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
;
130 static uint16_t swd_output_init
;
131 static uint16_t swd_direction_init
;
133 static int ftdi_swd_switch_seq(struct adiv5_dap
*dap
, enum swd_special_seq seq
);
135 static struct signal
*find_signal_by_name(const char *name
)
137 for (struct signal
*sig
= signals
; sig
; sig
= sig
->next
) {
138 if (strcmp(name
, sig
->name
) == 0)
144 static struct signal
*create_signal(const char *name
)
146 struct signal
**psig
= &signals
;
148 psig
= &(*psig
)->next
;
150 *psig
= calloc(1, sizeof(**psig
));
154 (*psig
)->name
= strdup(name
);
155 if ((*psig
)->name
== NULL
) {
162 static int ftdi_set_signal(const struct signal
*s
, char value
)
167 if (s
->data_mask
== 0 && s
->oe_mask
== 0) {
168 LOG_ERROR("interface doesn't provide signal '%s'", s
->name
);
173 data
= s
->invert_data
;
177 if (s
->data_mask
== 0) {
178 LOG_ERROR("interface can't drive '%s' high", s
->name
);
181 data
= !s
->invert_data
;
186 if (s
->oe_mask
== 0) {
187 LOG_ERROR("interface can't tri-state '%s'", s
->name
);
190 data
= s
->invert_data
;
194 assert(0 && "invalid signal level specifier");
198 uint16_t old_output
= output
;
199 uint16_t old_direction
= direction
;
201 output
= data
? output
| s
->data_mask
: output
& ~s
->data_mask
;
202 if (s
->oe_mask
== s
->data_mask
)
203 direction
= oe
? direction
| s
->oe_mask
: direction
& ~s
->oe_mask
;
205 output
= oe
? output
| s
->oe_mask
: output
& ~s
->oe_mask
;
207 if ((output
& 0xff) != (old_output
& 0xff) || (direction
& 0xff) != (old_direction
& 0xff))
208 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
209 if ((output
>> 8 != old_output
>> 8) || (direction
>> 8 != old_direction
>> 8))
210 mpsse_set_data_bits_high_byte(mpsse_ctx
, output
>> 8, direction
>> 8);
217 * Function move_to_state
218 * moves the TAP controller from the current state to a
219 * \a goal_state through a path given by tap_get_tms_path(). State transition
220 * logging is performed by delegation to clock_tms().
222 * @param goal_state is the destination state for the move.
224 static void move_to_state(tap_state_t goal_state
)
226 tap_state_t start_state
= tap_get_state();
228 /* goal_state is 1/2 of a tuple/pair of states which allow convenient
229 lookup of the required TMS pattern to move to this state from the
233 /* do the 2 lookups */
234 uint8_t tms_bits
= tap_get_tms_path(start_state
, goal_state
);
235 int tms_count
= tap_get_tms_path_len(start_state
, goal_state
);
236 assert(tms_count
<= 8);
238 DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state
), tap_state_name(goal_state
));
240 /* Track state transitions step by step */
241 for (int i
= 0; i
< tms_count
; i
++)
242 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits
>> i
) & 1));
244 mpsse_clock_tms_cs_out(mpsse_ctx
,
252 static int ftdi_speed(int speed
)
255 retval
= mpsse_set_frequency(mpsse_ctx
, speed
);
258 LOG_ERROR("couldn't set FTDI TCK speed");
265 static int ftdi_speed_div(int speed
, int *khz
)
271 static int ftdi_khz(int khz
, int *jtag_speed
)
273 if (khz
== 0 && !mpsse_is_high_speed(mpsse_ctx
)) {
274 LOG_DEBUG("RCLK not supported");
278 *jtag_speed
= khz
* 1000;
282 static void ftdi_end_state(tap_state_t state
)
284 if (tap_is_state_stable(state
))
285 tap_set_end_state(state
);
287 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state
));
292 static void ftdi_execute_runtest(struct jtag_command
*cmd
)
297 DEBUG_JTAG_IO("runtest %i cycles, end in %s",
298 cmd
->cmd
.runtest
->num_cycles
,
299 tap_state_name(cmd
->cmd
.runtest
->end_state
));
301 if (tap_get_state() != TAP_IDLE
)
302 move_to_state(TAP_IDLE
);
304 /* TODO: Reuse ftdi_execute_stableclocks */
305 i
= cmd
->cmd
.runtest
->num_cycles
;
307 /* there are no state transitions in this code, so omit state tracking */
308 unsigned this_len
= i
> 7 ? 7 : i
;
309 mpsse_clock_tms_cs_out(mpsse_ctx
, &zero
, 0, this_len
, false, JTAG_MODE
);
313 ftdi_end_state(cmd
->cmd
.runtest
->end_state
);
315 if (tap_get_state() != tap_get_end_state())
316 move_to_state(tap_get_end_state());
318 DEBUG_JTAG_IO("runtest: %i, end in %s",
319 cmd
->cmd
.runtest
->num_cycles
,
320 tap_state_name(tap_get_end_state()));
323 static void ftdi_execute_statemove(struct jtag_command
*cmd
)
325 DEBUG_JTAG_IO("statemove end in %s",
326 tap_state_name(cmd
->cmd
.statemove
->end_state
));
328 ftdi_end_state(cmd
->cmd
.statemove
->end_state
);
330 /* shortest-path move to desired end state */
331 if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET
)
332 move_to_state(tap_get_end_state());
336 * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
337 * (or SWD) state machine. REVISIT: Not the best method, perhaps.
339 static void ftdi_execute_tms(struct jtag_command
*cmd
)
341 DEBUG_JTAG_IO("TMS: %d bits", cmd
->cmd
.tms
->num_bits
);
343 /* TODO: Missing tap state tracking, also missing from ft2232.c! */
344 mpsse_clock_tms_cs_out(mpsse_ctx
,
347 cmd
->cmd
.tms
->num_bits
,
352 static void ftdi_execute_pathmove(struct jtag_command
*cmd
)
354 tap_state_t
*path
= cmd
->cmd
.pathmove
->path
;
355 int num_states
= cmd
->cmd
.pathmove
->num_states
;
357 DEBUG_JTAG_IO("pathmove: %i states, current: %s end: %s", num_states
,
358 tap_state_name(tap_get_state()),
359 tap_state_name(path
[num_states
-1]));
362 unsigned bit_count
= 0;
363 uint8_t tms_byte
= 0;
367 /* this loop verifies that the path is legal and logs each state in the path */
368 while (num_states
--) {
370 /* either TMS=0 or TMS=1 must work ... */
371 if (tap_state_transition(tap_get_state(), false)
372 == path
[state_count
])
373 buf_set_u32(&tms_byte
, bit_count
++, 1, 0x0);
374 else if (tap_state_transition(tap_get_state(), true)
375 == path
[state_count
]) {
376 buf_set_u32(&tms_byte
, bit_count
++, 1, 0x1);
378 /* ... or else the caller goofed BADLY */
380 LOG_ERROR("BUG: %s -> %s isn't a valid "
381 "TAP state transition",
382 tap_state_name(tap_get_state()),
383 tap_state_name(path
[state_count
]));
387 tap_set_state(path
[state_count
]);
390 if (bit_count
== 7 || num_states
== 0) {
391 mpsse_clock_tms_cs_out(mpsse_ctx
,
400 tap_set_end_state(tap_get_state());
403 static void ftdi_execute_scan(struct jtag_command
*cmd
)
405 DEBUG_JTAG_IO("%s type:%d", cmd
->cmd
.scan
->ir_scan
? "IRSCAN" : "DRSCAN",
406 jtag_scan_type(cmd
->cmd
.scan
));
408 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
409 while (cmd
->cmd
.scan
->num_fields
> 0
410 && cmd
->cmd
.scan
->fields
[cmd
->cmd
.scan
->num_fields
- 1].num_bits
== 0) {
411 cmd
->cmd
.scan
->num_fields
--;
412 LOG_DEBUG("discarding trailing empty field");
415 if (cmd
->cmd
.scan
->num_fields
== 0) {
416 LOG_DEBUG("empty scan, doing nothing");
420 if (cmd
->cmd
.scan
->ir_scan
) {
421 if (tap_get_state() != TAP_IRSHIFT
)
422 move_to_state(TAP_IRSHIFT
);
424 if (tap_get_state() != TAP_DRSHIFT
)
425 move_to_state(TAP_DRSHIFT
);
428 ftdi_end_state(cmd
->cmd
.scan
->end_state
);
430 struct scan_field
*field
= cmd
->cmd
.scan
->fields
;
431 unsigned scan_size
= 0;
433 for (int i
= 0; i
< cmd
->cmd
.scan
->num_fields
; i
++, field
++) {
434 scan_size
+= field
->num_bits
;
435 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
436 field
->in_value
? "in" : "",
437 field
->out_value
? "out" : "",
439 cmd
->cmd
.scan
->num_fields
,
442 if (i
== cmd
->cmd
.scan
->num_fields
- 1 && tap_get_state() != tap_get_end_state()) {
443 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
444 * movement. This last field can't have length zero, it was checked above. */
445 mpsse_clock_data(mpsse_ctx
,
452 uint8_t last_bit
= 0;
453 if (field
->out_value
)
454 bit_copy(&last_bit
, 0, field
->out_value
, field
->num_bits
- 1, 1);
455 uint8_t tms_bits
= 0x01;
456 mpsse_clock_tms_cs(mpsse_ctx
,
464 tap_set_state(tap_state_transition(tap_get_state(), 1));
465 mpsse_clock_tms_cs_out(mpsse_ctx
,
471 tap_set_state(tap_state_transition(tap_get_state(), 0));
473 mpsse_clock_data(mpsse_ctx
,
482 if (tap_get_state() != tap_get_end_state())
483 move_to_state(tap_get_end_state());
485 DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
486 (cmd
->cmd
.scan
->ir_scan
) ? "IR" : "DR", scan_size
,
487 tap_state_name(tap_get_end_state()));
490 static void ftdi_execute_reset(struct jtag_command
*cmd
)
492 DEBUG_JTAG_IO("reset trst: %i srst %i",
493 cmd
->cmd
.reset
->trst
, cmd
->cmd
.reset
->srst
);
495 if (cmd
->cmd
.reset
->trst
== 1
496 || (cmd
->cmd
.reset
->srst
497 && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST
)))
498 tap_set_state(TAP_RESET
);
500 struct signal
*trst
= find_signal_by_name("nTRST");
501 if (cmd
->cmd
.reset
->trst
== 1) {
503 ftdi_set_signal(trst
, '0');
505 LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
506 } else if (trst
&& cmd
->cmd
.reset
->trst
== 0) {
507 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN
)
508 ftdi_set_signal(trst
, 'z');
510 ftdi_set_signal(trst
, '1');
513 struct signal
*srst
= find_signal_by_name("nSRST");
514 if (cmd
->cmd
.reset
->srst
== 1) {
516 ftdi_set_signal(srst
, '0');
518 LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
519 } else if (srst
&& 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
= swd_mode
? swd_output_init
: jtag_output_init
;
638 direction
= swd_mode
? swd_direction_init
: jtag_direction_init
;
640 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
641 mpsse_set_data_bits_high_byte(mpsse_ctx
, output
>> 8, direction
>> 8);
643 mpsse_loopback_config(mpsse_ctx
, false);
645 /* Set a low default */
646 freq
= mpsse_set_frequency(mpsse_ctx
, 1000);
649 ftdi_swd_switch_seq(NULL
, JTAG_TO_SWD
);
651 ftdi_swd_switch_seq(NULL
, SWD_TO_JTAG
);
653 return mpsse_flush(mpsse_ctx
);
656 static int ftdi_quit(void)
658 mpsse_close(mpsse_ctx
);
663 COMMAND_HANDLER(ftdi_handle_device_desc_command
)
666 if (ftdi_device_desc
)
667 free(ftdi_device_desc
);
668 ftdi_device_desc
= strdup(CMD_ARGV
[0]);
670 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
676 COMMAND_HANDLER(ftdi_handle_serial_command
)
681 ftdi_serial
= strdup(CMD_ARGV
[0]);
683 return ERROR_COMMAND_SYNTAX_ERROR
;
689 COMMAND_HANDLER(ftdi_handle_channel_command
)
692 COMMAND_PARSE_NUMBER(u8
, CMD_ARGV
[0], ftdi_channel
);
694 return ERROR_COMMAND_SYNTAX_ERROR
;
699 COMMAND_HANDLER(ftdi_handle_layout_init_command
)
702 return ERROR_COMMAND_SYNTAX_ERROR
;
704 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[0], jtag_output_init
);
705 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[1], jtag_direction_init
);
710 COMMAND_HANDLER(ftdi_handle_layout_init_swd_command
)
713 return ERROR_COMMAND_SYNTAX_ERROR
;
715 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[0], swd_output_init
);
716 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[1], swd_direction_init
);
721 COMMAND_HANDLER(ftdi_handle_layout_signal_command
)
724 return ERROR_COMMAND_SYNTAX_ERROR
;
726 bool invert_data
= false;
727 uint16_t data_mask
= 0;
728 bool invert_oe
= false;
729 uint16_t oe_mask
= 0;
730 for (unsigned i
= 1; i
< CMD_ARGC
; i
+= 2) {
731 if (strcmp("-data", CMD_ARGV
[i
]) == 0) {
733 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], data_mask
);
734 } else if (strcmp("-ndata", CMD_ARGV
[i
]) == 0) {
736 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], data_mask
);
737 } else if (strcmp("-oe", CMD_ARGV
[i
]) == 0) {
739 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], oe_mask
);
740 } else if (strcmp("-noe", CMD_ARGV
[i
]) == 0) {
742 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], oe_mask
);
743 } else if (!strcmp("-alias", CMD_ARGV
[i
]) ||
744 !strcmp("-nalias", CMD_ARGV
[i
])) {
745 if (!strcmp("-nalias", CMD_ARGV
[i
]))
747 struct signal
*sig
= find_signal_by_name(CMD_ARGV
[i
+ 1]);
749 LOG_ERROR("signal %s is not defined", CMD_ARGV
[i
+ 1]);
752 data_mask
= sig
->data_mask
;
753 oe_mask
= sig
->oe_mask
;
754 invert_oe
= sig
->invert_oe
;
755 invert_data
^= sig
->invert_data
;
757 LOG_ERROR("unknown option '%s'", CMD_ARGV
[i
]);
758 return ERROR_COMMAND_SYNTAX_ERROR
;
763 sig
= find_signal_by_name(CMD_ARGV
[0]);
765 sig
= create_signal(CMD_ARGV
[0]);
767 LOG_ERROR("failed to create signal %s", CMD_ARGV
[0]);
771 sig
->invert_data
= invert_data
;
772 sig
->data_mask
= data_mask
;
773 sig
->invert_oe
= invert_oe
;
774 sig
->oe_mask
= oe_mask
;
779 COMMAND_HANDLER(ftdi_handle_set_signal_command
)
782 return ERROR_COMMAND_SYNTAX_ERROR
;
785 sig
= find_signal_by_name(CMD_ARGV
[0]);
787 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV
[0]);
791 switch (*CMD_ARGV
[1]) {
796 /* single character level specifier only */
797 if (CMD_ARGV
[1][1] == '\0') {
798 ftdi_set_signal(sig
, *CMD_ARGV
[1]);
802 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV
[1]);
803 return ERROR_COMMAND_SYNTAX_ERROR
;
806 return mpsse_flush(mpsse_ctx
);
809 COMMAND_HANDLER(ftdi_handle_vid_pid_command
)
811 if (CMD_ARGC
> MAX_USB_IDS
* 2) {
812 LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
813 "(maximum is %d pairs)", MAX_USB_IDS
);
814 CMD_ARGC
= MAX_USB_IDS
* 2;
816 if (CMD_ARGC
< 2 || (CMD_ARGC
& 1)) {
817 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
819 return ERROR_COMMAND_SYNTAX_ERROR
;
820 /* remove the incomplete trailing id */
825 for (i
= 0; i
< CMD_ARGC
; i
+= 2) {
826 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
], ftdi_vid
[i
>> 1]);
827 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], ftdi_pid
[i
>> 1]);
831 * Explicitly terminate, in case there are multiples instances of
834 ftdi_vid
[i
>> 1] = ftdi_pid
[i
>> 1] = 0;
839 static const struct command_registration ftdi_command_handlers
[] = {
841 .name
= "ftdi_device_desc",
842 .handler
= &ftdi_handle_device_desc_command
,
843 .mode
= COMMAND_CONFIG
,
844 .help
= "set the USB device description of the FTDI device",
845 .usage
= "description_string",
848 .name
= "ftdi_serial",
849 .handler
= &ftdi_handle_serial_command
,
850 .mode
= COMMAND_CONFIG
,
851 .help
= "set the serial number of the FTDI device",
852 .usage
= "serial_string",
855 .name
= "ftdi_channel",
856 .handler
= &ftdi_handle_channel_command
,
857 .mode
= COMMAND_CONFIG
,
858 .help
= "set the channel of the FTDI device that is used as JTAG",
862 .name
= "ftdi_layout_init",
863 .handler
= &ftdi_handle_layout_init_command
,
864 .mode
= COMMAND_CONFIG
,
865 .help
= "initialize the FTDI GPIO signals used "
866 "to control output-enables and reset signals"
867 "when JTAG mode is selected",
868 .usage
= "data direction",
871 .name
= "ftdi_layout_init_swd",
872 .handler
= &ftdi_handle_layout_init_swd_command
,
873 .mode
= COMMAND_CONFIG
,
874 .help
= "initialize the FTDI GPIO signals used "
875 "to control output-enables and reset signals"
876 "when SWD mode is selected",
877 .usage
= "data direction",
880 .name
= "ftdi_layout_signal",
881 .handler
= &ftdi_handle_layout_signal_command
,
883 .help
= "define a signal controlled by one or more FTDI GPIO as data "
884 "and/or output enable",
885 .usage
= "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
888 .name
= "ftdi_set_signal",
889 .handler
= &ftdi_handle_set_signal_command
,
890 .mode
= COMMAND_EXEC
,
891 .help
= "control a layout-specific signal",
892 .usage
= "name (1|0|z)",
895 .name
= "ftdi_vid_pid",
896 .handler
= &ftdi_handle_vid_pid_command
,
897 .mode
= COMMAND_CONFIG
,
898 .help
= "the vendor ID and product ID of the FTDI device",
899 .usage
= "(vid pid)* ",
901 COMMAND_REGISTRATION_DONE
904 static int ftdi_swd_init(void)
906 LOG_INFO("FTDI SWD mode enabled");
909 swd_cmd_queue_alloced
= 10;
910 swd_cmd_queue
= malloc(swd_cmd_queue_alloced
* sizeof(*swd_cmd_queue
));
912 return swd_cmd_queue
!= NULL
? ERROR_OK
: ERROR_FAIL
;
915 static void ftdi_swd_swdio_en(bool enable
)
917 struct signal
*oe
= find_signal_by_name("SWDIO_OE");
919 ftdi_set_signal(oe
, enable
? '1' : '0');
923 * Flush the MPSSE queue and process the SWD transaction queue
927 static int ftdi_swd_run_queue(struct adiv5_dap
*dap
)
929 LOG_DEBUG("Executing %zu queued transactions", swd_cmd_queue_length
);
931 struct signal
*led
= find_signal_by_name("LED");
933 if (queued_retval
!= ERROR_OK
) {
934 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval
);
938 /* A transaction must be followed by another transaction or at least 8 idle cycles to
939 * ensure that data is clocked through the AP. */
940 mpsse_clock_data_out(mpsse_ctx
, NULL
, 0, 8, SWD_MODE
);
942 /* Terminate the "blink", if the current layout has that feature */
944 ftdi_set_signal(led
, '0');
946 queued_retval
= mpsse_flush(mpsse_ctx
);
947 if (queued_retval
!= ERROR_OK
) {
948 LOG_ERROR("MPSSE failed");
952 for (size_t i
= 0; i
< swd_cmd_queue_length
; i
++) {
953 int ack
= buf_get_u32(&swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1, 3);
955 LOG_DEBUG("%s %s %s reg %X = %08"PRIx32
,
956 ack
== SWD_ACK_OK
? "OK" : ack
== SWD_ACK_WAIT
? "WAIT" : ack
== SWD_ACK_FAULT
? "FAULT" : "JUNK",
957 swd_cmd_queue
[i
].cmd
& SWD_CMD_APnDP
? "AP" : "DP",
958 swd_cmd_queue
[i
].cmd
& SWD_CMD_RnW
? "read" : "write",
959 (swd_cmd_queue
[i
].cmd
& SWD_CMD_A32
) >> 1,
960 buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
961 1 + 3 + (swd_cmd_queue
[i
].cmd
& SWD_CMD_RnW
? 0 : 1), 32));
963 if (ack
!= SWD_ACK_OK
) {
967 } else if (swd_cmd_queue
[i
].cmd
& SWD_CMD_RnW
) {
968 uint32_t data
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3, 32);
969 int parity
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 32, 1);
971 if (parity
!= parity_u32(data
)) {
972 LOG_ERROR("SWD Read data parity mismatch");
973 queued_retval
= ERROR_FAIL
;
977 if (swd_cmd_queue
[i
].dst
!= NULL
)
978 *swd_cmd_queue
[i
].dst
= data
;
983 swd_cmd_queue_length
= 0;
984 retval
= queued_retval
;
985 queued_retval
= ERROR_OK
;
987 /* Queue a new "blink" */
988 if (led
&& retval
== ERROR_OK
)
989 ftdi_set_signal(led
, '1');
994 static void ftdi_swd_queue_cmd(struct adiv5_dap
*dap
, uint8_t cmd
, uint32_t *dst
, uint32_t data
)
996 if (swd_cmd_queue_length
>= swd_cmd_queue_alloced
) {
997 /* Not enough room in the queue. Run the queue and increase its size for next time.
998 * Note that it's not possible to avoid running the queue here, because mpsse contains
999 * pointers into the queue which may be invalid after the realloc. */
1000 queued_retval
= ftdi_swd_run_queue(dap
);
1001 struct swd_cmd_queue_entry
*q
= realloc(swd_cmd_queue
, swd_cmd_queue_alloced
* 2 * sizeof(*swd_cmd_queue
));
1004 swd_cmd_queue_alloced
*= 2;
1005 LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced
);
1009 if (queued_retval
!= ERROR_OK
)
1012 size_t i
= swd_cmd_queue_length
++;
1013 swd_cmd_queue
[i
].cmd
= cmd
| SWD_CMD_START
| SWD_CMD_PARK
;
1015 mpsse_clock_data_out(mpsse_ctx
, &swd_cmd_queue
[i
].cmd
, 0, 8, SWD_MODE
);
1017 if (swd_cmd_queue
[i
].cmd
& SWD_CMD_RnW
) {
1018 /* Queue a read transaction */
1019 swd_cmd_queue
[i
].dst
= dst
;
1021 ftdi_swd_swdio_en(false);
1022 mpsse_clock_data_in(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1023 0, 1 + 3 + 32 + 1 + 1, SWD_MODE
);
1024 ftdi_swd_swdio_en(true);
1026 /* Queue a write transaction */
1027 ftdi_swd_swdio_en(false);
1029 mpsse_clock_data_in(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1030 0, 1 + 3 + 1, SWD_MODE
);
1032 ftdi_swd_swdio_en(true);
1034 buf_set_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 1, 32, data
);
1035 buf_set_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 1 + 32, 1, parity_u32(data
));
1037 mpsse_clock_data_out(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1038 1 + 3 + 1, 32 + 1, SWD_MODE
);
1041 /* Insert idle cycles after AP accesses to avoid WAIT */
1042 if (cmd
& SWD_CMD_APnDP
)
1043 mpsse_clock_data_out(mpsse_ctx
, NULL
, 0, dap
->memaccess_tck
, SWD_MODE
);
1047 static void ftdi_swd_read_reg(struct adiv5_dap
*dap
, uint8_t cmd
, uint32_t *value
)
1049 assert(cmd
& SWD_CMD_RnW
);
1050 ftdi_swd_queue_cmd(dap
, cmd
, value
, 0);
1053 static void ftdi_swd_write_reg(struct adiv5_dap
*dap
, uint8_t cmd
, uint32_t value
)
1055 assert(!(cmd
& SWD_CMD_RnW
));
1056 ftdi_swd_queue_cmd(dap
, cmd
, NULL
, value
);
1059 static int_least32_t ftdi_swd_frequency(struct adiv5_dap
*dap
, int_least32_t hz
)
1062 freq
= mpsse_set_frequency(mpsse_ctx
, hz
);
1067 static int ftdi_swd_switch_seq(struct adiv5_dap
*dap
, enum swd_special_seq seq
)
1071 LOG_DEBUG("SWD line reset");
1072 mpsse_clock_data_out(mpsse_ctx
, swd_seq_line_reset
, 0, swd_seq_line_reset_len
, SWD_MODE
);
1075 LOG_DEBUG("JTAG-to-SWD");
1076 mpsse_clock_data_out(mpsse_ctx
, swd_seq_jtag_to_swd
, 0, swd_seq_jtag_to_swd_len
, SWD_MODE
);
1079 LOG_DEBUG("SWD-to-JTAG");
1080 mpsse_clock_data_out(mpsse_ctx
, swd_seq_swd_to_jtag
, 0, swd_seq_swd_to_jtag_len
, SWD_MODE
);
1083 LOG_ERROR("Sequence %d not supported", seq
);
1090 static const struct swd_driver ftdi_swd
= {
1091 .init
= ftdi_swd_init
,
1092 .frequency
= ftdi_swd_frequency
,
1093 .switch_seq
= ftdi_swd_switch_seq
,
1094 .read_reg
= ftdi_swd_read_reg
,
1095 .write_reg
= ftdi_swd_write_reg
,
1096 .run
= ftdi_swd_run_queue
,
1099 static const char * const ftdi_transports
[] = { "jtag", "swd", NULL
};
1101 struct jtag_interface ftdi_interface
= {
1103 .supported
= DEBUG_CAP_TMS_SEQ
,
1104 .commands
= ftdi_command_handlers
,
1105 .transports
= ftdi_transports
,
1108 .init
= ftdi_initialize
,
1110 .speed
= ftdi_speed
,
1111 .speed_div
= ftdi_speed_div
,
1113 .execute_queue
= ftdi_execute_queue
,