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>
84 /* FTDI access library includes */
87 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
88 #define JTAG_MODE_ALT (LSB_FIRST | NEG_EDGE_IN | NEG_EDGE_OUT)
89 #define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
91 static char *ftdi_device_desc;
92 static char *ftdi_serial;
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 LOG_DEBUG_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 LOG_DEBUG_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 LOG_DEBUG_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 LOG_DEBUG_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 LOG_DEBUG_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 LOG_DEBUG_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 LOG_DEBUG_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 LOG_DEBUG_IO("discarding trailing empty field");
445 if (cmd->cmd.scan->num_fields == 0) {
446 LOG_DEBUG_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 LOG_DEBUG_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 LOG_DEBUG_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 int ftdi_reset(int trst, int srst)
522 struct signal *sig_ntrst = find_signal_by_name("nTRST");
523 struct signal *sig_nsrst = find_signal_by_name("nSRST");
525 LOG_DEBUG_IO("reset trst: %i srst %i", trst, srst);
529 ftdi_set_signal(sig_ntrst, '0');
531 LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
532 } else if (sig_ntrst && jtag_get_reset_config() & RESET_HAS_TRST &&
534 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
535 ftdi_set_signal(sig_ntrst, 'z');
537 ftdi_set_signal(sig_ntrst, '1');
542 ftdi_set_signal(sig_nsrst, '0');
544 LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
545 } else if (sig_nsrst && jtag_get_reset_config() & RESET_HAS_SRST &&
547 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
548 ftdi_set_signal(sig_nsrst, '1');
550 ftdi_set_signal(sig_nsrst, 'z');
553 return mpsse_flush(mpsse_ctx);
556 static void ftdi_execute_sleep(struct jtag_command *cmd)
558 LOG_DEBUG_IO("sleep %" PRIu32, cmd->cmd.sleep->us);
560 mpsse_flush(mpsse_ctx);
561 jtag_sleep(cmd->cmd.sleep->us);
562 LOG_DEBUG_IO("sleep %" PRIu32 " usec while in %s",
564 tap_state_name(tap_get_state()));
567 static void ftdi_execute_stableclocks(struct jtag_command *cmd)
569 /* this is only allowed while in a stable state. A check for a stable
570 * state was done in jtag_add_clocks()
572 int num_cycles = cmd->cmd.stableclocks->num_cycles;
574 /* 7 bits of either ones or zeros. */
575 uint8_t tms = tap_get_state() == TAP_RESET ? 0x7f : 0x00;
577 /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
578 * the correct level and remain there during the scan */
579 while (num_cycles > 0) {
580 /* there are no state transitions in this code, so omit state tracking */
581 unsigned this_len = num_cycles > 7 ? 7 : num_cycles;
582 mpsse_clock_tms_cs_out(mpsse_ctx, &tms, 0, this_len, false, ftdi_jtag_mode);
583 num_cycles -= this_len;
586 LOG_DEBUG_IO("clocks %i while in %s",
587 cmd->cmd.stableclocks->num_cycles,
588 tap_state_name(tap_get_state()));
591 static void ftdi_execute_command(struct jtag_command *cmd)
595 ftdi_execute_runtest(cmd);
598 ftdi_execute_statemove(cmd);
601 ftdi_execute_pathmove(cmd);
604 ftdi_execute_scan(cmd);
607 ftdi_execute_sleep(cmd);
609 case JTAG_STABLECLOCKS:
610 ftdi_execute_stableclocks(cmd);
613 ftdi_execute_tms(cmd);
616 LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd->type);
621 static int ftdi_execute_queue(void)
623 /* blink, if the current layout has that feature */
624 struct signal *led = find_signal_by_name("LED");
626 ftdi_set_signal(led, '1');
628 for (struct jtag_command *cmd = jtag_command_queue; cmd; cmd = cmd->next) {
629 /* fill the write buffer with the desired command */
630 ftdi_execute_command(cmd);
634 ftdi_set_signal(led, '0');
636 int retval = mpsse_flush(mpsse_ctx);
637 if (retval != ERROR_OK)
638 LOG_ERROR("error while flushing MPSSE queue: %d", retval);
643 static int ftdi_initialize(void)
645 if (tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRPAUSE) == 7)
646 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
648 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
650 if (!ftdi_vid[0] && !ftdi_pid[0]) {
651 LOG_ERROR("Please specify ftdi_vid_pid");
652 return ERROR_JTAG_INIT_FAILED;
655 for (int i = 0; ftdi_vid[i] || ftdi_pid[i]; i++) {
656 mpsse_ctx = mpsse_open(&ftdi_vid[i], &ftdi_pid[i], ftdi_device_desc,
657 ftdi_serial, jtag_usb_get_location(), ftdi_channel);
663 return ERROR_JTAG_INIT_FAILED;
665 output = jtag_output_init;
666 direction = jtag_direction_init;
669 struct signal *sig = find_signal_by_name("SWD_EN");
671 LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
672 return ERROR_JTAG_INIT_FAILED;
674 /* A dummy SWD_EN would have zero mask */
676 ftdi_set_signal(sig, '1');
679 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
680 mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
682 mpsse_loopback_config(mpsse_ctx, false);
684 freq = mpsse_set_frequency(mpsse_ctx, jtag_get_speed_khz() * 1000);
686 return mpsse_flush(mpsse_ctx);
689 static int ftdi_quit(void)
691 mpsse_close(mpsse_ctx);
693 struct signal *sig = signals;
695 struct signal *next = sig->next;
696 free((void *)sig->name);
701 free(ftdi_device_desc);
709 COMMAND_HANDLER(ftdi_handle_device_desc_command)
712 if (ftdi_device_desc)
713 free(ftdi_device_desc);
714 ftdi_device_desc = strdup(CMD_ARGV[0]);
716 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
722 COMMAND_HANDLER(ftdi_handle_serial_command)
727 ftdi_serial = strdup(CMD_ARGV[0]);
729 return ERROR_COMMAND_SYNTAX_ERROR;
735 COMMAND_HANDLER(ftdi_handle_channel_command)
738 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], ftdi_channel);
740 return ERROR_COMMAND_SYNTAX_ERROR;
745 COMMAND_HANDLER(ftdi_handle_layout_init_command)
748 return ERROR_COMMAND_SYNTAX_ERROR;
750 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], jtag_output_init);
751 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], jtag_direction_init);
756 COMMAND_HANDLER(ftdi_handle_layout_signal_command)
759 return ERROR_COMMAND_SYNTAX_ERROR;
761 bool invert_data = false;
762 uint16_t data_mask = 0;
763 bool invert_input = false;
764 uint16_t input_mask = 0;
765 bool invert_oe = false;
766 uint16_t oe_mask = 0;
767 for (unsigned i = 1; i < CMD_ARGC; i += 2) {
768 if (strcmp("-data", CMD_ARGV[i]) == 0) {
770 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
771 } else if (strcmp("-ndata", CMD_ARGV[i]) == 0) {
773 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
774 } else if (strcmp("-input", CMD_ARGV[i]) == 0) {
775 invert_input = false;
776 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], input_mask);
777 } else if (strcmp("-ninput", CMD_ARGV[i]) == 0) {
779 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], input_mask);
780 } else if (strcmp("-oe", CMD_ARGV[i]) == 0) {
782 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
783 } else if (strcmp("-noe", CMD_ARGV[i]) == 0) {
785 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
786 } else if (!strcmp("-alias", CMD_ARGV[i]) ||
787 !strcmp("-nalias", CMD_ARGV[i])) {
788 if (!strcmp("-nalias", CMD_ARGV[i])) {
792 struct signal *sig = find_signal_by_name(CMD_ARGV[i + 1]);
794 LOG_ERROR("signal %s is not defined", CMD_ARGV[i + 1]);
797 data_mask = sig->data_mask;
798 input_mask = sig->input_mask;
799 oe_mask = sig->oe_mask;
800 invert_input ^= sig->invert_input;
801 invert_oe = sig->invert_oe;
802 invert_data ^= sig->invert_data;
804 LOG_ERROR("unknown option '%s'", CMD_ARGV[i]);
805 return ERROR_COMMAND_SYNTAX_ERROR;
810 sig = find_signal_by_name(CMD_ARGV[0]);
812 sig = create_signal(CMD_ARGV[0]);
814 LOG_ERROR("failed to create signal %s", CMD_ARGV[0]);
818 sig->invert_data = invert_data;
819 sig->data_mask = data_mask;
820 sig->invert_input = invert_input;
821 sig->input_mask = input_mask;
822 sig->invert_oe = invert_oe;
823 sig->oe_mask = oe_mask;
828 COMMAND_HANDLER(ftdi_handle_set_signal_command)
831 return ERROR_COMMAND_SYNTAX_ERROR;
834 sig = find_signal_by_name(CMD_ARGV[0]);
836 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
840 switch (*CMD_ARGV[1]) {
845 /* single character level specifier only */
846 if (CMD_ARGV[1][1] == '\0') {
847 ftdi_set_signal(sig, *CMD_ARGV[1]);
852 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV[1]);
853 return ERROR_COMMAND_SYNTAX_ERROR;
856 return mpsse_flush(mpsse_ctx);
859 COMMAND_HANDLER(ftdi_handle_get_signal_command)
862 return ERROR_COMMAND_SYNTAX_ERROR;
865 uint16_t sig_data = 0;
866 sig = find_signal_by_name(CMD_ARGV[0]);
868 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
872 int ret = ftdi_get_signal(sig, &sig_data);
876 LOG_USER("Signal %s = %#06x", sig->name, sig_data);
881 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
883 if (CMD_ARGC > MAX_USB_IDS * 2) {
884 LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
885 "(maximum is %d pairs)", MAX_USB_IDS);
886 CMD_ARGC = MAX_USB_IDS * 2;
888 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
889 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
891 return ERROR_COMMAND_SYNTAX_ERROR;
892 /* remove the incomplete trailing id */
897 for (i = 0; i < CMD_ARGC; i += 2) {
898 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], ftdi_vid[i >> 1]);
899 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], ftdi_pid[i >> 1]);
903 * Explicitly terminate, in case there are multiples instances of
906 ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
911 COMMAND_HANDLER(ftdi_handle_tdo_sample_edge_command)
914 static const Jim_Nvp nvp_ftdi_jtag_modes[] = {
915 { .name = "rising", .value = JTAG_MODE },
916 { .name = "falling", .value = JTAG_MODE_ALT },
917 { .name = NULL, .value = -1 },
921 n = Jim_Nvp_name2value_simple(nvp_ftdi_jtag_modes, CMD_ARGV[0]);
923 return ERROR_COMMAND_SYNTAX_ERROR;
924 ftdi_jtag_mode = n->value;
928 n = Jim_Nvp_value2name_simple(nvp_ftdi_jtag_modes, ftdi_jtag_mode);
929 command_print(CMD, "ftdi samples TDO on %s edge of TCK", n->name);
934 static const struct command_registration ftdi_command_handlers[] = {
936 .name = "ftdi_device_desc",
937 .handler = &ftdi_handle_device_desc_command,
938 .mode = COMMAND_CONFIG,
939 .help = "set the USB device description of the FTDI device",
940 .usage = "description_string",
943 .name = "ftdi_serial",
944 .handler = &ftdi_handle_serial_command,
945 .mode = COMMAND_CONFIG,
946 .help = "set the serial number of the FTDI device",
947 .usage = "serial_string",
950 .name = "ftdi_channel",
951 .handler = &ftdi_handle_channel_command,
952 .mode = COMMAND_CONFIG,
953 .help = "set the channel of the FTDI device that is used as JTAG",
957 .name = "ftdi_layout_init",
958 .handler = &ftdi_handle_layout_init_command,
959 .mode = COMMAND_CONFIG,
960 .help = "initialize the FTDI GPIO signals used "
961 "to control output-enables and reset signals",
962 .usage = "data direction",
965 .name = "ftdi_layout_signal",
966 .handler = &ftdi_handle_layout_signal_command,
968 .help = "define a signal controlled by one or more FTDI GPIO as data "
969 "and/or output enable",
970 .usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
973 .name = "ftdi_set_signal",
974 .handler = &ftdi_handle_set_signal_command,
975 .mode = COMMAND_EXEC,
976 .help = "control a layout-specific signal",
977 .usage = "name (1|0|z)",
980 .name = "ftdi_get_signal",
981 .handler = &ftdi_handle_get_signal_command,
982 .mode = COMMAND_EXEC,
983 .help = "read the value of a layout-specific signal",
987 .name = "ftdi_vid_pid",
988 .handler = &ftdi_handle_vid_pid_command,
989 .mode = COMMAND_CONFIG,
990 .help = "the vendor ID and product ID of the FTDI device",
991 .usage = "(vid pid)* ",
994 .name = "ftdi_tdo_sample_edge",
995 .handler = &ftdi_handle_tdo_sample_edge_command,
997 .help = "set which TCK clock edge is used for sampling TDO "
998 "- default is rising-edge (Setting to falling-edge may "
999 "allow signalling speed increase)",
1000 .usage = "(rising|falling)",
1002 COMMAND_REGISTRATION_DONE
1005 static int create_default_signal(const char *name, uint16_t data_mask)
1007 struct signal *sig = create_signal(name);
1009 LOG_ERROR("failed to create signal %s", name);
1012 sig->invert_data = false;
1013 sig->data_mask = data_mask;
1014 sig->invert_oe = false;
1020 static int create_signals(void)
1022 if (create_default_signal("TCK", 0x01) != ERROR_OK)
1024 if (create_default_signal("TDI", 0x02) != ERROR_OK)
1026 if (create_default_signal("TDO", 0x04) != ERROR_OK)
1028 if (create_default_signal("TMS", 0x08) != ERROR_OK)
1033 static int ftdi_swd_init(void)
1035 LOG_INFO("FTDI SWD mode enabled");
1038 if (create_signals() != ERROR_OK)
1041 swd_cmd_queue_alloced = 10;
1042 swd_cmd_queue = malloc(swd_cmd_queue_alloced * sizeof(*swd_cmd_queue));
1044 return swd_cmd_queue != NULL ? ERROR_OK : ERROR_FAIL;
1047 static void ftdi_swd_swdio_en(bool enable)
1049 struct signal *oe = find_signal_by_name("SWDIO_OE");
1052 ftdi_set_signal(oe, enable ? '1' : '0');
1054 /* Sets TDI/DO pin to input during rx when both pins are connected
1057 direction |= jtag_direction_init & 0x0002U;
1059 direction &= ~0x0002U;
1060 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
1066 * Flush the MPSSE queue and process the SWD transaction queue
1070 static int ftdi_swd_run_queue(void)
1072 LOG_DEBUG_IO("Executing %zu queued transactions", swd_cmd_queue_length);
1074 struct signal *led = find_signal_by_name("LED");
1076 if (queued_retval != ERROR_OK) {
1077 LOG_DEBUG_IO("Skipping due to previous errors: %d", queued_retval);
1081 /* A transaction must be followed by another transaction or at least 8 idle cycles to
1082 * ensure that data is clocked through the AP. */
1083 mpsse_clock_data_out(mpsse_ctx, NULL, 0, 8, SWD_MODE);
1085 /* Terminate the "blink", if the current layout has that feature */
1087 ftdi_set_signal(led, '0');
1089 queued_retval = mpsse_flush(mpsse_ctx);
1090 if (queued_retval != ERROR_OK) {
1091 LOG_ERROR("MPSSE failed");
1095 for (size_t i = 0; i < swd_cmd_queue_length; i++) {
1096 int ack = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1, 3);
1098 LOG_DEBUG_IO("%s %s %s reg %X = %08"PRIx32,
1099 ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
1100 swd_cmd_queue[i].cmd & SWD_CMD_APnDP ? "AP" : "DP",
1101 swd_cmd_queue[i].cmd & SWD_CMD_RnW ? "read" : "write",
1102 (swd_cmd_queue[i].cmd & SWD_CMD_A32) >> 1,
1103 buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn,
1104 1 + 3 + (swd_cmd_queue[i].cmd & SWD_CMD_RnW ? 0 : 1), 32));
1106 if (ack != SWD_ACK_OK) {
1107 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
1110 } else if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
1111 uint32_t data = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3, 32);
1112 int parity = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 32, 1);
1114 if (parity != parity_u32(data)) {
1115 LOG_ERROR("SWD Read data parity mismatch");
1116 queued_retval = ERROR_FAIL;
1120 if (swd_cmd_queue[i].dst != NULL)
1121 *swd_cmd_queue[i].dst = data;
1126 swd_cmd_queue_length = 0;
1127 retval = queued_retval;
1128 queued_retval = ERROR_OK;
1130 /* Queue a new "blink" */
1131 if (led && retval == ERROR_OK)
1132 ftdi_set_signal(led, '1');
1137 static void ftdi_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data, uint32_t ap_delay_clk)
1139 if (swd_cmd_queue_length >= swd_cmd_queue_alloced) {
1140 /* Not enough room in the queue. Run the queue and increase its size for next time.
1141 * Note that it's not possible to avoid running the queue here, because mpsse contains
1142 * pointers into the queue which may be invalid after the realloc. */
1143 queued_retval = ftdi_swd_run_queue();
1144 struct swd_cmd_queue_entry *q = realloc(swd_cmd_queue, swd_cmd_queue_alloced * 2 * sizeof(*swd_cmd_queue));
1147 swd_cmd_queue_alloced *= 2;
1148 LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced);
1152 if (queued_retval != ERROR_OK)
1155 size_t i = swd_cmd_queue_length++;
1156 swd_cmd_queue[i].cmd = cmd | SWD_CMD_START | SWD_CMD_PARK;
1158 mpsse_clock_data_out(mpsse_ctx, &swd_cmd_queue[i].cmd, 0, 8, SWD_MODE);
1160 if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
1161 /* Queue a read transaction */
1162 swd_cmd_queue[i].dst = dst;
1164 ftdi_swd_swdio_en(false);
1165 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1166 0, 1 + 3 + 32 + 1 + 1, SWD_MODE);
1167 ftdi_swd_swdio_en(true);
1169 /* Queue a write transaction */
1170 ftdi_swd_swdio_en(false);
1172 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1173 0, 1 + 3 + 1, SWD_MODE);
1175 ftdi_swd_swdio_en(true);
1177 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1, 32, data);
1178 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1 + 32, 1, parity_u32(data));
1180 mpsse_clock_data_out(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1181 1 + 3 + 1, 32 + 1, SWD_MODE);
1184 /* Insert idle cycles after AP accesses to avoid WAIT */
1185 if (cmd & SWD_CMD_APnDP)
1186 mpsse_clock_data_out(mpsse_ctx, NULL, 0, ap_delay_clk, SWD_MODE);
1190 static void ftdi_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
1192 assert(cmd & SWD_CMD_RnW);
1193 ftdi_swd_queue_cmd(cmd, value, 0, ap_delay_clk);
1196 static void ftdi_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
1198 assert(!(cmd & SWD_CMD_RnW));
1199 ftdi_swd_queue_cmd(cmd, NULL, value, ap_delay_clk);
1202 static int ftdi_swd_switch_seq(enum swd_special_seq seq)
1206 LOG_DEBUG("SWD line reset");
1207 ftdi_swd_swdio_en(true);
1208 mpsse_clock_data_out(mpsse_ctx, swd_seq_line_reset, 0, swd_seq_line_reset_len, SWD_MODE);
1211 LOG_DEBUG("JTAG-to-SWD");
1212 ftdi_swd_swdio_en(true);
1213 mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_swd, 0, swd_seq_jtag_to_swd_len, SWD_MODE);
1216 LOG_DEBUG("SWD-to-JTAG");
1217 ftdi_swd_swdio_en(true);
1218 mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_jtag, 0, swd_seq_swd_to_jtag_len, SWD_MODE);
1221 LOG_ERROR("Sequence %d not supported", seq);
1228 static const struct swd_driver ftdi_swd = {
1229 .init = ftdi_swd_init,
1230 .switch_seq = ftdi_swd_switch_seq,
1231 .read_reg = ftdi_swd_read_reg,
1232 .write_reg = ftdi_swd_write_reg,
1233 .run = ftdi_swd_run_queue,
1236 static const char * const ftdi_transports[] = { "jtag", "swd", NULL };
1238 static struct jtag_interface ftdi_interface = {
1239 .supported = DEBUG_CAP_TMS_SEQ,
1240 .execute_queue = ftdi_execute_queue,
1243 struct adapter_driver ftdi_adapter_driver = {
1245 .transports = ftdi_transports,
1246 .commands = ftdi_command_handlers,
1248 .init = ftdi_initialize,
1250 .reset = ftdi_reset,
1251 .speed = ftdi_speed,
1253 .speed_div = ftdi_speed_div,
1255 .jtag_ops = &ftdi_interface,
1256 .swd_ops = &ftdi_swd,