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 == NULL) {
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_command_handlers[] = {
952 .name = "ftdi_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",
959 .name = "ftdi_serial",
960 .handler = &ftdi_handle_serial_command,
961 .mode = COMMAND_CONFIG,
962 .help = "set the serial number of the FTDI device",
963 .usage = "serial_string",
966 .name = "ftdi_channel",
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 = "ftdi_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 = "ftdi_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 = "ftdi_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 = "ftdi_get_signal",
997 .handler = &ftdi_handle_get_signal_command,
998 .mode = COMMAND_EXEC,
999 .help = "read the value of a layout-specific signal",
1003 .name = "ftdi_vid_pid",
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 = "ftdi_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 int create_default_signal(const char *name, uint16_t data_mask)
1023 struct signal *sig = create_signal(name);
1025 LOG_ERROR("failed to create signal %s", name);
1028 sig->invert_data = false;
1029 sig->data_mask = data_mask;
1030 sig->invert_oe = false;
1036 static int create_signals(void)
1038 if (create_default_signal("TCK", 0x01) != ERROR_OK)
1040 if (create_default_signal("TDI", 0x02) != ERROR_OK)
1042 if (create_default_signal("TDO", 0x04) != ERROR_OK)
1044 if (create_default_signal("TMS", 0x08) != ERROR_OK)
1049 static int ftdi_swd_init(void)
1051 LOG_INFO("FTDI SWD mode enabled");
1054 if (create_signals() != ERROR_OK)
1057 swd_cmd_queue_alloced = 10;
1058 swd_cmd_queue = malloc(swd_cmd_queue_alloced * sizeof(*swd_cmd_queue));
1060 return swd_cmd_queue != NULL ? ERROR_OK : ERROR_FAIL;
1063 static void ftdi_swd_swdio_en(bool enable)
1065 struct signal *oe = find_signal_by_name("SWDIO_OE");
1068 ftdi_set_signal(oe, enable ? '1' : '0');
1070 /* Sets TDI/DO pin to input during rx when both pins are connected
1073 direction |= jtag_direction_init & 0x0002U;
1075 direction &= ~0x0002U;
1076 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
1082 * Flush the MPSSE queue and process the SWD transaction queue
1085 static int ftdi_swd_run_queue(void)
1087 LOG_DEBUG_IO("Executing %zu queued transactions", swd_cmd_queue_length);
1089 struct signal *led = find_signal_by_name("LED");
1091 if (queued_retval != ERROR_OK) {
1092 LOG_DEBUG_IO("Skipping due to previous errors: %d", queued_retval);
1096 /* A transaction must be followed by another transaction or at least 8 idle cycles to
1097 * ensure that data is clocked through the AP. */
1098 mpsse_clock_data_out(mpsse_ctx, NULL, 0, 8, SWD_MODE);
1100 /* Terminate the "blink", if the current layout has that feature */
1102 ftdi_set_signal(led, '0');
1104 queued_retval = mpsse_flush(mpsse_ctx);
1105 if (queued_retval != ERROR_OK) {
1106 LOG_ERROR("MPSSE failed");
1110 for (size_t i = 0; i < swd_cmd_queue_length; i++) {
1111 int ack = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1, 3);
1113 LOG_DEBUG_IO("%s %s %s reg %X = %08"PRIx32,
1114 ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
1115 swd_cmd_queue[i].cmd & SWD_CMD_APNDP ? "AP" : "DP",
1116 swd_cmd_queue[i].cmd & SWD_CMD_RNW ? "read" : "write",
1117 (swd_cmd_queue[i].cmd & SWD_CMD_A32) >> 1,
1118 buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn,
1119 1 + 3 + (swd_cmd_queue[i].cmd & SWD_CMD_RNW ? 0 : 1), 32));
1121 if (ack != SWD_ACK_OK) {
1122 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
1125 } else if (swd_cmd_queue[i].cmd & SWD_CMD_RNW) {
1126 uint32_t data = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3, 32);
1127 int parity = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 32, 1);
1129 if (parity != parity_u32(data)) {
1130 LOG_ERROR("SWD Read data parity mismatch");
1131 queued_retval = ERROR_FAIL;
1135 if (swd_cmd_queue[i].dst != NULL)
1136 *swd_cmd_queue[i].dst = data;
1141 swd_cmd_queue_length = 0;
1142 retval = queued_retval;
1143 queued_retval = ERROR_OK;
1145 /* Queue a new "blink" */
1146 if (led && retval == ERROR_OK)
1147 ftdi_set_signal(led, '1');
1152 static void ftdi_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data, uint32_t ap_delay_clk)
1154 if (swd_cmd_queue_length >= swd_cmd_queue_alloced) {
1155 /* Not enough room in the queue. Run the queue and increase its size for next time.
1156 * Note that it's not possible to avoid running the queue here, because mpsse contains
1157 * pointers into the queue which may be invalid after the realloc. */
1158 queued_retval = ftdi_swd_run_queue();
1159 struct swd_cmd_queue_entry *q = realloc(swd_cmd_queue, swd_cmd_queue_alloced * 2 * sizeof(*swd_cmd_queue));
1162 swd_cmd_queue_alloced *= 2;
1163 LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced);
1167 if (queued_retval != ERROR_OK)
1170 size_t i = swd_cmd_queue_length++;
1171 swd_cmd_queue[i].cmd = cmd | SWD_CMD_START | SWD_CMD_PARK;
1173 mpsse_clock_data_out(mpsse_ctx, &swd_cmd_queue[i].cmd, 0, 8, SWD_MODE);
1175 if (swd_cmd_queue[i].cmd & SWD_CMD_RNW) {
1176 /* Queue a read transaction */
1177 swd_cmd_queue[i].dst = dst;
1179 ftdi_swd_swdio_en(false);
1180 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1181 0, 1 + 3 + 32 + 1 + 1, SWD_MODE);
1182 ftdi_swd_swdio_en(true);
1184 /* Queue a write transaction */
1185 ftdi_swd_swdio_en(false);
1187 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1188 0, 1 + 3 + 1, SWD_MODE);
1190 ftdi_swd_swdio_en(true);
1192 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1, 32, data);
1193 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1 + 32, 1, parity_u32(data));
1195 mpsse_clock_data_out(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1196 1 + 3 + 1, 32 + 1, SWD_MODE);
1199 /* Insert idle cycles after AP accesses to avoid WAIT */
1200 if (cmd & SWD_CMD_APNDP)
1201 mpsse_clock_data_out(mpsse_ctx, NULL, 0, ap_delay_clk, SWD_MODE);
1205 static void ftdi_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
1207 assert(cmd & SWD_CMD_RNW);
1208 ftdi_swd_queue_cmd(cmd, value, 0, ap_delay_clk);
1211 static void ftdi_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
1213 assert(!(cmd & SWD_CMD_RNW));
1214 ftdi_swd_queue_cmd(cmd, NULL, value, ap_delay_clk);
1217 static int ftdi_swd_switch_seq(enum swd_special_seq seq)
1221 LOG_DEBUG("SWD line reset");
1222 ftdi_swd_swdio_en(true);
1223 mpsse_clock_data_out(mpsse_ctx, swd_seq_line_reset, 0, swd_seq_line_reset_len, SWD_MODE);
1226 LOG_DEBUG("JTAG-to-SWD");
1227 ftdi_swd_swdio_en(true);
1228 mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_swd, 0, swd_seq_jtag_to_swd_len, SWD_MODE);
1231 LOG_DEBUG("SWD-to-JTAG");
1232 ftdi_swd_swdio_en(true);
1233 mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_jtag, 0, swd_seq_swd_to_jtag_len, SWD_MODE);
1236 LOG_ERROR("Sequence %d not supported", seq);
1243 static const struct swd_driver ftdi_swd = {
1244 .init = ftdi_swd_init,
1245 .switch_seq = ftdi_swd_switch_seq,
1246 .read_reg = ftdi_swd_read_reg,
1247 .write_reg = ftdi_swd_write_reg,
1248 .run = ftdi_swd_run_queue,
1251 static const char * const ftdi_transports[] = { "jtag", "swd", NULL };
1253 static struct jtag_interface ftdi_interface = {
1254 .supported = DEBUG_CAP_TMS_SEQ,
1255 .execute_queue = ftdi_execute_queue,
1258 struct adapter_driver ftdi_adapter_driver = {
1260 .transports = ftdi_transports,
1261 .commands = ftdi_command_handlers,
1263 .init = ftdi_initialize,
1265 .reset = ftdi_reset,
1266 .speed = ftdi_speed,
1268 .speed_div = ftdi_speed_div,
1270 .jtag_ops = &ftdi_interface,
1271 .swd_ops = &ftdi_swd,