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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 <jtag/swd.h>
  76 #include <transport/transport.h>
  77 #include <helper/time_support.h>
  78
  79 #if IS_CYGWIN == 1
  80 #include <windows.h>
  81 #endif
  82
  83 #include <assert.h>
  84
  85 /* FTDI access library includes */
  86 #include "mpsse.h"
  87
  88 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
  89 #define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
  90
  91 static char *ftdi_device_desc;
  92 static char *ftdi_serial;
  93 static uint8_t ftdi_channel;
  94
  95 static bool swd_mode;
  96
  97 #define MAX_USB_IDS 8
  98 /* vid = pid = 0 marks the end of the list */
  99 static uint16_t ftdi_vid[MAX_USB_IDS + 1] = { 0 };
 100 static uint16_t ftdi_pid[MAX_USB_IDS + 1] = { 0 };
 101
 102 static struct mpsse_ctx *mpsse_ctx;
 103
 104 struct signal {
 105         const char *name;
 106         uint16_t data_mask;
 107         uint16_t oe_mask;
 108         bool invert_data;
 109         bool invert_oe;
 110         struct signal *next;
 111 };
 112
 113 static struct signal *signals;
 114
 115 /* FIXME: Where to store per-instance data? We need an SWD context. */
 116 static struct swd_cmd_queue_entry {
 117         uint8_t cmd;
 118         uint32_t *dst;
 119         uint8_t trn_ack_data_parity_trn[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
 120 } *swd_cmd_queue;
 121 static size_t swd_cmd_queue_length;
 122 static size_t swd_cmd_queue_alloced;
 123 static int queued_retval;
 124 static int freq;
 125
 126 static uint16_t output;
 127 static uint16_t direction;
 128 static uint16_t jtag_output_init;
 129 static uint16_t jtag_direction_init;
 130
 131 static int ftdi_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq);
 132
 133 static struct signal *find_signal_by_name(const char *name)
 134 {
 135         for (struct signal *sig = signals; sig; sig = sig->next) {
 136                 if (strcmp(name, sig->name) == 0)
 137                         return sig;
 138         }
 139         return NULL;
 140 }
 141
 142 static struct signal *create_signal(const char *name)
 143 {
 144         struct signal **psig = &signals;
 145         while (*psig)
 146                 psig = &(*psig)->next;
 147
 148         *psig = calloc(1, sizeof(**psig));
 149         if (*psig == NULL)
 150                 return NULL;
 151
 152         (*psig)->name = strdup(name);
 153         if ((*psig)->name == NULL) {
 154                 free(*psig);
 155                 *psig = NULL;
 156         }
 157         return *psig;
 158 }
 159
 160 static int ftdi_set_signal(const struct signal *s, char value)
 161 {
 162         bool data;
 163         bool oe;
 164
 165         if (s->data_mask == 0 && s->oe_mask == 0) {
 166                 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
 167                 return ERROR_FAIL;
 168         }
 169         switch (value) {
 170         case '0':
 171                 data = s->invert_data;
 172                 oe = !s->invert_oe;
 173                 break;
 174         case '1':
 175                 if (s->data_mask == 0) {
 176                         LOG_ERROR("interface can't drive '%s' high", s->name);
 177                         return ERROR_FAIL;
 178                 }
 179                 data = !s->invert_data;
 180                 oe = !s->invert_oe;
 181                 break;
 182         case 'z':
 183         case 'Z':
 184                 if (s->oe_mask == 0) {
 185                         LOG_ERROR("interface can't tri-state '%s'", s->name);
 186                         return ERROR_FAIL;
 187                 }
 188                 data = s->invert_data;
 189                 oe = s->invert_oe;
 190                 break;
 191         default:
 192                 assert(0 && "invalid signal level specifier");
 193                 return ERROR_FAIL;
 194         }
 195
 196         uint16_t old_output = output;
 197         uint16_t old_direction = direction;
 198
 199         output = data ? output | s->data_mask : output & ~s->data_mask;
 200         if (s->oe_mask == s->data_mask)
 201                 direction = oe ? direction | s->oe_mask : direction & ~s->oe_mask;
 202         else
 203                 output = oe ? output | s->oe_mask : output & ~s->oe_mask;
 204
 205         if ((output & 0xff) != (old_output & 0xff) || (direction & 0xff) != (old_direction & 0xff))
 206                 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
 207         if ((output >> 8 != old_output >> 8) || (direction >> 8 != old_direction >> 8))
 208                 mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
 209
 210         return ERROR_OK;
 211 }
 212
 213
 214 /**
 215  * Function move_to_state
 216  * moves the TAP controller from the current state to a
 217  * \a goal_state through a path given by tap_get_tms_path().  State transition
 218  * logging is performed by delegation to clock_tms().
 219  *
 220  * @param goal_state is the destination state for the move.
 221  */
 222 static void move_to_state(tap_state_t goal_state)
 223 {
 224         tap_state_t start_state = tap_get_state();
 225
 226         /*      goal_state is 1/2 of a tuple/pair of states which allow convenient
 227                 lookup of the required TMS pattern to move to this state from the
 228                 start state.
 229         */
 230
 231         /* do the 2 lookups */
 232         uint8_t tms_bits  = tap_get_tms_path(start_state, goal_state);
 233         int tms_count = tap_get_tms_path_len(start_state, goal_state);
 234         assert(tms_count <= 8);
 235
 236         DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
 237
 238         /* Track state transitions step by step */
 239         for (int i = 0; i < tms_count; i++)
 240                 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits >> i) & 1));
 241
 242         mpsse_clock_tms_cs_out(mpsse_ctx,
 243                 &tms_bits,
 244                 0,
 245                 tms_count,
 246                 false,
 247                 JTAG_MODE);
 248 }
 249
 250 static int ftdi_speed(int speed)
 251 {
 252         int retval;
 253         retval = mpsse_set_frequency(mpsse_ctx, speed);
 254
 255         if (retval < 0) {
 256                 LOG_ERROR("couldn't set FTDI TCK speed");
 257                 return retval;
 258         }
 259
 260         return ERROR_OK;
 261 }
 262
 263 static int ftdi_speed_div(int speed, int *khz)
 264 {
 265         *khz = speed / 1000;
 266         return ERROR_OK;
 267 }
 268
 269 static int ftdi_khz(int khz, int *jtag_speed)
 270 {
 271         if (khz == 0 && !mpsse_is_high_speed(mpsse_ctx)) {
 272                 LOG_DEBUG("RCLK not supported");
 273                 return ERROR_FAIL;
 274         }
 275
 276         *jtag_speed = khz * 1000;
 277         return ERROR_OK;
 278 }
 279
 280 static void ftdi_end_state(tap_state_t state)
 281 {
 282         if (tap_is_state_stable(state))
 283                 tap_set_end_state(state);
 284         else {
 285                 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state));
 286                 exit(-1);
 287         }
 288 }
 289
 290 static void ftdi_execute_runtest(struct jtag_command *cmd)
 291 {
 292         int i;
 293         uint8_t zero = 0;
 294
 295         DEBUG_JTAG_IO("runtest %i cycles, end in %s",
 296                 cmd->cmd.runtest->num_cycles,
 297                 tap_state_name(cmd->cmd.runtest->end_state));
 298
 299         if (tap_get_state() != TAP_IDLE)
 300                 move_to_state(TAP_IDLE);
 301
 302         /* TODO: Reuse ftdi_execute_stableclocks */
 303         i = cmd->cmd.runtest->num_cycles;
 304         while (i > 0) {
 305                 /* there are no state transitions in this code, so omit state tracking */
 306                 unsigned this_len = i > 7 ? 7 : i;
 307                 mpsse_clock_tms_cs_out(mpsse_ctx, &zero, 0, this_len, false, JTAG_MODE);
 308                 i -= this_len;
 309         }
 310
 311         ftdi_end_state(cmd->cmd.runtest->end_state);
 312
 313         if (tap_get_state() != tap_get_end_state())
 314                 move_to_state(tap_get_end_state());
 315
 316         DEBUG_JTAG_IO("runtest: %i, end in %s",
 317                 cmd->cmd.runtest->num_cycles,
 318                 tap_state_name(tap_get_end_state()));
 319 }
 320
 321 static void ftdi_execute_statemove(struct jtag_command *cmd)
 322 {
 323         DEBUG_JTAG_IO("statemove end in %s",
 324                 tap_state_name(cmd->cmd.statemove->end_state));
 325
 326         ftdi_end_state(cmd->cmd.statemove->end_state);
 327
 328         /* shortest-path move to desired end state */
 329         if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET)
 330                 move_to_state(tap_get_end_state());
 331 }
 332
 333 /**
 334  * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
 335  * (or SWD) state machine. REVISIT: Not the best method, perhaps.
 336  */
 337 static void ftdi_execute_tms(struct jtag_command *cmd)
 338 {
 339         DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
 340
 341         /* TODO: Missing tap state tracking, also missing from ft2232.c! */
 342         mpsse_clock_tms_cs_out(mpsse_ctx,
 343                 cmd->cmd.tms->bits,
 344                 0,
 345                 cmd->cmd.tms->num_bits,
 346                 false,
 347                 JTAG_MODE);
 348 }
 349
 350 static void ftdi_execute_pathmove(struct jtag_command *cmd)
 351 {
 352         tap_state_t *path = cmd->cmd.pathmove->path;
 353         int num_states  = cmd->cmd.pathmove->num_states;
 354
 355         DEBUG_JTAG_IO("pathmove: %i states, current: %s  end: %s", num_states,
 356                 tap_state_name(tap_get_state()),
 357                 tap_state_name(path[num_states-1]));
 358
 359         int state_count = 0;
 360         unsigned bit_count = 0;
 361         uint8_t tms_byte = 0;
 362
 363         DEBUG_JTAG_IO("-");
 364
 365         /* this loop verifies that the path is legal and logs each state in the path */
 366         while (num_states--) {
 367
 368                 /* either TMS=0 or TMS=1 must work ... */
 369                 if (tap_state_transition(tap_get_state(), false)
 370                     == path[state_count])
 371                         buf_set_u32(&tms_byte, bit_count++, 1, 0x0);
 372                 else if (tap_state_transition(tap_get_state(), true)
 373                          == path[state_count]) {
 374                         buf_set_u32(&tms_byte, bit_count++, 1, 0x1);
 375
 376                         /* ... or else the caller goofed BADLY */
 377                 } else {
 378                         LOG_ERROR("BUG: %s -> %s isn't a valid "
 379                                 "TAP state transition",
 380                                 tap_state_name(tap_get_state()),
 381                                 tap_state_name(path[state_count]));
 382                         exit(-1);
 383                 }
 384
 385                 tap_set_state(path[state_count]);
 386                 state_count++;
 387
 388                 if (bit_count == 7 || num_states == 0) {
 389                         mpsse_clock_tms_cs_out(mpsse_ctx,
 390                                         &tms_byte,
 391                                         0,
 392                                         bit_count,
 393                                         false,
 394                                         JTAG_MODE);
 395                         bit_count = 0;
 396                 }
 397         }
 398         tap_set_end_state(tap_get_state());
 399 }
 400
 401 static void ftdi_execute_scan(struct jtag_command *cmd)
 402 {
 403         DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
 404                 jtag_scan_type(cmd->cmd.scan));
 405
 406         /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
 407         while (cmd->cmd.scan->num_fields > 0
 408                         && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
 409                 cmd->cmd.scan->num_fields--;
 410                 LOG_DEBUG("discarding trailing empty field");
 411         }
 412
 413         if (cmd->cmd.scan->num_fields == 0) {
 414                 LOG_DEBUG("empty scan, doing nothing");
 415                 return;
 416         }
 417
 418         if (cmd->cmd.scan->ir_scan) {
 419                 if (tap_get_state() != TAP_IRSHIFT)
 420                         move_to_state(TAP_IRSHIFT);
 421         } else {
 422                 if (tap_get_state() != TAP_DRSHIFT)
 423                         move_to_state(TAP_DRSHIFT);
 424         }
 425
 426         ftdi_end_state(cmd->cmd.scan->end_state);
 427
 428         struct scan_field *field = cmd->cmd.scan->fields;
 429         unsigned scan_size = 0;
 430
 431         for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
 432                 scan_size += field->num_bits;
 433                 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
 434                         field->in_value ? "in" : "",
 435                         field->out_value ? "out" : "",
 436                         i,
 437                         cmd->cmd.scan->num_fields,
 438                         field->num_bits);
 439
 440                 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
 441                         /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
 442                          * movement. This last field can't have length zero, it was checked above. */
 443                         mpsse_clock_data(mpsse_ctx,
 444                                 field->out_value,
 445                                 0,
 446                                 field->in_value,
 447                                 0,
 448                                 field->num_bits - 1,
 449                                 JTAG_MODE);
 450                         uint8_t last_bit = 0;
 451                         if (field->out_value)
 452                                 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
 453                         uint8_t tms_bits = 0x01;
 454                         mpsse_clock_tms_cs(mpsse_ctx,
 455                                         &tms_bits,
 456                                         0,
 457                                         field->in_value,
 458                                         field->num_bits - 1,
 459                                         1,
 460                                         last_bit,
 461                                         JTAG_MODE);
 462                         tap_set_state(tap_state_transition(tap_get_state(), 1));
 463                         mpsse_clock_tms_cs_out(mpsse_ctx,
 464                                         &tms_bits,
 465                                         1,
 466                                         1,
 467                                         last_bit,
 468                                         JTAG_MODE);
 469                         tap_set_state(tap_state_transition(tap_get_state(), 0));
 470                 } else
 471                         mpsse_clock_data(mpsse_ctx,
 472                                 field->out_value,
 473                                 0,
 474                                 field->in_value,
 475                                 0,
 476                                 field->num_bits,
 477                                 JTAG_MODE);
 478         }
 479
 480         if (tap_get_state() != tap_get_end_state())
 481                 move_to_state(tap_get_end_state());
 482
 483         DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
 484                 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
 485                 tap_state_name(tap_get_end_state()));
 486 }
 487
 488 static void ftdi_execute_reset(struct jtag_command *cmd)
 489 {
 490         DEBUG_JTAG_IO("reset trst: %i srst %i",
 491                 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 492
 493         if (cmd->cmd.reset->trst == 1
 494             || (cmd->cmd.reset->srst
 495                 && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
 496                 tap_set_state(TAP_RESET);
 497
 498         struct signal *trst = find_signal_by_name("nTRST");
 499         if (cmd->cmd.reset->trst == 1) {
 500                 if (trst)
 501                         ftdi_set_signal(trst, '0');
 502                 else
 503                         LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
 504         } else if (trst && cmd->cmd.reset->trst == 0) {
 505                 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
 506                         ftdi_set_signal(trst, 'z');
 507                 else
 508                         ftdi_set_signal(trst, '1');
 509         }
 510
 511         struct signal *srst = find_signal_by_name("nSRST");
 512         if (cmd->cmd.reset->srst == 1) {
 513                 if (srst)
 514                         ftdi_set_signal(srst, '0');
 515                 else
 516                         LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
 517         } else if (srst && cmd->cmd.reset->srst == 0) {
 518                 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
 519                         ftdi_set_signal(srst, '1');
 520                 else
 521                         ftdi_set_signal(srst, 'z');
 522         }
 523
 524         DEBUG_JTAG_IO("trst: %i, srst: %i",
 525                 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 526 }
 527
 528 static void ftdi_execute_sleep(struct jtag_command *cmd)
 529 {
 530         DEBUG_JTAG_IO("sleep %" PRIi32, cmd->cmd.sleep->us);
 531
 532         mpsse_flush(mpsse_ctx);
 533         jtag_sleep(cmd->cmd.sleep->us);
 534         DEBUG_JTAG_IO("sleep %" PRIi32 " usec while in %s",
 535                 cmd->cmd.sleep->us,
 536                 tap_state_name(tap_get_state()));
 537 }
 538
 539 static void ftdi_execute_stableclocks(struct jtag_command *cmd)
 540 {
 541         /* this is only allowed while in a stable state.  A check for a stable
 542          * state was done in jtag_add_clocks()
 543          */
 544         int num_cycles = cmd->cmd.stableclocks->num_cycles;
 545
 546         /* 7 bits of either ones or zeros. */
 547         uint8_t tms = tap_get_state() == TAP_RESET ? 0x7f : 0x00;
 548
 549         /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
 550          * the correct level and remain there during the scan */
 551         while (num_cycles > 0) {
 552                 /* there are no state transitions in this code, so omit state tracking */
 553                 unsigned this_len = num_cycles > 7 ? 7 : num_cycles;
 554                 mpsse_clock_tms_cs_out(mpsse_ctx, &tms, 0, this_len, false, JTAG_MODE);
 555                 num_cycles -= this_len;
 556         }
 557
 558         DEBUG_JTAG_IO("clocks %i while in %s",
 559                 cmd->cmd.stableclocks->num_cycles,
 560                 tap_state_name(tap_get_state()));
 561 }
 562
 563 static void ftdi_execute_command(struct jtag_command *cmd)
 564 {
 565         switch (cmd->type) {
 566                 case JTAG_RESET:
 567                         ftdi_execute_reset(cmd);
 568                         break;
 569                 case JTAG_RUNTEST:
 570                         ftdi_execute_runtest(cmd);
 571                         break;
 572                 case JTAG_TLR_RESET:
 573                         ftdi_execute_statemove(cmd);
 574                         break;
 575                 case JTAG_PATHMOVE:
 576                         ftdi_execute_pathmove(cmd);
 577                         break;
 578                 case JTAG_SCAN:
 579                         ftdi_execute_scan(cmd);
 580                         break;
 581                 case JTAG_SLEEP:
 582                         ftdi_execute_sleep(cmd);
 583                         break;
 584                 case JTAG_STABLECLOCKS:
 585                         ftdi_execute_stableclocks(cmd);
 586                         break;
 587                 case JTAG_TMS:
 588                         ftdi_execute_tms(cmd);
 589                         break;
 590                 default:
 591                         LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd->type);
 592                         break;
 593         }
 594 }
 595
 596 static int ftdi_execute_queue(void)
 597 {
 598         /* blink, if the current layout has that feature */
 599         struct signal *led = find_signal_by_name("LED");
 600         if (led)
 601                 ftdi_set_signal(led, '1');
 602
 603         for (struct jtag_command *cmd = jtag_command_queue; cmd; cmd = cmd->next) {
 604                 /* fill the write buffer with the desired command */
 605                 ftdi_execute_command(cmd);
 606         }
 607
 608         if (led)
 609                 ftdi_set_signal(led, '0');
 610
 611         int retval = mpsse_flush(mpsse_ctx);
 612         if (retval != ERROR_OK)
 613                 LOG_ERROR("error while flushing MPSSE queue: %d", retval);
 614
 615         return retval;
 616 }
 617
 618 static int ftdi_initialize(void)
 619 {
 620         if (tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRPAUSE) == 7)
 621                 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
 622         else
 623                 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
 624
 625         for (int i = 0; ftdi_vid[i] || ftdi_pid[i]; i++) {
 626                 mpsse_ctx = mpsse_open(&ftdi_vid[i], &ftdi_pid[i], ftdi_device_desc,
 627                                 ftdi_serial, ftdi_channel);
 628                 if (mpsse_ctx)
 629                         break;
 630         }
 631
 632         if (!mpsse_ctx)
 633                 return ERROR_JTAG_INIT_FAILED;
 634
 635         output = jtag_output_init;
 636         direction = jtag_direction_init;
 637
 638         if (swd_mode) {
 639                 struct signal *sig = find_signal_by_name("SWD_EN");
 640                 if (!sig) {
 641                         LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
 642                         return ERROR_JTAG_INIT_FAILED;
 643                 }
 644                 /* A dummy SWD_EN would have zero mask */
 645                 if (sig->data_mask)
 646                         ftdi_set_signal(sig, '1');
 647         }
 648
 649         mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
 650         mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
 651
 652         mpsse_loopback_config(mpsse_ctx, false);
 653
 654         /* Set a low default */
 655         freq = mpsse_set_frequency(mpsse_ctx, 1000);
 656
 657         if (swd_mode)
 658                 ftdi_swd_switch_seq(NULL, JTAG_TO_SWD);
 659         else
 660                 ftdi_swd_switch_seq(NULL, SWD_TO_JTAG);
 661
 662         return mpsse_flush(mpsse_ctx);
 663 }
 664
 665 static int ftdi_quit(void)
 666 {
 667         mpsse_close(mpsse_ctx);
 668
 669         return ERROR_OK;
 670 }
 671
 672 COMMAND_HANDLER(ftdi_handle_device_desc_command)
 673 {
 674         if (CMD_ARGC == 1) {
 675                 if (ftdi_device_desc)
 676                         free(ftdi_device_desc);
 677                 ftdi_device_desc = strdup(CMD_ARGV[0]);
 678         } else {
 679                 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
 680         }
 681
 682         return ERROR_OK;
 683 }
 684
 685 COMMAND_HANDLER(ftdi_handle_serial_command)
 686 {
 687         if (CMD_ARGC == 1) {
 688                 if (ftdi_serial)
 689                         free(ftdi_serial);
 690                 ftdi_serial = strdup(CMD_ARGV[0]);
 691         } else {
 692                 return ERROR_COMMAND_SYNTAX_ERROR;
 693         }
 694
 695         return ERROR_OK;
 696 }
 697
 698 COMMAND_HANDLER(ftdi_handle_channel_command)
 699 {
 700         if (CMD_ARGC == 1)
 701                 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], ftdi_channel);
 702         else
 703                 return ERROR_COMMAND_SYNTAX_ERROR;
 704
 705         return ERROR_OK;
 706 }
 707
 708 COMMAND_HANDLER(ftdi_handle_layout_init_command)
 709 {
 710         if (CMD_ARGC != 2)
 711                 return ERROR_COMMAND_SYNTAX_ERROR;
 712
 713         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], jtag_output_init);
 714         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], jtag_direction_init);
 715
 716         return ERROR_OK;
 717 }
 718
 719 COMMAND_HANDLER(ftdi_handle_layout_signal_command)
 720 {
 721         if (CMD_ARGC < 1)
 722                 return ERROR_COMMAND_SYNTAX_ERROR;
 723
 724         bool invert_data = false;
 725         uint16_t data_mask = 0;
 726         bool invert_oe = false;
 727         uint16_t oe_mask = 0;
 728         for (unsigned i = 1; i < CMD_ARGC; i += 2) {
 729                 if (strcmp("-data", CMD_ARGV[i]) == 0) {
 730                         invert_data = false;
 731                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 732                 } else if (strcmp("-ndata", CMD_ARGV[i]) == 0) {
 733                         invert_data = true;
 734                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 735                 } else if (strcmp("-oe", CMD_ARGV[i]) == 0) {
 736                         invert_oe = false;
 737                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 738                 } else if (strcmp("-noe", CMD_ARGV[i]) == 0) {
 739                         invert_oe = true;
 740                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 741                 } else if (!strcmp("-alias", CMD_ARGV[i]) ||
 742                            !strcmp("-nalias", CMD_ARGV[i])) {
 743                         if (!strcmp("-nalias", CMD_ARGV[i]))
 744                                 invert_data = true;
 745                         struct signal *sig = find_signal_by_name(CMD_ARGV[i + 1]);
 746                         if (!sig) {
 747                                 LOG_ERROR("signal %s is not defined", CMD_ARGV[i + 1]);
 748                                 return ERROR_FAIL;
 749                         }
 750                         data_mask = sig->data_mask;
 751                         oe_mask = sig->oe_mask;
 752                         invert_oe = sig->invert_oe;
 753                         invert_data ^= sig->invert_data;
 754                 } else {
 755                         LOG_ERROR("unknown option '%s'", CMD_ARGV[i]);
 756                         return ERROR_COMMAND_SYNTAX_ERROR;
 757                 }
 758         }
 759
 760         struct signal *sig;
 761         sig = find_signal_by_name(CMD_ARGV[0]);
 762         if (!sig)
 763                 sig = create_signal(CMD_ARGV[0]);
 764         if (!sig) {
 765                 LOG_ERROR("failed to create signal %s", CMD_ARGV[0]);
 766                 return ERROR_FAIL;
 767         }
 768
 769         sig->invert_data = invert_data;
 770         sig->data_mask = data_mask;
 771         sig->invert_oe = invert_oe;
 772         sig->oe_mask = oe_mask;
 773
 774         return ERROR_OK;
 775 }
 776
 777 COMMAND_HANDLER(ftdi_handle_set_signal_command)
 778 {
 779         if (CMD_ARGC < 2)
 780                 return ERROR_COMMAND_SYNTAX_ERROR;
 781
 782         struct signal *sig;
 783         sig = find_signal_by_name(CMD_ARGV[0]);
 784         if (!sig) {
 785                 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
 786                 return ERROR_FAIL;
 787         }
 788
 789         switch (*CMD_ARGV[1]) {
 790         case '0':
 791         case '1':
 792         case 'z':
 793         case 'Z':
 794                 /* single character level specifier only */
 795                 if (CMD_ARGV[1][1] == '\0') {
 796                         ftdi_set_signal(sig, *CMD_ARGV[1]);
 797                         break;
 798                 }
 799         default:
 800                 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV[1]);
 801                 return ERROR_COMMAND_SYNTAX_ERROR;
 802         }
 803
 804         return mpsse_flush(mpsse_ctx);
 805 }
 806
 807 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
 808 {
 809         if (CMD_ARGC > MAX_USB_IDS * 2) {
 810                 LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
 811                         "(maximum is %d pairs)", MAX_USB_IDS);
 812                 CMD_ARGC = MAX_USB_IDS * 2;
 813         }
 814         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
 815                 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
 816                 if (CMD_ARGC < 2)
 817                         return ERROR_COMMAND_SYNTAX_ERROR;
 818                 /* remove the incomplete trailing id */
 819                 CMD_ARGC -= 1;
 820         }
 821
 822         unsigned i;
 823         for (i = 0; i < CMD_ARGC; i += 2) {
 824                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], ftdi_vid[i >> 1]);
 825                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], ftdi_pid[i >> 1]);
 826         }
 827
 828         /*
 829          * Explicitly terminate, in case there are multiples instances of
 830          * ftdi_vid_pid.
 831          */
 832         ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
 833
 834         return ERROR_OK;
 835 }
 836
 837 static const struct command_registration ftdi_command_handlers[] = {
 838         {
 839                 .name = "ftdi_device_desc",
 840                 .handler = &ftdi_handle_device_desc_command,
 841                 .mode = COMMAND_CONFIG,
 842                 .help = "set the USB device description of the FTDI device",
 843                 .usage = "description_string",
 844         },
 845         {
 846                 .name = "ftdi_serial",
 847                 .handler = &ftdi_handle_serial_command,
 848                 .mode = COMMAND_CONFIG,
 849                 .help = "set the serial number of the FTDI device",
 850                 .usage = "serial_string",
 851         },
 852         {
 853                 .name = "ftdi_channel",
 854                 .handler = &ftdi_handle_channel_command,
 855                 .mode = COMMAND_CONFIG,
 856                 .help = "set the channel of the FTDI device that is used as JTAG",
 857                 .usage = "(0-3)",
 858         },
 859         {
 860                 .name = "ftdi_layout_init",
 861                 .handler = &ftdi_handle_layout_init_command,
 862                 .mode = COMMAND_CONFIG,
 863                 .help = "initialize the FTDI GPIO signals used "
 864                         "to control output-enables and reset signals",
 865                 .usage = "data direction",
 866         },
 867         {
 868                 .name = "ftdi_layout_signal",
 869                 .handler = &ftdi_handle_layout_signal_command,
 870                 .mode = COMMAND_ANY,
 871                 .help = "define a signal controlled by one or more FTDI GPIO as data "
 872                         "and/or output enable",
 873                 .usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
 874         },
 875         {
 876                 .name = "ftdi_set_signal",
 877                 .handler = &ftdi_handle_set_signal_command,
 878                 .mode = COMMAND_EXEC,
 879                 .help = "control a layout-specific signal",
 880                 .usage = "name (1|0|z)",
 881         },
 882         {
 883                 .name = "ftdi_vid_pid",
 884                 .handler = &ftdi_handle_vid_pid_command,
 885                 .mode = COMMAND_CONFIG,
 886                 .help = "the vendor ID and product ID of the FTDI device",
 887                 .usage = "(vid pid)* ",
 888         },
 889         COMMAND_REGISTRATION_DONE
 890 };
 891
 892 static int create_default_signal(const char *name, uint16_t data_mask)
 893 {
 894         struct signal *sig = create_signal(name);
 895         if (!sig) {
 896                 LOG_ERROR("failed to create signal %s", name);
 897                 return ERROR_FAIL;
 898         }
 899         sig->invert_data = false;
 900         sig->data_mask = data_mask;
 901         sig->invert_oe = false;
 902         sig->oe_mask = 0;
 903
 904         return ERROR_OK;
 905 }
 906
 907 static int create_signals(void)
 908 {
 909         if (create_default_signal("TCK", 0x01) != ERROR_OK)
 910                 return ERROR_FAIL;
 911         if (create_default_signal("TDI", 0x02) != ERROR_OK)
 912                 return ERROR_FAIL;
 913         if (create_default_signal("TDO", 0x04) != ERROR_OK)
 914                 return ERROR_FAIL;
 915         if (create_default_signal("TMS", 0x08) != ERROR_OK)
 916                 return ERROR_FAIL;
 917         return ERROR_OK;
 918 }
 919
 920 static int ftdi_swd_init(void)
 921 {
 922         LOG_INFO("FTDI SWD mode enabled");
 923         swd_mode = true;
 924
 925         if (create_signals() != ERROR_OK)
 926                 return ERROR_FAIL;
 927
 928         swd_cmd_queue_alloced = 10;
 929         swd_cmd_queue = malloc(swd_cmd_queue_alloced * sizeof(*swd_cmd_queue));
 930
 931         return swd_cmd_queue != NULL ? ERROR_OK : ERROR_FAIL;
 932 }
 933
 934 static void ftdi_swd_swdio_en(bool enable)
 935 {
 936         struct signal *oe = find_signal_by_name("SWDIO_OE");
 937         if (oe)
 938                 ftdi_set_signal(oe, enable ? '1' : '0');
 939 }
 940
 941 /**
 942  * Flush the MPSSE queue and process the SWD transaction queue
 943  * @param dap
 944  * @return
 945  */
 946 static int ftdi_swd_run_queue(struct adiv5_dap *dap)
 947 {
 948         LOG_DEBUG("Executing %zu queued transactions", swd_cmd_queue_length);
 949         int retval;
 950         struct signal *led = find_signal_by_name("LED");
 951
 952         if (queued_retval != ERROR_OK) {
 953                 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
 954                 goto skip;
 955         }
 956
 957         /* A transaction must be followed by another transaction or at least 8 idle cycles to
 958          * ensure that data is clocked through the AP. */
 959         mpsse_clock_data_out(mpsse_ctx, NULL, 0, 8, SWD_MODE);
 960
 961         /* Terminate the "blink", if the current layout has that feature */
 962         if (led)
 963                 ftdi_set_signal(led, '0');
 964
 965         queued_retval = mpsse_flush(mpsse_ctx);
 966         if (queued_retval != ERROR_OK) {
 967                 LOG_ERROR("MPSSE failed");
 968                 goto skip;
 969         }
 970
 971         for (size_t i = 0; i < swd_cmd_queue_length; i++) {
 972                 int ack = buf_get_u32(&swd_cmd_queue[i].trn_ack_data_parity_trn, 1, 3);
 973
 974                 LOG_DEBUG("%s %s %s reg %X = %08"PRIx32,
 975                                 ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
 976                                 swd_cmd_queue[i].cmd & SWD_CMD_APnDP ? "AP" : "DP",
 977                                 swd_cmd_queue[i].cmd & SWD_CMD_RnW ? "read" : "write",
 978                                 (swd_cmd_queue[i].cmd & SWD_CMD_A32) >> 1,
 979                                 buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn,
 980                                                 1 + 3 + (swd_cmd_queue[i].cmd & SWD_CMD_RnW ? 0 : 1), 32));
 981
 982                 if (ack != SWD_ACK_OK) {
 983                         queued_retval = ack;
 984                         goto skip;
 985
 986                 } else if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
 987                         uint32_t data = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3, 32);
 988                         int parity = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 32, 1);
 989
 990                         if (parity != parity_u32(data)) {
 991                                 LOG_ERROR("SWD Read data parity mismatch");
 992                                 queued_retval = ERROR_FAIL;
 993                                 goto skip;
 994                         }
 995
 996                         if (swd_cmd_queue[i].dst != NULL)
 997                                 *swd_cmd_queue[i].dst = data;
 998                 }
 999         }
1000
1001 skip:
1002         swd_cmd_queue_length = 0;
1003         retval = queued_retval;
1004         queued_retval = ERROR_OK;
1005
1006         /* Queue a new "blink" */
1007         if (led && retval == ERROR_OK)
1008                 ftdi_set_signal(led, '1');
1009
1010         return retval;
1011 }
1012
1013 static void ftdi_swd_queue_cmd(struct adiv5_dap *dap, uint8_t cmd, uint32_t *dst, uint32_t data)
1014 {
1015         if (swd_cmd_queue_length >= swd_cmd_queue_alloced) {
1016                 /* Not enough room in the queue. Run the queue and increase its size for next time.
1017                  * Note that it's not possible to avoid running the queue here, because mpsse contains
1018                  * pointers into the queue which may be invalid after the realloc. */
1019                 queued_retval = ftdi_swd_run_queue(dap);
1020                 struct swd_cmd_queue_entry *q = realloc(swd_cmd_queue, swd_cmd_queue_alloced * 2 * sizeof(*swd_cmd_queue));
1021                 if (q != NULL) {
1022                         swd_cmd_queue = q;
1023                         swd_cmd_queue_alloced *= 2;
1024                         LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced);
1025                 }
1026         }
1027
1028         if (queued_retval != ERROR_OK)
1029                 return;
1030
1031         size_t i = swd_cmd_queue_length++;
1032         swd_cmd_queue[i].cmd = cmd | SWD_CMD_START | SWD_CMD_PARK;
1033
1034         mpsse_clock_data_out(mpsse_ctx, &swd_cmd_queue[i].cmd, 0, 8, SWD_MODE);
1035
1036         if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
1037                 /* Queue a read transaction */
1038                 swd_cmd_queue[i].dst = dst;
1039
1040                 ftdi_swd_swdio_en(false);
1041                 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1042                                 0, 1 + 3 + 32 + 1 + 1, SWD_MODE);
1043                 ftdi_swd_swdio_en(true);
1044         } else {
1045                 /* Queue a write transaction */
1046                 ftdi_swd_swdio_en(false);
1047
1048                 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1049                                 0, 1 + 3 + 1, SWD_MODE);
1050
1051                 ftdi_swd_swdio_en(true);
1052
1053                 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1, 32, data);
1054                 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1 + 32, 1, parity_u32(data));
1055
1056                 mpsse_clock_data_out(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1057                                 1 + 3 + 1, 32 + 1, SWD_MODE);
1058         }
1059
1060         /* Insert idle cycles after AP accesses to avoid WAIT */
1061         if (cmd & SWD_CMD_APnDP)
1062                 mpsse_clock_data_out(mpsse_ctx, NULL, 0, dap->memaccess_tck, SWD_MODE);
1063
1064 }
1065
1066 static void ftdi_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
1067 {
1068         assert(cmd & SWD_CMD_RnW);
1069         ftdi_swd_queue_cmd(dap, cmd, value, 0);
1070 }
1071
1072 static void ftdi_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t value)
1073 {
1074         assert(!(cmd & SWD_CMD_RnW));
1075         ftdi_swd_queue_cmd(dap, cmd, NULL, value);
1076 }
1077
1078 static int_least32_t ftdi_swd_frequency(struct adiv5_dap *dap, int_least32_t hz)
1079 {
1080         if (hz > 0)
1081                 freq = mpsse_set_frequency(mpsse_ctx, hz);
1082
1083         return freq;
1084 }
1085
1086 static int ftdi_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq)
1087 {
1088         switch (seq) {
1089         case LINE_RESET:
1090                 LOG_DEBUG("SWD line reset");
1091                 mpsse_clock_data_out(mpsse_ctx, swd_seq_line_reset, 0, swd_seq_line_reset_len, SWD_MODE);
1092                 break;
1093         case JTAG_TO_SWD:
1094                 LOG_DEBUG("JTAG-to-SWD");
1095                 mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_swd, 0, swd_seq_jtag_to_swd_len, SWD_MODE);
1096                 break;
1097         case SWD_TO_JTAG:
1098                 LOG_DEBUG("SWD-to-JTAG");
1099                 mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_jtag, 0, swd_seq_swd_to_jtag_len, SWD_MODE);
1100                 break;
1101         default:
1102                 LOG_ERROR("Sequence %d not supported", seq);
1103                 return ERROR_FAIL;
1104         }
1105
1106         return ERROR_OK;
1107 }
1108
1109 static const struct swd_driver ftdi_swd = {
1110         .init = ftdi_swd_init,
1111         .frequency = ftdi_swd_frequency,
1112         .switch_seq = ftdi_swd_switch_seq,
1113         .read_reg = ftdi_swd_read_reg,
1114         .write_reg = ftdi_swd_write_reg,
1115         .run = ftdi_swd_run_queue,
1116 };
1117
1118 static const char * const ftdi_transports[] = { "jtag", "swd", NULL };
1119
1120 struct jtag_interface ftdi_interface = {
1121         .name = "ftdi",
1122         .supported = DEBUG_CAP_TMS_SEQ,
1123         .commands = ftdi_command_handlers,
1124         .transports = ftdi_transports,
1125         .swd = &ftdi_swd,
1126
1127         .init = ftdi_initialize,
1128         .quit = ftdi_quit,
1129         .speed = ftdi_speed,
1130         .speed_div = ftdi_speed_div,
1131         .khz = ftdi_khz,
1132         .execute_queue = ftdi_execute_queue,
1133 };