1 /**************************************************************************
2 * Copyright (C) 2012 by Andreas Fritiofson *
3 * andreas.fritiofson@gmail.com *
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. *
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. *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program; if not, write to the *
17 * Free Software Foundation, Inc., *
18 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
19 ***************************************************************************/
23 * JTAG adapters based on the FT2232 full and high speed USB parts are
24 * popular low cost JTAG debug solutions. Many FT2232 based JTAG adapters
25 * are discrete, but development boards may integrate them as alternatives
26 * to more capable (and expensive) third party JTAG pods.
28 * JTAG uses only one of the two communications channels ("MPSSE engines")
29 * on these devices. Adapters based on FT4232 parts have four ports/channels
30 * (A/B/C/D), instead of just two (A/B).
32 * Especially on development boards integrating one of these chips (as
33 * opposed to discrete pods/dongles), the additional channels can be used
34 * for a variety of purposes, but OpenOCD only uses one channel at a time.
36 * - As a USB-to-serial adapter for the target's console UART ...
37 * which may be able to support ROM boot loaders that load initial
38 * firmware images to flash (or SRAM).
40 * - On systems which support ARM's SWD in addition to JTAG, or instead
41 * of it, that second port can be used for reading SWV/SWO trace data.
43 * - Additional JTAG links, e.g. to a CPLD or * FPGA.
45 * FT2232 based JTAG adapters are "dumb" not "smart", because most JTAG
46 * request/response interactions involve round trips over the USB link.
47 * A "smart" JTAG adapter has intelligence close to the scan chain, so it
48 * can for example poll quickly for a status change (usually taking on the
49 * order of microseconds not milliseconds) before beginning a queued
50 * transaction which require the previous one to have completed.
52 * There are dozens of adapters of this type, differing in details which
53 * this driver needs to understand. Those "layout" details are required
54 * as part of FT2232 driver configuration.
56 * This code uses information contained in the MPSSE specification which was
58 * http://www.ftdichip.com/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
59 * Hereafter this is called the "MPSSE Spec".
61 * The datasheet for the ftdichip.com's FT2232D part is here:
62 * http://www.ftdichip.com/Documents/DataSheets/DS_FT2232D.pdf
64 * Also note the issue with code 0x4b (clock data to TMS) noted in
65 * http://developer.intra2net.com/mailarchive/html/libftdi/2009/msg00292.html
66 * which can affect longer JTAG state paths.
73 /* project specific includes */
74 #include <jtag/interface.h>
76 #include <transport/transport.h>
77 #include <helper/time_support.h>
85 /* FTDI access library includes */
88 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
89 #define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
91 static char *ftdi_device_desc
;
92 static char *ftdi_serial
;
93 static uint8_t ftdi_channel
;
98 /* vid = pid = 0 marks the end of the list */
99 static uint16_t ftdi_vid
[MAX_USB_IDS
+ 1] = { 0 };
100 static uint16_t ftdi_pid
[MAX_USB_IDS
+ 1] = { 0 };
102 static struct mpsse_ctx
*mpsse_ctx
;
113 static struct signal
*signals
;
115 /* FIXME: Where to store per-instance data? We need an SWD context. */
116 static struct swd_cmd_queue_entry
{
119 uint8_t trn_ack_data_parity_trn
[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
121 static size_t swd_cmd_queue_length
;
122 static size_t swd_cmd_queue_alloced
;
123 static int queued_retval
;
126 static uint16_t output
;
127 static uint16_t direction
;
128 static uint16_t jtag_output_init
;
129 static uint16_t jtag_direction_init
;
131 static int ftdi_swd_switch_seq(struct adiv5_dap
*dap
, enum swd_special_seq seq
);
133 static struct signal
*find_signal_by_name(const char *name
)
135 for (struct signal
*sig
= signals
; sig
; sig
= sig
->next
) {
136 if (strcmp(name
, sig
->name
) == 0)
142 static struct signal
*create_signal(const char *name
)
144 struct signal
**psig
= &signals
;
146 psig
= &(*psig
)->next
;
148 *psig
= calloc(1, sizeof(**psig
));
152 (*psig
)->name
= strdup(name
);
153 if ((*psig
)->name
== NULL
) {
160 static int ftdi_set_signal(const struct signal
*s
, char value
)
165 if (s
->data_mask
== 0 && s
->oe_mask
== 0) {
166 LOG_ERROR("interface doesn't provide signal '%s'", s
->name
);
171 data
= s
->invert_data
;
175 if (s
->data_mask
== 0) {
176 LOG_ERROR("interface can't drive '%s' high", s
->name
);
179 data
= !s
->invert_data
;
184 if (s
->oe_mask
== 0) {
185 LOG_ERROR("interface can't tri-state '%s'", s
->name
);
188 data
= s
->invert_data
;
192 assert(0 && "invalid signal level specifier");
196 uint16_t old_output
= output
;
197 uint16_t old_direction
= direction
;
199 output
= data
? output
| s
->data_mask
: output
& ~s
->data_mask
;
200 if (s
->oe_mask
== s
->data_mask
)
201 direction
= oe
? direction
| s
->oe_mask
: direction
& ~s
->oe_mask
;
203 output
= oe
? output
| s
->oe_mask
: output
& ~s
->oe_mask
;
205 if ((output
& 0xff) != (old_output
& 0xff) || (direction
& 0xff) != (old_direction
& 0xff))
206 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
207 if ((output
>> 8 != old_output
>> 8) || (direction
>> 8 != old_direction
>> 8))
208 mpsse_set_data_bits_high_byte(mpsse_ctx
, output
>> 8, direction
>> 8);
215 * Function move_to_state
216 * moves the TAP controller from the current state to a
217 * \a goal_state through a path given by tap_get_tms_path(). State transition
218 * logging is performed by delegation to clock_tms().
220 * @param goal_state is the destination state for the move.
222 static void move_to_state(tap_state_t goal_state
)
224 tap_state_t start_state
= tap_get_state();
226 /* goal_state is 1/2 of a tuple/pair of states which allow convenient
227 lookup of the required TMS pattern to move to this state from the
231 /* do the 2 lookups */
232 uint8_t tms_bits
= tap_get_tms_path(start_state
, goal_state
);
233 int tms_count
= tap_get_tms_path_len(start_state
, goal_state
);
234 assert(tms_count
<= 8);
236 DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state
), tap_state_name(goal_state
));
238 /* Track state transitions step by step */
239 for (int i
= 0; i
< tms_count
; i
++)
240 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits
>> i
) & 1));
242 mpsse_clock_tms_cs_out(mpsse_ctx
,
250 static int ftdi_speed(int speed
)
253 retval
= mpsse_set_frequency(mpsse_ctx
, speed
);
256 LOG_ERROR("couldn't set FTDI TCK speed");
263 static int ftdi_speed_div(int speed
, int *khz
)
269 static int ftdi_khz(int khz
, int *jtag_speed
)
271 if (khz
== 0 && !mpsse_is_high_speed(mpsse_ctx
)) {
272 LOG_DEBUG("RCLK not supported");
276 *jtag_speed
= khz
* 1000;
280 static void ftdi_end_state(tap_state_t state
)
282 if (tap_is_state_stable(state
))
283 tap_set_end_state(state
);
285 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state
));
290 static void ftdi_execute_runtest(struct jtag_command
*cmd
)
295 DEBUG_JTAG_IO("runtest %i cycles, end in %s",
296 cmd
->cmd
.runtest
->num_cycles
,
297 tap_state_name(cmd
->cmd
.runtest
->end_state
));
299 if (tap_get_state() != TAP_IDLE
)
300 move_to_state(TAP_IDLE
);
302 /* TODO: Reuse ftdi_execute_stableclocks */
303 i
= cmd
->cmd
.runtest
->num_cycles
;
305 /* there are no state transitions in this code, so omit state tracking */
306 unsigned this_len
= i
> 7 ? 7 : i
;
307 mpsse_clock_tms_cs_out(mpsse_ctx
, &zero
, 0, this_len
, false, JTAG_MODE
);
311 ftdi_end_state(cmd
->cmd
.runtest
->end_state
);
313 if (tap_get_state() != tap_get_end_state())
314 move_to_state(tap_get_end_state());
316 DEBUG_JTAG_IO("runtest: %i, end in %s",
317 cmd
->cmd
.runtest
->num_cycles
,
318 tap_state_name(tap_get_end_state()));
321 static void ftdi_execute_statemove(struct jtag_command
*cmd
)
323 DEBUG_JTAG_IO("statemove end in %s",
324 tap_state_name(cmd
->cmd
.statemove
->end_state
));
326 ftdi_end_state(cmd
->cmd
.statemove
->end_state
);
328 /* shortest-path move to desired end state */
329 if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET
)
330 move_to_state(tap_get_end_state());
334 * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
335 * (or SWD) state machine. REVISIT: Not the best method, perhaps.
337 static void ftdi_execute_tms(struct jtag_command
*cmd
)
339 DEBUG_JTAG_IO("TMS: %d bits", cmd
->cmd
.tms
->num_bits
);
341 /* TODO: Missing tap state tracking, also missing from ft2232.c! */
342 mpsse_clock_tms_cs_out(mpsse_ctx
,
345 cmd
->cmd
.tms
->num_bits
,
350 static void ftdi_execute_pathmove(struct jtag_command
*cmd
)
352 tap_state_t
*path
= cmd
->cmd
.pathmove
->path
;
353 int num_states
= cmd
->cmd
.pathmove
->num_states
;
355 DEBUG_JTAG_IO("pathmove: %i states, current: %s end: %s", num_states
,
356 tap_state_name(tap_get_state()),
357 tap_state_name(path
[num_states
-1]));
360 unsigned bit_count
= 0;
361 uint8_t tms_byte
= 0;
365 /* this loop verifies that the path is legal and logs each state in the path */
366 while (num_states
--) {
368 /* either TMS=0 or TMS=1 must work ... */
369 if (tap_state_transition(tap_get_state(), false)
370 == path
[state_count
])
371 buf_set_u32(&tms_byte
, bit_count
++, 1, 0x0);
372 else if (tap_state_transition(tap_get_state(), true)
373 == path
[state_count
]) {
374 buf_set_u32(&tms_byte
, bit_count
++, 1, 0x1);
376 /* ... or else the caller goofed BADLY */
378 LOG_ERROR("BUG: %s -> %s isn't a valid "
379 "TAP state transition",
380 tap_state_name(tap_get_state()),
381 tap_state_name(path
[state_count
]));
385 tap_set_state(path
[state_count
]);
388 if (bit_count
== 7 || num_states
== 0) {
389 mpsse_clock_tms_cs_out(mpsse_ctx
,
398 tap_set_end_state(tap_get_state());
401 static void ftdi_execute_scan(struct jtag_command
*cmd
)
403 DEBUG_JTAG_IO("%s type:%d", cmd
->cmd
.scan
->ir_scan
? "IRSCAN" : "DRSCAN",
404 jtag_scan_type(cmd
->cmd
.scan
));
406 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
407 while (cmd
->cmd
.scan
->num_fields
> 0
408 && cmd
->cmd
.scan
->fields
[cmd
->cmd
.scan
->num_fields
- 1].num_bits
== 0) {
409 cmd
->cmd
.scan
->num_fields
--;
410 LOG_DEBUG("discarding trailing empty field");
413 if (cmd
->cmd
.scan
->num_fields
== 0) {
414 LOG_DEBUG("empty scan, doing nothing");
418 if (cmd
->cmd
.scan
->ir_scan
) {
419 if (tap_get_state() != TAP_IRSHIFT
)
420 move_to_state(TAP_IRSHIFT
);
422 if (tap_get_state() != TAP_DRSHIFT
)
423 move_to_state(TAP_DRSHIFT
);
426 ftdi_end_state(cmd
->cmd
.scan
->end_state
);
428 struct scan_field
*field
= cmd
->cmd
.scan
->fields
;
429 unsigned scan_size
= 0;
431 for (int i
= 0; i
< cmd
->cmd
.scan
->num_fields
; i
++, field
++) {
432 scan_size
+= field
->num_bits
;
433 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
434 field
->in_value
? "in" : "",
435 field
->out_value
? "out" : "",
437 cmd
->cmd
.scan
->num_fields
,
440 if (i
== cmd
->cmd
.scan
->num_fields
- 1 && tap_get_state() != tap_get_end_state()) {
441 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
442 * movement. This last field can't have length zero, it was checked above. */
443 mpsse_clock_data(mpsse_ctx
,
450 uint8_t last_bit
= 0;
451 if (field
->out_value
)
452 bit_copy(&last_bit
, 0, field
->out_value
, field
->num_bits
- 1, 1);
453 uint8_t tms_bits
= 0x01;
454 mpsse_clock_tms_cs(mpsse_ctx
,
462 tap_set_state(tap_state_transition(tap_get_state(), 1));
463 mpsse_clock_tms_cs_out(mpsse_ctx
,
469 tap_set_state(tap_state_transition(tap_get_state(), 0));
471 mpsse_clock_data(mpsse_ctx
,
480 if (tap_get_state() != tap_get_end_state())
481 move_to_state(tap_get_end_state());
483 DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
484 (cmd
->cmd
.scan
->ir_scan
) ? "IR" : "DR", scan_size
,
485 tap_state_name(tap_get_end_state()));
488 static void ftdi_execute_reset(struct jtag_command
*cmd
)
490 DEBUG_JTAG_IO("reset trst: %i srst %i",
491 cmd
->cmd
.reset
->trst
, cmd
->cmd
.reset
->srst
);
493 if (cmd
->cmd
.reset
->trst
== 1
494 || (cmd
->cmd
.reset
->srst
495 && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST
)))
496 tap_set_state(TAP_RESET
);
498 struct signal
*trst
= find_signal_by_name("nTRST");
499 if (cmd
->cmd
.reset
->trst
== 1) {
501 ftdi_set_signal(trst
, '0');
503 LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
504 } else if (trst
&& jtag_get_reset_config() & RESET_HAS_TRST
&&
505 cmd
->cmd
.reset
->trst
== 0) {
506 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN
)
507 ftdi_set_signal(trst
, 'z');
509 ftdi_set_signal(trst
, '1');
512 struct signal
*srst
= find_signal_by_name("nSRST");
513 if (cmd
->cmd
.reset
->srst
== 1) {
515 ftdi_set_signal(srst
, '0');
517 LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
518 } else if (srst
&& jtag_get_reset_config() & RESET_HAS_SRST
&&
519 cmd
->cmd
.reset
->srst
== 0) {
520 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL
)
521 ftdi_set_signal(srst
, '1');
523 ftdi_set_signal(srst
, 'z');
526 DEBUG_JTAG_IO("trst: %i, srst: %i",
527 cmd
->cmd
.reset
->trst
, cmd
->cmd
.reset
->srst
);
530 static void ftdi_execute_sleep(struct jtag_command
*cmd
)
532 DEBUG_JTAG_IO("sleep %" PRIi32
, cmd
->cmd
.sleep
->us
);
534 mpsse_flush(mpsse_ctx
);
535 jtag_sleep(cmd
->cmd
.sleep
->us
);
536 DEBUG_JTAG_IO("sleep %" PRIi32
" usec while in %s",
538 tap_state_name(tap_get_state()));
541 static void ftdi_execute_stableclocks(struct jtag_command
*cmd
)
543 /* this is only allowed while in a stable state. A check for a stable
544 * state was done in jtag_add_clocks()
546 int num_cycles
= cmd
->cmd
.stableclocks
->num_cycles
;
548 /* 7 bits of either ones or zeros. */
549 uint8_t tms
= tap_get_state() == TAP_RESET
? 0x7f : 0x00;
551 /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
552 * the correct level and remain there during the scan */
553 while (num_cycles
> 0) {
554 /* there are no state transitions in this code, so omit state tracking */
555 unsigned this_len
= num_cycles
> 7 ? 7 : num_cycles
;
556 mpsse_clock_tms_cs_out(mpsse_ctx
, &tms
, 0, this_len
, false, JTAG_MODE
);
557 num_cycles
-= this_len
;
560 DEBUG_JTAG_IO("clocks %i while in %s",
561 cmd
->cmd
.stableclocks
->num_cycles
,
562 tap_state_name(tap_get_state()));
565 static void ftdi_execute_command(struct jtag_command
*cmd
)
569 ftdi_execute_reset(cmd
);
572 ftdi_execute_runtest(cmd
);
575 ftdi_execute_statemove(cmd
);
578 ftdi_execute_pathmove(cmd
);
581 ftdi_execute_scan(cmd
);
584 ftdi_execute_sleep(cmd
);
586 case JTAG_STABLECLOCKS
:
587 ftdi_execute_stableclocks(cmd
);
590 ftdi_execute_tms(cmd
);
593 LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd
->type
);
598 static int ftdi_execute_queue(void)
600 /* blink, if the current layout has that feature */
601 struct signal
*led
= find_signal_by_name("LED");
603 ftdi_set_signal(led
, '1');
605 for (struct jtag_command
*cmd
= jtag_command_queue
; cmd
; cmd
= cmd
->next
) {
606 /* fill the write buffer with the desired command */
607 ftdi_execute_command(cmd
);
611 ftdi_set_signal(led
, '0');
613 int retval
= mpsse_flush(mpsse_ctx
);
614 if (retval
!= ERROR_OK
)
615 LOG_ERROR("error while flushing MPSSE queue: %d", retval
);
620 static int ftdi_initialize(void)
622 if (tap_get_tms_path_len(TAP_IRPAUSE
, TAP_IRPAUSE
) == 7)
623 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
625 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
627 for (int i
= 0; ftdi_vid
[i
] || ftdi_pid
[i
]; i
++) {
628 mpsse_ctx
= mpsse_open(&ftdi_vid
[i
], &ftdi_pid
[i
], ftdi_device_desc
,
629 ftdi_serial
, ftdi_channel
);
635 return ERROR_JTAG_INIT_FAILED
;
637 output
= jtag_output_init
;
638 direction
= jtag_direction_init
;
641 struct signal
*sig
= find_signal_by_name("SWD_EN");
643 LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
644 return ERROR_JTAG_INIT_FAILED
;
646 /* A dummy SWD_EN would have zero mask */
648 ftdi_set_signal(sig
, '1');
651 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
652 mpsse_set_data_bits_high_byte(mpsse_ctx
, output
>> 8, direction
>> 8);
654 mpsse_loopback_config(mpsse_ctx
, false);
656 freq
= mpsse_set_frequency(mpsse_ctx
, jtag_get_speed_khz() * 1000);
658 return mpsse_flush(mpsse_ctx
);
661 static int ftdi_quit(void)
663 mpsse_close(mpsse_ctx
);
668 COMMAND_HANDLER(ftdi_handle_device_desc_command
)
671 if (ftdi_device_desc
)
672 free(ftdi_device_desc
);
673 ftdi_device_desc
= strdup(CMD_ARGV
[0]);
675 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
681 COMMAND_HANDLER(ftdi_handle_serial_command
)
686 ftdi_serial
= strdup(CMD_ARGV
[0]);
688 return ERROR_COMMAND_SYNTAX_ERROR
;
694 COMMAND_HANDLER(ftdi_handle_channel_command
)
697 COMMAND_PARSE_NUMBER(u8
, CMD_ARGV
[0], ftdi_channel
);
699 return ERROR_COMMAND_SYNTAX_ERROR
;
704 COMMAND_HANDLER(ftdi_handle_layout_init_command
)
707 return ERROR_COMMAND_SYNTAX_ERROR
;
709 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[0], jtag_output_init
);
710 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[1], jtag_direction_init
);
715 COMMAND_HANDLER(ftdi_handle_layout_signal_command
)
718 return ERROR_COMMAND_SYNTAX_ERROR
;
720 bool invert_data
= false;
721 uint16_t data_mask
= 0;
722 bool invert_oe
= false;
723 uint16_t oe_mask
= 0;
724 for (unsigned i
= 1; i
< CMD_ARGC
; i
+= 2) {
725 if (strcmp("-data", CMD_ARGV
[i
]) == 0) {
727 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], data_mask
);
728 } else if (strcmp("-ndata", CMD_ARGV
[i
]) == 0) {
730 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], data_mask
);
731 } else if (strcmp("-oe", CMD_ARGV
[i
]) == 0) {
733 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], oe_mask
);
734 } else if (strcmp("-noe", CMD_ARGV
[i
]) == 0) {
736 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], oe_mask
);
737 } else if (!strcmp("-alias", CMD_ARGV
[i
]) ||
738 !strcmp("-nalias", CMD_ARGV
[i
])) {
739 if (!strcmp("-nalias", CMD_ARGV
[i
]))
741 struct signal
*sig
= find_signal_by_name(CMD_ARGV
[i
+ 1]);
743 LOG_ERROR("signal %s is not defined", CMD_ARGV
[i
+ 1]);
746 data_mask
= sig
->data_mask
;
747 oe_mask
= sig
->oe_mask
;
748 invert_oe
= sig
->invert_oe
;
749 invert_data
^= sig
->invert_data
;
751 LOG_ERROR("unknown option '%s'", CMD_ARGV
[i
]);
752 return ERROR_COMMAND_SYNTAX_ERROR
;
757 sig
= find_signal_by_name(CMD_ARGV
[0]);
759 sig
= create_signal(CMD_ARGV
[0]);
761 LOG_ERROR("failed to create signal %s", CMD_ARGV
[0]);
765 sig
->invert_data
= invert_data
;
766 sig
->data_mask
= data_mask
;
767 sig
->invert_oe
= invert_oe
;
768 sig
->oe_mask
= oe_mask
;
773 COMMAND_HANDLER(ftdi_handle_set_signal_command
)
776 return ERROR_COMMAND_SYNTAX_ERROR
;
779 sig
= find_signal_by_name(CMD_ARGV
[0]);
781 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV
[0]);
785 switch (*CMD_ARGV
[1]) {
790 /* single character level specifier only */
791 if (CMD_ARGV
[1][1] == '\0') {
792 ftdi_set_signal(sig
, *CMD_ARGV
[1]);
796 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV
[1]);
797 return ERROR_COMMAND_SYNTAX_ERROR
;
800 return mpsse_flush(mpsse_ctx
);
803 COMMAND_HANDLER(ftdi_handle_vid_pid_command
)
805 if (CMD_ARGC
> MAX_USB_IDS
* 2) {
806 LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
807 "(maximum is %d pairs)", MAX_USB_IDS
);
808 CMD_ARGC
= MAX_USB_IDS
* 2;
810 if (CMD_ARGC
< 2 || (CMD_ARGC
& 1)) {
811 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
813 return ERROR_COMMAND_SYNTAX_ERROR
;
814 /* remove the incomplete trailing id */
819 for (i
= 0; i
< CMD_ARGC
; i
+= 2) {
820 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
], ftdi_vid
[i
>> 1]);
821 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], ftdi_pid
[i
>> 1]);
825 * Explicitly terminate, in case there are multiples instances of
828 ftdi_vid
[i
>> 1] = ftdi_pid
[i
>> 1] = 0;
833 static const struct command_registration ftdi_command_handlers
[] = {
835 .name
= "ftdi_device_desc",
836 .handler
= &ftdi_handle_device_desc_command
,
837 .mode
= COMMAND_CONFIG
,
838 .help
= "set the USB device description of the FTDI device",
839 .usage
= "description_string",
842 .name
= "ftdi_serial",
843 .handler
= &ftdi_handle_serial_command
,
844 .mode
= COMMAND_CONFIG
,
845 .help
= "set the serial number of the FTDI device",
846 .usage
= "serial_string",
849 .name
= "ftdi_channel",
850 .handler
= &ftdi_handle_channel_command
,
851 .mode
= COMMAND_CONFIG
,
852 .help
= "set the channel of the FTDI device that is used as JTAG",
856 .name
= "ftdi_layout_init",
857 .handler
= &ftdi_handle_layout_init_command
,
858 .mode
= COMMAND_CONFIG
,
859 .help
= "initialize the FTDI GPIO signals used "
860 "to control output-enables and reset signals",
861 .usage
= "data direction",
864 .name
= "ftdi_layout_signal",
865 .handler
= &ftdi_handle_layout_signal_command
,
867 .help
= "define a signal controlled by one or more FTDI GPIO as data "
868 "and/or output enable",
869 .usage
= "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
872 .name
= "ftdi_set_signal",
873 .handler
= &ftdi_handle_set_signal_command
,
874 .mode
= COMMAND_EXEC
,
875 .help
= "control a layout-specific signal",
876 .usage
= "name (1|0|z)",
879 .name
= "ftdi_vid_pid",
880 .handler
= &ftdi_handle_vid_pid_command
,
881 .mode
= COMMAND_CONFIG
,
882 .help
= "the vendor ID and product ID of the FTDI device",
883 .usage
= "(vid pid)* ",
885 COMMAND_REGISTRATION_DONE
888 static int create_default_signal(const char *name
, uint16_t data_mask
)
890 struct signal
*sig
= create_signal(name
);
892 LOG_ERROR("failed to create signal %s", name
);
895 sig
->invert_data
= false;
896 sig
->data_mask
= data_mask
;
897 sig
->invert_oe
= false;
903 static int create_signals(void)
905 if (create_default_signal("TCK", 0x01) != ERROR_OK
)
907 if (create_default_signal("TDI", 0x02) != ERROR_OK
)
909 if (create_default_signal("TDO", 0x04) != ERROR_OK
)
911 if (create_default_signal("TMS", 0x08) != ERROR_OK
)
916 static int ftdi_swd_init(void)
918 LOG_INFO("FTDI SWD mode enabled");
921 if (create_signals() != ERROR_OK
)
924 swd_cmd_queue_alloced
= 10;
925 swd_cmd_queue
= malloc(swd_cmd_queue_alloced
* sizeof(*swd_cmd_queue
));
927 return swd_cmd_queue
!= NULL
? ERROR_OK
: ERROR_FAIL
;
930 static void ftdi_swd_swdio_en(bool enable
)
932 struct signal
*oe
= find_signal_by_name("SWDIO_OE");
934 ftdi_set_signal(oe
, enable
? '1' : '0');
938 * Flush the MPSSE queue and process the SWD transaction queue
942 static int ftdi_swd_run_queue(struct adiv5_dap
*dap
)
944 LOG_DEBUG("Executing %zu queued transactions", swd_cmd_queue_length
);
946 struct signal
*led
= find_signal_by_name("LED");
948 if (queued_retval
!= ERROR_OK
) {
949 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval
);
953 /* A transaction must be followed by another transaction or at least 8 idle cycles to
954 * ensure that data is clocked through the AP. */
955 mpsse_clock_data_out(mpsse_ctx
, NULL
, 0, 8, SWD_MODE
);
957 /* Terminate the "blink", if the current layout has that feature */
959 ftdi_set_signal(led
, '0');
961 queued_retval
= mpsse_flush(mpsse_ctx
);
962 if (queued_retval
!= ERROR_OK
) {
963 LOG_ERROR("MPSSE failed");
967 for (size_t i
= 0; i
< swd_cmd_queue_length
; i
++) {
968 int ack
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1, 3);
970 LOG_DEBUG("%s %s %s reg %X = %08"PRIx32
,
971 ack
== SWD_ACK_OK
? "OK" : ack
== SWD_ACK_WAIT
? "WAIT" : ack
== SWD_ACK_FAULT
? "FAULT" : "JUNK",
972 swd_cmd_queue
[i
].cmd
& SWD_CMD_APnDP
? "AP" : "DP",
973 swd_cmd_queue
[i
].cmd
& SWD_CMD_RnW
? "read" : "write",
974 (swd_cmd_queue
[i
].cmd
& SWD_CMD_A32
) >> 1,
975 buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
976 1 + 3 + (swd_cmd_queue
[i
].cmd
& SWD_CMD_RnW
? 0 : 1), 32));
978 if (ack
!= SWD_ACK_OK
) {
979 queued_retval
= ack
== SWD_ACK_WAIT
? ERROR_WAIT
: ERROR_FAIL
;
982 } else if (swd_cmd_queue
[i
].cmd
& SWD_CMD_RnW
) {
983 uint32_t data
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3, 32);
984 int parity
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 32, 1);
986 if (parity
!= parity_u32(data
)) {
987 LOG_ERROR("SWD Read data parity mismatch");
988 queued_retval
= ERROR_FAIL
;
992 if (swd_cmd_queue
[i
].dst
!= NULL
)
993 *swd_cmd_queue
[i
].dst
= data
;
998 swd_cmd_queue_length
= 0;
999 retval
= queued_retval
;
1000 queued_retval
= ERROR_OK
;
1002 /* Queue a new "blink" */
1003 if (led
&& retval
== ERROR_OK
)
1004 ftdi_set_signal(led
, '1');
1009 static void ftdi_swd_queue_cmd(struct adiv5_dap
*dap
, uint8_t cmd
, uint32_t *dst
, uint32_t data
)
1011 if (swd_cmd_queue_length
>= swd_cmd_queue_alloced
) {
1012 /* Not enough room in the queue. Run the queue and increase its size for next time.
1013 * Note that it's not possible to avoid running the queue here, because mpsse contains
1014 * pointers into the queue which may be invalid after the realloc. */
1015 queued_retval
= ftdi_swd_run_queue(dap
);
1016 struct swd_cmd_queue_entry
*q
= realloc(swd_cmd_queue
, swd_cmd_queue_alloced
* 2 * sizeof(*swd_cmd_queue
));
1019 swd_cmd_queue_alloced
*= 2;
1020 LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced
);
1024 if (queued_retval
!= ERROR_OK
)
1027 size_t i
= swd_cmd_queue_length
++;
1028 swd_cmd_queue
[i
].cmd
= cmd
| SWD_CMD_START
| SWD_CMD_PARK
;
1030 mpsse_clock_data_out(mpsse_ctx
, &swd_cmd_queue
[i
].cmd
, 0, 8, SWD_MODE
);
1032 if (swd_cmd_queue
[i
].cmd
& SWD_CMD_RnW
) {
1033 /* Queue a read transaction */
1034 swd_cmd_queue
[i
].dst
= dst
;
1036 ftdi_swd_swdio_en(false);
1037 mpsse_clock_data_in(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1038 0, 1 + 3 + 32 + 1 + 1, SWD_MODE
);
1039 ftdi_swd_swdio_en(true);
1041 /* Queue a write transaction */
1042 ftdi_swd_swdio_en(false);
1044 mpsse_clock_data_in(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1045 0, 1 + 3 + 1, SWD_MODE
);
1047 ftdi_swd_swdio_en(true);
1049 buf_set_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 1, 32, data
);
1050 buf_set_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 1 + 32, 1, parity_u32(data
));
1052 mpsse_clock_data_out(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1053 1 + 3 + 1, 32 + 1, SWD_MODE
);
1056 /* Insert idle cycles after AP accesses to avoid WAIT */
1057 if (cmd
& SWD_CMD_APnDP
)
1058 mpsse_clock_data_out(mpsse_ctx
, NULL
, 0, dap
->memaccess_tck
, SWD_MODE
);
1062 static void ftdi_swd_read_reg(struct adiv5_dap
*dap
, uint8_t cmd
, uint32_t *value
)
1064 assert(cmd
& SWD_CMD_RnW
);
1065 ftdi_swd_queue_cmd(dap
, cmd
, value
, 0);
1068 static void ftdi_swd_write_reg(struct adiv5_dap
*dap
, uint8_t cmd
, uint32_t value
)
1070 assert(!(cmd
& SWD_CMD_RnW
));
1071 ftdi_swd_queue_cmd(dap
, cmd
, NULL
, value
);
1074 static int_least32_t ftdi_swd_frequency(struct adiv5_dap
*dap
, int_least32_t hz
)
1077 freq
= mpsse_set_frequency(mpsse_ctx
, hz
);
1082 static int ftdi_swd_switch_seq(struct adiv5_dap
*dap
, enum swd_special_seq seq
)
1086 LOG_DEBUG("SWD line reset");
1087 mpsse_clock_data_out(mpsse_ctx
, swd_seq_line_reset
, 0, swd_seq_line_reset_len
, SWD_MODE
);
1090 LOG_DEBUG("JTAG-to-SWD");
1091 mpsse_clock_data_out(mpsse_ctx
, swd_seq_jtag_to_swd
, 0, swd_seq_jtag_to_swd_len
, SWD_MODE
);
1094 LOG_DEBUG("SWD-to-JTAG");
1095 mpsse_clock_data_out(mpsse_ctx
, swd_seq_swd_to_jtag
, 0, swd_seq_swd_to_jtag_len
, SWD_MODE
);
1098 LOG_ERROR("Sequence %d not supported", seq
);
1105 static const struct swd_driver ftdi_swd
= {
1106 .init
= ftdi_swd_init
,
1107 .frequency
= ftdi_swd_frequency
,
1108 .switch_seq
= ftdi_swd_switch_seq
,
1109 .read_reg
= ftdi_swd_read_reg
,
1110 .write_reg
= ftdi_swd_write_reg
,
1111 .run
= ftdi_swd_run_queue
,
1114 static const char * const ftdi_transports
[] = { "jtag", "swd", NULL
};
1116 struct jtag_interface ftdi_interface
= {
1118 .supported
= DEBUG_CAP_TMS_SEQ
,
1119 .commands
= ftdi_command_handlers
,
1120 .transports
= ftdi_transports
,
1123 .init
= ftdi_initialize
,
1125 .speed
= ftdi_speed
,
1126 .speed_div
= ftdi_speed_div
,
1128 .execute_queue
= ftdi_execute_queue
,