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Remove FSF address from GPL notices
[openocd.git] / src / jtag / drivers / ftdi.c
blob8f47468b7e2d1f815b3f5336d71861629f68ffad
1 /**************************************************************************
2 * Copyright (C) 2012 by Andreas Fritiofson *
3 * andreas.fritiofson@gmail.com *
4 * *
5 * This program is free software; you can redistribute it and/or modify *
6 * it under the terms of the GNU General Public License as published by *
7 * the Free Software Foundation; either version 2 of the License, or *
8 * (at your option) any later version. *
9 * *
10 * This program is distributed in the hope that it will be useful, *
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13 * GNU General Public License for more details. *
14 * *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
17 ***************************************************************************/
18
19 /**
20 * @file
21 * JTAG adapters based on the FT2232 full and high speed USB parts are
22 * popular low cost JTAG debug solutions. Many FT2232 based JTAG adapters
23 * are discrete, but development boards may integrate them as alternatives
24 * to more capable (and expensive) third party JTAG pods.
25 *
26 * JTAG uses only one of the two communications channels ("MPSSE engines")
27 * on these devices. Adapters based on FT4232 parts have four ports/channels
28 * (A/B/C/D), instead of just two (A/B).
29 *
30 * Especially on development boards integrating one of these chips (as
31 * opposed to discrete pods/dongles), the additional channels can be used
32 * for a variety of purposes, but OpenOCD only uses one channel at a time.
33 *
34 * - As a USB-to-serial adapter for the target's console UART ...
35 * which may be able to support ROM boot loaders that load initial
36 * firmware images to flash (or SRAM).
37 *
38 * - On systems which support ARM's SWD in addition to JTAG, or instead
39 * of it, that second port can be used for reading SWV/SWO trace data.
40 *
41 * - Additional JTAG links, e.g. to a CPLD or * FPGA.
42 *
43 * FT2232 based JTAG adapters are "dumb" not "smart", because most JTAG
44 * request/response interactions involve round trips over the USB link.
45 * A "smart" JTAG adapter has intelligence close to the scan chain, so it
46 * can for example poll quickly for a status change (usually taking on the
47 * order of microseconds not milliseconds) before beginning a queued
48 * transaction which require the previous one to have completed.
49 *
50 * There are dozens of adapters of this type, differing in details which
51 * this driver needs to understand. Those "layout" details are required
52 * as part of FT2232 driver configuration.
53 *
54 * This code uses information contained in the MPSSE specification which was
55 * found here:
56 * http://www.ftdichip.com/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
57 * Hereafter this is called the "MPSSE Spec".
58 *
59 * The datasheet for the ftdichip.com's FT2232D part is here:
60 * http://www.ftdichip.com/Documents/DataSheets/DS_FT2232D.pdf
61 *
62 * Also note the issue with code 0x4b (clock data to TMS) noted in
63 * http://developer.intra2net.com/mailarchive/html/libftdi/2009/msg00292.html
64 * which can affect longer JTAG state paths.
65 */
66
67 #ifdef HAVE_CONFIG_H
68 #include "config.h"
69 #endif
70
71 /* project specific includes */
72 #include <jtag/interface.h>
73 #include <jtag/swd.h>
74 #include <transport/transport.h>
75 #include <helper/time_support.h>
76
77 #if IS_CYGWIN == 1
78 #include <windows.h>
79 #endif
80
81 #include <assert.h>
82
83 /* FTDI access library includes */
84 #include "mpsse.h"
85
86 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
87 #define JTAG_MODE_ALT (LSB_FIRST | NEG_EDGE_IN | NEG_EDGE_OUT)
88 #define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
89
90 static char *ftdi_device_desc;
91 static char *ftdi_serial;
92 static char *ftdi_location;
93 static uint8_t ftdi_channel;
94 static uint8_t ftdi_jtag_mode = JTAG_MODE;
95
96 static bool swd_mode;
97
98 #define MAX_USB_IDS 8
99 /* vid = pid = 0 marks the end of the list */
100 static uint16_t ftdi_vid[MAX_USB_IDS + 1] = { 0 };
101 static uint16_t ftdi_pid[MAX_USB_IDS + 1] = { 0 };
102
103 static struct mpsse_ctx *mpsse_ctx;
104
105 struct signal {
106 const char *name;
107 uint16_t data_mask;
108 uint16_t oe_mask;
109 bool invert_data;
110 bool invert_oe;
111 struct signal *next;
112 };
113
114 static struct signal *signals;
115
116 /* FIXME: Where to store per-instance data? We need an SWD context. */
117 static struct swd_cmd_queue_entry {
118 uint8_t cmd;
119 uint32_t *dst;
120 uint8_t trn_ack_data_parity_trn[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
121 } *swd_cmd_queue;
122 static size_t swd_cmd_queue_length;
123 static size_t swd_cmd_queue_alloced;
124 static int queued_retval;
125 static int freq;
126
127 static uint16_t output;
128 static uint16_t direction;
129 static uint16_t jtag_output_init;
130 static uint16_t jtag_direction_init;
131
132 static int ftdi_swd_switch_seq(enum swd_special_seq seq);
133
134 static struct signal *find_signal_by_name(const char *name)
135 {
136 for (struct signal *sig = signals; sig; sig = sig->next) {
137 if (strcmp(name, sig->name) == 0)
138 return sig;
139 }
140 return NULL;
141 }
142
143 static struct signal *create_signal(const char *name)
144 {
145 struct signal **psig = &signals;
146 while (*psig)
147 psig = &(*psig)->next;
148
149 *psig = calloc(1, sizeof(**psig));
150 if (*psig == NULL)
151 return NULL;
152
153 (*psig)->name = strdup(name);
154 if ((*psig)->name == NULL) {
155 free(*psig);
156 *psig = NULL;
157 }
158 return *psig;
159 }
160
161 static int ftdi_set_signal(const struct signal *s, char value)
162 {
163 bool data;
164 bool oe;
165
166 if (s->data_mask == 0 && s->oe_mask == 0) {
167 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
168 return ERROR_FAIL;
169 }
170 switch (value) {
171 case '0':
172 data = s->invert_data;
173 oe = !s->invert_oe;
174 break;
175 case '1':
176 if (s->data_mask == 0) {
177 LOG_ERROR("interface can't drive '%s' high", s->name);
178 return ERROR_FAIL;
179 }
180 data = !s->invert_data;
181 oe = !s->invert_oe;
182 break;
183 case 'z':
184 case 'Z':
185 if (s->oe_mask == 0) {
186 LOG_ERROR("interface can't tri-state '%s'", s->name);
187 return ERROR_FAIL;
188 }
189 data = s->invert_data;
190 oe = s->invert_oe;
191 break;
192 default:
193 assert(0 && "invalid signal level specifier");
194 return ERROR_FAIL;
195 }
196
197 uint16_t old_output = output;
198 uint16_t old_direction = direction;
199
200 output = data ? output | s->data_mask : output & ~s->data_mask;
201 if (s->oe_mask == s->data_mask)
202 direction = oe ? direction | s->oe_mask : direction & ~s->oe_mask;
203 else
204 output = oe ? output | s->oe_mask : output & ~s->oe_mask;
205
206 if ((output & 0xff) != (old_output & 0xff) || (direction & 0xff) != (old_direction & 0xff))
207 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
208 if ((output >> 8 != old_output >> 8) || (direction >> 8 != old_direction >> 8))
209 mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
210
211 return ERROR_OK;
212 }
213
214
215 /**
216 * Function move_to_state
217 * moves the TAP controller from the current state to a
218 * \a goal_state through a path given by tap_get_tms_path(). State transition
219 * logging is performed by delegation to clock_tms().
220 *
221 * @param goal_state is the destination state for the move.
222 */
223 static void move_to_state(tap_state_t goal_state)
224 {
225 tap_state_t start_state = tap_get_state();
226
227 /* goal_state is 1/2 of a tuple/pair of states which allow convenient
228 lookup of the required TMS pattern to move to this state from the
229 start state.
230 */
231
232 /* do the 2 lookups */
233 uint8_t tms_bits = tap_get_tms_path(start_state, goal_state);
234 int tms_count = tap_get_tms_path_len(start_state, goal_state);
235 assert(tms_count <= 8);
236
237 DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
238
239 /* Track state transitions step by step */
240 for (int i = 0; i < tms_count; i++)
241 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits >> i) & 1));
242
243 mpsse_clock_tms_cs_out(mpsse_ctx,
244 &tms_bits,
245 0,
246 tms_count,
247 false,
248 ftdi_jtag_mode);
249 }
250
251 static int ftdi_speed(int speed)
252 {
253 int retval;
254 retval = mpsse_set_frequency(mpsse_ctx, speed);
255
256 if (retval < 0) {
257 LOG_ERROR("couldn't set FTDI TCK speed");
258 return retval;
259 }
260
261 if (!swd_mode && speed >= 10000000 && ftdi_jtag_mode != JTAG_MODE_ALT)
262 LOG_INFO("ftdi: if you experience problems at higher adapter clocks, try "
263 "the command \"ftdi_tdo_sample_edge falling\"");
264 return ERROR_OK;
265 }
266
267 static int ftdi_speed_div(int speed, int *khz)
268 {
269 *khz = speed / 1000;
270 return ERROR_OK;
271 }
272
273 static int ftdi_khz(int khz, int *jtag_speed)
274 {
275 if (khz == 0 && !mpsse_is_high_speed(mpsse_ctx)) {
276 LOG_DEBUG("RCLK not supported");
277 return ERROR_FAIL;
278 }
279
280 *jtag_speed = khz * 1000;
281 return ERROR_OK;
282 }
283
284 static void ftdi_end_state(tap_state_t state)
285 {
286 if (tap_is_state_stable(state))
287 tap_set_end_state(state);
288 else {
289 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state));
290 exit(-1);
291 }
292 }
293
294 static void ftdi_execute_runtest(struct jtag_command *cmd)
295 {
296 int i;
297 uint8_t zero = 0;
298
299 DEBUG_JTAG_IO("runtest %i cycles, end in %s",
300 cmd->cmd.runtest->num_cycles,
301 tap_state_name(cmd->cmd.runtest->end_state));
302
303 if (tap_get_state() != TAP_IDLE)
304 move_to_state(TAP_IDLE);
305
306 /* TODO: Reuse ftdi_execute_stableclocks */
307 i = cmd->cmd.runtest->num_cycles;
308 while (i > 0) {
309 /* there are no state transitions in this code, so omit state tracking */
310 unsigned this_len = i > 7 ? 7 : i;
311 mpsse_clock_tms_cs_out(mpsse_ctx, &zero, 0, this_len, false, ftdi_jtag_mode);
312 i -= this_len;
313 }
314
315 ftdi_end_state(cmd->cmd.runtest->end_state);
316
317 if (tap_get_state() != tap_get_end_state())
318 move_to_state(tap_get_end_state());
319
320 DEBUG_JTAG_IO("runtest: %i, end in %s",
321 cmd->cmd.runtest->num_cycles,
322 tap_state_name(tap_get_end_state()));
323 }
324
325 static void ftdi_execute_statemove(struct jtag_command *cmd)
326 {
327 DEBUG_JTAG_IO("statemove end in %s",
328 tap_state_name(cmd->cmd.statemove->end_state));
329
330 ftdi_end_state(cmd->cmd.statemove->end_state);
331
332 /* shortest-path move to desired end state */
333 if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET)
334 move_to_state(tap_get_end_state());
335 }
336
337 /**
338 * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
339 * (or SWD) state machine. REVISIT: Not the best method, perhaps.
340 */
341 static void ftdi_execute_tms(struct jtag_command *cmd)
342 {
343 DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
344
345 /* TODO: Missing tap state tracking, also missing from ft2232.c! */
346 mpsse_clock_tms_cs_out(mpsse_ctx,
347 cmd->cmd.tms->bits,
348 0,
349 cmd->cmd.tms->num_bits,
350 false,
351 ftdi_jtag_mode);
352 }
353
354 static void ftdi_execute_pathmove(struct jtag_command *cmd)
355 {
356 tap_state_t *path = cmd->cmd.pathmove->path;
357 int num_states = cmd->cmd.pathmove->num_states;
358
359 DEBUG_JTAG_IO("pathmove: %i states, current: %s end: %s", num_states,
360 tap_state_name(tap_get_state()),
361 tap_state_name(path[num_states-1]));
362
363 int state_count = 0;
364 unsigned bit_count = 0;
365 uint8_t tms_byte = 0;
366
367 DEBUG_JTAG_IO("-");
368
369 /* this loop verifies that the path is legal and logs each state in the path */
370 while (num_states--) {
371
372 /* either TMS=0 or TMS=1 must work ... */
373 if (tap_state_transition(tap_get_state(), false)
374 == path[state_count])
375 buf_set_u32(&tms_byte, bit_count++, 1, 0x0);
376 else if (tap_state_transition(tap_get_state(), true)
377 == path[state_count]) {
378 buf_set_u32(&tms_byte, bit_count++, 1, 0x1);
379
380 /* ... or else the caller goofed BADLY */
381 } else {
382 LOG_ERROR("BUG: %s -> %s isn't a valid "
383 "TAP state transition",
384 tap_state_name(tap_get_state()),
385 tap_state_name(path[state_count]));
386 exit(-1);
387 }
388
389 tap_set_state(path[state_count]);
390 state_count++;
391
392 if (bit_count == 7 || num_states == 0) {
393 mpsse_clock_tms_cs_out(mpsse_ctx,
394 &tms_byte,
395 0,
396 bit_count,
397 false,
398 ftdi_jtag_mode);
399 bit_count = 0;
400 }
401 }
402 tap_set_end_state(tap_get_state());
403 }
404
405 static void ftdi_execute_scan(struct jtag_command *cmd)
406 {
407 DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
408 jtag_scan_type(cmd->cmd.scan));
409
410 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
411 while (cmd->cmd.scan->num_fields > 0
412 && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
413 cmd->cmd.scan->num_fields--;
414 LOG_DEBUG("discarding trailing empty field");
415 }
416
417 if (cmd->cmd.scan->num_fields == 0) {
418 LOG_DEBUG("empty scan, doing nothing");
419 return;
420 }
421
422 if (cmd->cmd.scan->ir_scan) {
423 if (tap_get_state() != TAP_IRSHIFT)
424 move_to_state(TAP_IRSHIFT);
425 } else {
426 if (tap_get_state() != TAP_DRSHIFT)
427 move_to_state(TAP_DRSHIFT);
428 }
429
430 ftdi_end_state(cmd->cmd.scan->end_state);
431
432 struct scan_field *field = cmd->cmd.scan->fields;
433 unsigned scan_size = 0;
434
435 for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
436 scan_size += field->num_bits;
437 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
438 field->in_value ? "in" : "",
439 field->out_value ? "out" : "",
440 i,
441 cmd->cmd.scan->num_fields,
442 field->num_bits);
443
444 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
445 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
446 * movement. This last field can't have length zero, it was checked above. */
447 mpsse_clock_data(mpsse_ctx,
448 field->out_value,
449 0,
450 field->in_value,
451 0,
452 field->num_bits - 1,
453 ftdi_jtag_mode);
454 uint8_t last_bit = 0;
455 if (field->out_value)
456 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
457 uint8_t tms_bits = 0x01;
458 mpsse_clock_tms_cs(mpsse_ctx,
459 &tms_bits,
460 0,
461 field->in_value,
462 field->num_bits - 1,
463 1,
464 last_bit,
465 ftdi_jtag_mode);
466 tap_set_state(tap_state_transition(tap_get_state(), 1));
467 mpsse_clock_tms_cs_out(mpsse_ctx,
468 &tms_bits,
469 1,
470 1,
471 last_bit,
472 ftdi_jtag_mode);
473 tap_set_state(tap_state_transition(tap_get_state(), 0));
474 } else
475 mpsse_clock_data(mpsse_ctx,
476 field->out_value,
477 0,
478 field->in_value,
479 0,
480 field->num_bits,
481 ftdi_jtag_mode);
482 }
483
484 if (tap_get_state() != tap_get_end_state())
485 move_to_state(tap_get_end_state());
486
487 DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
488 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
489 tap_state_name(tap_get_end_state()));
490 }
491
492 static void ftdi_execute_reset(struct jtag_command *cmd)
493 {
494 DEBUG_JTAG_IO("reset trst: %i srst %i",
495 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
496
497 if (cmd->cmd.reset->trst == 1
498 || (cmd->cmd.reset->srst
499 && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
500 tap_set_state(TAP_RESET);
501
502 struct signal *trst = find_signal_by_name("nTRST");
503 if (cmd->cmd.reset->trst == 1) {
504 if (trst)
505 ftdi_set_signal(trst, '0');
506 else
507 LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
508 } else if (trst && jtag_get_reset_config() & RESET_HAS_TRST &&
509 cmd->cmd.reset->trst == 0) {
510 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
511 ftdi_set_signal(trst, 'z');
512 else
513 ftdi_set_signal(trst, '1');
514 }
515
516 struct signal *srst = find_signal_by_name("nSRST");
517 if (cmd->cmd.reset->srst == 1) {
518 if (srst)
519 ftdi_set_signal(srst, '0');
520 else
521 LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
522 } else if (srst && jtag_get_reset_config() & RESET_HAS_SRST &&
523 cmd->cmd.reset->srst == 0) {
524 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
525 ftdi_set_signal(srst, '1');
526 else
527 ftdi_set_signal(srst, 'z');
528 }
529
530 DEBUG_JTAG_IO("trst: %i, srst: %i",
531 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
532 }
533
534 static void ftdi_execute_sleep(struct jtag_command *cmd)
535 {
536 DEBUG_JTAG_IO("sleep %" PRIi32, cmd->cmd.sleep->us);
537
538 mpsse_flush(mpsse_ctx);
539 jtag_sleep(cmd->cmd.sleep->us);
540 DEBUG_JTAG_IO("sleep %" PRIi32 " usec while in %s",
541 cmd->cmd.sleep->us,
542 tap_state_name(tap_get_state()));
543 }
544
545 static void ftdi_execute_stableclocks(struct jtag_command *cmd)
546 {
547 /* this is only allowed while in a stable state. A check for a stable
548 * state was done in jtag_add_clocks()
549 */
550 int num_cycles = cmd->cmd.stableclocks->num_cycles;
551
552 /* 7 bits of either ones or zeros. */
553 uint8_t tms = tap_get_state() == TAP_RESET ? 0x7f : 0x00;
554
555 /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
556 * the correct level and remain there during the scan */
557 while (num_cycles > 0) {
558 /* there are no state transitions in this code, so omit state tracking */
559 unsigned this_len = num_cycles > 7 ? 7 : num_cycles;
560 mpsse_clock_tms_cs_out(mpsse_ctx, &tms, 0, this_len, false, ftdi_jtag_mode);
561 num_cycles -= this_len;
562 }
563
564 DEBUG_JTAG_IO("clocks %i while in %s",
565 cmd->cmd.stableclocks->num_cycles,
566 tap_state_name(tap_get_state()));
567 }
568
569 static void ftdi_execute_command(struct jtag_command *cmd)
570 {
571 switch (cmd->type) {
572 case JTAG_RESET:
573 ftdi_execute_reset(cmd);
574 break;
575 case JTAG_RUNTEST:
576 ftdi_execute_runtest(cmd);
577 break;
578 case JTAG_TLR_RESET:
579 ftdi_execute_statemove(cmd);
580 break;
581 case JTAG_PATHMOVE:
582 ftdi_execute_pathmove(cmd);
583 break;
584 case JTAG_SCAN:
585 ftdi_execute_scan(cmd);
586 break;
587 case JTAG_SLEEP:
588 ftdi_execute_sleep(cmd);
589 break;
590 case JTAG_STABLECLOCKS:
591 ftdi_execute_stableclocks(cmd);
592 break;
593 case JTAG_TMS:
594 ftdi_execute_tms(cmd);
595 break;
596 default:
597 LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd->type);
598 break;
599 }
600 }
601
602 static int ftdi_execute_queue(void)
603 {
604 /* blink, if the current layout has that feature */
605 struct signal *led = find_signal_by_name("LED");
606 if (led)
607 ftdi_set_signal(led, '1');
608
609 for (struct jtag_command *cmd = jtag_command_queue; cmd; cmd = cmd->next) {
610 /* fill the write buffer with the desired command */
611 ftdi_execute_command(cmd);
612 }
613
614 if (led)
615 ftdi_set_signal(led, '0');
616
617 int retval = mpsse_flush(mpsse_ctx);
618 if (retval != ERROR_OK)
619 LOG_ERROR("error while flushing MPSSE queue: %d", retval);
620
621 return retval;
622 }
623
624 static int ftdi_initialize(void)
625 {
626 if (tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRPAUSE) == 7)
627 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
628 else
629 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
630
631 for (int i = 0; ftdi_vid[i] || ftdi_pid[i]; i++) {
632 mpsse_ctx = mpsse_open(&ftdi_vid[i], &ftdi_pid[i], ftdi_device_desc,
633 ftdi_serial, ftdi_location, ftdi_channel);
634 if (mpsse_ctx)
635 break;
636 }
637
638 if (!mpsse_ctx)
639 return ERROR_JTAG_INIT_FAILED;
640
641 output = jtag_output_init;
642 direction = jtag_direction_init;
643
644 if (swd_mode) {
645 struct signal *sig = find_signal_by_name("SWD_EN");
646 if (!sig) {
647 LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
648 return ERROR_JTAG_INIT_FAILED;
649 }
650 /* A dummy SWD_EN would have zero mask */
651 if (sig->data_mask)
652 ftdi_set_signal(sig, '1');
653 }
654
655 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
656 mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
657
658 mpsse_loopback_config(mpsse_ctx, false);
659
660 freq = mpsse_set_frequency(mpsse_ctx, jtag_get_speed_khz() * 1000);
661
662 return mpsse_flush(mpsse_ctx);
663 }
664
665 static int ftdi_quit(void)
666 {
667 mpsse_close(mpsse_ctx);
668
669 free(swd_cmd_queue);
670
671 return ERROR_OK;
672 }
673
674 COMMAND_HANDLER(ftdi_handle_device_desc_command)
675 {
676 if (CMD_ARGC == 1) {
677 if (ftdi_device_desc)
678 free(ftdi_device_desc);
679 ftdi_device_desc = strdup(CMD_ARGV[0]);
680 } else {
681 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
682 }
683
684 return ERROR_OK;
685 }
686
687 COMMAND_HANDLER(ftdi_handle_serial_command)
688 {
689 if (CMD_ARGC == 1) {
690 if (ftdi_serial)
691 free(ftdi_serial);
692 ftdi_serial = strdup(CMD_ARGV[0]);
693 } else {
694 return ERROR_COMMAND_SYNTAX_ERROR;
695 }
696
697 return ERROR_OK;
698 }
699
700 #ifdef HAVE_LIBUSB_GET_PORT_NUMBERS
701 COMMAND_HANDLER(ftdi_handle_location_command)
702 {
703 if (CMD_ARGC == 1) {
704 if (ftdi_location)
705 free(ftdi_location);
706 ftdi_location = strdup(CMD_ARGV[0]);
707 } else {
708 return ERROR_COMMAND_SYNTAX_ERROR;
709 }
710
711 return ERROR_OK;
712 }
713 #endif
714
715 COMMAND_HANDLER(ftdi_handle_channel_command)
716 {
717 if (CMD_ARGC == 1)
718 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], ftdi_channel);
719 else
720 return ERROR_COMMAND_SYNTAX_ERROR;
721
722 return ERROR_OK;
723 }
724
725 COMMAND_HANDLER(ftdi_handle_layout_init_command)
726 {
727 if (CMD_ARGC != 2)
728 return ERROR_COMMAND_SYNTAX_ERROR;
729
730 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], jtag_output_init);
731 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], jtag_direction_init);
732
733 return ERROR_OK;
734 }
735
736 COMMAND_HANDLER(ftdi_handle_layout_signal_command)
737 {
738 if (CMD_ARGC < 1)
739 return ERROR_COMMAND_SYNTAX_ERROR;
740
741 bool invert_data = false;
742 uint16_t data_mask = 0;
743 bool invert_oe = false;
744 uint16_t oe_mask = 0;
745 for (unsigned i = 1; i < CMD_ARGC; i += 2) {
746 if (strcmp("-data", CMD_ARGV[i]) == 0) {
747 invert_data = false;
748 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
749 } else if (strcmp("-ndata", CMD_ARGV[i]) == 0) {
750 invert_data = true;
751 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
752 } else if (strcmp("-oe", CMD_ARGV[i]) == 0) {
753 invert_oe = false;
754 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
755 } else if (strcmp("-noe", CMD_ARGV[i]) == 0) {
756 invert_oe = true;
757 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
758 } else if (!strcmp("-alias", CMD_ARGV[i]) ||
759 !strcmp("-nalias", CMD_ARGV[i])) {
760 if (!strcmp("-nalias", CMD_ARGV[i]))
761 invert_data = true;
762 struct signal *sig = find_signal_by_name(CMD_ARGV[i + 1]);
763 if (!sig) {
764 LOG_ERROR("signal %s is not defined", CMD_ARGV[i + 1]);
765 return ERROR_FAIL;
766 }
767 data_mask = sig->data_mask;
768 oe_mask = sig->oe_mask;
769 invert_oe = sig->invert_oe;
770 invert_data ^= sig->invert_data;
771 } else {
772 LOG_ERROR("unknown option '%s'", CMD_ARGV[i]);
773 return ERROR_COMMAND_SYNTAX_ERROR;
774 }
775 }
776
777 struct signal *sig;
778 sig = find_signal_by_name(CMD_ARGV[0]);
779 if (!sig)
780 sig = create_signal(CMD_ARGV[0]);
781 if (!sig) {
782 LOG_ERROR("failed to create signal %s", CMD_ARGV[0]);
783 return ERROR_FAIL;
784 }
785
786 sig->invert_data = invert_data;
787 sig->data_mask = data_mask;
788 sig->invert_oe = invert_oe;
789 sig->oe_mask = oe_mask;
790
791 return ERROR_OK;
792 }
793
794 COMMAND_HANDLER(ftdi_handle_set_signal_command)
795 {
796 if (CMD_ARGC < 2)
797 return ERROR_COMMAND_SYNTAX_ERROR;
798
799 struct signal *sig;
800 sig = find_signal_by_name(CMD_ARGV[0]);
801 if (!sig) {
802 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
803 return ERROR_FAIL;
804 }
805
806 switch (*CMD_ARGV[1]) {
807 case '0':
808 case '1':
809 case 'z':
810 case 'Z':
811 /* single character level specifier only */
812 if (CMD_ARGV[1][1] == '\0') {
813 ftdi_set_signal(sig, *CMD_ARGV[1]);
814 break;
815 }
816 default:
817 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV[1]);
818 return ERROR_COMMAND_SYNTAX_ERROR;
819 }
820
821 return mpsse_flush(mpsse_ctx);
822 }
823
824 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
825 {
826 if (CMD_ARGC > MAX_USB_IDS * 2) {
827 LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
828 "(maximum is %d pairs)", MAX_USB_IDS);
829 CMD_ARGC = MAX_USB_IDS * 2;
830 }
831 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
832 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
833 if (CMD_ARGC < 2)
834 return ERROR_COMMAND_SYNTAX_ERROR;
835 /* remove the incomplete trailing id */
836 CMD_ARGC -= 1;
837 }
838
839 unsigned i;
840 for (i = 0; i < CMD_ARGC; i += 2) {
841 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], ftdi_vid[i >> 1]);
842 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], ftdi_pid[i >> 1]);
843 }
844
845 /*
846 * Explicitly terminate, in case there are multiples instances of
847 * ftdi_vid_pid.
848 */
849 ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
850
851 return ERROR_OK;
852 }
853
854 COMMAND_HANDLER(ftdi_handle_tdo_sample_edge_command)
855 {
856 Jim_Nvp *n;
857 static const Jim_Nvp nvp_ftdi_jtag_modes[] = {
858 { .name = "rising", .value = JTAG_MODE },
859 { .name = "falling", .value = JTAG_MODE_ALT },
860 { .name = NULL, .value = -1 },
861 };
862
863 if (CMD_ARGC > 0) {
864 n = Jim_Nvp_name2value_simple(nvp_ftdi_jtag_modes, CMD_ARGV[0]);
865 if (n->name == NULL)
866 return ERROR_COMMAND_SYNTAX_ERROR;
867 ftdi_jtag_mode = n->value;
868
869 }
870
871 n = Jim_Nvp_value2name_simple(nvp_ftdi_jtag_modes, ftdi_jtag_mode);
872 command_print(CMD_CTX, "ftdi samples TDO on %s edge of TCK", n->name);
873
874 return ERROR_OK;
875 }
876
877 static const struct command_registration ftdi_command_handlers[] = {
878 {
879 .name = "ftdi_device_desc",
880 .handler = &ftdi_handle_device_desc_command,
881 .mode = COMMAND_CONFIG,
882 .help = "set the USB device description of the FTDI device",
883 .usage = "description_string",
884 },
885 {
886 .name = "ftdi_serial",
887 .handler = &ftdi_handle_serial_command,
888 .mode = COMMAND_CONFIG,
889 .help = "set the serial number of the FTDI device",
890 .usage = "serial_string",
891 },
892 #ifdef HAVE_LIBUSB_GET_PORT_NUMBERS
893 {
894 .name = "ftdi_location",
895 .handler = &ftdi_handle_location_command,
896 .mode = COMMAND_CONFIG,
897 .help = "set the USB bus location of the FTDI device",
898 .usage = "<bus>:port[,port]...",
899 },
900 #endif
901 {
902 .name = "ftdi_channel",
903 .handler = &ftdi_handle_channel_command,
904 .mode = COMMAND_CONFIG,
905 .help = "set the channel of the FTDI device that is used as JTAG",
906 .usage = "(0-3)",
907 },
908 {
909 .name = "ftdi_layout_init",
910 .handler = &ftdi_handle_layout_init_command,
911 .mode = COMMAND_CONFIG,
912 .help = "initialize the FTDI GPIO signals used "
913 "to control output-enables and reset signals",
914 .usage = "data direction",
915 },
916 {
917 .name = "ftdi_layout_signal",
918 .handler = &ftdi_handle_layout_signal_command,
919 .mode = COMMAND_ANY,
920 .help = "define a signal controlled by one or more FTDI GPIO as data "
921 "and/or output enable",
922 .usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
923 },
924 {
925 .name = "ftdi_set_signal",
926 .handler = &ftdi_handle_set_signal_command,
927 .mode = COMMAND_EXEC,
928 .help = "control a layout-specific signal",
929 .usage = "name (1|0|z)",
930 },
931 {
932 .name = "ftdi_vid_pid",
933 .handler = &ftdi_handle_vid_pid_command,
934 .mode = COMMAND_CONFIG,
935 .help = "the vendor ID and product ID of the FTDI device",
936 .usage = "(vid pid)* ",
937 },
938 {
939 .name = "ftdi_tdo_sample_edge",
940 .handler = &ftdi_handle_tdo_sample_edge_command,
941 .mode = COMMAND_ANY,
942 .help = "set which TCK clock edge is used for sampling TDO "
943 "- default is rising-edge (Setting to falling-edge may "
944 "allow signalling speed increase)",
945 .usage = "(rising|falling)",
946 },
947 COMMAND_REGISTRATION_DONE
948 };
949
950 static int create_default_signal(const char *name, uint16_t data_mask)
951 {
952 struct signal *sig = create_signal(name);
953 if (!sig) {
954 LOG_ERROR("failed to create signal %s", name);
955 return ERROR_FAIL;
956 }
957 sig->invert_data = false;
958 sig->data_mask = data_mask;
959 sig->invert_oe = false;
960 sig->oe_mask = 0;
961
962 return ERROR_OK;
963 }
964
965 static int create_signals(void)
966 {
967 if (create_default_signal("TCK", 0x01) != ERROR_OK)
968 return ERROR_FAIL;
969 if (create_default_signal("TDI", 0x02) != ERROR_OK)
970 return ERROR_FAIL;
971 if (create_default_signal("TDO", 0x04) != ERROR_OK)
972 return ERROR_FAIL;
973 if (create_default_signal("TMS", 0x08) != ERROR_OK)
974 return ERROR_FAIL;
975 return ERROR_OK;
976 }
977
978 static int ftdi_swd_init(void)
979 {
980 LOG_INFO("FTDI SWD mode enabled");
981 swd_mode = true;
982
983 if (create_signals() != ERROR_OK)
984 return ERROR_FAIL;
985
986 swd_cmd_queue_alloced = 10;
987 swd_cmd_queue = malloc(swd_cmd_queue_alloced * sizeof(*swd_cmd_queue));
988
989 return swd_cmd_queue != NULL ? ERROR_OK : ERROR_FAIL;
990 }
991
992 static void ftdi_swd_swdio_en(bool enable)
993 {
994 struct signal *oe = find_signal_by_name("SWDIO_OE");
995 if (oe)
996 ftdi_set_signal(oe, enable ? '1' : '0');
997 }
998
999 /**
1000 * Flush the MPSSE queue and process the SWD transaction queue
1001 * @param dap
1002 * @return
1003 */
1004 static int ftdi_swd_run_queue(void)
1005 {
1006 LOG_DEBUG("Executing %zu queued transactions", swd_cmd_queue_length);
1007 int retval;
1008 struct signal *led = find_signal_by_name("LED");
1009
1010 if (queued_retval != ERROR_OK) {
1011 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
1012 goto skip;
1013 }
1014
1015 /* A transaction must be followed by another transaction or at least 8 idle cycles to
1016 * ensure that data is clocked through the AP. */
1017 mpsse_clock_data_out(mpsse_ctx, NULL, 0, 8, SWD_MODE);
1018
1019 /* Terminate the "blink", if the current layout has that feature */
1020 if (led)
1021 ftdi_set_signal(led, '0');
1022
1023 queued_retval = mpsse_flush(mpsse_ctx);
1024 if (queued_retval != ERROR_OK) {
1025 LOG_ERROR("MPSSE failed");
1026 goto skip;
1027 }
1028
1029 for (size_t i = 0; i < swd_cmd_queue_length; i++) {
1030 int ack = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1, 3);
1031
1032 LOG_DEBUG("%s %s %s reg %X = %08"PRIx32,
1033 ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
1034 swd_cmd_queue[i].cmd & SWD_CMD_APnDP ? "AP" : "DP",
1035 swd_cmd_queue[i].cmd & SWD_CMD_RnW ? "read" : "write",
1036 (swd_cmd_queue[i].cmd & SWD_CMD_A32) >> 1,
1037 buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn,
1038 1 + 3 + (swd_cmd_queue[i].cmd & SWD_CMD_RnW ? 0 : 1), 32));
1039
1040 if (ack != SWD_ACK_OK) {
1041 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
1042 goto skip;
1043
1044 } else if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
1045 uint32_t data = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3, 32);
1046 int parity = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 32, 1);
1047
1048 if (parity != parity_u32(data)) {
1049 LOG_ERROR("SWD Read data parity mismatch");
1050 queued_retval = ERROR_FAIL;
1051 goto skip;
1052 }
1053
1054 if (swd_cmd_queue[i].dst != NULL)
1055 *swd_cmd_queue[i].dst = data;
1056 }
1057 }
1058
1059 skip:
1060 swd_cmd_queue_length = 0;
1061 retval = queued_retval;
1062 queued_retval = ERROR_OK;
1063
1064 /* Queue a new "blink" */
1065 if (led && retval == ERROR_OK)
1066 ftdi_set_signal(led, '1');
1067
1068 return retval;
1069 }
1070
1071 static void ftdi_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data, uint32_t ap_delay_clk)
1072 {
1073 if (swd_cmd_queue_length >= swd_cmd_queue_alloced) {
1074 /* Not enough room in the queue. Run the queue and increase its size for next time.
1075 * Note that it's not possible to avoid running the queue here, because mpsse contains
1076 * pointers into the queue which may be invalid after the realloc. */
1077 queued_retval = ftdi_swd_run_queue();
1078 struct swd_cmd_queue_entry *q = realloc(swd_cmd_queue, swd_cmd_queue_alloced * 2 * sizeof(*swd_cmd_queue));
1079 if (q != NULL) {
1080 swd_cmd_queue = q;
1081 swd_cmd_queue_alloced *= 2;
1082 LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced);
1083 }
1084 }
1085
1086 if (queued_retval != ERROR_OK)
1087 return;
1088
1089 size_t i = swd_cmd_queue_length++;
1090 swd_cmd_queue[i].cmd = cmd | SWD_CMD_START | SWD_CMD_PARK;
1091
1092 mpsse_clock_data_out(mpsse_ctx, &swd_cmd_queue[i].cmd, 0, 8, SWD_MODE);
1093
1094 if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
1095 /* Queue a read transaction */
1096 swd_cmd_queue[i].dst = dst;
1097
1098 ftdi_swd_swdio_en(false);
1099 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1100 0, 1 + 3 + 32 + 1 + 1, SWD_MODE);
1101 ftdi_swd_swdio_en(true);
1102 } else {
1103 /* Queue a write transaction */
1104 ftdi_swd_swdio_en(false);
1105
1106 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1107 0, 1 + 3 + 1, SWD_MODE);
1108
1109 ftdi_swd_swdio_en(true);
1110
1111 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1, 32, data);
1112 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1 + 32, 1, parity_u32(data));
1113
1114 mpsse_clock_data_out(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1115 1 + 3 + 1, 32 + 1, SWD_MODE);
1116 }
1117
1118 /* Insert idle cycles after AP accesses to avoid WAIT */
1119 if (cmd & SWD_CMD_APnDP)
1120 mpsse_clock_data_out(mpsse_ctx, NULL, 0, ap_delay_clk, SWD_MODE);
1121
1122 }
1123
1124 static void ftdi_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
1125 {
1126 assert(cmd & SWD_CMD_RnW);
1127 ftdi_swd_queue_cmd(cmd, value, 0, ap_delay_clk);
1128 }
1129
1130 static void ftdi_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
1131 {
1132 assert(!(cmd & SWD_CMD_RnW));
1133 ftdi_swd_queue_cmd(cmd, NULL, value, ap_delay_clk);
1134 }
1135
1136 static int_least32_t ftdi_swd_frequency(int_least32_t hz)
1137 {
1138 if (hz > 0)
1139 freq = mpsse_set_frequency(mpsse_ctx, hz);
1140
1141 return freq;
1142 }
1143
1144 static int ftdi_swd_switch_seq(enum swd_special_seq seq)
1145 {
1146 switch (seq) {
1147 case LINE_RESET:
1148 LOG_DEBUG("SWD line reset");
1149 mpsse_clock_data_out(mpsse_ctx, swd_seq_line_reset, 0, swd_seq_line_reset_len, SWD_MODE);
1150 break;
1151 case JTAG_TO_SWD:
1152 LOG_DEBUG("JTAG-to-SWD");
1153 mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_swd, 0, swd_seq_jtag_to_swd_len, SWD_MODE);
1154 break;
1155 case SWD_TO_JTAG:
1156 LOG_DEBUG("SWD-to-JTAG");
1157 mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_jtag, 0, swd_seq_swd_to_jtag_len, SWD_MODE);
1158 break;
1159 default:
1160 LOG_ERROR("Sequence %d not supported", seq);
1161 return ERROR_FAIL;
1162 }
1163
1164 return ERROR_OK;
1165 }
1166
1167 static const struct swd_driver ftdi_swd = {
1168 .init = ftdi_swd_init,
1169 .frequency = ftdi_swd_frequency,
1170 .switch_seq = ftdi_swd_switch_seq,
1171 .read_reg = ftdi_swd_read_reg,
1172 .write_reg = ftdi_swd_write_reg,
1173 .run = ftdi_swd_run_queue,
1174 };
1175
1176 static const char * const ftdi_transports[] = { "jtag", "swd", NULL };
1177
1178 struct jtag_interface ftdi_interface = {
1179 .name = "ftdi",
1180 .supported = DEBUG_CAP_TMS_SEQ,
1181 .commands = ftdi_command_handlers,
1182 .transports = ftdi_transports,
1183 .swd = &ftdi_swd,
1184
1185 .init = ftdi_initialize,
1186 .quit = ftdi_quit,
1187 .speed = ftdi_speed,
1188 .speed_div = ftdi_speed_div,
1189 .khz = ftdi_khz,
1190 .execute_queue = ftdi_execute_queue,
1191 };
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