angie.c

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// SPDX-License-Identifier: GPL-2.0-or-later
/****************************************************************************
 * File : angie.c
 * Contents : Driver code for NanoXplore USB-JTAG ANGIE
 * adapter hardware.
 * Based on FT232R driver code by: Serge Vakulenko
 *
 * Copyright 2024, Ahmed BOUDJELIDA, NanoXplore SAS.
 * <aboudjelida@nanoxplore.com>
 ****************************************************************************/
 
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
 
#if IS_CYGWIN == 1
#include "windows.h"
#undef LOG_ERROR
#endif
 
// project specific includes
#include <jtag/adapter.h>
#include <jtag/interface.h>
#include <jtag/commands.h>
#include <helper/time_support.h>
#include "libusb_helper.h"
#include <target/image.h>
#include <libusb.h>
 
// system includes
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/time.h>
#include <time.h>
 
/*
 * Sync bit bang mode is implemented as described in FTDI Application
 * Note AN232R-01: "Bit Bang Modes for the ANGIE and FT245R".
 */
 
#define IN_EP   0x84
#define OUT_EP  0x02
 
#define CPUCS_REG       0xE600
 
#define REQUEST_FIRMWARE_LOAD   0xA0
 
#define CPU_RESET       0x01
 
#define CPU_START       0x00
 
#define FIRMWARE_ADDR   0x0000
 
#define ANGIE_RENUMERATION_DELAY_US 800000
 
#define ANGIE_FIRMWARE_FILE PKGDATADIR "/angie/angie_firmware.bin"
 
#define ANGIE_BITSTREAM_FILE    PKGDATADIR "/angie/angie_bitstream.bit"
 
#define ANGIE_FW_SECTION_SIZE   16384
 
#define VR_CFGOPEN              0xB0
#define VR_DATAOUTOPEN          0xB2
 
#define ANGIE_VID               0x584E /* NX Vendor id */
#define ANGIE_NPROG_PID         0x424E /* ANGIE non programmed */
#define ANGIE_PROG_OOCD_PID     0x414F /* ANGIE programmed OpenOCD */
#define ANGIE_PROG_NXB2_PID     0x4a55 /* ANGIE programmed Nxbase2 */
 
#define TCK_GPIO        0
#define TDI_GPIO        1
#define TDO_GPIO        2
#define TMS_GPIO        3
#define NTRST_GPIO      4
#define NSYSRST_GPIO    6
 
#define ANGIE_XFER_BUFFER_TOTAL_SIZE (16 * 1024)
#define ANGIE_USB_BULK_SIZE 512
 
#define ANGIE_USB_TIMEOUT_MS    1000
 
struct read_queue {
    struct list_head list;
};
 
struct read_queue_entry {
    const struct scan_command *cmd;
    int reply_buffer_offset;
    uint8_t *buffer;
    struct list_head list;
};
 
struct angie {
    struct libusb_device_handle *usbdev;
    uint8_t xfer_buffer[ANGIE_XFER_BUFFER_TOTAL_SIZE];
    size_t xfer_buffer_len;
    uint8_t reply_buffer[ANGIE_XFER_BUFFER_TOTAL_SIZE];
    size_t  reply_buffer_len;
    struct read_queue read_queue;
};
 
struct angie *angie_handle;
 
static void angie_read_queue_init(struct read_queue *queue)
{
    INIT_LIST_HEAD(&queue->list);
}
 
 
static void angie_read_queue_add(struct read_queue *queue,
                                 struct read_queue_entry *entry)
{
    list_add_tail(&entry->list, &queue->list);
}
 
static void angie_read_queue_execute(struct read_queue *queue,
                                     struct angie *device)
{
    struct read_queue_entry *entry;
    struct read_queue_entry *tmp;
 
    list_for_each_entry_safe(entry, tmp, &queue->list, list) {
        int scan_size = jtag_scan_size(entry->cmd);
 
        // iterate over each bit in scan data
        for (int bit_cnt = 0; bit_cnt < scan_size; bit_cnt++) {
            // calculate byte index
            int bytec = bit_cnt / 8;
            // calculate bit mask: isolate the specific bit in corresponding byte
            int bcval = 1 << (bit_cnt % 8);
            // extract tdo value using index: "bit0_index + bit_cnt*2 + 1"
            int val = device->reply_buffer[entry->reply_buffer_offset + bit_cnt * 2 + 1];
            if (val & (1 << TDO_GPIO))
                entry->buffer[bytec] |= bcval;
            else
                entry->buffer[bytec] &= ~bcval;
        }
 
        jtag_read_buffer(entry->buffer, entry->cmd);
 
        list_del(&entry->list);
        free(entry->buffer);
        free(entry);
    }
}
 
static void angie_read_queue_clean(struct read_queue *queue)
{
    struct read_queue_entry *entry;
    struct read_queue_entry *tmp;
 
    list_for_each_entry_safe(entry, tmp, &queue->list, list) {
        list_del(&entry->list);
        free(entry->buffer);
        free(entry);
    }
}
 
static int angie_buffer_flush_chunk(struct angie *device,
                                    int xfer_size,
                                    int offset,
                                    int *bytes_sent)
{
    uint8_t gpifcnt[4];
    int sent_chunk_size = 0, bytes_received = 0;
 
    if (bytes_sent)
        *bytes_sent = 0;
 
    h_u32_to_be(gpifcnt, xfer_size);
 
    int ret = jtag_libusb_control_transfer(device->usbdev,
        LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
        VR_DATAOUTOPEN, 0, 0, (char *)gpifcnt, sizeof(gpifcnt),
        ANGIE_USB_TIMEOUT_MS, NULL);
    if (ret != ERROR_OK) {
        LOG_ERROR("Failed to send GPIF count to target");
        return ret;
    }
 
    ret = jtag_libusb_bulk_write(device->usbdev, OUT_EP,
                            (char *)device->xfer_buffer + offset,
                            xfer_size, ANGIE_USB_TIMEOUT_MS, &sent_chunk_size);
    if (ret != ERROR_OK) {
        LOG_ERROR("USB bulk transfer failed");
        return ret;
    }
 
    ret = jtag_libusb_bulk_read(device->usbdev, IN_EP,
                        (char *)device->reply_buffer + offset,
                        sent_chunk_size, ANGIE_USB_TIMEOUT_MS, &bytes_received);
    if (ret != ERROR_OK) {
        LOG_ERROR("Failed to read USB reply");
        return ret;
    }
 
    if (sent_chunk_size == xfer_size && bytes_received == xfer_size) {
        device->reply_buffer_len += xfer_size;
        device->xfer_buffer_len -= xfer_size;
        if (bytes_sent)
            *bytes_sent += sent_chunk_size;
    } else {
        return ERROR_FAIL;
    }
 
    return ERROR_OK;
}
 
static int angie_buffer_flush(struct angie *device)
{
    if (device->xfer_buffer_len == 0)
        return ERROR_OK;
 
    int total_bytes_sent = 0;
    device->reply_buffer_len = 0;
 
    do {
        int sent_chunk_size;
        size_t xfer_size = MIN(device->xfer_buffer_len, ANGIE_USB_BULK_SIZE);
        int ret = angie_buffer_flush_chunk(device, xfer_size,
                total_bytes_sent, &sent_chunk_size);
        if (ret != ERROR_OK)
            return ret;
        total_bytes_sent += sent_chunk_size;
    } while (device->xfer_buffer_len > 0);
 
    angie_read_queue_execute(&device->read_queue, device);
 
    return ERROR_OK;
}
 
static int angie_buffer_flush_check(struct angie *device, size_t size)
{
    if (device->xfer_buffer_len + size >= ANGIE_XFER_BUFFER_TOTAL_SIZE)
        return angie_buffer_flush(device);
    return ERROR_OK;
}
 
static int angie_buffer_append_simple(struct angie *device, uint8_t value)
{
    if (device->xfer_buffer_len >= ANGIE_XFER_BUFFER_TOTAL_SIZE) {
        int ret = angie_buffer_flush(device);
        if (ret != ERROR_OK)
            return ret;
    }
    device->xfer_buffer[device->xfer_buffer_len++] = value;
    return ERROR_OK;
}
 
static int angie_buffer_append(struct angie *device, int tck, int tms, int tdi)
{
    uint8_t val = (1 << NTRST_GPIO) | (1 << NSYSRST_GPIO);
    if (tck)
        val |= (1 << TCK_GPIO);
    if (tms)
        val |= (1 << TMS_GPIO);
    if (tdi)
        val |= (1 << TDI_GPIO);
 
    return angie_buffer_append_simple(device, val);
}
 
static int angie_usb_open(struct angie *device)
{
    uint16_t avids[] = {
        ANGIE_VID,
        ANGIE_VID,
        ANGIE_VID,
        0,
    };
    uint16_t apids[] = {
        ANGIE_NPROG_PID,
        ANGIE_PROG_OOCD_PID,
        ANGIE_PROG_NXB2_PID,
        0,
    };
    struct libusb_device_handle *usb_dev;
 
    int ret = jtag_libusb_open(avids, apids, NULL, &usb_dev, NULL);
    if (ret != ERROR_OK) {
        LOG_ERROR("Failed to open ANGIE USB interface");
        return ret;
    }
 
    device->usbdev = usb_dev;
 
    return ERROR_OK;
}
 
static int angie_usb_close(struct angie *device)
{
    int ret = ERROR_OK;
 
    if (device->usbdev) {
        if (libusb_release_interface(device->usbdev, 0) != LIBUSB_SUCCESS) {
            LOG_ERROR("Could not release interface 0");
            ret = ERROR_FAIL;
        }
 
        jtag_libusb_close(device->usbdev);
        device->usbdev = NULL;
    }
 
    return ret;
}
 
static int angie_cpu_reset(struct angie *device, char reset_bit)
{
    return jtag_libusb_control_transfer(device->usbdev,
        LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
        REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1,
        ANGIE_USB_TIMEOUT_MS, NULL);
}
 
static int angie_write_firmware_section(struct angie *device, uint16_t address,
                                        uint8_t *data, size_t size)
{
    int bytes_remaining = size;
 
    // Send section data in chunks of up to 64 bytes to ANGIE
    while (bytes_remaining > 0) {
        int chunk_size;
        int transferred;
 
        if (bytes_remaining > 64)
            chunk_size = 64;
        else
            chunk_size = bytes_remaining;
 
        int ret = jtag_libusb_control_transfer(device->usbdev,
            LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
            REQUEST_FIRMWARE_LOAD, address, FIRMWARE_ADDR, (char *)data,
            chunk_size, ANGIE_USB_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;
        address += chunk_size;
        data += chunk_size;
    }
 
    return ERROR_OK;
}
 
static int angie_load_firmware(struct angie *device, const char *filename)
{
    struct image angie_firmware_image;
 
    int 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;
    }
 
    uint8_t *data = malloc(ANGIE_FW_SECTION_SIZE);
    if (!data) {
        LOG_ERROR("Out of memory");
        return ERROR_FAIL;
    }
 
    // Download all sections in the image to ANGIE
    for (unsigned int i = 0; i < angie_firmware_image.num_sections; i++) {
        size_t size_read;
        uint32_t size = angie_firmware_image.sections[i].size;
        int addr = angie_firmware_image.sections[i].base_address;
 
        LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04" PRIx32 ")",
            i, addr, size);
 
        ret = image_read_section(&angie_firmware_image, i, 0,
                        size, data, &size_read);
        if (ret != ERROR_OK)
            goto exit;
        if (size_read != size) {
            ret = ERROR_FAIL;
            goto exit;
        }
 
        ret = angie_write_firmware_section(device, addr, data, size);
        if (ret != ERROR_OK) {
            LOG_ERROR("Could not write firmware section");
            goto exit;
        }
    }
 
    image_close(&angie_firmware_image);
 
    ret = angie_cpu_reset(device, CPU_START);
    if (ret != ERROR_OK) {
        LOG_ERROR("Could not restart ANGIE CPU");
        goto exit;
    }
 
exit:
    free(data);
    return ret;
}
 
static int angie_load_firmware_and_renumerate(struct angie *device,
                                              const char *filename,
                                              uint32_t delay_us)
{
    /*
     * 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.
     */
 
    int 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;
 
    if (libusb_claim_interface(angie_handle->usbdev, 0) != LIBUSB_SUCCESS)
        return ERROR_FAIL;
 
    return ERROR_OK;
}
 
static int angie_load_bitstream(struct angie *device, const char *filename)
{
    int ret = ERROR_OK, transferred;
    const char *bitstream_file_path = filename;
    FILE *bitstream_file = NULL;
    char *bitstream_data = NULL;
    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);
        ret = ERROR_FAIL;
        goto exit;
    }
 
    // Get the size of the bitstream file
    fseek(bitstream_file, 0, SEEK_END);
    size_t 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.");
        ret = ERROR_FAIL;
        goto exit;
    }
 
    // 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.");
        ret = ERROR_FAIL;
        goto exit;
    }
 
    // CFG Open
    h_u32_to_be(gpifcnt, bitstream_size);
    ret = jtag_libusb_control_transfer(device->usbdev,
        LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
        VR_CFGOPEN, 0, 0, (char *)gpifcnt, sizeof(gpifcnt),
        ANGIE_USB_TIMEOUT_MS, &transferred);
    if (ret != ERROR_OK) {
        LOG_ERROR("Failed opencfg");
        goto exit;
    }
 
    // Send the bitstream data to the microcontroller
    int actual_length = 0;
    ret = jtag_libusb_bulk_write(device->usbdev, OUT_EP, bitstream_data,
            bitstream_size, ANGIE_USB_TIMEOUT_MS, &actual_length);
    if (ret != ERROR_OK) {
        LOG_ERROR("Failed to send bitstream data: %s", libusb_strerror(ret));
        goto exit;
    }
 
    LOG_INFO("Bitstream sent successfully.");
 
exit:
    free(bitstream_data);
    if (bitstream_file)
        fclose(bitstream_file);
 
    return ret;
}
 
static bool angie_is_firmware_needed(struct angie *device)
{
    struct libusb_device_descriptor desc;
 
    // Get String Descriptor to determine if firmware needs to be loaded
    int ret = libusb_get_device_descriptor(libusb_get_device(angie_handle->usbdev),
                                        &desc);
    if (ret != LIBUSB_SUCCESS)
        // Could not get descriptor -> Unconfigured or original Keil firmware
        return true;
    else if (desc.idProduct != ANGIE_PROG_OOCD_PID)
        return true;
 
    return false;
}
 
static void angie_set_end_state(enum tap_state 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 int angie_state_move(struct angie *device, int skip)
{
    int ret;
    int tms = 0;
    uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
    int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 
    // tms_scan has 8 bits that we bitbang one by one
    for (int i = skip; i < tms_count; i++) {
        tms = (tms_scan >> i) & 1;
        ret = angie_buffer_append(device, 0, tms, 0);
        if (ret != ERROR_OK)
            return ret;
        ret = angie_buffer_append(device, 1, tms, 0);
        if (ret != ERROR_OK)
            return ret;
    }
    ret = angie_buffer_append(device, 0, tms, 0);
    if (ret != ERROR_OK)
        return ret;
 
    tap_set_state(tap_get_end_state());
 
    return ERROR_OK;
}
 
static int angie_jtag_scan_size(struct angie *device,
                                const struct scan_command *cmd)
{
    int cmd_size = 0;
    int count = 0;
 
    // move to TAP_IRSHIFT or TAP_DRSHIFT state
    if (cmd->ir_scan)
        count = tap_get_tms_path_len(tap_get_state(), TAP_IRSHIFT);
    else
        count = tap_get_tms_path_len(tap_get_state(), TAP_DRSHIFT);
    cmd_size += count * 2 + 1;
 
    // add scan size
    cmd_size += jtag_scan_size(cmd) * 2;
 
    /*
     * move to cmd specified end state
     * Also, see below function
     * we *KNOW* the above loop transitioned out of
     * the shift state, so we skip the first state
     * and move directly to the end state.
     */
    if (cmd->ir_scan)
        count = tap_get_tms_path_len(TAP_IRSHIFT, cmd->end_state) - 1;
    else
        count = tap_get_tms_path_len(TAP_DRSHIFT, cmd->end_state) - 1;
    cmd_size += count * 2 + 1;
 
    return cmd_size;
}
 
static int angie_jtag_execute_scan(struct angie *device,
                                   const struct scan_command *cmd)
{
    uint8_t *buffer = NULL;
    LOG_DEBUG_IO("SCAN: size=%d %s scan end in %s", jtag_scan_size(cmd),
            (cmd->ir_scan) ? "IR" : "DR", tap_state_name(cmd->end_state));
 
    if (cmd->ir_scan) {
        if (tap_get_state() != TAP_IRSHIFT)
            angie_set_end_state(TAP_IRSHIFT);
    } else {
        if (tap_get_state() != TAP_DRSHIFT)
            angie_set_end_state(TAP_DRSHIFT);
    }
    int ret = angie_state_move(device, 0);
    if (ret != ERROR_OK)
        return ret;
    angie_set_end_state(cmd->end_state);
 
    // Execute scan
    int scan_size = jtag_build_buffer(cmd, &buffer);
    enum scan_type type = jtag_scan_type(cmd);
 
    // starting byte index
    int start_offset = device->xfer_buffer_len;
 
    // iterate over each bit in all scan data
    int tms = 0;
    int tdi = 0;
    for (int i = 0; i < scan_size; i++) {
        // calculate tms
        // if we finish shifting tdi bits : '1' , else '0'
        tms = (i == scan_size - 1) ? 1 : 0;
        // calculate byte index
        int bytec = i / 8;
        // calculate bit mask: isolate the specific bit in corresponding byte
        int bcval = 1 << (i % 8);
        // if type is not SCAN_IN (not just reading data)
        // and the bit masked is '1' then tdi = '1'
        tdi = 0;
        if (type != SCAN_IN && (buffer[bytec] & bcval))
            tdi = 1;
        // write tdi and tms twice in tck=0 and tck=1
        ret = angie_buffer_append(device, 0, tms, tdi);
        if (ret != ERROR_OK)
            return ret;
        ret = angie_buffer_append(device, 1, tms, tdi);
        if (ret != ERROR_OK)
            return ret;
    }
 
    angie_set_end_state(cmd->end_state);
    if (tap_get_state() != tap_get_end_state()) {
        /*
         * We *KNOW* the above loop transitioned out of
         * the shift state, so we skip the first state
         * and move directly to the end state.
         */
        ret = angie_state_move(device, 1);
        if (ret != ERROR_OK)
            return ret;
    }
 
    if (jtag_scan_type(cmd) != SCAN_OUT) {
        // queue read back buffer for further processing
        struct read_queue_entry *entry = malloc(sizeof(*entry));
        if (!entry) {
            LOG_ERROR("Out of memory");
            free(buffer);
            return ERROR_FAIL;
        }
 
        entry->reply_buffer_offset = start_offset;
        entry->cmd = cmd;
        entry->buffer = buffer;
        angie_read_queue_add(&device->read_queue, entry);
    } else {
        // built buffer won't be of later use
        free(buffer);
    }
 
    return ERROR_OK;
}
 
static int angie_jtag_runtest_size(struct angie *device,
                                   const struct runtest_command *cmd)
{
    int cmd_size = 0;
 
    if (tap_get_state() != TAP_IDLE)
        cmd_size += tap_get_tms_path_len(tap_get_state(), TAP_IDLE) * 2 + 1;
    cmd_size += cmd->num_cycles * 2 + 1;
    if (tap_get_end_state() != TAP_IDLE)
        cmd_size += tap_get_tms_path_len(TAP_IDLE, tap_get_end_state()) * 2 + 1;
 
    return cmd_size;
}
 
static int angie_jtag_execute_runtest(struct angie *device,
                                      const struct runtest_command *cmd)
{
    int ret;
    enum tap_state saved_end_state = tap_get_end_state();
 
    LOG_DEBUG_IO("RUNTEST: %d cycles", cmd->num_cycles);
 
    // only do a state_move when we're not already in IDLE
    if (tap_get_state() != TAP_IDLE) {
        angie_set_end_state(TAP_IDLE);
        ret = angie_state_move(device, 0);
        if (ret != ERROR_OK)
            return ret;
    }
 
    // execute num_cycles
    for (unsigned int i = 0; i < cmd->num_cycles; i++) {
        ret = angie_buffer_append(device, 0, 0, 0);
        if (ret != ERROR_OK)
            return ret;
        ret = angie_buffer_append(device, 1, 0, 0);
        if (ret != ERROR_OK)
            return ret;
    }
    ret = angie_buffer_append(device, 0, 0, 0);
    if (ret != ERROR_OK)
        return ret;
 
    // finish in end_state
    angie_set_end_state(saved_end_state);
    if (tap_get_state() != tap_get_end_state()) {
        ret = angie_state_move(device, 0);
        if (ret != ERROR_OK)
            return ret;
    }
 
    return ERROR_OK;
}
 
static int angie_jtag_execute_tms(struct angie *device,
                                  const struct tms_command *cmd)
{
    unsigned int num_bits = cmd->num_bits;
    const uint8_t *bits = cmd->bits;
 
    LOG_DEBUG_IO("TMS: %d bits", num_bits);
 
    int tms = 0;
    for (unsigned int i = 0; i < num_bits; i++) {
        tms = ((bits[i / 8] >> (i % 8)) & 1);
        int ret = angie_buffer_append(device, 0, tms, 0);
        if (ret != ERROR_OK)
            return ret;
        ret = angie_buffer_append(device, 1, tms, 0);
        if (ret != ERROR_OK)
            return ret;
    }
 
    return angie_buffer_append(device, 0, tms, 0);
}
 
static int angie_jtag_execute_reset(struct angie *device,
                                    const struct reset_command *cmd)
{
    LOG_DEBUG_IO("RESET: trst %i srst %i", cmd->trst, cmd->srst);
 
    uint8_t out_value = (1 << NTRST_GPIO) | (1 << NSYSRST_GPIO);
    if (cmd->trst == 1 ||
        (cmd->srst && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
        tap_set_state(TAP_RESET);
 
    if (cmd->trst == 1)
        out_value &= ~(1 << NTRST_GPIO);        // switch /TRST low
    else if (cmd->trst == 0)
        out_value |= (1 << NTRST_GPIO);         // switch /TRST high
 
    if (cmd->srst == 1)
        out_value &= ~(1 << NSYSRST_GPIO);      // switch /SYSRST low
    else if (cmd->srst == 0)
        out_value |= (1 << NSYSRST_GPIO);       // switch /SYSRST high
 
    return angie_buffer_append_simple(device, out_value);
}
 
static int angie_jtag_execute_stableclocks(struct angie *device,
                                           const struct stableclocks_command *cmd)
{
    int tms = (tap_get_state() == TAP_RESET ? 1 : 0);
 
    // send num_cycles clocks onto the cable
    for (unsigned int i = 0; i < cmd->num_cycles; i++) {
        int ret = angie_buffer_append(device, 1, tms, 0);
        if (ret != ERROR_OK)
            return ret;
        ret = angie_buffer_append(device, 0, tms, 0);
        if (ret != ERROR_OK)
            return ret;
    }
 
    LOG_DEBUG_IO("clocks %i while in %s", cmd->num_cycles,
        tap_state_name(tap_get_state()));
 
    return ERROR_OK;
}
 
static int angie_jtag_execute_statemove(struct angie *device,
                                        const struct statemove_command *cmd)
{
    LOG_DEBUG_IO("statemove end in %s", tap_state_name(cmd->end_state));
    angie_set_end_state(cmd->end_state);
    return angie_state_move(device, 0);
}
 
static int angie_jtag_execute_pathmove(struct angie *device,
                                       const struct pathmove_command *cmd)
{
    int ret;
    int num_states = cmd->num_states;
    int tms = 0;
 
    LOG_DEBUG_IO("pathmove: %i states, end in %s", cmd->num_states,
              tap_state_name(cmd->path[cmd->num_states - 1]));
 
    int state_count = 0;
    while (num_states) {
        if (tap_state_transition(tap_get_state(), false) == cmd->path[state_count]) {
            tms = 0;
        } else if (tap_state_transition(tap_get_state(), true) == cmd->path[state_count]) {
            tms = 1;
        } 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]));
            return ERROR_JTAG_DEVICE_ERROR;
        }
 
        ret = angie_buffer_append(device, 0, tms, 0);
        if (ret != ERROR_OK)
            return ret;
        ret = angie_buffer_append(device, 1, tms, 0);
        if (ret != ERROR_OK)
            return ret;
 
        tap_set_state(cmd->path[state_count]);
        state_count++;
        num_states--;
    }
    ret = angie_buffer_append(device, 0, tms, 0);
    if (ret != ERROR_OK)
        return ret;
 
    tap_set_end_state(tap_get_state());
 
    return ERROR_OK;
}
 
static size_t angie_cmd_size(struct angie *device, const struct jtag_command *cmd)
{
    switch (cmd->type) {
    case JTAG_SCAN:
        return angie_jtag_scan_size(device, cmd->cmd.scan);
    case JTAG_TMS:
        return cmd->cmd.tms->num_bits + 2 + 1;
    case JTAG_RESET:
        return 1;
    case JTAG_RUNTEST:
        return angie_jtag_runtest_size(device, cmd->cmd.runtest);
    case JTAG_STABLECLOCKS:
        return cmd->cmd.stableclocks->num_cycles * 2;
    case JTAG_TLR_RESET: // renamed from JTAG_STATEMOVE
        return tap_get_tms_path_len(tap_get_state(),
                            cmd->cmd.statemove->end_state) * 2 + 1;
    case JTAG_PATHMOVE:
        return cmd->cmd.pathmove->num_states * 2 + 1;
    case JTAG_SLEEP:
        LOG_DEBUG_IO("sleep %" PRIu32, cmd->cmd.sleep->us);
        return 0;
    default:
        LOG_ERROR("BUG: unknown JTAG command type encountered");
        return 0;
    }
}
 
static int angie_jtag_execute_queue(struct jtag_command *cmd_queue)
{
    int retval = ERROR_OK;
    struct jtag_command *cmd = cmd_queue;
    struct angie *device = angie_handle;
 
    while (cmd) {
        retval = angie_buffer_flush_check(device, angie_cmd_size(device, cmd));
        if (retval != ERROR_OK)
            return retval;
 
        switch (cmd->type) {
        case JTAG_SCAN:
            retval = angie_jtag_execute_scan(device, cmd->cmd.scan);
            if (retval != ERROR_OK)
                return retval;
            break;
        case JTAG_TMS:
            retval = angie_jtag_execute_tms(device, cmd->cmd.tms);
            if (retval != ERROR_OK)
                return retval;
            retval = angie_buffer_flush(device);
            if (retval != ERROR_OK)
                return retval;
            break;
        case JTAG_RESET:
            angie_jtag_execute_reset(device, cmd->cmd.reset);
            retval = angie_buffer_flush(device);
            if (retval != ERROR_OK)
                return retval;
            break;
        case JTAG_RUNTEST:
            retval = angie_jtag_execute_runtest(device, cmd->cmd.runtest);
            if (retval != ERROR_OK)
                return retval;
            break;
        case JTAG_STABLECLOCKS:
            /* this is only allowed while in a stable state.  A check for a stable
             * state was done in jtag_add_clocks()
             */
            retval = angie_jtag_execute_stableclocks(device, cmd->cmd.stableclocks);
            if (retval != ERROR_OK)
                return retval;
            retval = angie_buffer_flush(device);
            if (retval != ERROR_OK)
                return retval;
            break;
        case JTAG_TLR_RESET: // renamed from JTAG_STATEMOVE
            retval = angie_jtag_execute_statemove(device, cmd->cmd.statemove);
            if (retval != ERROR_OK)
                return retval;
            retval = angie_buffer_flush(device);
            if (retval != ERROR_OK)
                return retval;
            break;
        case JTAG_PATHMOVE:
            retval = angie_jtag_execute_pathmove(device, cmd->cmd.pathmove);
            if (retval != ERROR_OK)
                return retval;
            retval = angie_buffer_flush(device);
            if (retval != ERROR_OK)
                return retval;
            break;
        case JTAG_SLEEP:
            LOG_DEBUG_IO("sleep %" PRIu32, cmd->cmd.sleep->us);
            jtag_sleep(cmd->cmd.sleep->us);
            break;
        default:
            LOG_ERROR("BUG: unknown JTAG command type encountered");
            break;
        }
 
        cmd = cmd->next;
    }
 
    return angie_buffer_flush(device);
}
 
static int angie_quit(void)
{
    if (!angie_handle)
        return ERROR_OK;
 
    int ret = angie_usb_close(angie_handle);
    if (ret != ERROR_OK)
        return ret;
 
    angie_read_queue_clean(&angie_handle->read_queue);
 
    free(angie_handle);
    angie_handle = NULL;
 
    return ERROR_OK;
}
 
static int angie_init(void)
{
    int ret;
 
    angie_handle = calloc(1, sizeof(*angie_handle));
    if (!angie_handle) {
        ret = ERROR_FAIL;
        goto exit;
    }
 
    angie_read_queue_init(&angie_handle->read_queue);
 
    ret = angie_usb_open(angie_handle);
    if (ret != ERROR_OK)
        goto exit;
 
    if (angie_is_firmware_needed(angie_handle)) {
        LOG_INFO("Loading ANGIE firmware. This is reversible by power-cycling ANGIE device.");
 
        ret = libusb_claim_interface(angie_handle->usbdev, 0);
        if (ret != LIBUSB_SUCCESS) {
            LOG_ERROR("Failed to claim interface 0");
            ret = ERROR_FAIL;
            goto exit;
        }
 
        ret = angie_load_firmware_and_renumerate(angie_handle,
                                           ANGIE_FIRMWARE_FILE,
                                           ANGIE_RENUMERATION_DELAY_US);
        if (ret != ERROR_OK) {
            LOG_ERROR("Could not download firmware and re-numerate ANGIE");
            angie_quit();
            return ret;
        }
 
        ret = angie_load_bitstream(angie_handle, ANGIE_BITSTREAM_FILE);
        if (ret != ERROR_OK) {
            LOG_ERROR("Could not download bitstream");
            angie_quit();
            return ret;
        }
    } else {
        LOG_INFO("ANGIE device is already running ANGIE firmware");
    }
 
    return ERROR_OK;
exit:
    angie_quit();
    return ret;
}
 
static int angie_speed(int divisor)
{
    int baud = (divisor == 0) ? 3000000 :
        (divisor == 1) ? 2000000 :
        3000000 / divisor;
    LOG_DEBUG("angie speed(%d) rate %d bits/sec", divisor, baud);
 
    return ERROR_OK;
}
 
static int angie_khz(int khz, int *divisor)
{
    if (khz == 0) {
        LOG_DEBUG("RCLK not supported");
        return ERROR_FAIL;
    }
 
    // Calculate frequency divisor.
    if (khz > 2500) {
        *divisor = 0;       // Special case: 3 MHz
    } else if (khz > 1700) {
        *divisor = 1;       // Special case: 2 MHz
    } else {
        *divisor = (2 * 3000 / khz + 1) / 2;
        if (*divisor > 0x3FFF)
            *divisor = 0x3FFF;
    }
    return ERROR_OK;
}
 
static int angie_speed_div(int divisor, int *khz)
{
    // Maximum 3 Mbaud for bit bang mode
    if (divisor == 0)
        *khz = 30000;
    else if (divisor == 1)
        *khz = 20000;
    else
        *khz = 30000 / divisor;
    return ERROR_OK;
}
 
static struct jtag_interface angie_interface = {
    .supported = DEBUG_CAP_TMS_SEQ,
    .execute_queue = angie_jtag_execute_queue,
};
 
struct adapter_driver angie_adapter_driver = {
    .name = "angie",
    .transport_ids = TRANSPORT_JTAG,
    .transport_preferred_id = TRANSPORT_JTAG,
 
    .init = angie_init,
    .quit = angie_quit,
    .speed = angie_speed,
    .khz = angie_khz,
    .speed_div = angie_speed_div,
 
    .jtag_ops = &angie_interface,
};