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   1 /**************************************************************************
   2 *   Copyright (C) 2012 by Andreas Fritiofson                              *
   3 *   andreas.fritiofson@gmail.com                                          *
   4 *                                                                         *
   5 *   This program is free software; you can redistribute it and/or modify  *
   6 *   it under the terms of the GNU General Public License as published by  *
   7 *   the Free Software Foundation; either version 2 of the License, or     *
   8 *   (at your option) any later version.                                   *
   9 *                                                                         *
  10 *   This program is distributed in the hope that it will be useful,       *
  11 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  12 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  13 *   GNU General Public License for more details.                          *
  14 *                                                                         *
  15 *   You should have received a copy of the GNU General Public License     *
  16 *   along with this program; if not, write to the                         *
  17 *   Free Software Foundation, Inc.,                                       *
  18 *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
  19 ***************************************************************************/
  20
  21 /**
  22  * @file
  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.
  27  *
  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).
  31  *
  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.
  35  *
  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).
  39  *
  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.
  42  *
  43  *  - Additional JTAG links, e.g. to a CPLD or * FPGA.
  44  *
  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.
  51  *
  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.
  55  *
  56  * This code uses information contained in the MPSSE specification which was
  57  * found here:
  58  * http://www.ftdichip.com/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
  59  * Hereafter this is called the "MPSSE Spec".
  60  *
  61  * The datasheet for the ftdichip.com's FT2232D part is here:
  62  * http://www.ftdichip.com/Documents/DataSheets/DS_FT2232D.pdf
  63  *
  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.
  67  */
  68
  69 #ifdef HAVE_CONFIG_H
  70 #include "config.h"
  71 #endif
  72
  73 /* project specific includes */
  74 #include <jtag/interface.h>
  75 #include <transport/transport.h>
  76 #include <helper/time_support.h>
  77
  78 #if IS_CYGWIN == 1
  79 #include <windows.h>
  80 #endif
  81
  82 #include <assert.h>
  83
  84 /* FTDI access library includes */
  85 #include "mpsse.h"
  86
  87 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
  88
  89 static char *ftdi_device_desc;
  90 static char *ftdi_serial;
  91 static uint8_t ftdi_channel;
  92
  93 #define MAX_USB_IDS 8
  94 /* vid = pid = 0 marks the end of the list */
  95 static uint16_t ftdi_vid[MAX_USB_IDS + 1] = { 0 };
  96 static uint16_t ftdi_pid[MAX_USB_IDS + 1] = { 0 };
  97
  98 static struct mpsse_ctx *mpsse_ctx;
  99
 100 struct signal {
 101         const char *name;
 102         uint16_t data_mask;
 103         uint16_t oe_mask;
 104         bool invert_data;
 105         bool invert_oe;
 106         struct signal *next;
 107 };
 108
 109 static struct signal *signals;
 110
 111 static uint16_t output;
 112 static uint16_t direction;
 113
 114 static struct signal *find_signal_by_name(const char *name)
 115 {
 116         for (struct signal *sig = signals; sig; sig = sig->next) {
 117                 if (strcmp(name, sig->name) == 0)
 118                         return sig;
 119         }
 120         return NULL;
 121 }
 122
 123 static struct signal *create_signal(const char *name)
 124 {
 125         struct signal **psig = &signals;
 126         while (*psig)
 127                 psig = &(*psig)->next;
 128
 129         *psig = calloc(1, sizeof(**psig));
 130         if (*psig == NULL)
 131                 return NULL;
 132
 133         (*psig)->name = strdup(name);
 134         if ((*psig)->name == NULL) {
 135                 free(*psig);
 136                 *psig = NULL;
 137         }
 138         return *psig;
 139 }
 140
 141 static int ftdi_set_signal(const struct signal *s, char value)
 142 {
 143         int retval;
 144         bool data;
 145         bool oe;
 146
 147         if (s->data_mask == 0 && s->oe_mask == 0) {
 148                 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
 149                 return ERROR_FAIL;
 150         }
 151         switch (value) {
 152         case '0':
 153                 data = s->invert_data;
 154                 oe = !s->invert_oe;
 155                 break;
 156         case '1':
 157                 if (s->data_mask == 0) {
 158                         LOG_ERROR("interface can't drive '%s' high", s->name);
 159                         return ERROR_FAIL;
 160                 }
 161                 data = !s->invert_data;
 162                 oe = !s->invert_oe;
 163                 break;
 164         case 'z':
 165         case 'Z':
 166                 if (s->oe_mask == 0) {
 167                         LOG_ERROR("interface can't tri-state '%s'", s->name);
 168                         return ERROR_FAIL;
 169                 }
 170                 data = s->invert_data;
 171                 oe = s->invert_oe;
 172                 break;
 173         default:
 174                 assert(0 && "invalid signal level specifier");
 175                 return ERROR_FAIL;
 176         }
 177
 178         output = data ? output | s->data_mask : output & ~s->data_mask;
 179         if (s->oe_mask == s->data_mask)
 180                 direction = oe ? direction | s->oe_mask : direction & ~s->oe_mask;
 181         else
 182                 output = oe ? output | s->oe_mask : output & ~s->oe_mask;
 183
 184         retval = mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
 185         if (retval == ERROR_OK)
 186                 retval = mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
 187         if (retval != ERROR_OK) {
 188                 LOG_ERROR("couldn't initialize FTDI GPIO");
 189                 return ERROR_JTAG_INIT_FAILED;
 190         }
 191
 192         return ERROR_OK;
 193 }
 194
 195
 196 /**
 197  * Function move_to_state
 198  * moves the TAP controller from the current state to a
 199  * \a goal_state through a path given by tap_get_tms_path().  State transition
 200  * logging is performed by delegation to clock_tms().
 201  *
 202  * @param goal_state is the destination state for the move.
 203  */
 204 static int move_to_state(tap_state_t goal_state)
 205 {
 206         tap_state_t start_state = tap_get_state();
 207
 208         /*      goal_state is 1/2 of a tuple/pair of states which allow convenient
 209                 lookup of the required TMS pattern to move to this state from the
 210                 start state.
 211         */
 212
 213         /* do the 2 lookups */
 214         int tms_bits  = tap_get_tms_path(start_state, goal_state);
 215         int tms_count = tap_get_tms_path_len(start_state, goal_state);
 216
 217         DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
 218
 219         /* Track state transitions step by step */
 220         for (int i = 0; i < tms_count; i++)
 221                 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits >> i) & 1));
 222
 223         return mpsse_clock_tms_cs_out(mpsse_ctx,
 224                 (uint8_t *)&tms_bits,
 225                 0,
 226                 tms_count,
 227                 false,
 228                 JTAG_MODE);
 229 }
 230
 231 static int ftdi_speed(int speed)
 232 {
 233         int retval;
 234         retval = mpsse_set_frequency(mpsse_ctx, speed);
 235
 236         if (retval < 0) {
 237                 LOG_ERROR("couldn't set FTDI TCK speed");
 238                 return retval;
 239         }
 240
 241         return ERROR_OK;
 242 }
 243
 244 static int ftdi_speed_div(int speed, int *khz)
 245 {
 246         *khz = speed / 1000;
 247         return ERROR_OK;
 248 }
 249
 250 static int ftdi_khz(int khz, int *jtag_speed)
 251 {
 252         if (khz == 0 && !mpsse_is_high_speed(mpsse_ctx)) {
 253                 LOG_DEBUG("RCLK not supported");
 254                 return ERROR_FAIL;
 255         }
 256
 257         *jtag_speed = khz * 1000;
 258         return ERROR_OK;
 259 }
 260
 261 static void ftdi_end_state(tap_state_t state)
 262 {
 263         if (tap_is_state_stable(state))
 264                 tap_set_end_state(state);
 265         else {
 266                 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state));
 267                 exit(-1);
 268         }
 269 }
 270
 271 static int ftdi_execute_runtest(struct jtag_command *cmd)
 272 {
 273         int retval = ERROR_OK;
 274         int i;
 275         uint8_t zero = 0;
 276
 277         DEBUG_JTAG_IO("runtest %i cycles, end in %s",
 278                 cmd->cmd.runtest->num_cycles,
 279                 tap_state_name(cmd->cmd.runtest->end_state));
 280
 281         if (tap_get_state() != TAP_IDLE)
 282                 move_to_state(TAP_IDLE);
 283
 284         /* TODO: Reuse ftdi_execute_stableclocks */
 285         i = cmd->cmd.runtest->num_cycles;
 286         while (i > 0 && retval == ERROR_OK) {
 287                 /* there are no state transitions in this code, so omit state tracking */
 288                 unsigned this_len = i > 7 ? 7 : i;
 289                 retval = mpsse_clock_tms_cs_out(mpsse_ctx, &zero, 0, this_len, false, JTAG_MODE);
 290                 i -= this_len;
 291         }
 292
 293         ftdi_end_state(cmd->cmd.runtest->end_state);
 294
 295         if (tap_get_state() != tap_get_end_state())
 296                 move_to_state(tap_get_end_state());
 297
 298         DEBUG_JTAG_IO("runtest: %i, end in %s",
 299                 cmd->cmd.runtest->num_cycles,
 300                 tap_state_name(tap_get_end_state()));
 301         return retval;
 302 }
 303
 304 static int ftdi_execute_statemove(struct jtag_command *cmd)
 305 {
 306         int retval = ERROR_OK;
 307
 308         DEBUG_JTAG_IO("statemove end in %s",
 309                 tap_state_name(cmd->cmd.statemove->end_state));
 310
 311         ftdi_end_state(cmd->cmd.statemove->end_state);
 312
 313         /* shortest-path move to desired end state */
 314         if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET)
 315                 move_to_state(tap_get_end_state());
 316
 317         return retval;
 318 }
 319
 320 /**
 321  * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
 322  * (or SWD) state machine. REVISIT: Not the best method, perhaps.
 323  */
 324 static int ftdi_execute_tms(struct jtag_command *cmd)
 325 {
 326         DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
 327
 328         /* TODO: Missing tap state tracking, also missing from ft2232.c! */
 329         return mpsse_clock_tms_cs_out(mpsse_ctx,
 330                 cmd->cmd.tms->bits,
 331                 0,
 332                 cmd->cmd.tms->num_bits,
 333                 false,
 334                 JTAG_MODE);
 335 }
 336
 337 static int ftdi_execute_pathmove(struct jtag_command *cmd)
 338 {
 339         int retval = ERROR_OK;
 340
 341         tap_state_t *path = cmd->cmd.pathmove->path;
 342         int num_states  = cmd->cmd.pathmove->num_states;
 343
 344         DEBUG_JTAG_IO("pathmove: %i states, current: %s  end: %s", num_states,
 345                 tap_state_name(tap_get_state()),
 346                 tap_state_name(path[num_states-1]));
 347
 348         int state_count = 0;
 349         unsigned bit_count = 0;
 350         uint8_t tms_byte = 0;
 351
 352         DEBUG_JTAG_IO("-");
 353
 354         /* this loop verifies that the path is legal and logs each state in the path */
 355         while (num_states-- && retval == ERROR_OK) {
 356
 357                 /* either TMS=0 or TMS=1 must work ... */
 358                 if (tap_state_transition(tap_get_state(), false)
 359                     == path[state_count])
 360                         buf_set_u32(&tms_byte, bit_count++, 1, 0x0);
 361                 else if (tap_state_transition(tap_get_state(), true)
 362                          == path[state_count]) {
 363                         buf_set_u32(&tms_byte, bit_count++, 1, 0x1);
 364
 365                         /* ... or else the caller goofed BADLY */
 366                 } else {
 367                         LOG_ERROR("BUG: %s -> %s isn't a valid "
 368                                 "TAP state transition",
 369                                 tap_state_name(tap_get_state()),
 370                                 tap_state_name(path[state_count]));
 371                         exit(-1);
 372                 }
 373
 374                 tap_set_state(path[state_count]);
 375                 state_count++;
 376
 377                 if (bit_count == 7 || num_states == 0) {
 378                         retval = mpsse_clock_tms_cs_out(mpsse_ctx,
 379                                         &tms_byte,
 380                                         0,
 381                                         bit_count,
 382                                         false,
 383                                         JTAG_MODE);
 384                         bit_count = 0;
 385                 }
 386         }
 387         tap_set_end_state(tap_get_state());
 388
 389         return retval;
 390 }
 391
 392 static int ftdi_execute_scan(struct jtag_command *cmd)
 393 {
 394         int retval = ERROR_OK;
 395
 396         DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
 397                 jtag_scan_type(cmd->cmd.scan));
 398
 399         /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
 400         while (cmd->cmd.scan->num_fields > 0
 401                         && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
 402                 cmd->cmd.scan->num_fields--;
 403                 LOG_DEBUG("discarding trailing empty field");
 404         }
 405
 406         if (cmd->cmd.scan->num_fields == 0) {
 407                 LOG_DEBUG("empty scan, doing nothing");
 408                 return retval;
 409         }
 410
 411         if (cmd->cmd.scan->ir_scan) {
 412                 if (tap_get_state() != TAP_IRSHIFT)
 413                         move_to_state(TAP_IRSHIFT);
 414         } else {
 415                 if (tap_get_state() != TAP_DRSHIFT)
 416                         move_to_state(TAP_DRSHIFT);
 417         }
 418
 419         ftdi_end_state(cmd->cmd.scan->end_state);
 420
 421         struct scan_field *field = cmd->cmd.scan->fields;
 422         unsigned scan_size = 0;
 423
 424         for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
 425                 scan_size += field->num_bits;
 426                 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
 427                         field->in_value ? "in" : "",
 428                         field->out_value ? "out" : "",
 429                         i,
 430                         cmd->cmd.scan->num_fields,
 431                         field->num_bits);
 432
 433                 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
 434                         /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
 435                          * movement. This last field can't have length zero, it was checked above. */
 436                         mpsse_clock_data(mpsse_ctx,
 437                                 field->out_value,
 438                                 0,
 439                                 field->in_value,
 440                                 0,
 441                                 field->num_bits - 1,
 442                                 JTAG_MODE);
 443                         uint8_t last_bit = 0;
 444                         if (field->out_value)
 445                                 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
 446                         uint8_t tms_bits = 0x01;
 447                         retval = mpsse_clock_tms_cs(mpsse_ctx,
 448                                         &tms_bits,
 449                                         0,
 450                                         field->in_value,
 451                                         field->num_bits - 1,
 452                                         1,
 453                                         last_bit,
 454                                         JTAG_MODE);
 455                         tap_set_state(tap_state_transition(tap_get_state(), 1));
 456                         retval = mpsse_clock_tms_cs_out(mpsse_ctx,
 457                                         &tms_bits,
 458                                         1,
 459                                         1,
 460                                         last_bit,
 461                                         JTAG_MODE);
 462                         tap_set_state(tap_state_transition(tap_get_state(), 0));
 463                 } else
 464                         mpsse_clock_data(mpsse_ctx,
 465                                 field->out_value,
 466                                 0,
 467                                 field->in_value,
 468                                 0,
 469                                 field->num_bits,
 470                                 JTAG_MODE);
 471                 if (retval != ERROR_OK) {
 472                         LOG_ERROR("failed to add field %d in scan", i);
 473                         return retval;
 474                 }
 475         }
 476
 477         if (tap_get_state() != tap_get_end_state())
 478                 move_to_state(tap_get_end_state());
 479
 480         DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
 481                 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
 482                 tap_state_name(tap_get_end_state()));
 483         return retval;
 484
 485 }
 486
 487 static int ftdi_execute_reset(struct jtag_command *cmd)
 488 {
 489         DEBUG_JTAG_IO("reset trst: %i srst %i",
 490                 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 491
 492         if (cmd->cmd.reset->trst == 1
 493             || (cmd->cmd.reset->srst
 494                 && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
 495                 tap_set_state(TAP_RESET);
 496
 497         struct signal *trst = find_signal_by_name("nTRST");
 498         if (trst && cmd->cmd.reset->trst == 1) {
 499                 ftdi_set_signal(trst, '0');
 500         } else if (trst && cmd->cmd.reset->trst == 0) {
 501                 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
 502                         ftdi_set_signal(trst, 'z');
 503                 else
 504                         ftdi_set_signal(trst, '1');
 505         }
 506
 507         struct signal *srst = find_signal_by_name("nSRST");
 508         if (srst && cmd->cmd.reset->srst == 1) {
 509                 ftdi_set_signal(srst, '0');
 510         } else if (srst && cmd->cmd.reset->srst == 0) {
 511                 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
 512                         ftdi_set_signal(srst, '1');
 513                 else
 514                         ftdi_set_signal(srst, 'z');
 515         }
 516
 517         DEBUG_JTAG_IO("trst: %i, srst: %i",
 518                 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 519         return ERROR_OK;
 520 }
 521
 522 static int ftdi_execute_sleep(struct jtag_command *cmd)
 523 {
 524         int retval = ERROR_OK;
 525
 526         DEBUG_JTAG_IO("sleep %" PRIi32, cmd->cmd.sleep->us);
 527
 528         retval = mpsse_flush(mpsse_ctx);
 529         jtag_sleep(cmd->cmd.sleep->us);
 530         DEBUG_JTAG_IO("sleep %" PRIi32 " usec while in %s",
 531                 cmd->cmd.sleep->us,
 532                 tap_state_name(tap_get_state()));
 533         return retval;
 534 }
 535
 536 static int ftdi_execute_stableclocks(struct jtag_command *cmd)
 537 {
 538         int retval = ERROR_OK;
 539
 540         /* this is only allowed while in a stable state.  A check for a stable
 541          * state was done in jtag_add_clocks()
 542          */
 543         int num_cycles = cmd->cmd.stableclocks->num_cycles;
 544
 545         /* 7 bits of either ones or zeros. */
 546         uint8_t tms = tap_get_state() == TAP_RESET ? 0x7f : 0x00;
 547
 548         /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
 549          * the correct level and remain there during the scan */
 550         while (num_cycles > 0 && retval == ERROR_OK) {
 551                 /* there are no state transitions in this code, so omit state tracking */
 552                 unsigned this_len = num_cycles > 7 ? 7 : num_cycles;
 553                 retval = mpsse_clock_tms_cs_out(mpsse_ctx, &tms, 0, this_len, false, JTAG_MODE);
 554                 num_cycles -= this_len;
 555         }
 556
 557         DEBUG_JTAG_IO("clocks %i while in %s",
 558                 cmd->cmd.stableclocks->num_cycles,
 559                 tap_state_name(tap_get_state()));
 560         return retval;
 561 }
 562
 563 static int ftdi_execute_command(struct jtag_command *cmd)
 564 {
 565         int retval;
 566
 567         switch (cmd->type) {
 568                 case JTAG_RESET:
 569                         retval = ftdi_execute_reset(cmd);
 570                         break;
 571                 case JTAG_RUNTEST:
 572                         retval = ftdi_execute_runtest(cmd);
 573                         break;
 574                 case JTAG_TLR_RESET:
 575                         retval = ftdi_execute_statemove(cmd);
 576                         break;
 577                 case JTAG_PATHMOVE:
 578                         retval = ftdi_execute_pathmove(cmd);
 579                         break;
 580                 case JTAG_SCAN:
 581                         retval = ftdi_execute_scan(cmd);
 582                         break;
 583                 case JTAG_SLEEP:
 584                         retval = ftdi_execute_sleep(cmd);
 585                         break;
 586                 case JTAG_STABLECLOCKS:
 587                         retval = ftdi_execute_stableclocks(cmd);
 588                         break;
 589                 case JTAG_TMS:
 590                         retval = ftdi_execute_tms(cmd);
 591                         break;
 592                 default:
 593                         LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd->type);
 594                         retval = ERROR_JTAG_QUEUE_FAILED;
 595                         break;
 596         }
 597         return retval;
 598 }
 599
 600 static int ftdi_execute_queue(void)
 601 {
 602         int retval = ERROR_OK;
 603
 604         /* blink, if the current layout has that feature */
 605         struct signal *led = find_signal_by_name("LED");
 606         if (led)
 607                 ftdi_set_signal(led, '1');
 608
 609         for (struct jtag_command *cmd = jtag_command_queue; cmd; cmd = cmd->next) {
 610                 /* fill the write buffer with the desired command */
 611                 if (ftdi_execute_command(cmd) != ERROR_OK)
 612                         retval = ERROR_JTAG_QUEUE_FAILED;
 613         }
 614
 615         if (led)
 616                 ftdi_set_signal(led, '0');
 617
 618         retval = mpsse_flush(mpsse_ctx);
 619         if (retval != ERROR_OK)
 620                 LOG_ERROR("error while flushing MPSSE queue: %d", retval);
 621
 622         return retval;
 623 }
 624
 625 static int ftdi_initialize(void)
 626 {
 627         int retval;
 628
 629         if (tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRPAUSE) == 7)
 630                 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
 631         else
 632                 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
 633
 634         for (int i = 0; ftdi_vid[i] || ftdi_pid[i]; i++) {
 635                 mpsse_ctx = mpsse_open(&ftdi_vid[i], &ftdi_pid[i], ftdi_device_desc,
 636                                 ftdi_serial, ftdi_channel);
 637                 if (mpsse_ctx)
 638                         break;
 639         }
 640
 641         if (!mpsse_ctx)
 642                 return ERROR_JTAG_INIT_FAILED;
 643
 644         retval = mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
 645         if (retval == ERROR_OK)
 646                 retval = mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
 647         if (retval != ERROR_OK) {
 648                 LOG_ERROR("couldn't initialize FTDI with configured layout");
 649                 return ERROR_JTAG_INIT_FAILED;
 650         }
 651
 652         retval = mpsse_loopback_config(mpsse_ctx, false);
 653         if (retval != ERROR_OK) {
 654                 LOG_ERROR("couldn't write to FTDI to disable loopback");
 655                 return ERROR_JTAG_INIT_FAILED;
 656         }
 657
 658         return mpsse_flush(mpsse_ctx);
 659 }
 660
 661 static int ftdi_quit(void)
 662 {
 663         mpsse_close(mpsse_ctx);
 664
 665         return ERROR_OK;
 666 }
 667
 668 COMMAND_HANDLER(ftdi_handle_device_desc_command)
 669 {
 670         if (CMD_ARGC == 1) {
 671                 if (ftdi_device_desc)
 672                         free(ftdi_device_desc);
 673                 ftdi_device_desc = strdup(CMD_ARGV[0]);
 674         } else {
 675                 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
 676         }
 677
 678         return ERROR_OK;
 679 }
 680
 681 COMMAND_HANDLER(ftdi_handle_serial_command)
 682 {
 683         if (CMD_ARGC == 1) {
 684                 if (ftdi_serial)
 685                         free(ftdi_serial);
 686                 ftdi_serial = strdup(CMD_ARGV[0]);
 687         } else {
 688                 return ERROR_COMMAND_SYNTAX_ERROR;
 689         }
 690
 691         return ERROR_OK;
 692 }
 693
 694 COMMAND_HANDLER(ftdi_handle_channel_command)
 695 {
 696         if (CMD_ARGC == 1)
 697                 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], ftdi_channel);
 698         else
 699                 return ERROR_COMMAND_SYNTAX_ERROR;
 700
 701         return ERROR_OK;
 702 }
 703
 704 COMMAND_HANDLER(ftdi_handle_layout_init_command)
 705 {
 706         if (CMD_ARGC != 2)
 707                 return ERROR_COMMAND_SYNTAX_ERROR;
 708
 709         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], output);
 710         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], direction);
 711
 712         return ERROR_OK;
 713 }
 714
 715 COMMAND_HANDLER(ftdi_handle_layout_signal_command)
 716 {
 717         if (CMD_ARGC < 1)
 718                 return ERROR_COMMAND_SYNTAX_ERROR;
 719
 720         bool invert_data = false;
 721         uint16_t data_mask = 0;
 722         bool invert_oe = false;
 723         uint16_t oe_mask = 0;
 724         for (unsigned i = 1; i < CMD_ARGC; i += 2) {
 725                 if (strcmp("-data", CMD_ARGV[i]) == 0) {
 726                         invert_data = false;
 727                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 728                 } else if (strcmp("-ndata", CMD_ARGV[i]) == 0) {
 729                         invert_data = true;
 730                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 731                 } else if (strcmp("-oe", CMD_ARGV[i]) == 0) {
 732                         invert_oe = false;
 733                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 734                 } else if (strcmp("-noe", CMD_ARGV[i]) == 0) {
 735                         invert_oe = true;
 736                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 737                 } else {
 738                         LOG_ERROR("unknown option '%s'", CMD_ARGV[i]);
 739                         return ERROR_COMMAND_SYNTAX_ERROR;
 740                 }
 741         }
 742
 743         struct signal *sig;
 744         sig = find_signal_by_name(CMD_ARGV[0]);
 745         if (!sig)
 746                 sig = create_signal(CMD_ARGV[0]);
 747         if (!sig) {
 748                 LOG_ERROR("failed to create signal %s", CMD_ARGV[0]);
 749                 return ERROR_FAIL;
 750         }
 751
 752         sig->invert_data = invert_data;
 753         sig->data_mask = data_mask;
 754         sig->invert_oe = invert_oe;
 755         sig->oe_mask = oe_mask;
 756
 757         return ERROR_OK;
 758 }
 759
 760 COMMAND_HANDLER(ftdi_handle_set_signal_command)
 761 {
 762         if (CMD_ARGC < 2)
 763                 return ERROR_COMMAND_SYNTAX_ERROR;
 764
 765         struct signal *sig;
 766         sig = find_signal_by_name(CMD_ARGV[0]);
 767         if (!sig) {
 768                 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
 769                 return ERROR_FAIL;
 770         }
 771
 772         switch (*CMD_ARGV[1]) {
 773         case '0':
 774         case '1':
 775         case 'z':
 776         case 'Z':
 777                 /* single character level specifier only */
 778                 if (CMD_ARGV[1][1] == '\0') {
 779                         ftdi_set_signal(sig, *CMD_ARGV[1]);
 780                         break;
 781                 }
 782         default:
 783                 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV[1]);
 784                 return ERROR_COMMAND_SYNTAX_ERROR;
 785         }
 786
 787         return mpsse_flush(mpsse_ctx);
 788 }
 789
 790 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
 791 {
 792         if (CMD_ARGC > MAX_USB_IDS * 2) {
 793                 LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
 794                         "(maximum is %d pairs)", MAX_USB_IDS);
 795                 CMD_ARGC = MAX_USB_IDS * 2;
 796         }
 797         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
 798                 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
 799                 if (CMD_ARGC < 2)
 800                         return ERROR_COMMAND_SYNTAX_ERROR;
 801                 /* remove the incomplete trailing id */
 802                 CMD_ARGC -= 1;
 803         }
 804
 805         unsigned i;
 806         for (i = 0; i < CMD_ARGC; i += 2) {
 807                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], ftdi_vid[i >> 1]);
 808                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], ftdi_pid[i >> 1]);
 809         }
 810
 811         /*
 812          * Explicitly terminate, in case there are multiples instances of
 813          * ftdi_vid_pid.
 814          */
 815         ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
 816
 817         return ERROR_OK;
 818 }
 819
 820 static const struct command_registration ftdi_command_handlers[] = {
 821         {
 822                 .name = "ftdi_device_desc",
 823                 .handler = &ftdi_handle_device_desc_command,
 824                 .mode = COMMAND_CONFIG,
 825                 .help = "set the USB device description of the FTDI device",
 826                 .usage = "description_string",
 827         },
 828         {
 829                 .name = "ftdi_serial",
 830                 .handler = &ftdi_handle_serial_command,
 831                 .mode = COMMAND_CONFIG,
 832                 .help = "set the serial number of the FTDI device",
 833                 .usage = "serial_string",
 834         },
 835         {
 836                 .name = "ftdi_channel",
 837                 .handler = &ftdi_handle_channel_command,
 838                 .mode = COMMAND_CONFIG,
 839                 .help = "set the channel of the FTDI device that is used as JTAG",
 840                 .usage = "(0-3)",
 841         },
 842         {
 843                 .name = "ftdi_layout_init",
 844                 .handler = &ftdi_handle_layout_init_command,
 845                 .mode = COMMAND_CONFIG,
 846                 .help = "initialize the FTDI GPIO signals used "
 847                         "to control output-enables and reset signals",
 848                 .usage = "data direction",
 849         },
 850         {
 851                 .name = "ftdi_layout_signal",
 852                 .handler = &ftdi_handle_layout_signal_command,
 853                 .mode = COMMAND_ANY,
 854                 .help = "define a signal controlled by one or more FTDI GPIO as data "
 855                         "and/or output enable",
 856                 .usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask]",
 857         },
 858         {
 859                 .name = "ftdi_set_signal",
 860                 .handler = &ftdi_handle_set_signal_command,
 861                 .mode = COMMAND_EXEC,
 862                 .help = "control a layout-specific signal",
 863                 .usage = "name (1|0|z)",
 864         },
 865         {
 866                 .name = "ftdi_vid_pid",
 867                 .handler = &ftdi_handle_vid_pid_command,
 868                 .mode = COMMAND_CONFIG,
 869                 .help = "the vendor ID and product ID of the FTDI device",
 870                 .usage = "(vid pid)* ",
 871         },
 872         COMMAND_REGISTRATION_DONE
 873 };
 874
 875 struct jtag_interface ftdi_interface = {
 876         .name = "ftdi",
 877         .supported = DEBUG_CAP_TMS_SEQ,
 878         .commands = ftdi_command_handlers,
 879         .transports = jtag_only,
 880
 881         .init = ftdi_initialize,
 882         .quit = ftdi_quit,
 883         .speed = ftdi_speed,
 884         .speed_div = ftdi_speed_div,
 885         .khz = ftdi_khz,
 886         .execute_queue = ftdi_execute_queue,
 887 };