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, see <http://www.gnu.org/licenses/>. *
17 ***************************************************************************/
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.
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).
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.
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).
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.
41 * - Additional JTAG links, e.g. to a CPLD or * FPGA.
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.
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.
54 * This code uses information contained in the MPSSE specification which was
56 * https://www.ftdichip.com/Support/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
57 * Hereafter this is called the "MPSSE Spec".
59 * The datasheet for the ftdichip.com's FT2232H part is here:
60 * https://www.ftdichip.com/Support/Documents/DataSheets/ICs/DS_FT2232H.pdf
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.
71 /* project specific includes */
72 #include <jtag/drivers/jtag_usb_common.h>
73 #include <jtag/interface.h>
75 #include <transport/transport.h>
76 #include <helper/time_support.h>
77 #include <helper/log.h>
85 /* FTDI access library includes */
88 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
89 #define JTAG_MODE_ALT (LSB_FIRST | NEG_EDGE_IN | NEG_EDGE_OUT)
90 #define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
92 static char *ftdi_device_desc
;
93 static char *ftdi_serial
;
94 static uint8_t ftdi_channel
;
95 static uint8_t ftdi_jtag_mode
= JTAG_MODE
;
100 /* vid = pid = 0 marks the end of the list */
101 static uint16_t ftdi_vid
[MAX_USB_IDS
+ 1] = { 0 };
102 static uint16_t ftdi_pid
[MAX_USB_IDS
+ 1] = { 0 };
104 static struct mpsse_ctx
*mpsse_ctx
;
117 static struct signal
*signals
;
119 /* FIXME: Where to store per-instance data? We need an SWD context. */
120 static struct swd_cmd_queue_entry
{
123 uint8_t trn_ack_data_parity_trn
[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
125 static size_t swd_cmd_queue_length
;
126 static size_t swd_cmd_queue_alloced
;
127 static int queued_retval
;
130 static uint16_t output
;
131 static uint16_t direction
;
132 static uint16_t jtag_output_init
;
133 static uint16_t jtag_direction_init
;
135 static int ftdi_swd_switch_seq(enum swd_special_seq seq
);
137 static struct signal
*find_signal_by_name(const char *name
)
139 for (struct signal
*sig
= signals
; sig
; sig
= sig
->next
) {
140 if (strcmp(name
, sig
->name
) == 0)
146 static struct signal
*create_signal(const char *name
)
148 struct signal
**psig
= &signals
;
150 psig
= &(*psig
)->next
;
152 *psig
= calloc(1, sizeof(**psig
));
156 (*psig
)->name
= strdup(name
);
157 if (!(*psig
)->name
) {
164 static int ftdi_set_signal(const struct signal
*s
, char value
)
169 if (s
->data_mask
== 0 && s
->oe_mask
== 0) {
170 LOG_ERROR("interface doesn't provide signal '%s'", s
->name
);
175 data
= s
->invert_data
;
179 if (s
->data_mask
== 0) {
180 LOG_ERROR("interface can't drive '%s' high", s
->name
);
183 data
= !s
->invert_data
;
188 if (s
->oe_mask
== 0) {
189 LOG_ERROR("interface can't tri-state '%s'", s
->name
);
192 data
= s
->invert_data
;
196 assert(0 && "invalid signal level specifier");
200 uint16_t old_output
= output
;
201 uint16_t old_direction
= direction
;
203 output
= data
? output
| s
->data_mask
: output
& ~s
->data_mask
;
204 if (s
->oe_mask
== s
->data_mask
)
205 direction
= oe
? direction
| s
->oe_mask
: direction
& ~s
->oe_mask
;
207 output
= oe
? output
| s
->oe_mask
: output
& ~s
->oe_mask
;
209 if ((output
& 0xff) != (old_output
& 0xff) || (direction
& 0xff) != (old_direction
& 0xff))
210 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
211 if ((output
>> 8 != old_output
>> 8) || (direction
>> 8 != old_direction
>> 8))
212 mpsse_set_data_bits_high_byte(mpsse_ctx
, output
>> 8, direction
>> 8);
217 static int ftdi_get_signal(const struct signal
*s
, uint16_t *value_out
)
219 uint8_t data_low
= 0;
220 uint8_t data_high
= 0;
222 if (s
->input_mask
== 0) {
223 LOG_ERROR("interface doesn't provide signal '%s'", s
->name
);
227 if (s
->input_mask
& 0xff)
228 mpsse_read_data_bits_low_byte(mpsse_ctx
, &data_low
);
229 if (s
->input_mask
>> 8)
230 mpsse_read_data_bits_high_byte(mpsse_ctx
, &data_high
);
232 mpsse_flush(mpsse_ctx
);
234 *value_out
= (((uint16_t)data_high
) << 8) | data_low
;
237 *value_out
= ~(*value_out
);
239 *value_out
&= s
->input_mask
;
245 * Function move_to_state
246 * moves the TAP controller from the current state to a
247 * \a goal_state through a path given by tap_get_tms_path(). State transition
248 * logging is performed by delegation to clock_tms().
250 * @param goal_state is the destination state for the move.
252 static void move_to_state(tap_state_t goal_state
)
254 tap_state_t start_state
= tap_get_state();
256 /* goal_state is 1/2 of a tuple/pair of states which allow convenient
257 lookup of the required TMS pattern to move to this state from the
261 /* do the 2 lookups */
262 uint8_t tms_bits
= tap_get_tms_path(start_state
, goal_state
);
263 int tms_count
= tap_get_tms_path_len(start_state
, goal_state
);
264 assert(tms_count
<= 8);
266 LOG_DEBUG_IO("start=%s goal=%s", tap_state_name(start_state
), tap_state_name(goal_state
));
268 /* Track state transitions step by step */
269 for (int i
= 0; i
< tms_count
; i
++)
270 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits
>> i
) & 1));
272 mpsse_clock_tms_cs_out(mpsse_ctx
,
280 static int ftdi_speed(int speed
)
283 retval
= mpsse_set_frequency(mpsse_ctx
, speed
);
286 LOG_ERROR("couldn't set FTDI TCK speed");
290 if (!swd_mode
&& speed
>= 10000000 && ftdi_jtag_mode
!= JTAG_MODE_ALT
)
291 LOG_INFO("ftdi: if you experience problems at higher adapter clocks, try "
292 "the command \"ftdi tdo_sample_edge falling\"");
296 static int ftdi_speed_div(int speed
, int *khz
)
302 static int ftdi_khz(int khz
, int *jtag_speed
)
304 if (khz
== 0 && !mpsse_is_high_speed(mpsse_ctx
)) {
305 LOG_DEBUG("RCLK not supported");
309 *jtag_speed
= khz
* 1000;
313 static void ftdi_end_state(tap_state_t state
)
315 if (tap_is_state_stable(state
))
316 tap_set_end_state(state
);
318 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state
));
323 static void ftdi_execute_runtest(struct jtag_command
*cmd
)
328 LOG_DEBUG_IO("runtest %i cycles, end in %s",
329 cmd
->cmd
.runtest
->num_cycles
,
330 tap_state_name(cmd
->cmd
.runtest
->end_state
));
332 if (tap_get_state() != TAP_IDLE
)
333 move_to_state(TAP_IDLE
);
335 /* TODO: Reuse ftdi_execute_stableclocks */
336 i
= cmd
->cmd
.runtest
->num_cycles
;
338 /* there are no state transitions in this code, so omit state tracking */
339 unsigned this_len
= i
> 7 ? 7 : i
;
340 mpsse_clock_tms_cs_out(mpsse_ctx
, &zero
, 0, this_len
, false, ftdi_jtag_mode
);
344 ftdi_end_state(cmd
->cmd
.runtest
->end_state
);
346 if (tap_get_state() != tap_get_end_state())
347 move_to_state(tap_get_end_state());
349 LOG_DEBUG_IO("runtest: %i, end in %s",
350 cmd
->cmd
.runtest
->num_cycles
,
351 tap_state_name(tap_get_end_state()));
354 static void ftdi_execute_statemove(struct jtag_command
*cmd
)
356 LOG_DEBUG_IO("statemove end in %s",
357 tap_state_name(cmd
->cmd
.statemove
->end_state
));
359 ftdi_end_state(cmd
->cmd
.statemove
->end_state
);
361 /* shortest-path move to desired end state */
362 if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET
)
363 move_to_state(tap_get_end_state());
367 * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
368 * (or SWD) state machine. REVISIT: Not the best method, perhaps.
370 static void ftdi_execute_tms(struct jtag_command
*cmd
)
372 LOG_DEBUG_IO("TMS: %d bits", cmd
->cmd
.tms
->num_bits
);
374 /* TODO: Missing tap state tracking, also missing from ft2232.c! */
375 mpsse_clock_tms_cs_out(mpsse_ctx
,
378 cmd
->cmd
.tms
->num_bits
,
383 static void ftdi_execute_pathmove(struct jtag_command
*cmd
)
385 tap_state_t
*path
= cmd
->cmd
.pathmove
->path
;
386 int num_states
= cmd
->cmd
.pathmove
->num_states
;
388 LOG_DEBUG_IO("pathmove: %i states, current: %s end: %s", num_states
,
389 tap_state_name(tap_get_state()),
390 tap_state_name(path
[num_states
-1]));
393 unsigned bit_count
= 0;
394 uint8_t tms_byte
= 0;
398 /* this loop verifies that the path is legal and logs each state in the path */
399 while (num_states
--) {
401 /* either TMS=0 or TMS=1 must work ... */
402 if (tap_state_transition(tap_get_state(), false)
403 == path
[state_count
])
404 buf_set_u32(&tms_byte
, bit_count
++, 1, 0x0);
405 else if (tap_state_transition(tap_get_state(), true)
406 == path
[state_count
]) {
407 buf_set_u32(&tms_byte
, bit_count
++, 1, 0x1);
409 /* ... or else the caller goofed BADLY */
411 LOG_ERROR("BUG: %s -> %s isn't a valid "
412 "TAP state transition",
413 tap_state_name(tap_get_state()),
414 tap_state_name(path
[state_count
]));
418 tap_set_state(path
[state_count
]);
421 if (bit_count
== 7 || num_states
== 0) {
422 mpsse_clock_tms_cs_out(mpsse_ctx
,
431 tap_set_end_state(tap_get_state());
434 static void ftdi_execute_scan(struct jtag_command
*cmd
)
436 LOG_DEBUG_IO("%s type:%d", cmd
->cmd
.scan
->ir_scan
? "IRSCAN" : "DRSCAN",
437 jtag_scan_type(cmd
->cmd
.scan
));
439 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
440 while (cmd
->cmd
.scan
->num_fields
> 0
441 && cmd
->cmd
.scan
->fields
[cmd
->cmd
.scan
->num_fields
- 1].num_bits
== 0) {
442 cmd
->cmd
.scan
->num_fields
--;
443 LOG_DEBUG_IO("discarding trailing empty field");
446 if (cmd
->cmd
.scan
->num_fields
== 0) {
447 LOG_DEBUG_IO("empty scan, doing nothing");
451 if (cmd
->cmd
.scan
->ir_scan
) {
452 if (tap_get_state() != TAP_IRSHIFT
)
453 move_to_state(TAP_IRSHIFT
);
455 if (tap_get_state() != TAP_DRSHIFT
)
456 move_to_state(TAP_DRSHIFT
);
459 ftdi_end_state(cmd
->cmd
.scan
->end_state
);
461 struct scan_field
*field
= cmd
->cmd
.scan
->fields
;
462 unsigned scan_size
= 0;
464 for (int i
= 0; i
< cmd
->cmd
.scan
->num_fields
; i
++, field
++) {
465 scan_size
+= field
->num_bits
;
466 LOG_DEBUG_IO("%s%s field %d/%d %d bits",
467 field
->in_value
? "in" : "",
468 field
->out_value
? "out" : "",
470 cmd
->cmd
.scan
->num_fields
,
473 if (i
== cmd
->cmd
.scan
->num_fields
- 1 && tap_get_state() != tap_get_end_state()) {
474 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
475 * movement. This last field can't have length zero, it was checked above. */
476 mpsse_clock_data(mpsse_ctx
,
483 uint8_t last_bit
= 0;
484 if (field
->out_value
)
485 bit_copy(&last_bit
, 0, field
->out_value
, field
->num_bits
- 1, 1);
487 /* If endstate is TAP_IDLE, clock out 1-1-0 (->EXIT1 ->UPDATE ->IDLE)
488 * Otherwise, clock out 1-0 (->EXIT1 ->PAUSE)
490 uint8_t tms_bits
= 0x03;
491 mpsse_clock_tms_cs(mpsse_ctx
,
499 tap_set_state(tap_state_transition(tap_get_state(), 1));
500 if (tap_get_end_state() == TAP_IDLE
) {
501 mpsse_clock_tms_cs_out(mpsse_ctx
,
507 tap_set_state(tap_state_transition(tap_get_state(), 1));
508 tap_set_state(tap_state_transition(tap_get_state(), 0));
510 mpsse_clock_tms_cs_out(mpsse_ctx
,
516 tap_set_state(tap_state_transition(tap_get_state(), 0));
519 mpsse_clock_data(mpsse_ctx
,
528 if (tap_get_state() != tap_get_end_state())
529 move_to_state(tap_get_end_state());
531 LOG_DEBUG_IO("%s scan, %i bits, end in %s",
532 (cmd
->cmd
.scan
->ir_scan
) ? "IR" : "DR", scan_size
,
533 tap_state_name(tap_get_end_state()));
536 static int ftdi_reset(int trst
, int srst
)
538 struct signal
*sig_ntrst
= find_signal_by_name("nTRST");
539 struct signal
*sig_nsrst
= find_signal_by_name("nSRST");
541 LOG_DEBUG_IO("reset trst: %i srst %i", trst
, srst
);
546 ftdi_set_signal(sig_ntrst
, '0');
548 LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
549 } else if (sig_ntrst
&& jtag_get_reset_config() & RESET_HAS_TRST
&&
551 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN
)
552 ftdi_set_signal(sig_ntrst
, 'z');
554 ftdi_set_signal(sig_ntrst
, '1');
560 ftdi_set_signal(sig_nsrst
, '0');
562 LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
563 } else if (sig_nsrst
&& jtag_get_reset_config() & RESET_HAS_SRST
&&
565 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL
)
566 ftdi_set_signal(sig_nsrst
, '1');
568 ftdi_set_signal(sig_nsrst
, 'z');
571 return mpsse_flush(mpsse_ctx
);
574 static void ftdi_execute_sleep(struct jtag_command
*cmd
)
576 LOG_DEBUG_IO("sleep %" PRIu32
, cmd
->cmd
.sleep
->us
);
578 mpsse_flush(mpsse_ctx
);
579 jtag_sleep(cmd
->cmd
.sleep
->us
);
580 LOG_DEBUG_IO("sleep %" PRIu32
" usec while in %s",
582 tap_state_name(tap_get_state()));
585 static void ftdi_execute_stableclocks(struct jtag_command
*cmd
)
587 /* this is only allowed while in a stable state. A check for a stable
588 * state was done in jtag_add_clocks()
590 int num_cycles
= cmd
->cmd
.stableclocks
->num_cycles
;
592 /* 7 bits of either ones or zeros. */
593 uint8_t tms
= tap_get_state() == TAP_RESET
? 0x7f : 0x00;
595 /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
596 * the correct level and remain there during the scan */
597 while (num_cycles
> 0) {
598 /* there are no state transitions in this code, so omit state tracking */
599 unsigned this_len
= num_cycles
> 7 ? 7 : num_cycles
;
600 mpsse_clock_tms_cs_out(mpsse_ctx
, &tms
, 0, this_len
, false, ftdi_jtag_mode
);
601 num_cycles
-= this_len
;
604 LOG_DEBUG_IO("clocks %i while in %s",
605 cmd
->cmd
.stableclocks
->num_cycles
,
606 tap_state_name(tap_get_state()));
609 static void ftdi_execute_command(struct jtag_command
*cmd
)
613 ftdi_execute_runtest(cmd
);
616 ftdi_execute_statemove(cmd
);
619 ftdi_execute_pathmove(cmd
);
622 ftdi_execute_scan(cmd
);
625 ftdi_execute_sleep(cmd
);
627 case JTAG_STABLECLOCKS
:
628 ftdi_execute_stableclocks(cmd
);
631 ftdi_execute_tms(cmd
);
634 LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd
->type
);
639 static int ftdi_execute_queue(void)
641 /* blink, if the current layout has that feature */
642 struct signal
*led
= find_signal_by_name("LED");
644 ftdi_set_signal(led
, '1');
646 for (struct jtag_command
*cmd
= jtag_command_queue
; cmd
; cmd
= cmd
->next
) {
647 /* fill the write buffer with the desired command */
648 ftdi_execute_command(cmd
);
652 ftdi_set_signal(led
, '0');
654 int retval
= mpsse_flush(mpsse_ctx
);
655 if (retval
!= ERROR_OK
)
656 LOG_ERROR("error while flushing MPSSE queue: %d", retval
);
661 static int ftdi_initialize(void)
663 if (tap_get_tms_path_len(TAP_IRPAUSE
, TAP_IRPAUSE
) == 7)
664 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
666 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
668 if (!ftdi_vid
[0] && !ftdi_pid
[0]) {
669 LOG_ERROR("Please specify ftdi vid_pid");
670 return ERROR_JTAG_INIT_FAILED
;
673 for (int i
= 0; ftdi_vid
[i
] || ftdi_pid
[i
]; i
++) {
674 mpsse_ctx
= mpsse_open(&ftdi_vid
[i
], &ftdi_pid
[i
], ftdi_device_desc
,
675 ftdi_serial
, jtag_usb_get_location(), ftdi_channel
);
681 return ERROR_JTAG_INIT_FAILED
;
683 output
= jtag_output_init
;
684 direction
= jtag_direction_init
;
687 struct signal
*sig
= find_signal_by_name("SWD_EN");
689 LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
690 return ERROR_JTAG_INIT_FAILED
;
692 /* A dummy SWD_EN would have zero mask */
694 ftdi_set_signal(sig
, '1');
697 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
698 mpsse_set_data_bits_high_byte(mpsse_ctx
, output
>> 8, direction
>> 8);
700 mpsse_loopback_config(mpsse_ctx
, false);
702 freq
= mpsse_set_frequency(mpsse_ctx
, jtag_get_speed_khz() * 1000);
704 return mpsse_flush(mpsse_ctx
);
707 static int ftdi_quit(void)
709 mpsse_close(mpsse_ctx
);
711 struct signal
*sig
= signals
;
713 struct signal
*next
= sig
->next
;
714 free((void *)sig
->name
);
719 free(ftdi_device_desc
);
727 COMMAND_HANDLER(ftdi_handle_device_desc_command
)
730 free(ftdi_device_desc
);
731 ftdi_device_desc
= strdup(CMD_ARGV
[0]);
733 LOG_ERROR("expected exactly one argument to ftdi device_desc <description>");
739 COMMAND_HANDLER(ftdi_handle_serial_command
)
743 ftdi_serial
= strdup(CMD_ARGV
[0]);
745 return ERROR_COMMAND_SYNTAX_ERROR
;
751 COMMAND_HANDLER(ftdi_handle_channel_command
)
754 COMMAND_PARSE_NUMBER(u8
, CMD_ARGV
[0], ftdi_channel
);
756 return ERROR_COMMAND_SYNTAX_ERROR
;
761 COMMAND_HANDLER(ftdi_handle_layout_init_command
)
764 return ERROR_COMMAND_SYNTAX_ERROR
;
766 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[0], jtag_output_init
);
767 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[1], jtag_direction_init
);
772 COMMAND_HANDLER(ftdi_handle_layout_signal_command
)
775 return ERROR_COMMAND_SYNTAX_ERROR
;
777 bool invert_data
= false;
778 uint16_t data_mask
= 0;
779 bool invert_input
= false;
780 uint16_t input_mask
= 0;
781 bool invert_oe
= false;
782 uint16_t oe_mask
= 0;
783 for (unsigned i
= 1; i
< CMD_ARGC
; i
+= 2) {
784 if (strcmp("-data", CMD_ARGV
[i
]) == 0) {
786 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], data_mask
);
787 } else if (strcmp("-ndata", CMD_ARGV
[i
]) == 0) {
789 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], data_mask
);
790 } else if (strcmp("-input", CMD_ARGV
[i
]) == 0) {
791 invert_input
= false;
792 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], input_mask
);
793 } else if (strcmp("-ninput", CMD_ARGV
[i
]) == 0) {
795 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], input_mask
);
796 } else if (strcmp("-oe", CMD_ARGV
[i
]) == 0) {
798 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], oe_mask
);
799 } else if (strcmp("-noe", CMD_ARGV
[i
]) == 0) {
801 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], oe_mask
);
802 } else if (!strcmp("-alias", CMD_ARGV
[i
]) ||
803 !strcmp("-nalias", CMD_ARGV
[i
])) {
804 if (!strcmp("-nalias", CMD_ARGV
[i
])) {
808 struct signal
*sig
= find_signal_by_name(CMD_ARGV
[i
+ 1]);
810 LOG_ERROR("signal %s is not defined", CMD_ARGV
[i
+ 1]);
813 data_mask
= sig
->data_mask
;
814 input_mask
= sig
->input_mask
;
815 oe_mask
= sig
->oe_mask
;
816 invert_input
^= sig
->invert_input
;
817 invert_oe
= sig
->invert_oe
;
818 invert_data
^= sig
->invert_data
;
820 LOG_ERROR("unknown option '%s'", CMD_ARGV
[i
]);
821 return ERROR_COMMAND_SYNTAX_ERROR
;
826 sig
= find_signal_by_name(CMD_ARGV
[0]);
828 sig
= create_signal(CMD_ARGV
[0]);
830 LOG_ERROR("failed to create signal %s", CMD_ARGV
[0]);
834 sig
->invert_data
= invert_data
;
835 sig
->data_mask
= data_mask
;
836 sig
->invert_input
= invert_input
;
837 sig
->input_mask
= input_mask
;
838 sig
->invert_oe
= invert_oe
;
839 sig
->oe_mask
= oe_mask
;
844 COMMAND_HANDLER(ftdi_handle_set_signal_command
)
847 return ERROR_COMMAND_SYNTAX_ERROR
;
850 sig
= find_signal_by_name(CMD_ARGV
[0]);
852 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV
[0]);
856 switch (*CMD_ARGV
[1]) {
861 /* single character level specifier only */
862 if (CMD_ARGV
[1][1] == '\0') {
863 ftdi_set_signal(sig
, *CMD_ARGV
[1]);
868 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV
[1]);
869 return ERROR_COMMAND_SYNTAX_ERROR
;
872 return mpsse_flush(mpsse_ctx
);
875 COMMAND_HANDLER(ftdi_handle_get_signal_command
)
878 return ERROR_COMMAND_SYNTAX_ERROR
;
881 uint16_t sig_data
= 0;
882 sig
= find_signal_by_name(CMD_ARGV
[0]);
884 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV
[0]);
888 int ret
= ftdi_get_signal(sig
, &sig_data
);
892 LOG_USER("Signal %s = %#06x", sig
->name
, sig_data
);
897 COMMAND_HANDLER(ftdi_handle_vid_pid_command
)
899 if (CMD_ARGC
> MAX_USB_IDS
* 2) {
900 LOG_WARNING("ignoring extra IDs in ftdi vid_pid "
901 "(maximum is %d pairs)", MAX_USB_IDS
);
902 CMD_ARGC
= MAX_USB_IDS
* 2;
904 if (CMD_ARGC
< 2 || (CMD_ARGC
& 1)) {
905 LOG_WARNING("incomplete ftdi vid_pid configuration directive");
907 return ERROR_COMMAND_SYNTAX_ERROR
;
908 /* remove the incomplete trailing id */
913 for (i
= 0; i
< CMD_ARGC
; i
+= 2) {
914 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
], ftdi_vid
[i
>> 1]);
915 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], ftdi_pid
[i
>> 1]);
919 * Explicitly terminate, in case there are multiples instances of
922 ftdi_vid
[i
>> 1] = ftdi_pid
[i
>> 1] = 0;
927 COMMAND_HANDLER(ftdi_handle_tdo_sample_edge_command
)
930 static const struct jim_nvp nvp_ftdi_jtag_modes
[] = {
931 { .name
= "rising", .value
= JTAG_MODE
},
932 { .name
= "falling", .value
= JTAG_MODE_ALT
},
933 { .name
= NULL
, .value
= -1 },
937 n
= jim_nvp_name2value_simple(nvp_ftdi_jtag_modes
, CMD_ARGV
[0]);
939 return ERROR_COMMAND_SYNTAX_ERROR
;
940 ftdi_jtag_mode
= n
->value
;
944 n
= jim_nvp_value2name_simple(nvp_ftdi_jtag_modes
, ftdi_jtag_mode
);
945 command_print(CMD
, "ftdi samples TDO on %s edge of TCK", n
->name
);
950 static const struct command_registration ftdi_subcommand_handlers
[] = {
952 .name
= "device_desc",
953 .handler
= &ftdi_handle_device_desc_command
,
954 .mode
= COMMAND_CONFIG
,
955 .help
= "set the USB device description of the FTDI device",
956 .usage
= "description_string",
960 .handler
= &ftdi_handle_serial_command
,
961 .mode
= COMMAND_CONFIG
,
962 .help
= "set the serial number of the FTDI device",
963 .usage
= "serial_string",
967 .handler
= &ftdi_handle_channel_command
,
968 .mode
= COMMAND_CONFIG
,
969 .help
= "set the channel of the FTDI device that is used as JTAG",
973 .name
= "layout_init",
974 .handler
= &ftdi_handle_layout_init_command
,
975 .mode
= COMMAND_CONFIG
,
976 .help
= "initialize the FTDI GPIO signals used "
977 "to control output-enables and reset signals",
978 .usage
= "data direction",
981 .name
= "layout_signal",
982 .handler
= &ftdi_handle_layout_signal_command
,
984 .help
= "define a signal controlled by one or more FTDI GPIO as data "
985 "and/or output enable",
986 .usage
= "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
989 .name
= "set_signal",
990 .handler
= &ftdi_handle_set_signal_command
,
991 .mode
= COMMAND_EXEC
,
992 .help
= "control a layout-specific signal",
993 .usage
= "name (1|0|z)",
996 .name
= "get_signal",
997 .handler
= &ftdi_handle_get_signal_command
,
998 .mode
= COMMAND_EXEC
,
999 .help
= "read the value of a layout-specific signal",
1004 .handler
= &ftdi_handle_vid_pid_command
,
1005 .mode
= COMMAND_CONFIG
,
1006 .help
= "the vendor ID and product ID of the FTDI device",
1007 .usage
= "(vid pid)*",
1010 .name
= "tdo_sample_edge",
1011 .handler
= &ftdi_handle_tdo_sample_edge_command
,
1012 .mode
= COMMAND_ANY
,
1013 .help
= "set which TCK clock edge is used for sampling TDO "
1014 "- default is rising-edge (Setting to falling-edge may "
1015 "allow signalling speed increase)",
1016 .usage
= "(rising|falling)",
1018 COMMAND_REGISTRATION_DONE
1021 static const struct command_registration ftdi_command_handlers
[] = {
1024 .mode
= COMMAND_ANY
,
1025 .help
= "perform ftdi management",
1026 .chain
= ftdi_subcommand_handlers
,
1029 COMMAND_REGISTRATION_DONE
1032 static int create_default_signal(const char *name
, uint16_t data_mask
)
1034 struct signal
*sig
= create_signal(name
);
1036 LOG_ERROR("failed to create signal %s", name
);
1039 sig
->invert_data
= false;
1040 sig
->data_mask
= data_mask
;
1041 sig
->invert_oe
= false;
1047 static int create_signals(void)
1049 if (create_default_signal("TCK", 0x01) != ERROR_OK
)
1051 if (create_default_signal("TDI", 0x02) != ERROR_OK
)
1053 if (create_default_signal("TDO", 0x04) != ERROR_OK
)
1055 if (create_default_signal("TMS", 0x08) != ERROR_OK
)
1060 static int ftdi_swd_init(void)
1062 LOG_INFO("FTDI SWD mode enabled");
1065 if (create_signals() != ERROR_OK
)
1068 swd_cmd_queue_alloced
= 10;
1069 swd_cmd_queue
= malloc(swd_cmd_queue_alloced
* sizeof(*swd_cmd_queue
));
1071 return swd_cmd_queue
? ERROR_OK
: ERROR_FAIL
;
1074 static void ftdi_swd_swdio_en(bool enable
)
1076 struct signal
*oe
= find_signal_by_name("SWDIO_OE");
1079 ftdi_set_signal(oe
, enable
? '1' : '0');
1081 /* Sets TDI/DO pin to input during rx when both pins are connected
1084 direction
|= jtag_direction_init
& 0x0002U
;
1086 direction
&= ~0x0002U
;
1087 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
1093 * Flush the MPSSE queue and process the SWD transaction queue
1096 static int ftdi_swd_run_queue(void)
1098 LOG_DEBUG_IO("Executing %zu queued transactions", swd_cmd_queue_length
);
1100 struct signal
*led
= find_signal_by_name("LED");
1102 if (queued_retval
!= ERROR_OK
) {
1103 LOG_DEBUG_IO("Skipping due to previous errors: %d", queued_retval
);
1107 /* A transaction must be followed by another transaction or at least 8 idle cycles to
1108 * ensure that data is clocked through the AP. */
1109 mpsse_clock_data_out(mpsse_ctx
, NULL
, 0, 8, SWD_MODE
);
1111 /* Terminate the "blink", if the current layout has that feature */
1113 ftdi_set_signal(led
, '0');
1115 queued_retval
= mpsse_flush(mpsse_ctx
);
1116 if (queued_retval
!= ERROR_OK
) {
1117 LOG_ERROR("MPSSE failed");
1121 for (size_t i
= 0; i
< swd_cmd_queue_length
; i
++) {
1122 int ack
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1, 3);
1124 LOG_DEBUG_IO("%s %s %s reg %X = %08"PRIx32
,
1125 ack
== SWD_ACK_OK
? "OK" : ack
== SWD_ACK_WAIT
? "WAIT" : ack
== SWD_ACK_FAULT
? "FAULT" : "JUNK",
1126 swd_cmd_queue
[i
].cmd
& SWD_CMD_APNDP
? "AP" : "DP",
1127 swd_cmd_queue
[i
].cmd
& SWD_CMD_RNW
? "read" : "write",
1128 (swd_cmd_queue
[i
].cmd
& SWD_CMD_A32
) >> 1,
1129 buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1130 1 + 3 + (swd_cmd_queue
[i
].cmd
& SWD_CMD_RNW
? 0 : 1), 32));
1132 if (ack
!= SWD_ACK_OK
) {
1133 queued_retval
= ack
== SWD_ACK_WAIT
? ERROR_WAIT
: ERROR_FAIL
;
1136 } else if (swd_cmd_queue
[i
].cmd
& SWD_CMD_RNW
) {
1137 uint32_t data
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3, 32);
1138 int parity
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 32, 1);
1140 if (parity
!= parity_u32(data
)) {
1141 LOG_ERROR("SWD Read data parity mismatch");
1142 queued_retval
= ERROR_FAIL
;
1146 if (swd_cmd_queue
[i
].dst
)
1147 *swd_cmd_queue
[i
].dst
= data
;
1152 swd_cmd_queue_length
= 0;
1153 retval
= queued_retval
;
1154 queued_retval
= ERROR_OK
;
1156 /* Queue a new "blink" */
1157 if (led
&& retval
== ERROR_OK
)
1158 ftdi_set_signal(led
, '1');
1163 static void ftdi_swd_queue_cmd(uint8_t cmd
, uint32_t *dst
, uint32_t data
, uint32_t ap_delay_clk
)
1165 if (swd_cmd_queue_length
>= swd_cmd_queue_alloced
) {
1166 /* Not enough room in the queue. Run the queue and increase its size for next time.
1167 * Note that it's not possible to avoid running the queue here, because mpsse contains
1168 * pointers into the queue which may be invalid after the realloc. */
1169 queued_retval
= ftdi_swd_run_queue();
1170 struct swd_cmd_queue_entry
*q
= realloc(swd_cmd_queue
, swd_cmd_queue_alloced
* 2 * sizeof(*swd_cmd_queue
));
1173 swd_cmd_queue_alloced
*= 2;
1174 LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced
);
1178 if (queued_retval
!= ERROR_OK
)
1181 size_t i
= swd_cmd_queue_length
++;
1182 swd_cmd_queue
[i
].cmd
= cmd
| SWD_CMD_START
| SWD_CMD_PARK
;
1184 mpsse_clock_data_out(mpsse_ctx
, &swd_cmd_queue
[i
].cmd
, 0, 8, SWD_MODE
);
1186 if (swd_cmd_queue
[i
].cmd
& SWD_CMD_RNW
) {
1187 /* Queue a read transaction */
1188 swd_cmd_queue
[i
].dst
= dst
;
1190 ftdi_swd_swdio_en(false);
1191 mpsse_clock_data_in(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1192 0, 1 + 3 + 32 + 1 + 1, SWD_MODE
);
1193 ftdi_swd_swdio_en(true);
1195 /* Queue a write transaction */
1196 ftdi_swd_swdio_en(false);
1198 mpsse_clock_data_in(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1199 0, 1 + 3 + 1, SWD_MODE
);
1201 ftdi_swd_swdio_en(true);
1203 buf_set_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 1, 32, data
);
1204 buf_set_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 1 + 32, 1, parity_u32(data
));
1206 mpsse_clock_data_out(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1207 1 + 3 + 1, 32 + 1, SWD_MODE
);
1210 /* Insert idle cycles after AP accesses to avoid WAIT */
1211 if (cmd
& SWD_CMD_APNDP
)
1212 mpsse_clock_data_out(mpsse_ctx
, NULL
, 0, ap_delay_clk
, SWD_MODE
);
1216 static void ftdi_swd_read_reg(uint8_t cmd
, uint32_t *value
, uint32_t ap_delay_clk
)
1218 assert(cmd
& SWD_CMD_RNW
);
1219 ftdi_swd_queue_cmd(cmd
, value
, 0, ap_delay_clk
);
1222 static void ftdi_swd_write_reg(uint8_t cmd
, uint32_t value
, uint32_t ap_delay_clk
)
1224 assert(!(cmd
& SWD_CMD_RNW
));
1225 ftdi_swd_queue_cmd(cmd
, NULL
, value
, ap_delay_clk
);
1228 static int ftdi_swd_switch_seq(enum swd_special_seq seq
)
1232 LOG_DEBUG("SWD line reset");
1233 ftdi_swd_swdio_en(true);
1234 mpsse_clock_data_out(mpsse_ctx
, swd_seq_line_reset
, 0, swd_seq_line_reset_len
, SWD_MODE
);
1237 LOG_DEBUG("JTAG-to-SWD");
1238 ftdi_swd_swdio_en(true);
1239 mpsse_clock_data_out(mpsse_ctx
, swd_seq_jtag_to_swd
, 0, swd_seq_jtag_to_swd_len
, SWD_MODE
);
1242 LOG_DEBUG("SWD-to-JTAG");
1243 ftdi_swd_swdio_en(true);
1244 mpsse_clock_data_out(mpsse_ctx
, swd_seq_swd_to_jtag
, 0, swd_seq_swd_to_jtag_len
, SWD_MODE
);
1247 LOG_ERROR("Sequence %d not supported", seq
);
1254 static const struct swd_driver ftdi_swd
= {
1255 .init
= ftdi_swd_init
,
1256 .switch_seq
= ftdi_swd_switch_seq
,
1257 .read_reg
= ftdi_swd_read_reg
,
1258 .write_reg
= ftdi_swd_write_reg
,
1259 .run
= ftdi_swd_run_queue
,
1262 static const char * const ftdi_transports
[] = { "jtag", "swd", NULL
};
1264 static struct jtag_interface ftdi_interface
= {
1265 .supported
= DEBUG_CAP_TMS_SEQ
,
1266 .execute_queue
= ftdi_execute_queue
,
1269 struct adapter_driver ftdi_adapter_driver
= {
1271 .transports
= ftdi_transports
,
1272 .commands
= ftdi_command_handlers
,
1274 .init
= ftdi_initialize
,
1276 .reset
= ftdi_reset
,
1277 .speed
= ftdi_speed
,
1279 .speed_div
= ftdi_speed_div
,
1281 .jtag_ops
= &ftdi_interface
,
1282 .swd_ops
= &ftdi_swd
,