_OK) {
782 retval = ERROR_JTAG_QUEUE_FAILED;
783 }
784 free(rq_p->scan.buffer);
785 }
786
787 rq_next = rq_p->next;
788 free(rq_p);
789 }
790 dtc_queue.rq_head = NULL;
791 dtc_queue.rq_tail = NULL;
792 }
793
794 }
795
796
797 /* reset state for new appends */
798 dtc_queue.cmd_index = 0;
799 dtc_queue.reply_index = 0;
800
801 return(retval);
802 }
803
804
805
806 static
807 int
808 tap_state_queue_init(void) {
809 tap_state_queue.length = 0;
810 tap_state_queue.buffer = 0;
811 return(0);
812 }
813
814
815 static
816 int
817 tap_state_queue_run(void) {
818 int i;
819 int bits;
820 u8 byte;
821 int retval;
822
823 retval = 0;
824 if(!tap_state_queue.length) return(retval);
825 bits = 1;
826 byte = 0;
827 for(i = tap_state_queue.length; i--;) {
828
829 byte <<= 1;
830 if(tap_state_queue.buffer & 1) {
831 byte |= 1;
832 }
833 if((bits >= 8) || !i) {
834 byte <<= (8 - bits);
835
836 /* make sure there's room for stop, byte op, and one byte */
837 if(dtc_queue.cmd_index >= (sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))) {
838 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
839 DTC_CMD_STOP;
840 dtc_queue_run();
841 }
842
843 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
844 if(bits == 8) {
845 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
846 DTC_CMD_SHIFT_TMS_BYTES(1);
847 } else {
848 #endif
849 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
850 DTC_CMD_SHIFT_TMS_BITS(bits);
851 #ifdef USE_HARDWARE_SHIFTER_FOR_TMS
852 }
853 #endif
854
855 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
856 byte;
857
858 byte = 0;
859 bits = 1;
860 } else {
861 bits++;
862 }
863
864 tap_state_queue.buffer >>= 1;
865 }
866 retval = tap_state_queue_init();
867 return(retval);
868 }
869
870
871 static
872 int
873 tap_state_queue_append(
874 u8 tms
875 ) {
876 int retval;
877
878 if(tap_state_queue.length >= sizeof(tap_state_queue.buffer) * 8) {
879 retval = tap_state_queue_run();
880 if(retval != 0) return(retval);
881 }
882
883 if(tms) {
884 tap_state_queue.buffer |= (1 << tap_state_queue.length);
885 }
886 tap_state_queue.length++;
887
888 return(0);
889 }
890
891
892 static
893 void rlink_end_state(tap_state_t state)
894 {
895 if (tap_is_state_stable(state))
896 tap_set_end_state(state);
897 else
898 {
899 LOG_ERROR("BUG: %i is not a valid end state", state);
900 exit(-1);
901 }
902 }
903
904
905 static
906 void rlink_state_move(void) {
907
908 int i=0, tms=0;
909 u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
910
911 for (i = 0; i < 7; i++)
912 {
913 tms = (tms_scan >> i) & 1;
914 tap_state_queue_append(tms);
915 }
916
917 tap_set_state(tap_get_end_state());
918 }
919
920 static
921 void rlink_path_move(pathmove_command_t *cmd)
922 {
923 int num_states = cmd->num_states;
924 int state_count;
925 int tms = 0;
926
927 state_count = 0;
928 while (num_states)
929 {
930 if (tap_state_transition(tap_get_state(), FALSE) == cmd->path[state_count])
931 {
932 tms = 0;
933 }
934 else if (tap_state_transition(tap_get_state(), TRUE) == cmd->path[state_count])
935 {
936 tms = 1;
937 }
938 else
939 {
940 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(cmd->path[state_count]));
941 exit(-1);
942 }
943
944 tap_state_queue_append(tms);
945
946 tap_set_state(cmd->path[state_count]);
947 state_count++;
948 num_states--;
949 }
950
951 tap_set_end_state(tap_get_state());
952 }
953
954
955 static
956 void rlink_runtest(int num_cycles)
957 {
958 int i;
959
960 tap_state_t saved_end_state = tap_get_end_state();
961
962 /* only do a state_move when we're not already in RTI */
963 if (tap_get_state() != TAP_IDLE)
964 {
965 rlink_end_state(TAP_IDLE);
966 rlink_state_move();
967 }
968
969 /* execute num_cycles */
970 for (i = 0; i < num_cycles; i++)
971 {
972 tap_state_queue_append(0);
973 }
974
975 /* finish in end_state */
976 rlink_end_state(saved_end_state);
977 if (tap_get_state() != tap_get_end_state())
978 rlink_state_move();
979 }
980
981
982 /* (1) assert or (0) deassert reset lines */
983 static
984 void rlink_reset(int trst, int srst)
985 {
986 u8 bitmap;
987 int usb_err;
988
989 bitmap = ((~(ST7_PA_NLINE_DRIVER_ENABLE)) & ST7_PA_NUNASSERTED);
990
991 if(trst) {
992 bitmap &= ~ST7_PA_NJTAG_TRST;
993 }
994 if(srst) {
995 bitmap &= ~ST7_PA_NRLINK_RST;
996 }
997
998 usb_err = ep1_generic_commandl(
999 pHDev, 6,
1000
1001 EP1_CMD_MEMORY_WRITE,
1002 ST7_PADR >> 8,
1003 ST7_PADR,
1004 1,
1005 bitmap,
1006 EP1_CMD_DTC_GET_CACHED_STATUS
1007 );
1008 if(usb_err < 0) {
1009 LOG_ERROR("%s: %s\n", __func__, usb_strerror());
1010 exit(1);
1011 }
1012
1013 usb_err = usb_bulk_read(
1014 pHDev, USB_EP1IN_ADDR,
1015 &bitmap, 1,
1016 USB_TIMEOUT_MS
1017 );
1018 if(usb_err < 1) {
1019 LOG_ERROR("%s: %s\n", __func__, usb_strerror());
1020 exit(1);
1021 }
1022 }
1023
1024
1025 static
1026 int
1027 rlink_scan(
1028 jtag_command_t *cmd,
1029 enum scan_type type,
1030 u8 *buffer,
1031 int scan_size
1032 ) {
1033 int ir_scan;
1034 tap_state_t saved_end_state;
1035 int byte_bits;
1036 int extra_bits;
1037 int chunk_bits;
1038 int chunk_bytes;
1039 int x;
1040
1041 int tdi_bit_offset;
1042 u8 tdi_mask, *tdi_p;
1043 u8 dtc_mask;
1044
1045 if(scan_size < 1) {
1046 LOG_ERROR("scan_size cannot be less than 1 bit\n");
1047 exit(1);
1048 }
1049
1050 ir_scan = cmd->cmd.scan->ir_scan;
1051
1052 /* Move to the proper state before starting to shift TDI/TDO. */
1053 if (!(
1054 (!ir_scan && (tap_get_state() == TAP_DRSHIFT))
1055 ||
1056 (ir_scan && (tap_get_state() == TAP_IRSHIFT))
1057 )) {
1058 saved_end_state = tap_get_end_state();
1059 rlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
1060 rlink_state_move();
1061 rlink_end_state(saved_end_state);
1062 }
1063
1064 tap_state_queue_run();
1065
1066
1067 #if 0
1068 printf("scan_size = %d, type=0x%x\n", scan_size, type);
1069 {
1070 int i;
1071
1072 /* clear unused bits in scan buffer for ease of debugging */
1073 /* (it makes diffing output easier) */
1074 buffer[scan_size / 8] &= ((1 << ((scan_size - 1) % 8) + 1) - 1);
1075
1076 printf("before scan:");
1077 for(i = 0; i < (scan_size + 7) / 8; i++) {
1078 printf(" %02x", buffer[i]);
1079 }
1080 printf("\n");
1081 }
1082 #endif
1083
1084 /* The number of bits that can be shifted as complete bytes */
1085 byte_bits = (int)(scan_size - 1) / 8 * 8;
1086 /* The number of bits left over, not counting the last bit */
1087 extra_bits = (scan_size - 1) - byte_bits;
1088
1089 tdi_bit_offset = 0;
1090 tdi_p = buffer;
1091 tdi_mask = 1;
1092
1093 if(extra_bits && (type == SCAN_OUT)) {
1094 /* Schedule any extra bits into the DTC command buffer, padding as needed */
1095 /* For SCAN_OUT, this comes before the full bytes so the (leading) padding bits will fall off the end */
1096 /* make sure there's room for stop, byte op, and one byte */
1097 if(
1098 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))
1099 ) {
1100 dtc_queue_run();
1101 }
1102
1103 x = 0;
1104 dtc_mask = 1 << (extra_bits - 1);
1105
1106 while(extra_bits--) {
1107 if(*tdi_p & tdi_mask) {
1108 x |= dtc_mask;
1109 }
1110
1111 dtc_mask >>= 1;
1112
1113 tdi_mask <<= 1;
1114 if(tdi_mask == 0) {
1115 tdi_p++;
1116 tdi_mask = 1;
1117 }
1118 }
1119
1120 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1121 DTC_CMD_SHIFT_TDI_BYTES(1);
1122
1123 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1124 }
1125
1126 /* Loop scheduling full bytes into the DTC command buffer */
1127 while(byte_bits) {
1128 if(type == SCAN_IN) {
1129 /* make sure there's room for stop and byte op */
1130 x = (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1));
1131 } else {
1132 /* make sure there's room for stop, byte op, and at least one byte */
1133 x = (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1));
1134 }
1135
1136 if(type != SCAN_OUT) {
1137 /* make sure there's room for at least one reply byte */
1138 x |= (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1));
1139 }
1140
1141 if(x) {
1142 dtc_queue_run();
1143 }
1144
1145 chunk_bits = byte_bits;
1146 /* we can only use up to 16 bytes at a time */
1147 if(chunk_bits > (16 * 8)) chunk_bits = (16 * 8);
1148
1149 if(type != SCAN_IN) {
1150 /* how much is there room for, considering stop and byte op? */
1151 x = (sizeof(dtc_queue.cmd_buffer) - (dtc_queue.cmd_index + 1 + 1)) * 8;
1152 if(chunk_bits > x) chunk_bits = x;
1153 }
1154
1155 if(type != SCAN_OUT) {
1156 /* how much is there room for in the reply buffer? */
1157 x = (USB_EP2IN_SIZE - dtc_queue.reply_index) * 8;
1158 if(chunk_bits > x) chunk_bits = x;
1159 }
1160
1161 /* so the loop will end */
1162 byte_bits -= chunk_bits;
1163
1164 if(type != SCAN_OUT) {
1165 if(dtc_queue_enqueue_reply(
1166 type, buffer, scan_size, tdi_bit_offset,
1167 chunk_bits,
1168 cmd
1169 ) == NULL) {
1170 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1171 exit(1);
1172 }
1173
1174 tdi_bit_offset += chunk_bits;
1175 }
1176
1177 /* chunk_bits is a multiple of 8, so there are no rounding issues. */
1178 chunk_bytes = chunk_bits / 8;
1179
1180 switch(type) {
1181 case SCAN_IN:
1182 x = DTC_CMD_SHIFT_TDO_BYTES(chunk_bytes);
1183 break;
1184 case SCAN_OUT:
1185 x = DTC_CMD_SHIFT_TDI_BYTES(chunk_bytes);
1186 break;
1187 default:
1188 x = DTC_CMD_SHIFT_TDIO_BYTES(chunk_bytes);
1189 break;
1190 }
1191 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1192
1193 if(type != SCAN_IN) {
1194 x = 0;
1195 dtc_mask = 1 << (8 - 1);
1196
1197 while(chunk_bits--) {
1198 if(*tdi_p & tdi_mask) {
1199 x |= dtc_mask;
1200 }
1201
1202 dtc_mask >>= 1;
1203 if(dtc_mask == 0) {
1204 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1205 dtc_queue.reply_index++;
1206 x = 0;
1207 dtc_mask = 1 << (8 - 1);
1208 }
1209
1210 tdi_mask <<= 1;
1211 if(tdi_mask == 0) {
1212 tdi_p++;
1213 tdi_mask = 1;
1214 }
1215 }
1216 }
1217 }
1218
1219 if(extra_bits && (type != SCAN_OUT)) {
1220 /* Schedule any extra bits into the DTC command buffer */
1221 /* make sure there's room for stop, byte op, and one byte */
1222 if(
1223 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1 + 1))
1224 ||
1225 (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1))
1226 ) {
1227 dtc_queue_run();
1228 }
1229
1230 if(dtc_queue_enqueue_reply(
1231 type, buffer, scan_size, tdi_bit_offset,
1232 extra_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 += extra_bits;
1240
1241 if(type == SCAN_IN) {
1242 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1243 DTC_CMD_SHIFT_TDO_BYTES(1);
1244
1245 } else {
1246 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1247 DTC_CMD_SHIFT_TDIO_BITS(extra_bits);
1248
1249 x = 0;
1250 dtc_mask = 1 << (8 - 1);
1251
1252 while(extra_bits--) {
1253 if(*tdi_p & tdi_mask) {
1254 x |= dtc_mask;
1255 }
1256
1257 dtc_mask >>= 1;
1258
1259 tdi_mask <<= 1;
1260 if(tdi_mask == 0) {
1261 tdi_p++;
1262 tdi_mask = 1;
1263 }
1264 }
1265
1266 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] = x;
1267 }
1268
1269 dtc_queue.reply_index++;
1270 }
1271
1272 /* Schedule the last bit into the DTC command buffer */
1273 {
1274 /* make sure there's room for stop, and bit pair command */
1275 if(
1276 (dtc_queue.cmd_index >= sizeof(dtc_queue.cmd_buffer) - (1 + 1))
1277 ||
1278 (dtc_queue.reply_index >= USB_EP2IN_SIZE - (1))
1279 ) {
1280 dtc_queue_run();
1281 }
1282
1283 if(type == SCAN_OUT) {
1284 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1285 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 0);
1286
1287 } else {
1288 if(dtc_queue_enqueue_reply(
1289 type, buffer, scan_size, tdi_bit_offset,
1290 1,
1291 cmd
1292 ) == NULL) {
1293 LOG_ERROR("enqueuing DTC reply entry: %s\n", strerror(errno));
1294 exit(1);
1295 }
1296
1297 dtc_queue.cmd_buffer[dtc_queue.cmd_index++] =
1298 DTC_CMD_SHIFT_TMS_TDI_BIT_PAIR(1, (*tdi_p & tdi_mask), 1);
1299
1300 dtc_queue.reply_index++;
1301 }
1302 }
1303
1304 /* Move to pause state */
1305 tap_state_queue_append(0);
1306 tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
1307 if (tap_get_state() != tap_get_end_state()) rlink_state_move();
1308
1309 return(0);
1310 }
1311
1312
1313 static
1314 int rlink_execute_queue(void)
1315 {
1316 jtag_command_t *cmd = jtag_command_queue; /* currently processed command */
1317 int scan_size;
1318 enum scan_type type;
1319 u8 *buffer;
1320 int retval, tmp_retval;
1321
1322 /* return ERROR_OK, unless something goes wrong */
1323 retval = ERROR_OK;
1324
1325 #ifndef AUTOMATIC_BUSY_LED
1326 /* turn LED on */
1327 ep1_generic_commandl(pHDev, 2,
1328 EP1_CMD_SET_PORTD_LEDS,
1329 ~(ST7_PD_NBUSY_LED)
1330 );
1331 #endif
1332
1333 while (cmd)
1334 {
1335 switch (cmd->type)
1336 {
1337 case JTAG_END_STATE:
1338 case JTAG_RUNTEST:
1339 case JTAG_STATEMOVE:
1340 case JTAG_PATHMOVE:
1341 case JTAG_SCAN:
1342 break;
1343
1344 default:
1345 /* some events, such as resets, need a queue flush to ensure consistency */
1346 tap_state_queue_run();
1347 dtc_queue_run();
1348 break;
1349 }
1350
1351 switch (cmd->type)
1352 {
1353 case JTAG_END_STATE:
1354 #ifdef _DEBUG_JTAG_IO_
1355 LOG_DEBUG("end_state: %i", cmd->cmd.end_state->end_state);
1356 #endif
1357 if (cmd->cmd.end_state->end_state != -1)
1358 rlink_end_state(cmd->cmd.end_state->end_state);
1359 break;
1360 case JTAG_RESET:
1361 #ifdef _DEBUG_JTAG_IO_
1362 LOG_DEBUG("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1363 #endif
1364 if ((cmd->cmd.reset->trst == 1) || (cmd->cmd.reset->srst && (jtag_reset_config & RESET_SRST_PULLS_TRST)))
1365 {
1366 tap_set_state(TAP_RESET);
1367 }
1368 rlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
1369 break;
1370 case JTAG_RUNTEST:
1371 #ifdef _DEBUG_JTAG_IO_
1372 LOG_DEBUG("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, cmd->cmd.runtest->end_state);
1373 #endif
1374 if (cmd->cmd.runtest->end_state != -1)
1375 rlink_end_state(cmd->cmd.runtest->end_state);
1376 rlink_runtest(cmd->cmd.runtest->num_cycles);
1377 break;
1378 case JTAG_STATEMOVE:
1379 #ifdef _DEBUG_JTAG_IO_
1380 LOG_DEBUG("statemove end in %i", cmd->cmd.statemove->end_state);
1381 #endif
1382 if (cmd->cmd.statemove->end_state != -1)
1383 rlink_end_state(cmd->cmd.statemove->end_state);
1384 rlink_state_move();
1385 break;
1386 case JTAG_PATHMOVE:
1387 #ifdef _DEBUG_JTAG_IO_
1388 LOG_DEBUG("pathmove: %i states, end in %i", cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1389 #endif
1390 rlink_path_move(cmd->cmd.pathmove);
1391 break;
1392 case JTAG_SCAN:
1393 #ifdef _DEBUG_JTAG_IO_
1394 LOG_DEBUG("%s scan end in %i", (cmd->cmd.scan->ir_scan) ? "IR" : "DR", cmd->cmd.scan->end_state);
1395 #endif
1396 if (cmd->cmd.scan->end_state != -1)
1397 rlink_end_state(cmd->cmd.scan->end_state);
1398 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
1399 type = jtag_scan_type(cmd->cmd.scan);
1400 if(rlink_scan(cmd, type, buffer, scan_size) != ERROR_OK) {
1401 retval = ERROR_FAIL;
1402 }
1403 break;
1404 case JTAG_SLEEP:
1405 #ifdef _DEBUG_JTAG_IO_
1406 LOG_DEBUG("sleep %i", cmd->cmd.sleep->us);
1407 #endif
1408 jtag_sleep(cmd->cmd.sleep->us);
1409 break;
1410 default:
1411 LOG_ERROR("BUG: unknown JTAG command type encountered");
1412 exit(-1);
1413 }
1414 cmd = cmd->next;
1415 }
1416
1417 /* Flush the DTC queue to make sure any pending reads have been done before exiting this function */
1418 tap_state_queue_run();
1419 tmp_retval = dtc_queue_run();
1420 if(tmp_retval != ERROR_OK) {
1421 retval = tmp_retval;
1422 }
1423
1424 #ifndef AUTOMATIC_BUSY_LED
1425 /* turn LED onff */
1426 ep1_generic_commandl(pHDev, 2,
1427 EP1_CMD_SET_PORTD_LEDS,
1428 ~0
1429 );
1430 #endif
1431
1432 return retval;
1433 }
1434
1435
1436 /* 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. */
1437
1438 static
1439 int rlink_speed(int speed)
1440 {
1441 int i;
1442
1443 if(speed == 0) {
1444 /* fastest speed */
1445 speed = rlink_speed_table[rlink_speed_table_size - 1].prescaler;
1446 }
1447
1448 for(i = rlink_speed_table_size; i--; ) {
1449 if(rlink_speed_table[i].prescaler == speed) {
1450 if(dtc_load_from_buffer(pHDev, rlink_speed_table[i].dtc, rlink_speed_table[i].dtc_size) != 0) {
1451 LOG_ERROR("An error occurred while trying to load DTC code for speed \"%d\".\n", speed);
1452 exit(1);
1453 }
1454
1455 if(dtc_start_download() < 0) {
1456 LOG_ERROR("%s, %d: starting DTC: %s",
1457 __FILE__, __LINE__,
1458 usb_strerror()
1459 );
1460 exit(1);
1461 }
1462
1463 return ERROR_OK;
1464 }
1465 }
1466
1467 LOG_ERROR("%d is not a supported speed", speed);
1468 return(ERROR_FAIL);
1469 }
1470
1471
1472 static
1473 int rlink_speed_div(
1474 int speed,
1475 int *khz
1476 ) {
1477 int i;
1478
1479 for(i = rlink_speed_table_size; i--; ) {
1480 if(rlink_speed_table[i].prescaler == speed) {
1481 *khz = rlink_speed_table[i].khz;
1482 return(ERROR_OK);
1483 }
1484 }
1485
1486 LOG_ERROR("%d is not a supported speed", speed);
1487 return(ERROR_FAIL);
1488 }
1489
1490
1491 static
1492 int rlink_khz(
1493 int khz,
1494 int *speed
1495 ) {
1496 int i;
1497
1498 if(khz == 0) {
1499 LOG_ERROR("RCLK not supported");
1500 return ERROR_FAIL;
1501 }
1502
1503 for(i = rlink_speed_table_size; i--; ) {
1504 if(rlink_speed_table[i].khz <= khz) {
1505 *speed = rlink_speed_table[i].prescaler;
1506 return(ERROR_OK);
1507 }
1508 }
1509
1510 LOG_WARNING("The lowest supported JTAG speed is %d KHz", rlink_speed_table[0].khz);
1511 *speed = rlink_speed_table[0].prescaler;
1512 return(ERROR_OK);
1513 }
1514
1515
1516 #if 0
1517 static
1518 int
1519 handle_dtc_directory_command(
1520 struct command_context_s *cmd_ctx,
1521 char *cmd,
1522 char **args,
1523 int argc
1524 ) {
1525 if(argc != 1) {
1526 LOG_ERROR("expected exactly one argument to rlink_dtc_directory <directory-path>");
1527 return(ERROR_INVALID_ARGUMENTS);
1528 }
1529
1530 printf("handle_dtc_directory_command called with \"%s\"\n", args[0]);
1531
1532 return(ERROR_OK);
1533 }
1534 #endif
1535
1536
1537 static
1538 int rlink_register_commands(struct command_context_s *cmd_ctx)
1539 {
1540
1541 #ifdef _DEBUG_JTAG_IO_
1542 LOG_DEBUG("rlink_register_commands called with cmd_ctx=%p\n", cmd_ctx);
1543 #endif
1544
1545 #if 0
1546 register_command(
1547 cmd_ctx, NULL,
1548 "rlink_dtc_directory",
1549 handle_dtc_directory_command,
1550 COMMAND_CONFIG,
1551 "The directory in which to search for DTC load images"
1552 );
1553 #endif
1554
1555 return ERROR_OK;
1556 }
1557
1558
1559 static
1560 int rlink_init(void)
1561 {
1562 struct usb_bus *busses;
1563 struct usb_bus *bus;
1564 int i, j, retries;
1565 int found=0;
1566 int success=0;
1567 u8 reply_buffer[USB_EP1IN_SIZE];
1568
1569 usb_init();
1570 usb_find_busses();
1571 usb_find_devices();
1572
1573 busses = usb_get_busses();
1574
1575 for(bus = busses; bus; bus = bus->next)
1576 {
1577 struct usb_device *dev;
1578
1579 for(dev = bus->devices; dev; dev = dev->next)
1580 {
1581 if( (dev->descriptor.idVendor == USB_IDVENDOR) && (dev->descriptor.idProduct == USB_IDPRODUCT) )
1582 {
1583 found = 1;
1584 LOG_DEBUG("Found device on bus.\n");
1585
1586 do
1587 {
1588 if( dev->descriptor.bNumConfigurations > 1 )
1589 {
1590 LOG_ERROR("Whoops! NumConfigurations is not 1, don't know what to do...\n");
1591 break;
1592 }
1593 if( dev->config->bNumInterfaces > 1 )
1594 {
1595 LOG_ERROR("Whoops! NumInterfaces is not 1, don't know what to do...\n");
1596 break;
1597 }
1598
1599 pHDev=usb_open(dev);
1600 if( !pHDev )
1601 LOG_ERROR ("Failed to open device.\n");
1602 else
1603 {
1604 LOG_DEBUG("Opened device, pHDev = %p\n",pHDev);
1605
1606 /* usb_set_configuration required under win32 */
1607 usb_set_configuration(pHDev, dev->config[0].bConfigurationValue);
1608
1609 retries = 3;
1610 do
1611 {
1612 i = usb_claim_interface(pHDev,0);
1613 if(i)
1614 {
1615 LOG_ERROR("usb_claim_interface: %s", usb_strerror());
1616 #ifdef LIBUSB_HAS_DETACH_KERNEL_DRIVER_NP
1617 j = usb_detach_kernel_driver_np(pHDev, 0);
1618 if(j)
1619 LOG_ERROR("detach kernel driver: %s", usb_strerror());
1620 #endif
1621 }
1622 else
1623 {
1624 LOG_DEBUG("interface claimed!\n");
1625 break;
1626 }
1627 } while(--retries);
1628
1629 if(!i)
1630 {
1631 if( usb_set_altinterface(pHDev,0) )
1632 {
1633 LOG_ERROR("Failed to set interface.\n");
1634 break;
1635 }
1636 else
1637 success=1;
1638 }
1639 }
1640 } while(0);
1641 }
1642 }
1643 }
1644
1645 if( !found )
1646 {
1647 LOG_ERROR("No device found on bus.\n");
1648 exit(1);
1649 }
1650
1651 if( !success )
1652 {
1653 LOG_ERROR("Initialisation failed.");
1654 exit(1);
1655 }
1656
1657
1658 /* 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. */
1659 /* 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. */
1660 for(i = 0; i < 5; i++) {
1661 j = ep1_generic_commandl(
1662 pHDev, 1,
1663 EP1_CMD_GET_FWREV
1664 );
1665 if(j < USB_EP1OUT_SIZE) {
1666 LOG_ERROR("USB write error: %s", usb_strerror());
1667 return(ERROR_FAIL);
1668 }
1669 j = usb_bulk_read(
1670 pHDev, USB_EP1IN_ADDR,
1671 (char *)reply_buffer, sizeof(reply_buffer),
1672 200
1673 );
1674 if(j != -ETIMEDOUT) break;
1675 }
1676
1677 if(j < (int)sizeof(reply_buffer)) {
1678 LOG_ERROR("USB read error: %s", usb_strerror());
1679 return(ERROR_FAIL);
1680 }
1681 LOG_DEBUG(INTERFACE_NAME" firmware version: %d.%d.%d\n", reply_buffer[0], reply_buffer[1], reply_buffer[2]);
1682
1683 if((reply_buffer[0] != 0) || (reply_buffer[1] != 0) || (reply_buffer[2] != 3)) {
1684 LOG_WARNING("The rlink device is not of the version that the developers have played with. It may or may not work.\n");
1685 }
1686
1687 /* Probe port E for adapter presence */
1688 ep1_generic_commandl(
1689 pHDev, 16,
1690 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 0 */
1691 ST7_PEDR >> 8,
1692 ST7_PEDR,
1693 3,
1694 0x00,
1695 ST7_PE_ADAPTER_SENSE_OUT,
1696 ST7_PE_ADAPTER_SENSE_OUT,
1697 EP1_CMD_MEMORY_READ, /* Read back */
1698 ST7_PEDR >> 8,
1699 ST7_PEDR,
1700 1,
1701 EP1_CMD_MEMORY_WRITE, /* Drive sense pin with 1 */
1702 ST7_PEDR >> 8,
1703 ST7_PEDR,
1704 1,
1705 ST7_PE_ADAPTER_SENSE_OUT
1706 );
1707
1708 usb_bulk_read(
1709 pHDev, USB_EP1IN_ADDR,
1710 (char *)reply_buffer, 1,
1711 USB_TIMEOUT_MS
1712 );
1713
1714 if((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) != 0) {
1715 LOG_WARNING("target detection problem\n");
1716 }
1717
1718 ep1_generic_commandl(
1719 pHDev, 11,
1720 EP1_CMD_MEMORY_READ, /* Read back */
1721 ST7_PEDR >> 8,
1722 ST7_PEDR,
1723 1,
1724 EP1_CMD_MEMORY_WRITE, /* float port E */
1725 ST7_PEDR >> 8,
1726 ST7_PEDR,
1727 3,
1728 0x00,
1729 0x00,
1730 0x00
1731 );
1732
1733 usb_bulk_read(
1734 pHDev, USB_EP1IN_ADDR,
1735 (char *)reply_buffer, 1,
1736 USB_TIMEOUT_MS
1737 );
1738
1739
1740 if((reply_buffer[0] & ST7_PE_ADAPTER_SENSE_IN) == 0) {
1741 LOG_WARNING("target not plugged in\n");
1742 }
1743
1744 /* float port A, make sure DTC is stopped, set upper 2 bits of port D, and set up port A */
1745 ep1_generic_commandl(
1746 pHDev, 15,
1747 EP1_CMD_MEMORY_WRITE,
1748 ST7_PADDR >> 8,
1749 ST7_PADDR,
1750 2,
1751 0x00,
1752 0x00,
1753 EP1_CMD_DTC_STOP,
1754 EP1_CMD_SET_PORTD_UPPER,
1755 ~(ST7_PD_NRUN_LED),
1756 EP1_CMD_MEMORY_WRITE,
1757 ST7_PADR >> 8,
1758 ST7_PADR,
1759 2,
1760 ((~(ST7_PA_NLINE_DRIVER_ENABLE)) & ST7_PA_NUNASSERTED),
1761 (ST7_PA_NLINE_DRIVER_ENABLE | ST7_PA_NRLINK_RST | ST7_PA_NJTAG_TRST)
1762 );
1763
1764 /* set LED updating mode and make sure they're unlit */
1765 ep1_generic_commandl(
1766 pHDev, 3,
1767 #ifdef AUTOMATIC_BUSY_LED
1768 EP1_CMD_LEDUE_BUSY,
1769 #else
1770 EP1_CMD_LEDUE_NONE,
1771 #endif
1772 EP1_CMD_SET_PORTD_LEDS,
1773 ~0
1774 );
1775
1776 tap_state_queue_init();
1777 dtc_queue_init();
1778 rlink_speed(jtag_speed);
1779 rlink_reset(0, 0);
1780
1781 return ERROR_OK;
1782 }
1783
1784
1785 static
1786 int rlink_quit(void)
1787 {
1788 /* stop DTC and make sure LEDs are off */
1789 ep1_generic_commandl(
1790 pHDev, 6,
1791 EP1_CMD_DTC_STOP,
1792 EP1_CMD_LEDUE_NONE,
1793 EP1_CMD_SET_PORTD_LEDS,
1794 ~0,
1795 EP1_CMD_SET_PORTD_UPPER,
1796 ~0
1797 );
1798
1799 usb_release_interface(pHDev,0);
1800 usb_close(pHDev);
1801
1802
1803 return ERROR_OK;
1804 }
1805
1806
1807 jtag_interface_t rlink_interface =
1808 {
1809 .name = "rlink",
1810 .init = rlink_init,
1811 .quit = rlink_quit,
1812 .register_commands = rlink_register_commands,
1813 .speed = rlink_speed,
1814 .speed_div = rlink_speed_div,
1815 .khz = rlink_khz,
1816 .execute_queue = rlink_execute_queue,
1817 };
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