openocd/src/jtag/usbprog.c

/***************************************************************************
 *   Copyright (C) 2007 by Benedikt Sauter                                 *
 *   sauter@ixbat.de                                                       *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/

/*
 * This file is based on Dominic Rath's amt_jtagaccel.c.
 *
 * usbprog is a free programming adapter. You can easily install
 * different firmware versions from an "online pool" over USB.
 * The adapter can be used for programming and debugging AVR and ARM
 * processors, as USB to RS232 converter, as JTAG interface or as
 * simple I/O interface (5 lines).
 *
 * http://www.embedded-projects.net/usbprog
 */

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include "jtag.h"

#include <usb.h>


#define VID 0x1781
#define PID 0x0c63

/* Pins at usbprog */
#define TDO_BIT			0
#define TDI_BIT			3
#define TCK_BIT			2
#define TMS_BIT			1

static int usbprog_execute_queue(void);
static int usbprog_speed(int speed);
static int usbprog_register_commands(struct command_context_s *cmd_ctx);
static int usbprog_init(void);
static int usbprog_quit(void);

static void usbprog_end_state(tap_state_t state);
static void usbprog_state_move(void);
static void usbprog_path_move(pathmove_command_t *cmd);
static void usbprog_runtest(int num_cycles);
static void usbprog_scan(bool ir_scan, enum scan_type type, u8 *buffer, int scan_size);

jtag_interface_t usbprog_interface =
{
	.name = "usbprog",
	.execute_queue = usbprog_execute_queue,
	.speed = usbprog_speed,
	.register_commands = usbprog_register_commands,
	.init = usbprog_init,
	.quit = usbprog_quit
};

#define UNKOWN_COMMAND	0x00
#define PORT_DIRECTION	0x01
#define PORT_SET		0x02
#define PORT_GET		0x03
#define PORT_SETBIT		0x04
#define PORT_GETBIT		0x05
#define WRITE_TDI		0x06
#define READ_TDO		0x07
#define WRITE_AND_READ	0x08
#define WRITE_TMS		0x09
#define WRITE_TMS_CHAIN	0x0A

struct usbprog_jtag
{
	struct usb_dev_handle* usb_handle;
};

static struct usbprog_jtag * usbprog_jtag_handle;

static struct usbprog_jtag* usbprog_jtag_open(void);
//static void usbprog_jtag_close(struct usbprog_jtag *usbprog_jtag);
static void usbprog_jtag_init(struct usbprog_jtag *usbprog_jtag);
static unsigned char usbprog_jtag_message(struct usbprog_jtag *usbprog_jtag, char *msg, int msglen);

static void usbprog_jtag_read_tdo(struct usbprog_jtag *usbprog_jtag, char * buffer, int size);
static void usbprog_jtag_write_tdi(struct usbprog_jtag *usbprog_jtag, char * buffer, int size);
static void usbprog_jtag_write_and_read(struct usbprog_jtag *usbprog_jtag, char * buffer, int size);
static void usbprog_jtag_write_tms(struct usbprog_jtag *usbprog_jtag, char tms_scan);

static char tms_chain[64];
static int tms_chain_index;

static void usbprog_jtag_tms_collect(char tms_scan);
static void usbprog_jtag_tms_send(struct usbprog_jtag *usbprog_jtag);

static void usbprog_write(int tck, int tms, int tdi);
static void usbprog_reset(int trst, int srst);

static void usbprog_jtag_set_direction(struct usbprog_jtag *usbprog_jtag, unsigned char direction);
static void usbprog_jtag_write_slice(struct usbprog_jtag *usbprog_jtag,unsigned char value);
//static unsigned char usbprog_jtag_get_port(struct usbprog_jtag *usbprog_jtag);
static void usbprog_jtag_set_bit(struct usbprog_jtag *usbprog_jtag,int bit, int value);
//static int usbprog_jtag_get_bit(struct usbprog_jtag *usbprog_jtag, int bit);

static int usbprog_speed(int speed)
{
	return ERROR_OK;
}

static int usbprog_register_commands(struct command_context_s *cmd_ctx)
{
	return ERROR_OK;
}

static int usbprog_execute_queue(void)
{
	jtag_command_t *cmd = jtag_command_queue; /* currently processed command */
	int scan_size;
	enum scan_type type;
	u8 *buffer;

	while (cmd)
	{
		switch (cmd->type)
		{
			case JTAG_END_STATE:
#ifdef _DEBUG_JTAG_IO_
				LOG_DEBUG("end_state: %i", cmd->cmd.end_state->end_state);
#endif
				if (cmd->cmd.end_state->end_state != TAP_INVALID)
					usbprog_end_state(cmd->cmd.end_state->end_state);
				break;
			case JTAG_RESET:
#ifdef _DEBUG_JTAG_IO_
				LOG_DEBUG("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
#endif
				if (cmd->cmd.reset->trst == 1)
				{
					tap_set_state(TAP_RESET);
				}
				usbprog_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
				break;
			case JTAG_RUNTEST:
#ifdef _DEBUG_JTAG_IO_
				LOG_DEBUG("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, cmd->cmd.runtest->end_state);
#endif
				if (cmd->cmd.runtest->end_state != TAP_INVALID)
					usbprog_end_state(cmd->cmd.runtest->end_state);
				usbprog_runtest(cmd->cmd.runtest->num_cycles);
				break;
			case JTAG_STATEMOVE:
#ifdef _DEBUG_JTAG_IO_
				LOG_DEBUG("statemove end in %i", cmd->cmd.statemove->end_state);
#endif
				if (cmd->cmd.statemove->end_state != TAP_INVALID)
					usbprog_end_state(cmd->cmd.statemove->end_state);
				usbprog_state_move();
				break;
			case JTAG_PATHMOVE:
#ifdef _DEBUG_JTAG_IO_
				LOG_DEBUG("pathmove: %i states, end in %i", cmd->cmd.pathmove->num_states,
					cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
#endif
				usbprog_path_move(cmd->cmd.pathmove);
				break;
			case JTAG_SCAN:
#ifdef _DEBUG_JTAG_IO_
				LOG_DEBUG("scan end in %i", cmd->cmd.scan->end_state);
#endif
				if (cmd->cmd.scan->end_state != TAP_INVALID)
					usbprog_end_state(cmd->cmd.scan->end_state);
				scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
				type = jtag_scan_type(cmd->cmd.scan);
				usbprog_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size);
				if (jtag_read_buffer(buffer, cmd->cmd.scan) != ERROR_OK)
					return ERROR_JTAG_QUEUE_FAILED;
				if (buffer)
					free(buffer);
				break;
			case JTAG_SLEEP:
#ifdef _DEBUG_JTAG_IO_
				LOG_DEBUG("sleep %i", cmd->cmd.sleep->us);
#endif
				jtag_sleep(cmd->cmd.sleep->us);
					break;
			default:
				LOG_ERROR("BUG: unknown JTAG command type encountered");
				exit(-1);
		}

		cmd = cmd->next;
	}

	return ERROR_OK;
}

static int usbprog_init(void)
{
	usbprog_jtag_handle = usbprog_jtag_open();

	tms_chain_index = 0;
	if (usbprog_jtag_handle == 0)
	{
		LOG_ERROR("Can't find USB JTAG Interface! Please check connection and permissions.");
		return ERROR_JTAG_INIT_FAILED;
	}

	LOG_INFO("USB JTAG Interface ready!");

	usbprog_jtag_init(usbprog_jtag_handle);
	usbprog_reset(0, 0);
	usbprog_write(0, 0, 0);

	return ERROR_OK;
}

static int usbprog_quit(void)
{
	return ERROR_OK;
}

/*************** jtag execute commands **********************/
static void usbprog_end_state(tap_state_t state)
{
	if (tap_is_state_stable(state))
		tap_set_end_state(state);
	else
	{
		LOG_ERROR("BUG: %i is not a valid end state", state);
		exit(-1);
	}
}

static void usbprog_state_move(void)
{
	int i = 0, tms = 0;
	u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());

	usbprog_jtag_write_tms(usbprog_jtag_handle, (char)tms_scan);
	for (i = 0; i < 7; i++)
	{
		tms = (tms_scan >> i) & 1;
	}

	tap_set_state(tap_get_end_state());
}

static void usbprog_path_move(pathmove_command_t *cmd)
{
	int num_states = cmd->num_states;
	int state_count;

	/* There may be queued transitions, and before following a specified
	   path, we must flush those queued transitions */
	usbprog_jtag_tms_send(usbprog_jtag_handle);

	state_count = 0;
	while (num_states)
	{
		if (tap_state_transition(tap_get_state(), false) == cmd->path[state_count])
		{
			/* LOG_INFO("1"); */
			usbprog_write(0, 0, 0);
			usbprog_write(1, 0, 0);
		}
		else if (tap_state_transition(tap_get_state(), true) == cmd->path[state_count])
		{
			/* LOG_INFO("2"); */
			usbprog_write(0, 1, 0);
			usbprog_write(1, 1, 0);
		}
		else
		{
			LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(cmd->path[state_count]));
			exit(-1);
		}

		tap_set_state(cmd->path[state_count]);
		state_count++;
		num_states--;
	}

	tap_set_end_state(tap_get_state());
}

static void usbprog_runtest(int num_cycles)
{
	int i;

	/* only do a state_move when we're not already in IDLE */
	if (tap_get_state() != TAP_IDLE)
	{
		usbprog_end_state(TAP_IDLE);
		usbprog_state_move();
	}

	/* execute num_cycles */
	if (num_cycles > 0)
	{
		usbprog_jtag_tms_send(usbprog_jtag_handle);
		usbprog_write(0, 0, 0);
	}
	else
	{
		usbprog_jtag_tms_send(usbprog_jtag_handle);
		/* LOG_INFO("NUM CYCLES %i",num_cycles); */
	}

	for (i = 0; i < num_cycles; i++)
	{
		usbprog_write(1, 0, 0);
		usbprog_write(0, 0, 0);
	}

#ifdef _DEBUG_JTAG_IO_
	LOG_DEBUG("runtest: cur_state %s end_state %s", tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()));
#endif

	/* finish in end_state */
	/*
	usbprog_end_state(saved_end_state);
	if (tap_get_state() != tap_get_end_state())
		usbprog_state_move();
	*/
}

static void usbprog_scan(bool ir_scan, enum scan_type type, u8 *buffer, int scan_size)
{
	tap_state_t saved_end_state = tap_get_end_state();

	if (ir_scan)
		usbprog_end_state(TAP_IRSHIFT);
	else
		usbprog_end_state(TAP_DRSHIFT);

	/* Only move if we're not already there */
	if (tap_get_state() != tap_get_end_state())
		usbprog_state_move();

	usbprog_end_state(saved_end_state);

	usbprog_jtag_tms_send(usbprog_jtag_handle);

	void (*f)(struct usbprog_jtag *usbprog_jtag, char * buffer, int size);
	switch (type) {
	case SCAN_OUT: f = &usbprog_jtag_write_tdi; break;
	case SCAN_IN: f = &usbprog_jtag_read_tdo; break;
	case SCAN_IO: f = &usbprog_jtag_write_and_read; break;
	default:
		LOG_ERROR("unknown scan type: %i", type);
		exit(-1);
	}
	f(usbprog_jtag_handle, (char *)buffer, scan_size);

	/* The adapter does the transition to PAUSE internally */
	if (ir_scan)
		tap_set_state(TAP_IRPAUSE);
	else
		tap_set_state(TAP_DRPAUSE);

	if (tap_get_state() != tap_get_end_state())
		usbprog_state_move();
}

/*************** jtag wrapper functions *********************/

static void usbprog_write(int tck, int tms, int tdi)
{
	unsigned char output_value=0x00;

	if (tms)
		output_value |= (1<<TMS_BIT);
	if (tdi)
		output_value |= (1<<TDI_BIT);
	if (tck)
		output_value |= (1<<TCK_BIT);

	usbprog_jtag_write_slice(usbprog_jtag_handle,output_value);
}

/* (1) assert or (0) deassert reset lines */
static void usbprog_reset(int trst, int srst)
{
	LOG_DEBUG("trst: %i, srst: %i", trst, srst);

	if (trst)
		usbprog_jtag_set_bit(usbprog_jtag_handle, 5, 0);
	else
		usbprog_jtag_set_bit(usbprog_jtag_handle, 5, 1);

	if (srst)
		usbprog_jtag_set_bit(usbprog_jtag_handle, 4, 0);
	else
		usbprog_jtag_set_bit(usbprog_jtag_handle, 4, 1);
}

/*************** jtag lowlevel functions ********************/

struct usb_bus *busses;

struct usbprog_jtag* usbprog_jtag_open(void)
{
	struct usb_bus *bus;
	struct usb_device *dev;

	struct usbprog_jtag *tmp;

	tmp = (struct usbprog_jtag*)malloc(sizeof(struct usbprog_jtag));

	usb_set_debug(10);
	usb_init();
	usb_find_busses();
	usb_find_devices();

	busses = usb_get_busses();

	/* find usbprog_jtag device in usb bus */

	for (bus = busses; bus; bus = bus->next)
	{
		for (dev = bus->devices; dev; dev = dev->next)
		{
			/* condition for sucessfully hit (too bad, I only check the vendor id)*/
			if (dev->descriptor.idVendor == VID && dev->descriptor.idProduct == PID)
			{
				tmp->usb_handle = usb_open(dev);
				usb_set_configuration(tmp->usb_handle, 1);
				usb_claim_interface(tmp->usb_handle, 0);
				usb_set_altinterface(tmp->usb_handle, 0);
				return tmp;
			}
		}
	}
	return 0;
}

#if 0
static void usbprog_jtag_close(struct usbprog_jtag *usbprog_jtag)
{
	usb_close(usbprog_jtag->usb_handle);
	free(usbprog_jtag);
}
#endif

static unsigned char usbprog_jtag_message(struct usbprog_jtag *usbprog_jtag, char *msg, int msglen)
{
	int res = usb_bulk_write(usbprog_jtag->usb_handle, 3, msg,msglen, 100);
	if ((msg[0] == 2) || (msg[0] == 1) || (msg[0] == 4) || (msg[0] == 0) || \
			(msg[0] == 6) || (msg[0] == 0x0A) || (msg[0] == 9))
		return 1;
	if (res == msglen)
	{
		/* LOG_INFO("HALLLLOOO %i",(int)msg[0]); */
		res =  usb_bulk_read(usbprog_jtag->usb_handle, 0x82, msg, 2, 100);
		if (res > 0)
			return (unsigned char)msg[1];
		else
			return -1;
	}
	else
		return -1;
	return 0;
}

static void usbprog_jtag_init(struct usbprog_jtag *usbprog_jtag)
{
	usbprog_jtag_set_direction(usbprog_jtag, 0xFE);
}

static void usbprog_jtag_write_and_read(struct usbprog_jtag *usbprog_jtag, char * buffer, int size)
{
	char tmp[64];	/* fastes packet size for usb controller */
	int send_bits, bufindex = 0, fillindex = 0, i, loops;

	char swap;
	/* 61 byte can be transfered (488 bit) */

	while (size > 0)
	{
		if (size > 488)
		{
			send_bits = 488;
			size = size - 488;
			loops = 61;
		}
		else
		{
			send_bits = size;
			loops = size / 8;
			loops++;
			size = 0;
		}
		tmp[0] = WRITE_AND_READ;
		tmp[1] = (char)(send_bits >> 8);	/* high */
		tmp[2] = (char)(send_bits);			/* low */
		i = 0;

		for (i = 0; i < loops; i++)
		{
			tmp[3 + i] = buffer[bufindex];
			bufindex++;
		}

		if (usb_bulk_write(usbprog_jtag->usb_handle, 3, tmp, 64, 1000) == 64)
		{
			/* LOG_INFO("HALLLLOOO2 %i",(int)tmp[0]); */
			usleep(1);
			int timeout = 0;
			while (usb_bulk_read(usbprog_jtag->usb_handle, 0x82, tmp, 64, 1000) < 1)
			{
				timeout++;
				if (timeout > 10)
					break;
			}

			for (i = 0; i < loops; i++)
			{
				swap =  tmp[3 + i];
				buffer[fillindex++] = swap;
			}
		}
	}
}

static void usbprog_jtag_read_tdo(struct usbprog_jtag *usbprog_jtag, char * buffer, int size)
{
	char tmp[64];	/* fastes packet size for usb controller */
	int send_bits, fillindex = 0, i, loops;

	char swap;
	/* 61 byte can be transfered (488 bit) */

	while (size > 0)
	{
		if (size > 488)
		{
			send_bits = 488;
			size = size - 488;
			loops = 61;
		}
		else
		{
			send_bits = size;
			loops = size / 8;
			loops++;
			size = 0;
		}
		tmp[0] = WRITE_AND_READ;
		tmp[1] = (char)(send_bits >> 8);	/* high */
		tmp[2] = (char)(send_bits);			/* low */

		usb_bulk_write(usbprog_jtag->usb_handle, 3, tmp, 3, 1000);

		/* LOG_INFO("HALLLLOOO3 %i",(int)tmp[0]); */
		int timeout = 0;
		usleep(1);
		while (usb_bulk_read(usbprog_jtag->usb_handle, 0x82, tmp, 64, 10) < 1)
		{
			timeout++;
			if (timeout > 10)
				break;
		}

		for (i = 0; i < loops; i++)
		{
			swap = tmp[3 + i];
			buffer[fillindex++] = swap;
		}
	}
}

static void usbprog_jtag_write_tdi(struct usbprog_jtag *usbprog_jtag, char * buffer, int size)
{
	char tmp[64];	/* fastes packet size for usb controller */
	int send_bits, bufindex = 0, i, loops;

	/* 61 byte can be transfered (488 bit) */
	while (size > 0)
	{
		if (size > 488)
		{
			send_bits = 488;
			size = size - 488;
			loops = 61;
		}
		else
		{
			send_bits = size;
			loops = size/8;
			/* if(loops==0) */
			loops++;
			size = 0;
		}
		tmp[0] = WRITE_TDI;
		tmp[1] = (char)(send_bits >> 8);	/* high */
		tmp[2] = (char)(send_bits);			/* low */
		i = 0;

		for (i = 0; i < loops; i++)
		{
			tmp[3 + i] = buffer[bufindex];
			bufindex++;
		}
		usb_bulk_write(usbprog_jtag->usb_handle, 3, tmp, 64, 1000);
	}
}

static void usbprog_jtag_write_tms(struct usbprog_jtag *usbprog_jtag, char tms_scan)
{
	usbprog_jtag_tms_collect(tms_scan);
}

static void usbprog_jtag_set_direction(struct usbprog_jtag *usbprog_jtag, unsigned char direction)
{
	char tmp[2];
	tmp[0] = PORT_DIRECTION;
	tmp[1] = (char)direction;
	usbprog_jtag_message(usbprog_jtag, tmp, 2);
}

static void usbprog_jtag_write_slice(struct usbprog_jtag *usbprog_jtag,unsigned char value)
{
	char tmp[2];
	tmp[0] = PORT_SET;
	tmp[1] = (char)value;
	usbprog_jtag_message(usbprog_jtag, tmp, 2);
}

#if 0
static unsigned char usbprog_jtag_get_port(struct usbprog_jtag *usbprog_jtag)
{
	char tmp[2];
	tmp[0] = PORT_GET;
	tmp[1] = 0x00;
	return usbprog_jtag_message(usbprog_jtag, tmp, 2);
}
#endif

static void usbprog_jtag_set_bit(struct usbprog_jtag *usbprog_jtag,int bit, int value)
{
	char tmp[3];
	tmp[0] = PORT_SETBIT;
	tmp[1] = (char)bit;
	if (value == 1)
		tmp[2] = 0x01;
	else
		tmp[2] = 0x00;
	usbprog_jtag_message(usbprog_jtag, tmp, 3);
}

#if 0
static int usbprog_jtag_get_bit(struct usbprog_jtag *usbprog_jtag, int bit)
{
	char tmp[2];
	tmp[0] = PORT_GETBIT;
	tmp[1] = (char)bit;

	if (usbprog_jtag_message(usbprog_jtag, tmp, 2) > 0)
		return 1;
	else
		return 0;
}
#endif

static void usbprog_jtag_tms_collect(char tms_scan)
{
	tms_chain[tms_chain_index] = tms_scan;
	tms_chain_index++;
}

static void usbprog_jtag_tms_send(struct usbprog_jtag *usbprog_jtag)
{
	int i;
	/* LOG_INFO("TMS SEND"); */
	if (tms_chain_index > 0)
	{
		char tmp[tms_chain_index + 2];
		tmp[0] = WRITE_TMS_CHAIN;
		tmp[1] = (char)(tms_chain_index);
		for (i = 0; i < tms_chain_index + 1; i++)
			tmp[2 + i] = tms_chain[i];
		usb_bulk_write(usbprog_jtag->usb_handle, 3, tmp, tms_chain_index + 2, 1000);
		tms_chain_index = 0;
	}
}