ULINK driver: Implement variable TCK frequency in OpenOCD driver
Signed-off-by: Martin Schmölzer <martin.schmoelzer@student.tuwien.ac.at>__archive__
Martin Schmoelzer
Øyvind Harboe
parent
6446dbaacb
commit
c331c9382f
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@ -22,6 +22,7 @@
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#include "config.h"
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#endif
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#include <math.h>
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#include <jtag/interface.h>
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#include <jtag/commands.h>
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#include <target/image.h>
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@ -94,6 +95,15 @@ enum ulink_payload_direction
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PAYLOAD_DIRECTION_IN
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};
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enum ulink_delay_type
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{
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DELAY_CLOCK_TCK,
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DELAY_CLOCK_TMS,
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DELAY_SCAN_IN,
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DELAY_SCAN_OUT,
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DELAY_SCAN_IO
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};
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/**
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* OpenULINK command (OpenULINK command queue element).
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*
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@ -146,6 +156,12 @@ struct ulink
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struct usb_dev_handle *usb_handle;
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enum ulink_type type;
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int delay_scan_in; ///< Delay value for SCAN_IN commands
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int delay_scan_out; ///< Delay value for SCAN_OUT commands
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int delay_scan_io; ///< Delay value for SCAN_IO commands
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int delay_clock_tck; ///< Delay value for CLOCK_TMS commands
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int delay_clock_tms; ///< Delay value for CLOCK_TCK commands
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int commands_in_queue; ///< Number of commands in queue
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ulink_cmd_t *queue_start; ///< Pointer to first command in queue
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ulink_cmd_t *queue_end; ///< Pointer to last command in queue
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@ -196,11 +212,15 @@ int ulink_append_get_signals_cmd(struct ulink *device);
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int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
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uint8_t high);
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int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
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int ulink_append_configure_tck_cmd(struct ulink *device, uint8_t delay_scan,
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uint8_t delay_tck, uint8_t delay_tms);
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int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
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int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms);
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int ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
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int ulink_append_test_cmd(struct ulink *device);
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/* OpenULINK TCK frequency helper functions */
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int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay);
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int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f);
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/* Interface between OpenULINK and OpenOCD */
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static void ulink_set_end_state(tap_state_t endstate);
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int ulink_queue_statemove(struct ulink *device);
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@ -781,6 +801,9 @@ const char * ulink_cmd_id_string(uint8_t id)
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case CMD_CLOCK_TCK:
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return "CMD_CLOCK_TCK";
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break;
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case CMD_SLOW_CLOCK_TCK:
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return "CMD_SLOW_CLOCK_TCK";
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break;
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case CMD_SLEEP_US:
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return "CMD_SLEEP_US";
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break;
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@ -903,18 +926,32 @@ int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
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}
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/* Allocate out_payload depending on scan type */
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// TODO: set command ID depending on interface speed settings (slow scan)
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switch (scan_type) {
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case SCAN_IN:
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cmd->id = CMD_SCAN_IN;
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if (device->delay_scan_in < 0) {
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cmd->id = CMD_SCAN_IN;
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}
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else {
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cmd->id = CMD_SLOW_SCAN_IN;
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}
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ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
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break;
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case SCAN_OUT:
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cmd->id = CMD_SCAN_OUT;
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if (device->delay_scan_out < 0) {
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cmd->id = CMD_SCAN_OUT;
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}
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else {
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cmd->id = CMD_SLOW_SCAN_OUT;
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}
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ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
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break;
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case SCAN_IO:
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cmd->id = CMD_SCAN_IO;
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if (device->delay_scan_io < 0) {
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cmd->id = CMD_SCAN_IO;
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}
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else {
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cmd->id = CMD_SLOW_SCAN_IO;
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}
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ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
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break;
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default:
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@ -978,7 +1015,12 @@ int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
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return ERROR_FAIL;
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}
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cmd->id = CMD_CLOCK_TMS;
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if (device->delay_clock_tms < 0) {
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cmd->id = CMD_CLOCK_TMS;
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}
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else {
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cmd->id = CMD_SLOW_CLOCK_TMS;
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}
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/* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
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ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
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@ -1011,7 +1053,12 @@ int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
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return ERROR_FAIL;
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}
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cmd->id = CMD_CLOCK_TCK;
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if (device->delay_clock_tck < 0) {
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cmd->id = CMD_CLOCK_TCK;
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}
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else {
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cmd->id = CMD_SLOW_CLOCK_TCK;
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}
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/* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
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ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
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@ -1132,14 +1179,16 @@ int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
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* Set TCK delay counters
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*
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* @param device pointer to struct ulink identifying ULINK driver instance.
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* @param delay_scan delay count top value in jtag_slow_scan() functions
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* @param delay_tck delay count top value in jtag_clock_tck() function
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* @param delay_tms delay count top value in jtag_slow_clock_tms() function
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* @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
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* @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
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* @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
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* @param delay_tck delay count top value in jtag_clock_tck() function.
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* @param delay_tms delay count top value in jtag_slow_clock_tms() function.
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* @return on success: ERROR_OK
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* @return on failure: ERROR_FAIL
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*/
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int ulink_append_configure_tck_cmd(struct ulink *device, uint8_t delay_scan,
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uint8_t delay_tck, uint8_t delay_tms)
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int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
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int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
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{
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ulink_cmd_t *cmd = calloc(1, sizeof(ulink_cmd_t));
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int ret;
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@ -1150,16 +1199,47 @@ int ulink_append_configure_tck_cmd(struct ulink *device, uint8_t delay_scan,
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cmd->id = CMD_CONFIGURE_TCK_FREQ;
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/* CMD_CONFIGURE_TCK_FREQ has three OUT payload bytes and zero
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/* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
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* IN payload bytes */
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ret = ulink_allocate_payload(cmd, 3, PAYLOAD_DIRECTION_OUT);
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ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
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if (ret != ERROR_OK) {
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return ret;
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}
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cmd->payload_out[0] = delay_scan;
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cmd->payload_out[1] = delay_tck;
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cmd->payload_out[2] = delay_tms;
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if (delay_scan_in < 0) {
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cmd->payload_out[0] = 0;
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}
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else {
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cmd->payload_out[0] = (uint8_t)delay_scan_in;
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}
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if (delay_scan_out < 0) {
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cmd->payload_out[1] = 0;
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}
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else {
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cmd->payload_out[1] = (uint8_t)delay_scan_out;
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}
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if (delay_scan_io < 0) {
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cmd->payload_out[2] = 0;
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}
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else {
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cmd->payload_out[2] = (uint8_t)delay_scan_io;
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}
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if (delay_tck < 0) {
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cmd->payload_out[3] = 0;
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}
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else {
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cmd->payload_out[3] = (uint8_t)delay_tck;
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}
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if (delay_tms < 0) {
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cmd->payload_out[4] = 0;
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}
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else {
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cmd->payload_out[4] = (uint8_t)delay_tms;
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}
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return ulink_append_queue(device, cmd);
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}
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@ -1231,6 +1311,165 @@ int ulink_append_test_cmd(struct ulink *device)
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return ulink_append_queue(device, cmd);
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}
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/****************** OpenULINK TCK frequency helper functions ******************/
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/**
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* Calculate delay values for a given TCK frequency.
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*
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* The OpenULINK firmware uses five different speed values for different
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* commands. These speed values are calculated in these functions.
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*
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* The five different commands which support variable TCK frequency are
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* implemented twice in the firmware:
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* 1. Maximum possible frequency without any artificial delay
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* 2. Variable frequency with artificial linear delay loop
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*
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* To set the ULINK to maximum frequency, it is only neccessary to use the
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* corresponding command IDs. To set the ULINK to a lower frequency, the
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* delay loop top values have to be calculated first. Then, a
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* CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
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*
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* The delay values are described by linear equations:
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* t = k * x + d
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* (t = period, k = constant, x = delay value, d = constant)
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*
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* Thus, the delay can be calculated as in the following equation:
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* x = (t - d) / k
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*
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* The constants in these equations have been determined and validated by
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* measuring the frequency resulting from different delay values.
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*
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* @param type for which command to calculate the delay value.
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* @param f TCK frequency for which to calculate the delay value in Hz.
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* @param delay where to store resulting delay value.
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* @return on success: ERROR_OK
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* @return on failure: ERROR_FAIL
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*/
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int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
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{
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float t, x, x_ceil;
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/* Calculate period of requested TCK frequency */
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t = 1.0 / (float)(f);
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switch (type) {
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case DELAY_CLOCK_TCK:
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x = (t - (float)(6E-6)) / (float)(4E-6);
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break;
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case DELAY_CLOCK_TMS:
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x = (t - (float)(8.5E-6)) / (float)(4E-6);
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break;
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case DELAY_SCAN_IN:
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x = (t - (float)(8.8308E-6)) / (float)(4E-6);
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break;
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case DELAY_SCAN_OUT:
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x = (t - (float)(1.0527E-5)) / (float)(4E-6);
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break;
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case DELAY_SCAN_IO:
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x = (t - (float)(1.3132E-5)) / (float)(4E-6);
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break;
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default:
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return ERROR_FAIL;
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break;
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}
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/* Check if the delay value is negative. This happens when a frequency is
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* requested that is too high for the delay loop implementation. In this
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* case, set delay value to zero. */
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if (x < 0) {
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x = 0;
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}
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/* We need to convert the exact delay value to an integer. Therefore, we
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* round the exact value UP to ensure that the resulting frequency is NOT
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* higher than the requested frequency. */
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x_ceil = ceilf(x);
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/* Check if the value is within limits */
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if (x_ceil > 255) {
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return ERROR_FAIL;
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}
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*delay = (int)x_ceil;
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return ERROR_OK;
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}
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/**
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* Calculate frequency for a given delay value.
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*
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* Similar to the #ulink_calculate_delay function, this function calculates the
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* TCK frequency for a given delay value by using linear equations of the form:
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* t = k * x + d
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* (t = period, k = constant, x = delay value, d = constant)
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*
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* @param type for which command to calculate the delay value.
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* @param delay delay value for which to calculate the resulting TCK frequency.
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* @param f where to store the resulting TCK frequency.
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* @return on success: ERROR_OK
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* @return on failure: ERROR_FAIL
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*/
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int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f)
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{
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float t, f_float, f_rounded;
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if (delay > 255) {
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return ERROR_FAIL;
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}
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switch (type) {
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case DELAY_CLOCK_TCK:
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if (delay < 0) {
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t = (float)(2.666E-6);
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}
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else {
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t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
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}
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break;
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case DELAY_CLOCK_TMS:
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if (delay < 0) {
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t = (float)(5.666E-6);
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}
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else {
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t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
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}
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break;
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case DELAY_SCAN_IN:
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if (delay < 0) {
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t = (float)(5.5E-6);
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}
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else {
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t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
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}
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break;
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case DELAY_SCAN_OUT:
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if (delay < 0) {
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t = (float)(7.0E-6);
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}
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else {
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t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
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}
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break;
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case DELAY_SCAN_IO:
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if (delay < 0) {
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t = (float)(9.926E-6);
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}
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else {
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t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
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}
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break;
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default:
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return ERROR_FAIL;
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break;
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}
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f_float = 1.0 / t;
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f_rounded = roundf(f_float);
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*f = (long)f_rounded;
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return ERROR_OK;
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}
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/******************* Interface between OpenULINK and OpenOCD ******************/
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/**
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@ -1809,26 +2048,108 @@ static int ulink_execute_queue(void)
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/**
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* Set the TCK frequency of the ULINK adapter.
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*
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* @param khz ???
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* @param jtag_speed ???
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* @param khz desired JTAG TCK frequency.
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* @param jtag_speed where to store corresponding adapter-specific speed value.
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* @return on success: ERROR_OK
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* @return on failure: ERROR_FAIL
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*/
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static int ulink_khz(int khz, int *jtag_speed)
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{
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int ret;
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if (khz == 0) {
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LOG_ERROR("RCLK not supported");
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return ERROR_FAIL;
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}
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LOG_INFO("ulink_khz: %i kHz", khz);
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/* ULINK maximum TCK frequency is ~ 150 kHz */
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if (khz > 150) {
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return ERROR_FAIL;
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/* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
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* setting can be done independently from all other commands. */
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if (khz >= 375) {
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ulink_handle->delay_clock_tck = -1;
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}
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else {
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ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
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&ulink_handle->delay_clock_tck);
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if (ret != ERROR_OK) {
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return ret;
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}
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}
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*jtag_speed = 0;
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/* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
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* requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
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* commands, all SCAN commands MUST also use the variable frequency
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* implementation! */
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if (khz >= 176) {
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ulink_handle->delay_clock_tms = -1;
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ulink_handle->delay_scan_in = -1;
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ulink_handle->delay_scan_out = -1;
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ulink_handle->delay_scan_io = -1;
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}
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else {
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ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
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&ulink_handle->delay_clock_tms);
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if (ret != ERROR_OK) {
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return ret;
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}
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ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
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&ulink_handle->delay_scan_in);
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if (ret != ERROR_OK) {
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return ret;
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}
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ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
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&ulink_handle->delay_scan_out);
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if (ret != ERROR_OK) {
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return ret;
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}
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ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
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&ulink_handle->delay_scan_io);
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if (ret != ERROR_OK) {
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return ret;
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}
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}
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#ifdef _DEBUG_JTAG_IO_
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long f_tck, f_tms, f_scan_in, f_scan_out, f_scan_io;
|
||||
|
||||
ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck,
|
||||
&f_tck);
|
||||
ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms,
|
||||
&f_tms);
|
||||
ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in,
|
||||
&f_scan_in);
|
||||
ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out,
|
||||
&f_scan_out);
|
||||
ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io,
|
||||
&f_scan_io);
|
||||
|
||||
DEBUG_JTAG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
|
||||
ulink_handle->delay_clock_tck, f_tck);
|
||||
DEBUG_JTAG_IO(" delay_tms = %i (%li Hz),",
|
||||
ulink_handle->delay_clock_tms, f_tms);
|
||||
DEBUG_JTAG_IO(" delay_scan_in = %i (%li Hz),",
|
||||
ulink_handle->delay_scan_in, f_scan_in);
|
||||
DEBUG_JTAG_IO(" delay_scan_out = %i (%li Hz),",
|
||||
ulink_handle->delay_scan_out, f_scan_out);
|
||||
DEBUG_JTAG_IO(" delay_scan_io = %i (%li Hz),",
|
||||
ulink_handle->delay_scan_io, f_scan_io);
|
||||
#endif
|
||||
|
||||
/* Configure the ULINK device with the new delay values */
|
||||
ret = ulink_append_configure_tck_cmd(ulink_handle,
|
||||
ulink_handle->delay_scan_in,
|
||||
ulink_handle->delay_scan_out,
|
||||
ulink_handle->delay_scan_io,
|
||||
ulink_handle->delay_clock_tck,
|
||||
ulink_handle->delay_clock_tms);
|
||||
|
||||
if (ret != ERROR_OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
*jtag_speed = khz;
|
||||
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
|
@ -1836,30 +2157,38 @@ static int ulink_khz(int khz, int *jtag_speed)
|
|||
/**
|
||||
* Set the TCK frequency of the ULINK adapter.
|
||||
*
|
||||
* @param speed ???
|
||||
* Because of the way the TCK frequency is set up in the OpenULINK firmware,
|
||||
* there are five different speed settings. To simplify things, the
|
||||
* adapter-specific speed setting value is identical to the TCK frequency in
|
||||
* khz.
|
||||
*
|
||||
* @param speed desired adapter-specific speed value.
|
||||
* @return on success: ERROR_OK
|
||||
* @return on failure: ERROR_FAIL
|
||||
*/
|
||||
static int ulink_speed(int speed)
|
||||
{
|
||||
return ERROR_OK;
|
||||
int dummy;
|
||||
|
||||
return ulink_khz(speed, &dummy);
|
||||
}
|
||||
|
||||
/**
|
||||
* Convert adapter-specific speed value to corresponding TCK frequency in kHz.
|
||||
*
|
||||
* Because of the way the TCK frequency is set up in the OpenULINK firmware,
|
||||
* there are five different speed settings. To simplify things, the
|
||||
* adapter-specific speed setting value is identical to the TCK frequency in
|
||||
* khz.
|
||||
*
|
||||
* @param speed adapter-specific speed value.
|
||||
* @param khz where to store corresponding TCK frequency in kHz.
|
||||
* @return on success: ERROR_OK
|
||||
* @return on failure: ERROR_FAIL
|
||||
*/
|
||||
static int ulink_speed_div(int speed, int *khz)
|
||||
{
|
||||
LOG_INFO("ulink_speed_div: %i", speed);
|
||||
|
||||
switch (speed) {
|
||||
case 0:
|
||||
*khz = 150;
|
||||
break;
|
||||
case 1:
|
||||
*khz = 100;
|
||||
break;
|
||||
}
|
||||
*khz = speed;
|
||||
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue