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angie.c
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2400 lines (2048 loc) · 68.5 KB
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// SPDX-License-Identifier: GPL-2.0-or-later
/***************************************************************************
File : angie.c *
Contents : OpenOCD driver code for NanoXplore USB-JTAG ANGIE *
adapter hardware. *
Based on openULINK driver code by: Martin Schmoelzer. *
Copyright 2023, Ahmed Errached BOUDJELIDA, NanoXplore SAS. *
<aboudjelida@nanoxplore.com> *
<ahmederrachedbjld@gmail.com> *
***************************************************************************/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include "helper/system.h"
#include <helper/types.h>
#include <jtag/interface.h>
#include <jtag/commands.h>
#include <target/image.h>
#include <libusb.h>
#include "libusb_helper.h"
#include "angie/include/msgtypes.h"
/** USB Vendor ID of ANGIE device in unconfigured state (no firmware loaded
* yet) or with its firmware. */
#define ANGIE_VID 0x584e
/** USB Product ID of ANGIE device in unconfigured state (no firmware loaded
* yet) or with its firmware. */
#define ANGIE_PID 0x414F
#define ANGIE_PID_2 0x424e
#define ANGIE_PID_3 0x4255
#define ANGIE_PID_4 0x4355
#define ANGIE_PID_5 0x4a55
/** Address of EZ-USB ANGIE CPU Control & Status register. This register can be
* written by issuing a Control EP0 vendor request. */
#define CPUCS_REG 0xE600
/** USB Control EP0 bRequest: "Firmware Load". */
#define REQUEST_FIRMWARE_LOAD 0xA0
/** Value to write into CPUCS to put EZ-USB ANGIE into reset. */
#define CPU_RESET 0x01
/** Value to write into CPUCS to put EZ-USB ANGIE out of reset. */
#define CPU_START 0x00
/** Base address of firmware in EZ-USB ANGIE code space. */
#define FIRMWARE_ADDR 0x0000
/** USB interface number */
#define USB_INTERFACE 0
/** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
#define ANGIE_RENUMERATION_DELAY_US 1500000
/** Default location of ANGIE firmware image. */
#define ANGIE_FIRMWARE_FILE PKGDATADIR "/angie/angie_firmware.bin"
/** Default location of ANGIE firmware image. */
#define ANGIE_BITSTREAM_FILE PKGDATADIR "/angie/angie_bitstream.bit"
/** Maximum size of a single firmware section. Entire EZ-USB ANGIE code space = 16kB */
#define SECTION_BUFFERSIZE 16384
/** Tuning of OpenOCD SCAN commands split into multiple ANGIE commands. */
#define SPLIT_SCAN_THRESHOLD 10
/** ANGIE hardware type */
enum angie_type {
ANGIE,
};
enum angie_payload_direction {
PAYLOAD_DIRECTION_OUT,
PAYLOAD_DIRECTION_IN
};
enum angie_delay_type {
DELAY_CLOCK_TCK,
DELAY_CLOCK_TMS,
DELAY_SCAN_IN,
DELAY_SCAN_OUT,
DELAY_SCAN_IO
};
/**
* ANGIE command (ANGIE command queue element).
*
* For the OUT direction payload, things are quite easy: Payload is stored
* in a rather small array (up to 63 bytes), the payload is always allocated
* by the function generating the command and freed by angie_clear_queue().
*
* For the IN direction payload, things get a little bit more complicated:
* The maximum IN payload size for a single command is 64 bytes. Assume that
* a single OpenOCD command needs to scan 256 bytes. This results in the
* generation of four ANGIE commands. The function generating these
* commands shall allocate an uint8_t[256] array. Each command's #payload_in
* pointer shall point to the corresponding offset where IN data shall be
* placed, while #payload_in_start shall point to the first element of the 256
* byte array.
* - first command: #payload_in_start + 0
* - second command: #payload_in_start + 64
* - third command: #payload_in_start + 128
* - fourth command: #payload_in_start + 192
*
* The last command sets #needs_postprocessing to true.
*/
struct angie_cmd {
uint8_t id; /**< ANGIE command ID */
uint8_t *payload_out; /**< Pointer where OUT payload shall be stored */
uint8_t payload_out_size; /**< OUT direction payload size for this command */
uint8_t *payload_in_start; /**< Pointer to first element of IN payload array */
uint8_t *payload_in; /**< Pointer where IN payload shall be stored */
uint8_t payload_in_size; /**< IN direction payload size for this command */
/** Indicates if this command needs post-processing */
bool needs_postprocessing;
/** Indicates if angie_clear_queue() should free payload_in_start */
bool free_payload_in_start;
/** Pointer to corresponding OpenOCD command for post-processing */
struct jtag_command *cmd_origin;
struct angie_cmd *next; /**< Pointer to next command (linked list) */
};
/** Describes one driver instance */
struct angie {
struct libusb_context *libusb_ctx;
struct libusb_device_handle *usb_device_handle;
enum angie_type type;
unsigned int ep_in; /**< IN endpoint number */
unsigned int ep_out; /**< OUT endpoint number */
/* delay value for "SLOW_CLOCK commands" in [0:255] range in units of 4 us;
-1 means no need for delay */
int delay_scan_in; /**< Delay value for SCAN_IN commands */
int delay_scan_out; /**< Delay value for SCAN_OUT commands */
int delay_scan_io; /**< Delay value for SCAN_IO commands */
int delay_clock_tck; /**< Delay value for CLOCK_TMS commands */
int delay_clock_tms; /**< Delay value for CLOCK_TCK commands */
int commands_in_queue; /**< Number of commands in queue */
struct angie_cmd *queue_start; /**< Pointer to first command in queue */
struct angie_cmd *queue_end; /**< Pointer to last command in queue */
};
/**************************** Function Prototypes *****************************/
/* USB helper functions */
static int angie_usb_open(struct angie *device);
static int angie_usb_close(struct angie *device);
/* ANGIE MCU (Cypress EZ-USB) specific functions */
static int angie_cpu_reset(struct angie *device, char reset_bit);
static int angie_load_firmware_and_renumerate(struct angie *device, const char *filename,
uint32_t delay_us);
static int angie_load_firmware(struct angie *device, const char *filename);
static int angie_load_bitstream(struct angie *device, const char *filename);
static int angie_i2c_write(struct angie *device, uint8_t *i2c_data, uint8_t i2c_data_size);
static int angie_io_extender_config(struct angie *device, uint8_t i2c_adr, uint8_t cfg_value);
static int angie_write_firmware_section(struct angie *device,
struct image *firmware_image, int section_index);
/* Generic helper functions */
static void angie_dump_signal_states(uint8_t input_signals, uint8_t output_signals);
/* ANGIE command generation helper functions */
static int angie_allocate_payload(struct angie_cmd *angie_cmd, int size,
enum angie_payload_direction direction);
/* ANGIE command queue helper functions */
static int angie_get_queue_size(struct angie *device,
enum angie_payload_direction direction);
static void angie_clear_queue(struct angie *device);
static int angie_append_queue(struct angie *device, struct angie_cmd *angie_cmd);
static int angie_execute_queued_commands(struct angie *device, int timeout_ms);
static void angie_dump_queue(struct angie *device);
static int angie_append_scan_cmd(struct angie *device,
enum scan_type scan_type,
int scan_size_bits,
uint8_t *tdi,
uint8_t *tdo_start,
uint8_t *tdo,
uint8_t tms_count_start,
uint8_t tms_sequence_start,
uint8_t tms_count_end,
uint8_t tms_sequence_end,
struct jtag_command *origin,
bool postprocess);
static int angie_append_clock_tms_cmd(struct angie *device, uint8_t count,
uint8_t sequence);
static int angie_append_clock_tck_cmd(struct angie *device, uint16_t count);
static int angie_append_get_signals_cmd(struct angie *device);
static int angie_append_set_signals_cmd(struct angie *device, uint8_t low,
uint8_t high);
static int angie_append_sleep_cmd(struct angie *device, uint32_t us);
static int angie_append_configure_tck_cmd(struct angie *device,
int delay_scan_in,
int delay_scan_out,
int delay_scan_io,
int delay_tck,
int delay_tms);
static int angie_append_test_cmd(struct angie *device);
/* ANGIE TCK frequency helper functions */
static int angie_calculate_delay(enum angie_delay_type type, long f, int *delay);
/* Interface between ANGIE and OpenOCD */
static void angie_set_end_state(tap_state_t endstate);
static int angie_queue_statemove(struct angie *device);
static int angie_queue_scan(struct angie *device, struct jtag_command *cmd);
static int angie_queue_tlr_reset(struct angie *device, struct jtag_command *cmd);
static int angie_queue_runtest(struct angie *device, struct jtag_command *cmd);
static int angie_queue_pathmove(struct angie *device, struct jtag_command *cmd);
static int angie_queue_sleep(struct angie *device, struct jtag_command *cmd);
static int angie_queue_stableclocks(struct angie *device, struct jtag_command *cmd);
static int angie_post_process_scan(struct angie_cmd *angie_cmd);
static int angie_post_process_queue(struct angie *device);
/* adapter driver functions */
static int angie_execute_queue(struct jtag_command *cmd_queue);
static int angie_khz(int khz, int *jtag_speed);
static int angie_speed(int speed);
static int angie_speed_div(int speed, int *khz);
static int angie_init(void);
static int angie_quit(void);
static int angie_reset(int trst, int srst);
/****************************** Global Variables ******************************/
static struct angie *angie_handle;
/**************************** USB helper functions ****************************/
/**
* Opens the ANGIE device
*
* @param device pointer to struct angie identifying ANGIE driver instance.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int angie_usb_open(struct angie *device)
{
struct libusb_device_handle *usb_device_handle;
const uint16_t vids[] = {ANGIE_VID, ANGIE_VID, ANGIE_VID, ANGIE_VID, ANGIE_VID, 0};
const uint16_t pids[] = {ANGIE_PID, ANGIE_PID_2, ANGIE_PID_3, ANGIE_PID_4, ANGIE_PID_5, 0};
int ret = jtag_libusb_open(vids, pids, NULL, &usb_device_handle, NULL);
if (ret != ERROR_OK) {
LOG_ERROR("Could not find and open ANGIE");
return ret;
}
device->usb_device_handle = usb_device_handle;
device->type = ANGIE;
return ERROR_OK;
}
/**
* Releases the ANGIE interface and closes the USB device handle.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int angie_usb_close(struct angie *device)
{
if (device->usb_device_handle) {
if (libusb_release_interface(device->usb_device_handle, 0) != 0) {
LOG_ERROR("Could not release interface 0");
return ERROR_FAIL;
}
jtag_libusb_close(device->usb_device_handle);
device->usb_device_handle = NULL;
}
return ERROR_OK;
}
/******************* ANGIE CPU (EZ-USB) specific functions ********************/
/**
* Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
* or out of reset.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
* @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int angie_cpu_reset(struct angie *device, char reset_bit)
{
return jtag_libusb_control_transfer(device->usb_device_handle,
(LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, LIBUSB_TIMEOUT_MS, NULL);
}
/**
* Puts the ANGIE's EZ-USB microcontroller into reset state, downloads
* the firmware image, resumes the microcontroller and re-enumerates
* USB devices.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
* The usb_handle member will be modified during re-enumeration.
* @param filename path to the Intel HEX file containing the firmware image.
* @param delay_us the delay to wait for the device to re-enumerate.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int angie_load_firmware_and_renumerate(struct angie *device,
const char *filename, uint32_t delay_us)
{
int ret;
/* Basic process: After downloading the firmware, the ANGIE will disconnect
* itself and re-connect after a short amount of time so we have to close
* the handle and re-enumerate USB devices */
ret = angie_load_firmware(device, filename);
if (ret != ERROR_OK)
return ret;
ret = angie_usb_close(device);
if (ret != ERROR_OK)
return ret;
usleep(delay_us);
ret = angie_usb_open(device);
if (ret != ERROR_OK)
return ret;
ret = libusb_claim_interface(angie_handle->usb_device_handle, 0);
if (ret != LIBUSB_SUCCESS)
return ERROR_FAIL;
return ERROR_OK;
}
/**
* Downloads a firmware image to the ANGIE's EZ-USB microcontroller
* over the USB bus.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
* @param filename an absolute or relative path to the Intel HEX file
* containing the firmware image.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int angie_load_firmware(struct angie *device, const char *filename)
{
struct image angie_firmware_image;
int ret;
ret = angie_cpu_reset(device, CPU_RESET);
if (ret != ERROR_OK) {
LOG_ERROR("Could not halt ANGIE CPU");
return ret;
}
angie_firmware_image.base_address = 0;
angie_firmware_image.base_address_set = false;
ret = image_open(&angie_firmware_image, filename, "bin");
if (ret != ERROR_OK) {
LOG_ERROR("Could not load firmware image");
return ret;
}
/* Download all sections in the image to ANGIE */
for (unsigned int i = 0; i < angie_firmware_image.num_sections; i++) {
ret = angie_write_firmware_section(device, &angie_firmware_image, i);
if (ret != ERROR_OK) {
LOG_ERROR("Could not write firmware section");
return ret;
}
}
image_close(&angie_firmware_image);
ret = angie_cpu_reset(device, CPU_START);
if (ret != ERROR_OK) {
LOG_ERROR("Could not restart ANGIE CPU");
return ret;
}
return ERROR_OK;
}
/**
* Downloads a bitstream file to the ANGIE's FPGA through the EZ-USB microcontroller
* over the USB bus.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
* @param filename an absolute or relative path to the Xilinx .bit file
* containing the bitstream data.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int angie_load_bitstream(struct angie *device, const char *filename)
{
int ret, transferred;
const char *bitstream_file_path = filename;
FILE *bitstream_file = NULL;
char *bitstream_data = NULL;
size_t bitstream_size = 0;
uint8_t gpifcnt[4];
/* Open the bitstream file */
bitstream_file = fopen(bitstream_file_path, "rb");
if (!bitstream_file) {
LOG_ERROR("Failed to open bitstream file: %s\n", bitstream_file_path);
return ERROR_FAIL;
}
/* Get the size of the bitstream file */
fseek(bitstream_file, 0, SEEK_END);
bitstream_size = ftell(bitstream_file);
fseek(bitstream_file, 0, SEEK_SET);
/* Allocate memory for the bitstream data */
bitstream_data = malloc(bitstream_size);
if (!bitstream_data) {
LOG_ERROR("Failed to allocate memory for bitstream data.");
fclose(bitstream_file);
return ERROR_FAIL;
}
/* Read the bitstream data from the file */
if (fread(bitstream_data, 1, bitstream_size, bitstream_file) != bitstream_size) {
LOG_ERROR("Failed to read bitstream data.");
free(bitstream_data);
fclose(bitstream_file);
return ERROR_FAIL;
}
h_u32_to_be(gpifcnt, bitstream_size);
/* CFGopen */
ret = jtag_libusb_control_transfer(device->usb_device_handle,
0x00, 0xB0, 0, 0, (char *)gpifcnt, 4, LIBUSB_TIMEOUT_MS, &transferred);
if (ret != ERROR_OK) {
LOG_ERROR("Failed opencfg");
/* Abort if libusb sent less data than requested */
return ERROR_FAIL;
}
/* Send the bitstream data to the microcontroller */
int actual_length = 0;
ret = jtag_libusb_bulk_write(device->usb_device_handle, 0x02, bitstream_data, bitstream_size, 1000, &actual_length);
if (ret != ERROR_OK) {
LOG_ERROR("Failed to send bitstream data: %s", libusb_strerror(ret));
free(bitstream_data);
fclose(bitstream_file);
return ERROR_FAIL;
}
LOG_INFO("Bitstream sent successfully.");
/* Clean up */
free(bitstream_data);
fclose(bitstream_file);
/* CFGclose */
transferred = 0;
ret = jtag_libusb_control_transfer(device->usb_device_handle,
0x00, 0xB1, 0, 0, NULL, 0, LIBUSB_TIMEOUT_MS, &transferred);
if (ret != ERROR_OK) {
LOG_ERROR("Failed cfgclose");
/* Abort if libusb sent less data than requested */
return ERROR_FAIL;
}
return ERROR_OK;
}
/**
* Send an i2c write operation to dev-board components.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
* @param i2c_data table of i2c data that we want to write to slave device.
* @param i2c_data_size the size of i2c data table.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int angie_i2c_write(struct angie *device, uint8_t *i2c_data, uint8_t i2c_data_size)
{
char i2c_data_buffer[i2c_data_size + 2];
char buffer_received[1];
int ret, transferred;
i2c_data_buffer[0] = 0; // write = 0
i2c_data_buffer[1] = i2c_data_size - 1; // i2c_data count (without address)
for (uint8_t i = 0; i < i2c_data_size; i++)
i2c_data_buffer[i + 2] = i2c_data[i];
// Send i2c packet to Dev-board and configure its clock source /
ret = jtag_libusb_bulk_write(device->usb_device_handle, 0x06, i2c_data_buffer,
i2c_data_size + 2, 1000, &transferred);
if (ret != ERROR_OK) {
LOG_ERROR("Error in i2c clock gen configuration : ret ERROR");
return ret;
}
if (transferred != i2c_data_size + 2) {
LOG_ERROR("Error in i2c clock gen configuration : bytes transferred");
return ERROR_FAIL;
}
usleep(500);
// Receive packet from ANGIE /
ret = jtag_libusb_bulk_write(device->usb_device_handle, 0x88, buffer_received, 1, 1000, &transferred);
if (ret != ERROR_OK) {
LOG_ERROR("Error in i2c clock gen configuration : ret ERROR");
return ret;
}
return ERROR_OK;
}
/**
* Configure dev-board gpio extender modules by configuring their
* register 3 and register 1 responsible for IO directions and values.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
* @param i2c_adr i2c address of the gpio extender.
* @param cfg_value IOs configuration to be written in register Number 3.
* @param value the IOs value to be written in register Number 1.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int angie_io_extender_config(struct angie *device, uint8_t i2c_adr, uint8_t cfg_value)
{
uint8_t ioconfig[3] = {i2c_adr, 3, cfg_value};
int ret = angie_i2c_write(device, ioconfig, 3);
if (ret != ERROR_OK)
return ret;
usleep(500);
return ret;
}
/**
* Send one contiguous firmware section to the ANGIE's EZ-USB microcontroller
* over the USB bus.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
* @param firmware_image pointer to the firmware image that contains the section
* which should be sent to the ANGIE's EZ-USB microcontroller.
* @param section_index index of the section within the firmware image.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int angie_write_firmware_section(struct angie *device,
struct image *firmware_image, int section_index)
{
int addr, bytes_remaining, chunk_size;
uint8_t data[SECTION_BUFFERSIZE];
uint8_t *data_ptr = data;
uint16_t size;
size_t size_read;
int ret, transferred;
size = (uint16_t)firmware_image->sections[section_index].size;
addr = (uint16_t)firmware_image->sections[section_index].base_address;
LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04" PRIx16 ")", section_index, addr,
size);
/* Copy section contents to local buffer */
ret = image_read_section(firmware_image, section_index, 0, size, data,
&size_read);
if (ret != ERROR_OK)
return ret;
if (size_read != size)
return ERROR_FAIL;
bytes_remaining = size;
/* Send section data in chunks of up to 64 bytes to ANGIE */
while (bytes_remaining > 0) {
if (bytes_remaining > 64)
chunk_size = 64;
else
chunk_size = bytes_remaining;
ret = jtag_libusb_control_transfer(device->usb_device_handle,
(LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (char *)data_ptr,
chunk_size, LIBUSB_TIMEOUT_MS, &transferred);
if (ret != ERROR_OK)
return ret;
if (transferred != chunk_size) {
/* Abort if libusb sent less data than requested */
return ERROR_FAIL;
}
bytes_remaining -= chunk_size;
addr += chunk_size;
data_ptr += chunk_size;
}
return ERROR_OK;
}
/************************** Generic helper functions **************************/
/**
* Print state of interesting signals via LOG_INFO().
*
* @param input_signals input signal states as returned by CMD_GET_SIGNALS
* @param output_signals output signal states as returned by CMD_GET_SIGNALS
*/
static void angie_dump_signal_states(uint8_t input_signals, uint8_t output_signals)
{
LOG_INFO("ANGIE signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i "
"SRST: %i",
(output_signals & SIGNAL_TDI ? 1 : 0),
(input_signals & SIGNAL_TDO ? 1 : 0),
(output_signals & SIGNAL_TMS ? 1 : 0),
(output_signals & SIGNAL_TCK ? 1 : 0),
(output_signals & SIGNAL_TRST ? 1 : 0),
(output_signals & SIGNAL_SRST ? 1 : 0));
}
/**************** ANGIE command generation helper functions ***************/
/**
* Allocate and initialize space in memory for ANGIE command payload.
*
* @param angie_cmd pointer to command whose payload should be allocated.
* @param size the amount of memory to allocate (bytes).
* @param direction which payload to allocate.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int angie_allocate_payload(struct angie_cmd *angie_cmd, int size,
enum angie_payload_direction direction)
{
uint8_t *payload;
payload = calloc(size, sizeof(uint8_t));
if (!payload) {
LOG_ERROR("Could not allocate ANGIE command payload: out of memory");
return ERROR_FAIL;
}
switch (direction) {
case PAYLOAD_DIRECTION_OUT:
if (angie_cmd->payload_out) {
LOG_ERROR("BUG: Duplicate payload allocation for ANGIE command");
free(payload);
return ERROR_FAIL;
}
angie_cmd->payload_out = payload;
angie_cmd->payload_out_size = size;
break;
case PAYLOAD_DIRECTION_IN:
if (angie_cmd->payload_in_start) {
LOG_ERROR("BUG: Duplicate payload allocation for ANGIE command");
free(payload);
return ERROR_FAIL;
}
angie_cmd->payload_in_start = payload;
angie_cmd->payload_in = payload;
angie_cmd->payload_in_size = size;
/* By default, free payload_in_start in angie_clear_queue(). Commands
* that do not want this behavior (e. g. split scans) must turn it off
* separately! */
angie_cmd->free_payload_in_start = true;
break;
}
return ERROR_OK;
}
/****************** ANGIE command queue helper functions ******************/
/**
* Get the current number of bytes in the queue, including command IDs.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
* @param direction the transfer direction for which to get byte count.
* @return the number of bytes currently stored in the queue for the specified
* direction.
*/
static int angie_get_queue_size(struct angie *device,
enum angie_payload_direction direction)
{
struct angie_cmd *current = device->queue_start;
int sum = 0;
while (current) {
switch (direction) {
case PAYLOAD_DIRECTION_OUT:
sum += current->payload_out_size + 1; /* + 1 byte for Command ID */
break;
case PAYLOAD_DIRECTION_IN:
sum += current->payload_in_size;
break;
}
current = current->next;
}
return sum;
}
/**
* Clear the ANGIE command queue.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
*/
static void angie_clear_queue(struct angie *device)
{
struct angie_cmd *current = device->queue_start;
struct angie_cmd *next = NULL;
while (current) {
/* Save pointer to next element */
next = current->next;
/* Free payloads: OUT payload can be freed immediately */
free(current->payload_out);
current->payload_out = NULL;
/* IN payload MUST be freed ONLY if no other commands use the
* payload_in_start buffer */
if (current->free_payload_in_start) {
free(current->payload_in_start);
current->payload_in_start = NULL;
current->payload_in = NULL;
}
/* Free queue element */
free(current);
/* Proceed with next element */
current = next;
}
device->commands_in_queue = 0;
device->queue_start = NULL;
device->queue_end = NULL;
}
/**
* Add a command to the ANGIE command queue.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
* @param angie_cmd pointer to command that shall be appended to the ANGIE
* command queue.
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int angie_append_queue(struct angie *device, struct angie_cmd *angie_cmd)
{
int newsize_out, newsize_in;
int ret = ERROR_OK;
newsize_out = angie_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
+ angie_cmd->payload_out_size;
newsize_in = angie_get_queue_size(device, PAYLOAD_DIRECTION_IN)
+ angie_cmd->payload_in_size;
/* Check if the current command can be appended to the queue */
if (newsize_out > 64 || newsize_in > 64) {
/* New command does not fit. Execute all commands in queue before starting
* new queue with the current command as first entry. */
ret = angie_execute_queued_commands(device, LIBUSB_TIMEOUT_MS);
if (ret == ERROR_OK)
ret = angie_post_process_queue(device);
if (ret == ERROR_OK)
angie_clear_queue(device);
}
if (!device->queue_start) {
/* Queue was empty */
device->commands_in_queue = 1;
device->queue_start = angie_cmd;
device->queue_end = angie_cmd;
} else {
/* There are already commands in the queue */
device->commands_in_queue++;
device->queue_end->next = angie_cmd;
device->queue_end = angie_cmd;
}
if (ret != ERROR_OK)
angie_clear_queue(device);
return ret;
}
/**
* Sends all queued ANGIE commands to the ANGIE for execution.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
* @param timeout_ms
* @return on success: ERROR_OK
* @return on failure: ERROR_FAIL
*/
static int angie_execute_queued_commands(struct angie *device, int timeout_ms)
{
struct angie_cmd *current;
int ret, i, index_out, index_in, count_out, count_in, transferred;
uint8_t buffer[64];
if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO))
angie_dump_queue(device);
index_out = 0;
count_out = 0;
count_in = 0;
for (current = device->queue_start; current; current = current->next) {
/* Add command to packet */
buffer[index_out] = current->id;
index_out++;
count_out++;
for (i = 0; i < current->payload_out_size; i++)
buffer[index_out + i] = current->payload_out[i];
index_out += current->payload_out_size;
count_in += current->payload_in_size;
count_out += current->payload_out_size;
}
/* Send packet to ANGIE */
ret = jtag_libusb_bulk_write(device->usb_device_handle, device->ep_out,
(char *)buffer, count_out, timeout_ms, &transferred);
if (ret != ERROR_OK) {
LOG_ERROR("Libusb bulk write queued commands failed.");
return ret;
}
if (transferred != count_out) {
LOG_ERROR("Libusb bulk write queued commands failed: transferred byte count");
return ERROR_FAIL;
}
/* Wait for response if commands contain IN payload data */
if (count_in > 0) {
ret = jtag_libusb_bulk_write(device->usb_device_handle, device->ep_in,
(char *)buffer, count_in, timeout_ms, &transferred);
if (ret != ERROR_OK) {
LOG_ERROR("Libusb bulk write input payload data failed");
return ret;
}
if (transferred != count_in) {
LOG_ERROR("Libusb bulk write input payload data failed: transferred byte count");
return ERROR_FAIL;
}
/* Write back IN payload data */
index_in = 0;
for (current = device->queue_start; current; current = current->next) {
for (i = 0; i < current->payload_in_size; i++) {
current->payload_in[i] = buffer[index_in];
index_in++;
}
}
}
return ERROR_OK;
}
/**
* Convert an ANGIE command ID (\a id) to a human-readable string.
*
* @param id the ANGIE command ID.
* @return the corresponding human-readable string.
*/
static const char *angie_cmd_id_string(uint8_t id)
{
switch (id) {
case CMD_SCAN_IN:
return "CMD_SCAN_IN";
case CMD_SLOW_SCAN_IN:
return "CMD_SLOW_SCAN_IN";
case CMD_SCAN_OUT:
return "CMD_SCAN_OUT";
case CMD_SLOW_SCAN_OUT:
return "CMD_SLOW_SCAN_OUT";
case CMD_SCAN_IO:
return "CMD_SCAN_IO";
case CMD_SLOW_SCAN_IO:
return "CMD_SLOW_SCAN_IO";
case CMD_CLOCK_TMS:
return "CMD_CLOCK_TMS";
case CMD_SLOW_CLOCK_TMS:
return "CMD_SLOW_CLOCK_TMS";
case CMD_CLOCK_TCK:
return "CMD_CLOCK_TCK";
case CMD_SLOW_CLOCK_TCK:
return "CMD_SLOW_CLOCK_TCK";
case CMD_SLEEP_US:
return "CMD_SLEEP_US";
case CMD_SLEEP_MS:
return "CMD_SLEEP_MS";
case CMD_GET_SIGNALS:
return "CMD_GET_SIGNALS";
case CMD_SET_SIGNALS:
return "CMD_SET_SIGNALS";
case CMD_CONFIGURE_TCK_FREQ:
return "CMD_CONFIGURE_TCK_FREQ";
case CMD_SET_LEDS:
return "CMD_SET_LEDS";
case CMD_TEST:
return "CMD_TEST";
default:
return "CMD_UNKNOWN";
}
}
/**
* Print one ANGIE command to stdout.
*
* @param angie_cmd pointer to ANGIE command.
*/
static void angie_dump_command(struct angie_cmd *angie_cmd)
{
char hex[64 * 3];
for (int i = 0; i < angie_cmd->payload_out_size; i++)
sprintf(hex + 3 * i, "%02" PRIX8 " ", angie_cmd->payload_out[i]);
hex[3 * angie_cmd->payload_out_size - 1] = 0;
LOG_DEBUG_IO(" %-22s | OUT size = %" PRIi8 ", bytes = %s",
angie_cmd_id_string(angie_cmd->id), angie_cmd->payload_out_size, hex);
LOG_DEBUG_IO("\n | IN size = %" PRIi8 "\n", angie_cmd->payload_in_size);
}
/**
* Print the ANGIE command queue to stdout.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
*/
static void angie_dump_queue(struct angie *device)
{
struct angie_cmd *current;
LOG_DEBUG_IO("ANGIE command queue:\n");
for (current = device->queue_start; current; current = current->next)
angie_dump_command(current);
}
/**
* Perform JTAG scan
*
* Creates and appends a JTAG scan command to the ANGIE command queue.
* A JTAG scan consists of three steps:
* - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
* - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
* - Move to the desired end state.
*
* @param device pointer to struct angie identifying ANGIE driver instance.
* @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
* @param scan_size_bits number of bits to shift into the JTAG chain.
* @param tdi pointer to array containing TDI data.
* @param tdo_start pointer to first element of array where TDO data shall be
* stored. See #angie_cmd for details.
* @param tdo pointer to array where TDO data shall be stored
* @param tms_count_start number of TMS state transitions to perform BEFORE
* shifting data into the JTAG chain.
* @param tms_sequence_start sequence of TMS state transitions that will be
* performed BEFORE shifting data into the JTAG chain.
* @param tms_count_end number of TMS state transitions to perform AFTER
* shifting data into the JTAG chain.
* @param tms_sequence_end sequence of TMS state transitions that will be
* performed AFTER shifting data into the JTAG chain.
* @param origin pointer to OpenOCD command that generated this scan command.
* @param postprocess whether this command needs to be post-processed after
* execution.