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 * http://www.ftdichip.com/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
57 * Hereafter this is called the "MPSSE Spec".
59 * The datasheet for the ftdichip.com's FT2232D part is here:
60 * http://www.ftdichip.com/Documents/DataSheets/DS_FT2232D.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/interface.h>
74 #include <transport/transport.h>
75 #include <helper/time_support.h>
83 /* FTDI access library includes */
86 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
87 #define JTAG_MODE_ALT (LSB_FIRST | NEG_EDGE_IN | NEG_EDGE_OUT)
88 #define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
90 static char *ftdi_device_desc;
91 static char *ftdi_serial;
92 static char *ftdi_location;
93 static uint8_t ftdi_channel;
94 static uint8_t ftdi_jtag_mode = JTAG_MODE;
99 /* vid = pid = 0 marks the end of the list */
100 static uint16_t ftdi_vid[MAX_USB_IDS + 1] = { 0 };
101 static uint16_t ftdi_pid[MAX_USB_IDS + 1] = { 0 };
103 static struct mpsse_ctx *mpsse_ctx;
116 static struct signal *signals;
118 /* FIXME: Where to store per-instance data? We need an SWD context. */
119 static struct swd_cmd_queue_entry {
122 uint8_t trn_ack_data_parity_trn[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
124 static size_t swd_cmd_queue_length;
125 static size_t swd_cmd_queue_alloced;
126 static int queued_retval;
129 static uint16_t output;
130 static uint16_t direction;
131 static uint16_t jtag_output_init;
132 static uint16_t jtag_direction_init;
134 static int ftdi_swd_switch_seq(enum swd_special_seq seq);
136 static struct signal *find_signal_by_name(const char *name)
138 for (struct signal *sig = signals; sig; sig = sig->next) {
139 if (strcmp(name, sig->name) == 0)
145 static struct signal *create_signal(const char *name)
147 struct signal **psig = &signals;
149 psig = &(*psig)->next;
151 *psig = calloc(1, sizeof(**psig));
155 (*psig)->name = strdup(name);
156 if ((*psig)->name == NULL) {
163 static int ftdi_set_signal(const struct signal *s, char value)
168 if (s->data_mask == 0 && s->oe_mask == 0) {
169 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
174 data = s->invert_data;
178 if (s->data_mask == 0) {
179 LOG_ERROR("interface can't drive '%s' high", s->name);
182 data = !s->invert_data;
187 if (s->oe_mask == 0) {
188 LOG_ERROR("interface can't tri-state '%s'", s->name);
191 data = s->invert_data;
195 assert(0 && "invalid signal level specifier");
199 uint16_t old_output = output;
200 uint16_t old_direction = direction;
202 output = data ? output | s->data_mask : output & ~s->data_mask;
203 if (s->oe_mask == s->data_mask)
204 direction = oe ? direction | s->oe_mask : direction & ~s->oe_mask;
206 output = oe ? output | s->oe_mask : output & ~s->oe_mask;
208 if ((output & 0xff) != (old_output & 0xff) || (direction & 0xff) != (old_direction & 0xff))
209 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
210 if ((output >> 8 != old_output >> 8) || (direction >> 8 != old_direction >> 8))
211 mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
216 static int ftdi_get_signal(const struct signal *s, uint16_t * value_out)
218 uint8_t data_low = 0;
219 uint8_t data_high = 0;
221 if (s->input_mask == 0) {
222 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
226 if (s->input_mask & 0xff)
227 mpsse_read_data_bits_low_byte(mpsse_ctx, &data_low);
228 if (s->input_mask >> 8)
229 mpsse_read_data_bits_high_byte(mpsse_ctx, &data_high);
231 mpsse_flush(mpsse_ctx);
233 *value_out = (((uint16_t)data_high) << 8) | data_low;
236 *value_out = ~(*value_out);
238 *value_out &= s->input_mask;
244 * Function move_to_state
245 * moves the TAP controller from the current state to a
246 * \a goal_state through a path given by tap_get_tms_path(). State transition
247 * logging is performed by delegation to clock_tms().
249 * @param goal_state is the destination state for the move.
251 static void move_to_state(tap_state_t goal_state)
253 tap_state_t start_state = tap_get_state();
255 /* goal_state is 1/2 of a tuple/pair of states which allow convenient
256 lookup of the required TMS pattern to move to this state from the
260 /* do the 2 lookups */
261 uint8_t tms_bits = tap_get_tms_path(start_state, goal_state);
262 int tms_count = tap_get_tms_path_len(start_state, goal_state);
263 assert(tms_count <= 8);
265 DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
267 /* Track state transitions step by step */
268 for (int i = 0; i < tms_count; i++)
269 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits >> i) & 1));
271 mpsse_clock_tms_cs_out(mpsse_ctx,
279 static int ftdi_speed(int speed)
282 retval = mpsse_set_frequency(mpsse_ctx, speed);
285 LOG_ERROR("couldn't set FTDI TCK speed");
289 if (!swd_mode && speed >= 10000000 && ftdi_jtag_mode != JTAG_MODE_ALT)
290 LOG_INFO("ftdi: if you experience problems at higher adapter clocks, try "
291 "the command \"ftdi_tdo_sample_edge falling\"");
295 static int ftdi_speed_div(int speed, int *khz)
301 static int ftdi_khz(int khz, int *jtag_speed)
303 if (khz == 0 && !mpsse_is_high_speed(mpsse_ctx)) {
304 LOG_DEBUG("RCLK not supported");
308 *jtag_speed = khz * 1000;
312 static void ftdi_end_state(tap_state_t state)
314 if (tap_is_state_stable(state))
315 tap_set_end_state(state);
317 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state));
322 static void ftdi_execute_runtest(struct jtag_command *cmd)
327 DEBUG_JTAG_IO("runtest %i cycles, end in %s",
328 cmd->cmd.runtest->num_cycles,
329 tap_state_name(cmd->cmd.runtest->end_state));
331 if (tap_get_state() != TAP_IDLE)
332 move_to_state(TAP_IDLE);
334 /* TODO: Reuse ftdi_execute_stableclocks */
335 i = cmd->cmd.runtest->num_cycles;
337 /* there are no state transitions in this code, so omit state tracking */
338 unsigned this_len = i > 7 ? 7 : i;
339 mpsse_clock_tms_cs_out(mpsse_ctx, &zero, 0, this_len, false, ftdi_jtag_mode);
343 ftdi_end_state(cmd->cmd.runtest->end_state);
345 if (tap_get_state() != tap_get_end_state())
346 move_to_state(tap_get_end_state());
348 DEBUG_JTAG_IO("runtest: %i, end in %s",
349 cmd->cmd.runtest->num_cycles,
350 tap_state_name(tap_get_end_state()));
353 static void ftdi_execute_statemove(struct jtag_command *cmd)
355 DEBUG_JTAG_IO("statemove end in %s",
356 tap_state_name(cmd->cmd.statemove->end_state));
358 ftdi_end_state(cmd->cmd.statemove->end_state);
360 /* shortest-path move to desired end state */
361 if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET)
362 move_to_state(tap_get_end_state());
366 * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
367 * (or SWD) state machine. REVISIT: Not the best method, perhaps.
369 static void ftdi_execute_tms(struct jtag_command *cmd)
371 DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
373 /* TODO: Missing tap state tracking, also missing from ft2232.c! */
374 mpsse_clock_tms_cs_out(mpsse_ctx,
377 cmd->cmd.tms->num_bits,
382 static void ftdi_execute_pathmove(struct jtag_command *cmd)
384 tap_state_t *path = cmd->cmd.pathmove->path;
385 int num_states = cmd->cmd.pathmove->num_states;
387 DEBUG_JTAG_IO("pathmove: %i states, current: %s end: %s", num_states,
388 tap_state_name(tap_get_state()),
389 tap_state_name(path[num_states-1]));
392 unsigned bit_count = 0;
393 uint8_t tms_byte = 0;
397 /* this loop verifies that the path is legal and logs each state in the path */
398 while (num_states--) {
400 /* either TMS=0 or TMS=1 must work ... */
401 if (tap_state_transition(tap_get_state(), false)
402 == path[state_count])
403 buf_set_u32(&tms_byte, bit_count++, 1, 0x0);
404 else if (tap_state_transition(tap_get_state(), true)
405 == path[state_count]) {
406 buf_set_u32(&tms_byte, bit_count++, 1, 0x1);
408 /* ... or else the caller goofed BADLY */
410 LOG_ERROR("BUG: %s -> %s isn't a valid "
411 "TAP state transition",
412 tap_state_name(tap_get_state()),
413 tap_state_name(path[state_count]));
417 tap_set_state(path[state_count]);
420 if (bit_count == 7 || num_states == 0) {
421 mpsse_clock_tms_cs_out(mpsse_ctx,
430 tap_set_end_state(tap_get_state());
433 static void ftdi_execute_scan(struct jtag_command *cmd)
435 DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
436 jtag_scan_type(cmd->cmd.scan));
438 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
439 while (cmd->cmd.scan->num_fields > 0
440 && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
441 cmd->cmd.scan->num_fields--;
442 DEBUG_JTAG_IO("discarding trailing empty field");
445 if (cmd->cmd.scan->num_fields == 0) {
446 DEBUG_JTAG_IO("empty scan, doing nothing");
450 if (cmd->cmd.scan->ir_scan) {
451 if (tap_get_state() != TAP_IRSHIFT)
452 move_to_state(TAP_IRSHIFT);
454 if (tap_get_state() != TAP_DRSHIFT)
455 move_to_state(TAP_DRSHIFT);
458 ftdi_end_state(cmd->cmd.scan->end_state);
460 struct scan_field *field = cmd->cmd.scan->fields;
461 unsigned scan_size = 0;
463 for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
464 scan_size += field->num_bits;
465 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
466 field->in_value ? "in" : "",
467 field->out_value ? "out" : "",
469 cmd->cmd.scan->num_fields,
472 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
473 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
474 * movement. This last field can't have length zero, it was checked above. */
475 mpsse_clock_data(mpsse_ctx,
482 uint8_t last_bit = 0;
483 if (field->out_value)
484 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
485 uint8_t tms_bits = 0x01;
486 mpsse_clock_tms_cs(mpsse_ctx,
494 tap_set_state(tap_state_transition(tap_get_state(), 1));
495 mpsse_clock_tms_cs_out(mpsse_ctx,
501 tap_set_state(tap_state_transition(tap_get_state(), 0));
503 mpsse_clock_data(mpsse_ctx,
512 if (tap_get_state() != tap_get_end_state())
513 move_to_state(tap_get_end_state());
515 DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
516 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
517 tap_state_name(tap_get_end_state()));
520 static void ftdi_execute_reset(struct jtag_command *cmd)
522 DEBUG_JTAG_IO("reset trst: %i srst %i",
523 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
525 if (cmd->cmd.reset->trst == 1
526 || (cmd->cmd.reset->srst
527 && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
528 tap_set_state(TAP_RESET);
530 struct signal *trst = find_signal_by_name("nTRST");
531 if (cmd->cmd.reset->trst == 1) {
533 ftdi_set_signal(trst, '0');
535 LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
536 } else if (trst && jtag_get_reset_config() & RESET_HAS_TRST &&
537 cmd->cmd.reset->trst == 0) {
538 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
539 ftdi_set_signal(trst, 'z');
541 ftdi_set_signal(trst, '1');
544 struct signal *srst = find_signal_by_name("nSRST");
545 if (cmd->cmd.reset->srst == 1) {
547 ftdi_set_signal(srst, '0');
549 LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
550 } else if (srst && jtag_get_reset_config() & RESET_HAS_SRST &&
551 cmd->cmd.reset->srst == 0) {
552 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
553 ftdi_set_signal(srst, '1');
555 ftdi_set_signal(srst, 'z');
558 DEBUG_JTAG_IO("trst: %i, srst: %i",
559 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
562 static void ftdi_execute_sleep(struct jtag_command *cmd)
564 DEBUG_JTAG_IO("sleep %" PRIi32, cmd->cmd.sleep->us);
566 mpsse_flush(mpsse_ctx);
567 jtag_sleep(cmd->cmd.sleep->us);
568 DEBUG_JTAG_IO("sleep %" PRIi32 " usec while in %s",
570 tap_state_name(tap_get_state()));
573 static void ftdi_execute_stableclocks(struct jtag_command *cmd)
575 /* this is only allowed while in a stable state. A check for a stable
576 * state was done in jtag_add_clocks()
578 int num_cycles = cmd->cmd.stableclocks->num_cycles;
580 /* 7 bits of either ones or zeros. */
581 uint8_t tms = tap_get_state() == TAP_RESET ? 0x7f : 0x00;
583 /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
584 * the correct level and remain there during the scan */
585 while (num_cycles > 0) {
586 /* there are no state transitions in this code, so omit state tracking */
587 unsigned this_len = num_cycles > 7 ? 7 : num_cycles;
588 mpsse_clock_tms_cs_out(mpsse_ctx, &tms, 0, this_len, false, ftdi_jtag_mode);
589 num_cycles -= this_len;
592 DEBUG_JTAG_IO("clocks %i while in %s",
593 cmd->cmd.stableclocks->num_cycles,
594 tap_state_name(tap_get_state()));
597 static void ftdi_execute_command(struct jtag_command *cmd)
601 ftdi_execute_reset(cmd);
604 ftdi_execute_runtest(cmd);
607 ftdi_execute_statemove(cmd);
610 ftdi_execute_pathmove(cmd);
613 ftdi_execute_scan(cmd);
616 ftdi_execute_sleep(cmd);
618 case JTAG_STABLECLOCKS:
619 ftdi_execute_stableclocks(cmd);
622 ftdi_execute_tms(cmd);
625 LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd->type);
630 static int ftdi_execute_queue(void)
632 /* blink, if the current layout has that feature */
633 struct signal *led = find_signal_by_name("LED");
635 ftdi_set_signal(led, '1');
637 for (struct jtag_command *cmd = jtag_command_queue; cmd; cmd = cmd->next) {
638 /* fill the write buffer with the desired command */
639 ftdi_execute_command(cmd);
643 ftdi_set_signal(led, '0');
645 int retval = mpsse_flush(mpsse_ctx);
646 if (retval != ERROR_OK)
647 LOG_ERROR("error while flushing MPSSE queue: %d", retval);
652 static int ftdi_initialize(void)
654 if (tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRPAUSE) == 7)
655 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
657 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
659 for (int i = 0; ftdi_vid[i] || ftdi_pid[i]; i++) {
660 mpsse_ctx = mpsse_open(&ftdi_vid[i], &ftdi_pid[i], ftdi_device_desc,
661 ftdi_serial, ftdi_location, ftdi_channel);
667 return ERROR_JTAG_INIT_FAILED;
669 output = jtag_output_init;
670 direction = jtag_direction_init;
673 struct signal *sig = find_signal_by_name("SWD_EN");
675 LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
676 return ERROR_JTAG_INIT_FAILED;
678 /* A dummy SWD_EN would have zero mask */
680 ftdi_set_signal(sig, '1');
683 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
684 mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
686 mpsse_loopback_config(mpsse_ctx, false);
688 freq = mpsse_set_frequency(mpsse_ctx, jtag_get_speed_khz() * 1000);
690 return mpsse_flush(mpsse_ctx);
693 static int ftdi_quit(void)
695 mpsse_close(mpsse_ctx);
697 struct signal *sig = signals;
699 struct signal *next = sig->next;
700 free((void *)sig->name);
705 free(ftdi_device_desc);
714 COMMAND_HANDLER(ftdi_handle_device_desc_command)
717 if (ftdi_device_desc)
718 free(ftdi_device_desc);
719 ftdi_device_desc = strdup(CMD_ARGV[0]);
721 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
727 COMMAND_HANDLER(ftdi_handle_serial_command)
732 ftdi_serial = strdup(CMD_ARGV[0]);
734 return ERROR_COMMAND_SYNTAX_ERROR;
740 #ifdef HAVE_LIBUSB_GET_PORT_NUMBERS
741 COMMAND_HANDLER(ftdi_handle_location_command)
746 ftdi_location = strdup(CMD_ARGV[0]);
748 return ERROR_COMMAND_SYNTAX_ERROR;
755 COMMAND_HANDLER(ftdi_handle_channel_command)
758 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], ftdi_channel);
760 return ERROR_COMMAND_SYNTAX_ERROR;
765 COMMAND_HANDLER(ftdi_handle_layout_init_command)
768 return ERROR_COMMAND_SYNTAX_ERROR;
770 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], jtag_output_init);
771 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], jtag_direction_init);
776 COMMAND_HANDLER(ftdi_handle_layout_signal_command)
779 return ERROR_COMMAND_SYNTAX_ERROR;
781 bool invert_data = false;
782 uint16_t data_mask = 0;
783 bool invert_input = false;
784 uint16_t input_mask = 0;
785 bool invert_oe = false;
786 uint16_t oe_mask = 0;
787 for (unsigned i = 1; i < CMD_ARGC; i += 2) {
788 if (strcmp("-data", CMD_ARGV[i]) == 0) {
790 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
791 } else if (strcmp("-ndata", CMD_ARGV[i]) == 0) {
793 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
794 } else if (strcmp("-input", CMD_ARGV[i]) == 0) {
795 invert_input = false;
796 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], input_mask);
797 } else if (strcmp("-ninput", CMD_ARGV[i]) == 0) {
799 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], input_mask);
800 } else if (strcmp("-oe", CMD_ARGV[i]) == 0) {
802 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
803 } else if (strcmp("-noe", CMD_ARGV[i]) == 0) {
805 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
806 } else if (!strcmp("-alias", CMD_ARGV[i]) ||
807 !strcmp("-nalias", CMD_ARGV[i])) {
808 if (!strcmp("-nalias", CMD_ARGV[i])) {
812 struct signal *sig = find_signal_by_name(CMD_ARGV[i + 1]);
814 LOG_ERROR("signal %s is not defined", CMD_ARGV[i + 1]);
817 data_mask = sig->data_mask;
818 input_mask = sig->input_mask;
819 oe_mask = sig->oe_mask;
820 invert_input ^= sig->invert_input;
821 invert_oe = sig->invert_oe;
822 invert_data ^= sig->invert_data;
824 LOG_ERROR("unknown option '%s'", CMD_ARGV[i]);
825 return ERROR_COMMAND_SYNTAX_ERROR;
830 sig = find_signal_by_name(CMD_ARGV[0]);
832 sig = create_signal(CMD_ARGV[0]);
834 LOG_ERROR("failed to create signal %s", CMD_ARGV[0]);
838 sig->invert_data = invert_data;
839 sig->data_mask = data_mask;
840 sig->invert_input = invert_input;
841 sig->input_mask = input_mask;
842 sig->invert_oe = invert_oe;
843 sig->oe_mask = oe_mask;
848 COMMAND_HANDLER(ftdi_handle_set_signal_command)
851 return ERROR_COMMAND_SYNTAX_ERROR;
854 sig = find_signal_by_name(CMD_ARGV[0]);
856 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
860 switch (*CMD_ARGV[1]) {
865 /* single character level specifier only */
866 if (CMD_ARGV[1][1] == '\0') {
867 ftdi_set_signal(sig, *CMD_ARGV[1]);
872 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV[1]);
873 return ERROR_COMMAND_SYNTAX_ERROR;
876 return mpsse_flush(mpsse_ctx);
879 COMMAND_HANDLER(ftdi_handle_get_signal_command)
882 return ERROR_COMMAND_SYNTAX_ERROR;
885 uint16_t sig_data = 0;
886 sig = find_signal_by_name(CMD_ARGV[0]);
888 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
892 int ret = ftdi_get_signal(sig, &sig_data);
896 LOG_USER("Signal %s = %#06x", sig->name, sig_data);
901 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
903 if (CMD_ARGC > MAX_USB_IDS * 2) {
904 LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
905 "(maximum is %d pairs)", MAX_USB_IDS);
906 CMD_ARGC = MAX_USB_IDS * 2;
908 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
909 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
911 return ERROR_COMMAND_SYNTAX_ERROR;
912 /* remove the incomplete trailing id */
917 for (i = 0; i < CMD_ARGC; i += 2) {
918 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], ftdi_vid[i >> 1]);
919 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], ftdi_pid[i >> 1]);
923 * Explicitly terminate, in case there are multiples instances of
926 ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
931 COMMAND_HANDLER(ftdi_handle_tdo_sample_edge_command)
934 static const Jim_Nvp nvp_ftdi_jtag_modes[] = {
935 { .name = "rising", .value = JTAG_MODE },
936 { .name = "falling", .value = JTAG_MODE_ALT },
937 { .name = NULL, .value = -1 },
941 n = Jim_Nvp_name2value_simple(nvp_ftdi_jtag_modes, CMD_ARGV[0]);
943 return ERROR_COMMAND_SYNTAX_ERROR;
944 ftdi_jtag_mode = n->value;
948 n = Jim_Nvp_value2name_simple(nvp_ftdi_jtag_modes, ftdi_jtag_mode);
949 command_print(CMD_CTX, "ftdi samples TDO on %s edge of TCK", n->name);
954 static const struct command_registration ftdi_command_handlers[] = {
956 .name = "ftdi_device_desc",
957 .handler = &ftdi_handle_device_desc_command,
958 .mode = COMMAND_CONFIG,
959 .help = "set the USB device description of the FTDI device",
960 .usage = "description_string",
963 .name = "ftdi_serial",
964 .handler = &ftdi_handle_serial_command,
965 .mode = COMMAND_CONFIG,
966 .help = "set the serial number of the FTDI device",
967 .usage = "serial_string",
969 #ifdef HAVE_LIBUSB_GET_PORT_NUMBERS
971 .name = "ftdi_location",
972 .handler = &ftdi_handle_location_command,
973 .mode = COMMAND_CONFIG,
974 .help = "set the USB bus location of the FTDI device",
975 .usage = "<bus>:port[,port]...",
979 .name = "ftdi_channel",
980 .handler = &ftdi_handle_channel_command,
981 .mode = COMMAND_CONFIG,
982 .help = "set the channel of the FTDI device that is used as JTAG",
986 .name = "ftdi_layout_init",
987 .handler = &ftdi_handle_layout_init_command,
988 .mode = COMMAND_CONFIG,
989 .help = "initialize the FTDI GPIO signals used "
990 "to control output-enables and reset signals",
991 .usage = "data direction",
994 .name = "ftdi_layout_signal",
995 .handler = &ftdi_handle_layout_signal_command,
997 .help = "define a signal controlled by one or more FTDI GPIO as data "
998 "and/or output enable",
999 .usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
1002 .name = "ftdi_set_signal",
1003 .handler = &ftdi_handle_set_signal_command,
1004 .mode = COMMAND_EXEC,
1005 .help = "control a layout-specific signal",
1006 .usage = "name (1|0|z)",
1009 .name = "ftdi_get_signal",
1010 .handler = &ftdi_handle_get_signal_command,
1011 .mode = COMMAND_EXEC,
1012 .help = "read the value of a layout-specific signal",
1016 .name = "ftdi_vid_pid",
1017 .handler = &ftdi_handle_vid_pid_command,
1018 .mode = COMMAND_CONFIG,
1019 .help = "the vendor ID and product ID of the FTDI device",
1020 .usage = "(vid pid)* ",
1023 .name = "ftdi_tdo_sample_edge",
1024 .handler = &ftdi_handle_tdo_sample_edge_command,
1025 .mode = COMMAND_ANY,
1026 .help = "set which TCK clock edge is used for sampling TDO "
1027 "- default is rising-edge (Setting to falling-edge may "
1028 "allow signalling speed increase)",
1029 .usage = "(rising|falling)",
1031 COMMAND_REGISTRATION_DONE
1034 static int create_default_signal(const char *name, uint16_t data_mask)
1036 struct signal *sig = create_signal(name);
1038 LOG_ERROR("failed to create signal %s", name);
1041 sig->invert_data = false;
1042 sig->data_mask = data_mask;
1043 sig->invert_oe = false;
1049 static int create_signals(void)
1051 if (create_default_signal("TCK", 0x01) != ERROR_OK)
1053 if (create_default_signal("TDI", 0x02) != ERROR_OK)
1055 if (create_default_signal("TDO", 0x04) != ERROR_OK)
1057 if (create_default_signal("TMS", 0x08) != ERROR_OK)
1062 static int ftdi_swd_init(void)
1064 LOG_INFO("FTDI SWD mode enabled");
1067 if (create_signals() != ERROR_OK)
1070 swd_cmd_queue_alloced = 10;
1071 swd_cmd_queue = malloc(swd_cmd_queue_alloced * sizeof(*swd_cmd_queue));
1073 return swd_cmd_queue != NULL ? ERROR_OK : ERROR_FAIL;
1076 static void ftdi_swd_swdio_en(bool enable)
1078 struct signal *oe = find_signal_by_name("SWDIO_OE");
1081 ftdi_set_signal(oe, enable ? '1' : '0');
1083 /* Sets TDI/DO pin (pin 2) to input during rx when both pins are connected
1086 direction |= jtag_direction_init & 0x0002U;
1088 direction &= ~0x0002U;
1089 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
1095 * Flush the MPSSE queue and process the SWD transaction queue
1099 static int ftdi_swd_run_queue(void)
1101 LOG_DEBUG_IO("Executing %zu queued transactions", swd_cmd_queue_length);
1103 struct signal *led = find_signal_by_name("LED");
1105 if (queued_retval != ERROR_OK) {
1106 LOG_DEBUG_IO("Skipping due to previous errors: %d", queued_retval);
1110 /* A transaction must be followed by another transaction or at least 8 idle cycles to
1111 * ensure that data is clocked through the AP. */
1112 mpsse_clock_data_out(mpsse_ctx, NULL, 0, 8, SWD_MODE);
1114 /* Terminate the "blink", if the current layout has that feature */
1116 ftdi_set_signal(led, '0');
1118 queued_retval = mpsse_flush(mpsse_ctx);
1119 if (queued_retval != ERROR_OK) {
1120 LOG_ERROR("MPSSE failed");
1124 for (size_t i = 0; i < swd_cmd_queue_length; i++) {
1125 int ack = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1, 3);
1127 LOG_DEBUG_IO("%s %s %s reg %X = %08"PRIx32,
1128 ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
1129 swd_cmd_queue[i].cmd & SWD_CMD_APnDP ? "AP" : "DP",
1130 swd_cmd_queue[i].cmd & SWD_CMD_RnW ? "read" : "write",
1131 (swd_cmd_queue[i].cmd & SWD_CMD_A32) >> 1,
1132 buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn,
1133 1 + 3 + (swd_cmd_queue[i].cmd & SWD_CMD_RnW ? 0 : 1), 32));
1135 if (ack != SWD_ACK_OK) {
1136 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
1139 } else if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
1140 uint32_t data = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3, 32);
1141 int parity = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 32, 1);
1143 if (parity != parity_u32(data)) {
1144 LOG_ERROR("SWD Read data parity mismatch");
1145 queued_retval = ERROR_FAIL;
1149 if (swd_cmd_queue[i].dst != NULL)
1150 *swd_cmd_queue[i].dst = data;
1155 swd_cmd_queue_length = 0;
1156 retval = queued_retval;
1157 queued_retval = ERROR_OK;
1159 /* Queue a new "blink" */
1160 if (led && retval == ERROR_OK)
1161 ftdi_set_signal(led, '1');
1166 static void ftdi_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data, uint32_t ap_delay_clk)
1168 if (swd_cmd_queue_length >= swd_cmd_queue_alloced) {
1169 /* Not enough room in the queue. Run the queue and increase its size for next time.
1170 * Note that it's not possible to avoid running the queue here, because mpsse contains
1171 * pointers into the queue which may be invalid after the realloc. */
1172 queued_retval = ftdi_swd_run_queue();
1173 struct swd_cmd_queue_entry *q = realloc(swd_cmd_queue, swd_cmd_queue_alloced * 2 * sizeof(*swd_cmd_queue));
1176 swd_cmd_queue_alloced *= 2;
1177 LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced);
1181 if (queued_retval != ERROR_OK)
1184 size_t i = swd_cmd_queue_length++;
1185 swd_cmd_queue[i].cmd = cmd | SWD_CMD_START | SWD_CMD_PARK;
1187 mpsse_clock_data_out(mpsse_ctx, &swd_cmd_queue[i].cmd, 0, 8, SWD_MODE);
1189 if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
1190 /* Queue a read transaction */
1191 swd_cmd_queue[i].dst = dst;
1193 ftdi_swd_swdio_en(false);
1194 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1195 0, 1 + 3 + 32 + 1 + 1, SWD_MODE);
1196 ftdi_swd_swdio_en(true);
1198 /* Queue a write transaction */
1199 ftdi_swd_swdio_en(false);
1201 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1202 0, 1 + 3 + 1, SWD_MODE);
1204 ftdi_swd_swdio_en(true);
1206 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1, 32, data);
1207 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1 + 32, 1, parity_u32(data));
1209 mpsse_clock_data_out(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1210 1 + 3 + 1, 32 + 1, SWD_MODE);
1213 /* Insert idle cycles after AP accesses to avoid WAIT */
1214 if (cmd & SWD_CMD_APnDP)
1215 mpsse_clock_data_out(mpsse_ctx, NULL, 0, ap_delay_clk, SWD_MODE);
1219 static void ftdi_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
1221 assert(cmd & SWD_CMD_RnW);
1222 ftdi_swd_queue_cmd(cmd, value, 0, ap_delay_clk);
1225 static void ftdi_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
1227 assert(!(cmd & SWD_CMD_RnW));
1228 ftdi_swd_queue_cmd(cmd, NULL, value, ap_delay_clk);
1231 static int_least32_t ftdi_swd_frequency(int_least32_t hz)
1234 freq = mpsse_set_frequency(mpsse_ctx, hz);
1239 static int ftdi_swd_switch_seq(enum swd_special_seq seq)
1243 LOG_DEBUG("SWD line reset");
1244 ftdi_swd_swdio_en(true);
1245 mpsse_clock_data_out(mpsse_ctx, swd_seq_line_reset, 0, swd_seq_line_reset_len, SWD_MODE);
1248 LOG_DEBUG("JTAG-to-SWD");
1249 ftdi_swd_swdio_en(true);
1250 mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_swd, 0, swd_seq_jtag_to_swd_len, SWD_MODE);
1253 LOG_DEBUG("SWD-to-JTAG");
1254 ftdi_swd_swdio_en(true);
1255 mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_jtag, 0, swd_seq_swd_to_jtag_len, SWD_MODE);
1258 LOG_ERROR("Sequence %d not supported", seq);
1265 static const struct swd_driver ftdi_swd = {
1266 .init = ftdi_swd_init,
1267 .frequency = ftdi_swd_frequency,
1268 .switch_seq = ftdi_swd_switch_seq,
1269 .read_reg = ftdi_swd_read_reg,
1270 .write_reg = ftdi_swd_write_reg,
1271 .run = ftdi_swd_run_queue,
1274 static const char * const ftdi_transports[] = { "jtag", "swd", NULL };
1276 struct jtag_interface ftdi_interface = {
1278 .supported = DEBUG_CAP_TMS_SEQ,
1279 .commands = ftdi_command_handlers,
1280 .transports = ftdi_transports,
1283 .init = ftdi_initialize,
1285 .speed = ftdi_speed,
1286 .speed_div = ftdi_speed_div,
1288 .execute_queue = ftdi_execute_queue,