1 // SPDX-License-Identifier: GPL-2.0-or-later
3 /**************************************************************************
4 * Copyright (C) 2012 by Andreas Fritiofson *
5 * andreas.fritiofson@gmail.com *
6 ***************************************************************************/
10 * JTAG adapters based on the FT2232 full and high speed USB parts are
11 * popular low cost JTAG debug solutions. Many FT2232 based JTAG adapters
12 * are discrete, but development boards may integrate them as alternatives
13 * to more capable (and expensive) third party JTAG pods.
15 * JTAG uses only one of the two communications channels ("MPSSE engines")
16 * on these devices. Adapters based on FT4232 parts have four ports/channels
17 * (A/B/C/D), instead of just two (A/B).
19 * Especially on development boards integrating one of these chips (as
20 * opposed to discrete pods/dongles), the additional channels can be used
21 * for a variety of purposes, but OpenOCD only uses one channel at a time.
23 * - As a USB-to-serial adapter for the target's console UART ...
24 * which may be able to support ROM boot loaders that load initial
25 * firmware images to flash (or SRAM).
27 * - On systems which support ARM's SWD in addition to JTAG, or instead
28 * of it, that second port can be used for reading SWV/SWO trace data.
30 * - Additional JTAG links, e.g. to a CPLD or * FPGA.
32 * FT2232 based JTAG adapters are "dumb" not "smart", because most JTAG
33 * request/response interactions involve round trips over the USB link.
34 * A "smart" JTAG adapter has intelligence close to the scan chain, so it
35 * can for example poll quickly for a status change (usually taking on the
36 * order of microseconds not milliseconds) before beginning a queued
37 * transaction which require the previous one to have completed.
39 * There are dozens of adapters of this type, differing in details which
40 * this driver needs to understand. Those "layout" details are required
41 * as part of FT2232 driver configuration.
43 * This code uses information contained in the MPSSE specification which was
45 * https://www.ftdichip.com/Support/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
46 * Hereafter this is called the "MPSSE Spec".
48 * The datasheet for the ftdichip.com's FT2232H part is here:
49 * https://www.ftdichip.com/Support/Documents/DataSheets/ICs/DS_FT2232H.pdf
51 * Also note the issue with code 0x4b (clock data to TMS) noted in
52 * http://developer.intra2net.com/mailarchive/html/libftdi/2009/msg00292.html
53 * which can affect longer JTAG state paths.
60 /* project specific includes */
61 #include <jtag/adapter.h>
62 #include <jtag/interface.h>
64 #include <transport/transport.h>
65 #include <helper/time_support.h>
66 #include <helper/log.h>
74 /* FTDI access library includes */
77 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
78 #define JTAG_MODE_ALT (LSB_FIRST | NEG_EDGE_IN | NEG_EDGE_OUT)
79 #define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
81 static char *ftdi_device_desc
;
82 static uint8_t ftdi_channel
;
83 static uint8_t ftdi_jtag_mode
= JTAG_MODE
;
88 /* vid = pid = 0 marks the end of the list */
89 static uint16_t ftdi_vid
[MAX_USB_IDS
+ 1] = { 0 };
90 static uint16_t ftdi_pid
[MAX_USB_IDS
+ 1] = { 0 };
92 static struct mpsse_ctx
*mpsse_ctx
;
105 static struct signal
*signals
;
107 /* FIXME: Where to store per-instance data? We need an SWD context. */
108 static struct swd_cmd_queue_entry
{
111 uint8_t trn_ack_data_parity_trn
[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
113 static size_t swd_cmd_queue_length
;
114 static size_t swd_cmd_queue_alloced
;
115 static int queued_retval
;
118 static uint16_t output
;
119 static uint16_t direction
;
120 static uint16_t jtag_output_init
;
121 static uint16_t jtag_direction_init
;
123 static int ftdi_swd_switch_seq(enum swd_special_seq seq
);
125 static struct signal
*find_signal_by_name(const char *name
)
127 for (struct signal
*sig
= signals
; sig
; sig
= sig
->next
) {
128 if (strcmp(name
, sig
->name
) == 0)
134 static struct signal
*create_signal(const char *name
)
136 struct signal
**psig
= &signals
;
138 psig
= &(*psig
)->next
;
140 *psig
= calloc(1, sizeof(**psig
));
144 (*psig
)->name
= strdup(name
);
145 if (!(*psig
)->name
) {
152 static int ftdi_set_signal(const struct signal
*s
, char value
)
157 if (s
->data_mask
== 0 && s
->oe_mask
== 0) {
158 LOG_ERROR("interface doesn't provide signal '%s'", s
->name
);
163 data
= s
->invert_data
;
167 if (s
->data_mask
== 0) {
168 LOG_ERROR("interface can't drive '%s' high", s
->name
);
171 data
= !s
->invert_data
;
176 if (s
->oe_mask
== 0) {
177 LOG_ERROR("interface can't tri-state '%s'", s
->name
);
180 data
= s
->invert_data
;
184 assert(0 && "invalid signal level specifier");
188 uint16_t old_output
= output
;
189 uint16_t old_direction
= direction
;
191 output
= data
? output
| s
->data_mask
: output
& ~s
->data_mask
;
192 if (s
->oe_mask
== s
->data_mask
)
193 direction
= oe
? direction
| s
->oe_mask
: direction
& ~s
->oe_mask
;
195 output
= oe
? output
| s
->oe_mask
: output
& ~s
->oe_mask
;
197 if ((output
& 0xff) != (old_output
& 0xff) || (direction
& 0xff) != (old_direction
& 0xff))
198 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
199 if ((output
>> 8 != old_output
>> 8) || (direction
>> 8 != old_direction
>> 8))
200 mpsse_set_data_bits_high_byte(mpsse_ctx
, output
>> 8, direction
>> 8);
205 static int ftdi_get_signal(const struct signal
*s
, uint16_t *value_out
)
207 uint8_t data_low
= 0;
208 uint8_t data_high
= 0;
210 if (s
->input_mask
== 0) {
211 LOG_ERROR("interface doesn't provide signal '%s'", s
->name
);
215 if (s
->input_mask
& 0xff)
216 mpsse_read_data_bits_low_byte(mpsse_ctx
, &data_low
);
217 if (s
->input_mask
>> 8)
218 mpsse_read_data_bits_high_byte(mpsse_ctx
, &data_high
);
220 mpsse_flush(mpsse_ctx
);
222 *value_out
= (((uint16_t)data_high
) << 8) | data_low
;
225 *value_out
= ~(*value_out
);
227 *value_out
&= s
->input_mask
;
233 * Function move_to_state
234 * moves the TAP controller from the current state to a
235 * \a goal_state through a path given by tap_get_tms_path(). State transition
236 * logging is performed by delegation to clock_tms().
238 * @param goal_state is the destination state for the move.
240 static void move_to_state(tap_state_t goal_state
)
242 tap_state_t start_state
= tap_get_state();
244 /* goal_state is 1/2 of a tuple/pair of states which allow convenient
245 lookup of the required TMS pattern to move to this state from the
249 /* do the 2 lookups */
250 uint8_t tms_bits
= tap_get_tms_path(start_state
, goal_state
);
251 int tms_count
= tap_get_tms_path_len(start_state
, goal_state
);
252 assert(tms_count
<= 8);
254 LOG_DEBUG_IO("start=%s goal=%s", tap_state_name(start_state
), tap_state_name(goal_state
));
256 /* Track state transitions step by step */
257 for (int i
= 0; i
< tms_count
; i
++)
258 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits
>> i
) & 1));
260 mpsse_clock_tms_cs_out(mpsse_ctx
,
268 static int ftdi_speed(int speed
)
271 retval
= mpsse_set_frequency(mpsse_ctx
, speed
);
274 LOG_ERROR("couldn't set FTDI TCK speed");
278 if (!swd_mode
&& speed
>= 10000000 && ftdi_jtag_mode
!= JTAG_MODE_ALT
)
279 LOG_INFO("ftdi: if you experience problems at higher adapter clocks, try "
280 "the command \"ftdi tdo_sample_edge falling\"");
284 static int ftdi_speed_div(int speed
, int *khz
)
290 static int ftdi_khz(int khz
, int *jtag_speed
)
292 if (khz
== 0 && !mpsse_is_high_speed(mpsse_ctx
)) {
293 LOG_DEBUG("RCLK not supported");
297 *jtag_speed
= khz
* 1000;
301 static void ftdi_end_state(tap_state_t state
)
303 if (tap_is_state_stable(state
))
304 tap_set_end_state(state
);
306 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state
));
311 static void ftdi_execute_runtest(struct jtag_command
*cmd
)
316 LOG_DEBUG_IO("runtest %i cycles, end in %s",
317 cmd
->cmd
.runtest
->num_cycles
,
318 tap_state_name(cmd
->cmd
.runtest
->end_state
));
320 if (tap_get_state() != TAP_IDLE
)
321 move_to_state(TAP_IDLE
);
323 /* TODO: Reuse ftdi_execute_stableclocks */
324 i
= cmd
->cmd
.runtest
->num_cycles
;
326 /* there are no state transitions in this code, so omit state tracking */
327 unsigned this_len
= i
> 7 ? 7 : i
;
328 mpsse_clock_tms_cs_out(mpsse_ctx
, &zero
, 0, this_len
, false, ftdi_jtag_mode
);
332 ftdi_end_state(cmd
->cmd
.runtest
->end_state
);
334 if (tap_get_state() != tap_get_end_state())
335 move_to_state(tap_get_end_state());
337 LOG_DEBUG_IO("runtest: %i, end in %s",
338 cmd
->cmd
.runtest
->num_cycles
,
339 tap_state_name(tap_get_end_state()));
342 static void ftdi_execute_statemove(struct jtag_command
*cmd
)
344 LOG_DEBUG_IO("statemove end in %s",
345 tap_state_name(cmd
->cmd
.statemove
->end_state
));
347 ftdi_end_state(cmd
->cmd
.statemove
->end_state
);
349 /* shortest-path move to desired end state */
350 if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET
)
351 move_to_state(tap_get_end_state());
355 * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
356 * (or SWD) state machine. REVISIT: Not the best method, perhaps.
358 static void ftdi_execute_tms(struct jtag_command
*cmd
)
360 LOG_DEBUG_IO("TMS: %d bits", cmd
->cmd
.tms
->num_bits
);
362 /* TODO: Missing tap state tracking, also missing from ft2232.c! */
363 mpsse_clock_tms_cs_out(mpsse_ctx
,
366 cmd
->cmd
.tms
->num_bits
,
371 static void ftdi_execute_pathmove(struct jtag_command
*cmd
)
373 tap_state_t
*path
= cmd
->cmd
.pathmove
->path
;
374 int num_states
= cmd
->cmd
.pathmove
->num_states
;
376 LOG_DEBUG_IO("pathmove: %i states, current: %s end: %s", num_states
,
377 tap_state_name(tap_get_state()),
378 tap_state_name(path
[num_states
-1]));
381 unsigned bit_count
= 0;
382 uint8_t tms_byte
= 0;
386 /* this loop verifies that the path is legal and logs each state in the path */
387 while (num_states
--) {
389 /* either TMS=0 or TMS=1 must work ... */
390 if (tap_state_transition(tap_get_state(), false)
391 == path
[state_count
])
392 buf_set_u32(&tms_byte
, bit_count
++, 1, 0x0);
393 else if (tap_state_transition(tap_get_state(), true)
394 == path
[state_count
]) {
395 buf_set_u32(&tms_byte
, bit_count
++, 1, 0x1);
397 /* ... or else the caller goofed BADLY */
399 LOG_ERROR("BUG: %s -> %s isn't a valid "
400 "TAP state transition",
401 tap_state_name(tap_get_state()),
402 tap_state_name(path
[state_count
]));
406 tap_set_state(path
[state_count
]);
409 if (bit_count
== 7 || num_states
== 0) {
410 mpsse_clock_tms_cs_out(mpsse_ctx
,
419 tap_set_end_state(tap_get_state());
422 static void ftdi_execute_scan(struct jtag_command
*cmd
)
424 LOG_DEBUG_IO("%s type:%d", cmd
->cmd
.scan
->ir_scan
? "IRSCAN" : "DRSCAN",
425 jtag_scan_type(cmd
->cmd
.scan
));
427 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
428 while (cmd
->cmd
.scan
->num_fields
> 0
429 && cmd
->cmd
.scan
->fields
[cmd
->cmd
.scan
->num_fields
- 1].num_bits
== 0) {
430 cmd
->cmd
.scan
->num_fields
--;
431 LOG_DEBUG_IO("discarding trailing empty field");
434 if (cmd
->cmd
.scan
->num_fields
== 0) {
435 LOG_DEBUG_IO("empty scan, doing nothing");
439 if (cmd
->cmd
.scan
->ir_scan
) {
440 if (tap_get_state() != TAP_IRSHIFT
)
441 move_to_state(TAP_IRSHIFT
);
443 if (tap_get_state() != TAP_DRSHIFT
)
444 move_to_state(TAP_DRSHIFT
);
447 ftdi_end_state(cmd
->cmd
.scan
->end_state
);
449 struct scan_field
*field
= cmd
->cmd
.scan
->fields
;
450 unsigned scan_size
= 0;
452 for (int i
= 0; i
< cmd
->cmd
.scan
->num_fields
; i
++, field
++) {
453 scan_size
+= field
->num_bits
;
454 LOG_DEBUG_IO("%s%s field %d/%d %d bits",
455 field
->in_value
? "in" : "",
456 field
->out_value
? "out" : "",
458 cmd
->cmd
.scan
->num_fields
,
461 if (i
== cmd
->cmd
.scan
->num_fields
- 1 && tap_get_state() != tap_get_end_state()) {
462 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
463 * movement. This last field can't have length zero, it was checked above. */
464 mpsse_clock_data(mpsse_ctx
,
471 uint8_t last_bit
= 0;
472 if (field
->out_value
)
473 bit_copy(&last_bit
, 0, field
->out_value
, field
->num_bits
- 1, 1);
475 /* If endstate is TAP_IDLE, clock out 1-1-0 (->EXIT1 ->UPDATE ->IDLE)
476 * Otherwise, clock out 1-0 (->EXIT1 ->PAUSE)
478 uint8_t tms_bits
= 0x03;
479 mpsse_clock_tms_cs(mpsse_ctx
,
487 tap_set_state(tap_state_transition(tap_get_state(), 1));
488 if (tap_get_end_state() == TAP_IDLE
) {
489 mpsse_clock_tms_cs_out(mpsse_ctx
,
495 tap_set_state(tap_state_transition(tap_get_state(), 1));
496 tap_set_state(tap_state_transition(tap_get_state(), 0));
498 mpsse_clock_tms_cs_out(mpsse_ctx
,
504 tap_set_state(tap_state_transition(tap_get_state(), 0));
507 mpsse_clock_data(mpsse_ctx
,
516 if (tap_get_state() != tap_get_end_state())
517 move_to_state(tap_get_end_state());
519 LOG_DEBUG_IO("%s scan, %i bits, end in %s",
520 (cmd
->cmd
.scan
->ir_scan
) ? "IR" : "DR", scan_size
,
521 tap_state_name(tap_get_end_state()));
524 static int ftdi_reset(int trst
, int srst
)
526 struct signal
*sig_ntrst
= find_signal_by_name("nTRST");
527 struct signal
*sig_nsrst
= find_signal_by_name("nSRST");
529 LOG_DEBUG_IO("reset trst: %i srst %i", trst
, srst
);
534 ftdi_set_signal(sig_ntrst
, '0');
536 LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
537 } else if (sig_ntrst
&& jtag_get_reset_config() & RESET_HAS_TRST
&&
539 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN
)
540 ftdi_set_signal(sig_ntrst
, 'z');
542 ftdi_set_signal(sig_ntrst
, '1');
548 ftdi_set_signal(sig_nsrst
, '0');
550 LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
551 } else if (sig_nsrst
&& jtag_get_reset_config() & RESET_HAS_SRST
&&
553 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL
)
554 ftdi_set_signal(sig_nsrst
, '1');
556 ftdi_set_signal(sig_nsrst
, 'z');
559 return mpsse_flush(mpsse_ctx
);
562 static void ftdi_execute_sleep(struct jtag_command
*cmd
)
564 LOG_DEBUG_IO("sleep %" PRIu32
, cmd
->cmd
.sleep
->us
);
566 mpsse_flush(mpsse_ctx
);
567 jtag_sleep(cmd
->cmd
.sleep
->us
);
568 LOG_DEBUG_IO("sleep %" PRIu32
" usec while in %s",
570 tap_state_name(tap_get_state()));
573 static void ftdi_execute_stableclocks(struct jtag_command
*cmd
)
575 /* this is only allowed while in a stable state. A check for a stable
576 * state was done in jtag_add_clocks()
578 int num_cycles
= cmd
->cmd
.stableclocks
->num_cycles
;
580 /* 7 bits of either ones or zeros. */
581 uint8_t tms
= tap_get_state() == TAP_RESET
? 0x7f : 0x00;
583 /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
584 * the correct level and remain there during the scan */
585 while (num_cycles
> 0) {
586 /* there are no state transitions in this code, so omit state tracking */
587 unsigned this_len
= num_cycles
> 7 ? 7 : num_cycles
;
588 mpsse_clock_tms_cs_out(mpsse_ctx
, &tms
, 0, this_len
, false, ftdi_jtag_mode
);
589 num_cycles
-= this_len
;
592 LOG_DEBUG_IO("clocks %i while in %s",
593 cmd
->cmd
.stableclocks
->num_cycles
,
594 tap_state_name(tap_get_state()));
597 static void ftdi_execute_command(struct jtag_command
*cmd
)
601 ftdi_execute_runtest(cmd
);
604 ftdi_execute_statemove(cmd
);
607 ftdi_execute_pathmove(cmd
);
610 ftdi_execute_scan(cmd
);
613 ftdi_execute_sleep(cmd
);
615 case JTAG_STABLECLOCKS
:
616 ftdi_execute_stableclocks(cmd
);
619 ftdi_execute_tms(cmd
);
622 LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd
->type
);
627 static int ftdi_execute_queue(void)
629 /* blink, if the current layout has that feature */
630 struct signal
*led
= find_signal_by_name("LED");
632 ftdi_set_signal(led
, '1');
634 for (struct jtag_command
*cmd
= jtag_command_queue
; cmd
; cmd
= cmd
->next
) {
635 /* fill the write buffer with the desired command */
636 ftdi_execute_command(cmd
);
640 ftdi_set_signal(led
, '0');
642 int retval
= mpsse_flush(mpsse_ctx
);
643 if (retval
!= ERROR_OK
)
644 LOG_ERROR("error while flushing MPSSE queue: %d", retval
);
649 static int ftdi_initialize(void)
651 if (tap_get_tms_path_len(TAP_IRPAUSE
, TAP_IRPAUSE
) == 7)
652 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
654 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
656 if (!ftdi_vid
[0] && !ftdi_pid
[0]) {
657 LOG_ERROR("Please specify ftdi vid_pid");
658 return ERROR_JTAG_INIT_FAILED
;
661 mpsse_ctx
= mpsse_open(ftdi_vid
, ftdi_pid
, ftdi_device_desc
,
662 adapter_get_required_serial(), adapter_usb_get_location(), ftdi_channel
);
664 return ERROR_JTAG_INIT_FAILED
;
666 output
= jtag_output_init
;
667 direction
= jtag_direction_init
;
670 struct signal
*sig
= find_signal_by_name("SWD_EN");
672 LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
673 return ERROR_JTAG_INIT_FAILED
;
675 /* A dummy SWD_EN would have zero mask */
677 ftdi_set_signal(sig
, '1');
680 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
681 mpsse_set_data_bits_high_byte(mpsse_ctx
, output
>> 8, direction
>> 8);
683 mpsse_loopback_config(mpsse_ctx
, false);
685 freq
= mpsse_set_frequency(mpsse_ctx
, adapter_get_speed_khz() * 1000);
687 return mpsse_flush(mpsse_ctx
);
690 static int ftdi_quit(void)
692 mpsse_close(mpsse_ctx
);
694 struct signal
*sig
= signals
;
696 struct signal
*next
= sig
->next
;
697 free((void *)sig
->name
);
702 free(ftdi_device_desc
);
709 COMMAND_HANDLER(ftdi_handle_device_desc_command
)
712 free(ftdi_device_desc
);
713 ftdi_device_desc
= strdup(CMD_ARGV
[0]);
715 LOG_ERROR("expected exactly one argument to ftdi device_desc <description>");
721 COMMAND_HANDLER(ftdi_handle_channel_command
)
724 COMMAND_PARSE_NUMBER(u8
, CMD_ARGV
[0], ftdi_channel
);
726 return ERROR_COMMAND_SYNTAX_ERROR
;
731 COMMAND_HANDLER(ftdi_handle_layout_init_command
)
734 return ERROR_COMMAND_SYNTAX_ERROR
;
736 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[0], jtag_output_init
);
737 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[1], jtag_direction_init
);
742 COMMAND_HANDLER(ftdi_handle_layout_signal_command
)
745 return ERROR_COMMAND_SYNTAX_ERROR
;
747 bool invert_data
= false;
748 uint16_t data_mask
= 0;
749 bool invert_input
= false;
750 uint16_t input_mask
= 0;
751 bool invert_oe
= false;
752 uint16_t oe_mask
= 0;
753 for (unsigned i
= 1; i
< CMD_ARGC
; i
+= 2) {
754 if (strcmp("-data", CMD_ARGV
[i
]) == 0) {
756 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], data_mask
);
757 } else if (strcmp("-ndata", CMD_ARGV
[i
]) == 0) {
759 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], data_mask
);
760 } else if (strcmp("-input", CMD_ARGV
[i
]) == 0) {
761 invert_input
= false;
762 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], input_mask
);
763 } else if (strcmp("-ninput", CMD_ARGV
[i
]) == 0) {
765 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], input_mask
);
766 } else if (strcmp("-oe", CMD_ARGV
[i
]) == 0) {
768 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], oe_mask
);
769 } else if (strcmp("-noe", CMD_ARGV
[i
]) == 0) {
771 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], oe_mask
);
772 } else if (!strcmp("-alias", CMD_ARGV
[i
]) ||
773 !strcmp("-nalias", CMD_ARGV
[i
])) {
774 if (!strcmp("-nalias", CMD_ARGV
[i
])) {
778 struct signal
*sig
= find_signal_by_name(CMD_ARGV
[i
+ 1]);
780 LOG_ERROR("signal %s is not defined", CMD_ARGV
[i
+ 1]);
783 data_mask
= sig
->data_mask
;
784 input_mask
= sig
->input_mask
;
785 oe_mask
= sig
->oe_mask
;
786 invert_input
^= sig
->invert_input
;
787 invert_oe
= sig
->invert_oe
;
788 invert_data
^= sig
->invert_data
;
790 LOG_ERROR("unknown option '%s'", CMD_ARGV
[i
]);
791 return ERROR_COMMAND_SYNTAX_ERROR
;
796 sig
= find_signal_by_name(CMD_ARGV
[0]);
798 sig
= create_signal(CMD_ARGV
[0]);
800 LOG_ERROR("failed to create signal %s", CMD_ARGV
[0]);
804 sig
->invert_data
= invert_data
;
805 sig
->data_mask
= data_mask
;
806 sig
->invert_input
= invert_input
;
807 sig
->input_mask
= input_mask
;
808 sig
->invert_oe
= invert_oe
;
809 sig
->oe_mask
= oe_mask
;
814 COMMAND_HANDLER(ftdi_handle_set_signal_command
)
817 return ERROR_COMMAND_SYNTAX_ERROR
;
820 sig
= find_signal_by_name(CMD_ARGV
[0]);
822 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV
[0]);
826 switch (*CMD_ARGV
[1]) {
831 /* single character level specifier only */
832 if (CMD_ARGV
[1][1] == '\0') {
833 ftdi_set_signal(sig
, *CMD_ARGV
[1]);
838 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV
[1]);
839 return ERROR_COMMAND_SYNTAX_ERROR
;
842 return mpsse_flush(mpsse_ctx
);
845 COMMAND_HANDLER(ftdi_handle_get_signal_command
)
848 return ERROR_COMMAND_SYNTAX_ERROR
;
851 uint16_t sig_data
= 0;
852 sig
= find_signal_by_name(CMD_ARGV
[0]);
854 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV
[0]);
858 int ret
= ftdi_get_signal(sig
, &sig_data
);
862 LOG_USER("Signal %s = %#06x", sig
->name
, sig_data
);
867 COMMAND_HANDLER(ftdi_handle_vid_pid_command
)
869 if (CMD_ARGC
> MAX_USB_IDS
* 2) {
870 LOG_WARNING("ignoring extra IDs in ftdi vid_pid "
871 "(maximum is %d pairs)", MAX_USB_IDS
);
872 CMD_ARGC
= MAX_USB_IDS
* 2;
874 if (CMD_ARGC
< 2 || (CMD_ARGC
& 1)) {
875 LOG_WARNING("incomplete ftdi vid_pid configuration directive");
877 return ERROR_COMMAND_SYNTAX_ERROR
;
878 /* remove the incomplete trailing id */
883 for (i
= 0; i
< CMD_ARGC
; i
+= 2) {
884 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
], ftdi_vid
[i
>> 1]);
885 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], ftdi_pid
[i
>> 1]);
889 * Explicitly terminate, in case there are multiples instances of
892 ftdi_vid
[i
>> 1] = ftdi_pid
[i
>> 1] = 0;
897 COMMAND_HANDLER(ftdi_handle_tdo_sample_edge_command
)
900 static const struct jim_nvp nvp_ftdi_jtag_modes
[] = {
901 { .name
= "rising", .value
= JTAG_MODE
},
902 { .name
= "falling", .value
= JTAG_MODE_ALT
},
903 { .name
= NULL
, .value
= -1 },
907 n
= jim_nvp_name2value_simple(nvp_ftdi_jtag_modes
, CMD_ARGV
[0]);
909 return ERROR_COMMAND_SYNTAX_ERROR
;
910 ftdi_jtag_mode
= n
->value
;
914 n
= jim_nvp_value2name_simple(nvp_ftdi_jtag_modes
, ftdi_jtag_mode
);
915 command_print(CMD
, "ftdi samples TDO on %s edge of TCK", n
->name
);
920 static const struct command_registration ftdi_subcommand_handlers
[] = {
922 .name
= "device_desc",
923 .handler
= &ftdi_handle_device_desc_command
,
924 .mode
= COMMAND_CONFIG
,
925 .help
= "set the USB device description of the FTDI device",
926 .usage
= "description_string",
930 .handler
= &ftdi_handle_channel_command
,
931 .mode
= COMMAND_CONFIG
,
932 .help
= "set the channel of the FTDI device that is used as JTAG",
936 .name
= "layout_init",
937 .handler
= &ftdi_handle_layout_init_command
,
938 .mode
= COMMAND_CONFIG
,
939 .help
= "initialize the FTDI GPIO signals used "
940 "to control output-enables and reset signals",
941 .usage
= "data direction",
944 .name
= "layout_signal",
945 .handler
= &ftdi_handle_layout_signal_command
,
947 .help
= "define a signal controlled by one or more FTDI GPIO as data "
948 "and/or output enable",
949 .usage
= "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
952 .name
= "set_signal",
953 .handler
= &ftdi_handle_set_signal_command
,
954 .mode
= COMMAND_EXEC
,
955 .help
= "control a layout-specific signal",
956 .usage
= "name (1|0|z)",
959 .name
= "get_signal",
960 .handler
= &ftdi_handle_get_signal_command
,
961 .mode
= COMMAND_EXEC
,
962 .help
= "read the value of a layout-specific signal",
967 .handler
= &ftdi_handle_vid_pid_command
,
968 .mode
= COMMAND_CONFIG
,
969 .help
= "the vendor ID and product ID of the FTDI device",
970 .usage
= "(vid pid)*",
973 .name
= "tdo_sample_edge",
974 .handler
= &ftdi_handle_tdo_sample_edge_command
,
976 .help
= "set which TCK clock edge is used for sampling TDO "
977 "- default is rising-edge (Setting to falling-edge may "
978 "allow signalling speed increase)",
979 .usage
= "(rising|falling)",
981 COMMAND_REGISTRATION_DONE
984 static const struct command_registration ftdi_command_handlers
[] = {
988 .help
= "perform ftdi management",
989 .chain
= ftdi_subcommand_handlers
,
992 COMMAND_REGISTRATION_DONE
995 static int create_default_signal(const char *name
, uint16_t data_mask
)
997 struct signal
*sig
= create_signal(name
);
999 LOG_ERROR("failed to create signal %s", name
);
1002 sig
->invert_data
= false;
1003 sig
->data_mask
= data_mask
;
1004 sig
->invert_oe
= false;
1010 static int create_signals(void)
1012 if (create_default_signal("TCK", 0x01) != ERROR_OK
)
1014 if (create_default_signal("TDI", 0x02) != ERROR_OK
)
1016 if (create_default_signal("TDO", 0x04) != ERROR_OK
)
1018 if (create_default_signal("TMS", 0x08) != ERROR_OK
)
1023 static int ftdi_swd_init(void)
1025 LOG_INFO("FTDI SWD mode enabled");
1028 if (create_signals() != ERROR_OK
)
1031 swd_cmd_queue_alloced
= 10;
1032 swd_cmd_queue
= malloc(swd_cmd_queue_alloced
* sizeof(*swd_cmd_queue
));
1034 return swd_cmd_queue
? ERROR_OK
: ERROR_FAIL
;
1037 static void ftdi_swd_swdio_en(bool enable
)
1039 struct signal
*oe
= find_signal_by_name("SWDIO_OE");
1042 ftdi_set_signal(oe
, enable
? '1' : '0');
1044 /* Sets TDI/DO pin to input during rx when both pins are connected
1047 direction
|= jtag_direction_init
& 0x0002U
;
1049 direction
&= ~0x0002U
;
1050 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
1056 * Flush the MPSSE queue and process the SWD transaction queue
1059 static int ftdi_swd_run_queue(void)
1061 LOG_DEBUG_IO("Executing %zu queued transactions", swd_cmd_queue_length
);
1063 struct signal
*led
= find_signal_by_name("LED");
1065 if (queued_retval
!= ERROR_OK
) {
1066 LOG_DEBUG_IO("Skipping due to previous errors: %d", queued_retval
);
1070 /* A transaction must be followed by another transaction or at least 8 idle cycles to
1071 * ensure that data is clocked through the AP. */
1072 mpsse_clock_data_out(mpsse_ctx
, NULL
, 0, 8, SWD_MODE
);
1074 /* Terminate the "blink", if the current layout has that feature */
1076 ftdi_set_signal(led
, '0');
1078 queued_retval
= mpsse_flush(mpsse_ctx
);
1079 if (queued_retval
!= ERROR_OK
) {
1080 LOG_ERROR("MPSSE failed");
1084 for (size_t i
= 0; i
< swd_cmd_queue_length
; i
++) {
1085 int ack
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1, 3);
1087 /* Devices do not reply to DP_TARGETSEL write cmd, ignore received ack */
1088 bool check_ack
= swd_cmd_returns_ack(swd_cmd_queue
[i
].cmd
);
1090 LOG_DEBUG_IO("%s%s %s %s reg %X = %08"PRIx32
,
1091 check_ack
? "" : "ack ignored ",
1092 ack
== SWD_ACK_OK
? "OK" : ack
== SWD_ACK_WAIT
? "WAIT" : ack
== SWD_ACK_FAULT
? "FAULT" : "JUNK",
1093 swd_cmd_queue
[i
].cmd
& SWD_CMD_APNDP
? "AP" : "DP",
1094 swd_cmd_queue
[i
].cmd
& SWD_CMD_RNW
? "read" : "write",
1095 (swd_cmd_queue
[i
].cmd
& SWD_CMD_A32
) >> 1,
1096 buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1097 1 + 3 + (swd_cmd_queue
[i
].cmd
& SWD_CMD_RNW
? 0 : 1), 32));
1099 if (ack
!= SWD_ACK_OK
&& check_ack
) {
1100 queued_retval
= swd_ack_to_error_code(ack
);
1103 } else if (swd_cmd_queue
[i
].cmd
& SWD_CMD_RNW
) {
1104 uint32_t data
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3, 32);
1105 int parity
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 32, 1);
1107 if (parity
!= parity_u32(data
)) {
1108 LOG_ERROR("SWD Read data parity mismatch");
1109 queued_retval
= ERROR_FAIL
;
1113 if (swd_cmd_queue
[i
].dst
)
1114 *swd_cmd_queue
[i
].dst
= data
;
1119 swd_cmd_queue_length
= 0;
1120 retval
= queued_retval
;
1121 queued_retval
= ERROR_OK
;
1123 /* Queue a new "blink" */
1124 if (led
&& retval
== ERROR_OK
)
1125 ftdi_set_signal(led
, '1');
1130 static void ftdi_swd_queue_cmd(uint8_t cmd
, uint32_t *dst
, uint32_t data
, uint32_t ap_delay_clk
)
1132 if (swd_cmd_queue_length
>= swd_cmd_queue_alloced
) {
1133 /* Not enough room in the queue. Run the queue and increase its size for next time.
1134 * Note that it's not possible to avoid running the queue here, because mpsse contains
1135 * pointers into the queue which may be invalid after the realloc. */
1136 queued_retval
= ftdi_swd_run_queue();
1137 struct swd_cmd_queue_entry
*q
= realloc(swd_cmd_queue
, swd_cmd_queue_alloced
* 2 * sizeof(*swd_cmd_queue
));
1140 swd_cmd_queue_alloced
*= 2;
1141 LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced
);
1145 if (queued_retval
!= ERROR_OK
)
1148 size_t i
= swd_cmd_queue_length
++;
1149 swd_cmd_queue
[i
].cmd
= cmd
| SWD_CMD_START
| SWD_CMD_PARK
;
1151 mpsse_clock_data_out(mpsse_ctx
, &swd_cmd_queue
[i
].cmd
, 0, 8, SWD_MODE
);
1153 if (swd_cmd_queue
[i
].cmd
& SWD_CMD_RNW
) {
1154 /* Queue a read transaction */
1155 swd_cmd_queue
[i
].dst
= dst
;
1157 ftdi_swd_swdio_en(false);
1158 mpsse_clock_data_in(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1159 0, 1 + 3 + 32 + 1 + 1, SWD_MODE
);
1160 ftdi_swd_swdio_en(true);
1162 /* Queue a write transaction */
1163 ftdi_swd_swdio_en(false);
1165 mpsse_clock_data_in(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1166 0, 1 + 3 + 1, SWD_MODE
);
1168 ftdi_swd_swdio_en(true);
1170 buf_set_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 1, 32, data
);
1171 buf_set_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 1 + 32, 1, parity_u32(data
));
1173 mpsse_clock_data_out(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1174 1 + 3 + 1, 32 + 1, SWD_MODE
);
1177 /* Insert idle cycles after AP accesses to avoid WAIT */
1178 if (cmd
& SWD_CMD_APNDP
)
1179 mpsse_clock_data_out(mpsse_ctx
, NULL
, 0, ap_delay_clk
, SWD_MODE
);
1183 static void ftdi_swd_read_reg(uint8_t cmd
, uint32_t *value
, uint32_t ap_delay_clk
)
1185 assert(cmd
& SWD_CMD_RNW
);
1186 ftdi_swd_queue_cmd(cmd
, value
, 0, ap_delay_clk
);
1189 static void ftdi_swd_write_reg(uint8_t cmd
, uint32_t value
, uint32_t ap_delay_clk
)
1191 assert(!(cmd
& SWD_CMD_RNW
));
1192 ftdi_swd_queue_cmd(cmd
, NULL
, value
, ap_delay_clk
);
1195 static int ftdi_swd_switch_seq(enum swd_special_seq seq
)
1199 LOG_DEBUG("SWD line reset");
1200 ftdi_swd_swdio_en(true);
1201 mpsse_clock_data_out(mpsse_ctx
, swd_seq_line_reset
, 0, swd_seq_line_reset_len
, SWD_MODE
);
1204 LOG_DEBUG("JTAG-to-SWD");
1205 ftdi_swd_swdio_en(true);
1206 mpsse_clock_data_out(mpsse_ctx
, swd_seq_jtag_to_swd
, 0, swd_seq_jtag_to_swd_len
, SWD_MODE
);
1208 case JTAG_TO_DORMANT
:
1209 LOG_DEBUG("JTAG-to-DORMANT");
1210 ftdi_swd_swdio_en(true);
1211 mpsse_clock_data_out(mpsse_ctx
, swd_seq_jtag_to_dormant
, 0, swd_seq_jtag_to_dormant_len
, SWD_MODE
);
1214 LOG_DEBUG("SWD-to-JTAG");
1215 ftdi_swd_swdio_en(true);
1216 mpsse_clock_data_out(mpsse_ctx
, swd_seq_swd_to_jtag
, 0, swd_seq_swd_to_jtag_len
, SWD_MODE
);
1218 case SWD_TO_DORMANT
:
1219 LOG_DEBUG("SWD-to-DORMANT");
1220 ftdi_swd_swdio_en(true);
1221 mpsse_clock_data_out(mpsse_ctx
, swd_seq_swd_to_dormant
, 0, swd_seq_swd_to_dormant_len
, SWD_MODE
);
1223 case DORMANT_TO_SWD
:
1224 LOG_DEBUG("DORMANT-to-SWD");
1225 ftdi_swd_swdio_en(true);
1226 mpsse_clock_data_out(mpsse_ctx
, swd_seq_dormant_to_swd
, 0, swd_seq_dormant_to_swd_len
, SWD_MODE
);
1228 case DORMANT_TO_JTAG
:
1229 LOG_DEBUG("DORMANT-to-JTAG");
1230 ftdi_swd_swdio_en(true);
1231 mpsse_clock_data_out(mpsse_ctx
, swd_seq_dormant_to_jtag
, 0, swd_seq_dormant_to_jtag_len
, SWD_MODE
);
1234 LOG_ERROR("Sequence %d not supported", seq
);
1241 static const struct swd_driver ftdi_swd
= {
1242 .init
= ftdi_swd_init
,
1243 .switch_seq
= ftdi_swd_switch_seq
,
1244 .read_reg
= ftdi_swd_read_reg
,
1245 .write_reg
= ftdi_swd_write_reg
,
1246 .run
= ftdi_swd_run_queue
,
1249 static const char * const ftdi_transports
[] = { "jtag", "swd", NULL
};
1251 static struct jtag_interface ftdi_interface
= {
1252 .supported
= DEBUG_CAP_TMS_SEQ
,
1253 .execute_queue
= ftdi_execute_queue
,
1256 struct adapter_driver ftdi_adapter_driver
= {
1258 .transports
= ftdi_transports
,
1259 .commands
= ftdi_command_handlers
,
1261 .init
= ftdi_initialize
,
1263 .reset
= ftdi_reset
,
1264 .speed
= ftdi_speed
,
1266 .speed_div
= ftdi_speed_div
,
1268 .jtag_ops
= &ftdi_interface
,
1269 .swd_ops
= &ftdi_swd
,