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   1 // SPDX-License-Identifier: GPL-2.0-or-later
   2
   3 /**************************************************************************
   4 *   Copyright (C) 2012 by Andreas Fritiofson                              *
   5 *   andreas.fritiofson@gmail.com                                          *
   6 ***************************************************************************/
   7
   8 /**
   9  * @file
  10  * JTAG adapters based on the FT2232 full and high speed USB parts are
  11  * popular low cost JTAG debug solutions.  Many FT2232 based JTAG adapters
  12  * are discrete, but development boards may integrate them as alternatives
  13  * to more capable (and expensive) third party JTAG pods.
  14  *
  15  * JTAG uses only one of the two communications channels ("MPSSE engines")
  16  * on these devices.  Adapters based on FT4232 parts have four ports/channels
  17  * (A/B/C/D), instead of just two (A/B).
  18  *
  19  * Especially on development boards integrating one of these chips (as
  20  * opposed to discrete pods/dongles), the additional channels can be used
  21  * for a variety of purposes, but OpenOCD only uses one channel at a time.
  22  *
  23  *  - As a USB-to-serial adapter for the target's console UART ...
  24  *    which may be able to support ROM boot loaders that load initial
  25  *    firmware images to flash (or SRAM).
  26  *
  27  *  - On systems which support ARM's SWD in addition to JTAG, or instead
  28  *    of it, that second port can be used for reading SWV/SWO trace data.
  29  *
  30  *  - Additional JTAG links, e.g. to a CPLD or * FPGA.
  31  *
  32  * FT2232 based JTAG adapters are "dumb" not "smart", because most JTAG
  33  * request/response interactions involve round trips over the USB link.
  34  * A "smart" JTAG adapter has intelligence close to the scan chain, so it
  35  * can for example poll quickly for a status change (usually taking on the
  36  * order of microseconds not milliseconds) before beginning a queued
  37  * transaction which require the previous one to have completed.
  38  *
  39  * There are dozens of adapters of this type, differing in details which
  40  * this driver needs to understand.  Those "layout" details are required
  41  * as part of FT2232 driver configuration.
  42  *
  43  * This code uses information contained in the MPSSE specification which was
  44  * found here:
  45  * https://www.ftdichip.com/Support/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
  46  * Hereafter this is called the "MPSSE Spec".
  47  *
  48  * The datasheet for the ftdichip.com's FT2232H part is here:
  49  * https://www.ftdichip.com/Support/Documents/DataSheets/ICs/DS_FT2232H.pdf
  50  *
  51  * Also note the issue with code 0x4b (clock data to TMS) noted in
  52  * http://developer.intra2net.com/mailarchive/html/libftdi/2009/msg00292.html
  53  * which can affect longer JTAG state paths.
  54  */
  55
  56 #ifdef HAVE_CONFIG_H
  57 #include "config.h"
  58 #endif
  59
  60 /* project specific includes */
  61 #include <jtag/adapter.h>
  62 #include <jtag/interface.h>
  63 #include <jtag/swd.h>
  64 #include <transport/transport.h>
  65 #include <helper/time_support.h>
  66 #include <helper/log.h>
  67
  68 #if IS_CYGWIN == 1
  69 #include <windows.h>
  70 #endif
  71
  72 #include <assert.h>
  73
  74 /* FTDI access library includes */
  75 #include "mpsse.h"
  76
  77 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
  78 #define JTAG_MODE_ALT (LSB_FIRST | NEG_EDGE_IN | NEG_EDGE_OUT)
  79 #define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
  80
  81 static char *ftdi_device_desc;
  82 static uint8_t ftdi_channel;
  83 static uint8_t ftdi_jtag_mode = JTAG_MODE;
  84
  85 static bool swd_mode;
  86
  87 #define MAX_USB_IDS 8
  88 /* vid = pid = 0 marks the end of the list */
  89 static uint16_t ftdi_vid[MAX_USB_IDS + 1] = { 0 };
  90 static uint16_t ftdi_pid[MAX_USB_IDS + 1] = { 0 };
  91
  92 static struct mpsse_ctx *mpsse_ctx;
  93
  94 struct signal {
  95         const char *name;
  96         uint16_t data_mask;
  97         uint16_t input_mask;
  98         uint16_t oe_mask;
  99         bool invert_data;
 100         bool invert_input;
 101         bool invert_oe;
 102         struct signal *next;
 103 };
 104
 105 static struct signal *signals;
 106
 107 /* FIXME: Where to store per-instance data? We need an SWD context. */
 108 static struct swd_cmd_queue_entry {
 109         uint8_t cmd;
 110         uint32_t *dst;
 111         uint8_t trn_ack_data_parity_trn[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
 112 } *swd_cmd_queue;
 113 static size_t swd_cmd_queue_length;
 114 static size_t swd_cmd_queue_alloced;
 115 static int queued_retval;
 116 static int freq;
 117
 118 static uint16_t output;
 119 static uint16_t direction;
 120 static uint16_t jtag_output_init;
 121 static uint16_t jtag_direction_init;
 122
 123 static int ftdi_swd_switch_seq(enum swd_special_seq seq);
 124
 125 static struct signal *find_signal_by_name(const char *name)
 126 {
 127         for (struct signal *sig = signals; sig; sig = sig->next) {
 128                 if (strcmp(name, sig->name) == 0)
 129                         return sig;
 130         }
 131         return NULL;
 132 }
 133
 134 static struct signal *create_signal(const char *name)
 135 {
 136         struct signal **psig = &signals;
 137         while (*psig)
 138                 psig = &(*psig)->next;
 139
 140         *psig = calloc(1, sizeof(**psig));
 141         if (!*psig)
 142                 return NULL;
 143
 144         (*psig)->name = strdup(name);
 145         if (!(*psig)->name) {
 146                 free(*psig);
 147                 *psig = NULL;
 148         }
 149         return *psig;
 150 }
 151
 152 static int ftdi_set_signal(const struct signal *s, char value)
 153 {
 154         bool data;
 155         bool oe;
 156
 157         if (s->data_mask == 0 && s->oe_mask == 0) {
 158                 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
 159                 return ERROR_FAIL;
 160         }
 161         switch (value) {
 162         case '0':
 163                 data = s->invert_data;
 164                 oe = !s->invert_oe;
 165                 break;
 166         case '1':
 167                 if (s->data_mask == 0) {
 168                         LOG_ERROR("interface can't drive '%s' high", s->name);
 169                         return ERROR_FAIL;
 170                 }
 171                 data = !s->invert_data;
 172                 oe = !s->invert_oe;
 173                 break;
 174         case 'z':
 175         case 'Z':
 176                 if (s->oe_mask == 0) {
 177                         LOG_ERROR("interface can't tri-state '%s'", s->name);
 178                         return ERROR_FAIL;
 179                 }
 180                 data = s->invert_data;
 181                 oe = s->invert_oe;
 182                 break;
 183         default:
 184                 assert(0 && "invalid signal level specifier");
 185                 return ERROR_FAIL;
 186         }
 187
 188         uint16_t old_output = output;
 189         uint16_t old_direction = direction;
 190
 191         output = data ? output | s->data_mask : output & ~s->data_mask;
 192         if (s->oe_mask == s->data_mask)
 193                 direction = oe ? direction | s->oe_mask : direction & ~s->oe_mask;
 194         else
 195                 output = oe ? output | s->oe_mask : output & ~s->oe_mask;
 196
 197         if ((output & 0xff) != (old_output & 0xff) || (direction & 0xff) != (old_direction & 0xff))
 198                 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
 199         if ((output >> 8 != old_output >> 8) || (direction >> 8 != old_direction >> 8))
 200                 mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
 201
 202         return ERROR_OK;
 203 }
 204
 205 static int ftdi_get_signal(const struct signal *s, uint16_t *value_out)
 206 {
 207         uint8_t data_low = 0;
 208         uint8_t data_high = 0;
 209
 210         if (s->input_mask == 0) {
 211                 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
 212                 return ERROR_FAIL;
 213         }
 214
 215         if (s->input_mask & 0xff)
 216                 mpsse_read_data_bits_low_byte(mpsse_ctx, &data_low);
 217         if (s->input_mask >> 8)
 218                 mpsse_read_data_bits_high_byte(mpsse_ctx, &data_high);
 219
 220         mpsse_flush(mpsse_ctx);
 221
 222         *value_out = (((uint16_t)data_high) << 8) | data_low;
 223
 224         if (s->invert_input)
 225                 *value_out = ~(*value_out);
 226
 227         *value_out &= s->input_mask;
 228
 229         return ERROR_OK;
 230 }
 231
 232 /**
 233  * Function move_to_state
 234  * moves the TAP controller from the current state to a
 235  * \a goal_state through a path given by tap_get_tms_path().  State transition
 236  * logging is performed by delegation to clock_tms().
 237  *
 238  * @param goal_state is the destination state for the move.
 239  */
 240 static void move_to_state(tap_state_t goal_state)
 241 {
 242         tap_state_t start_state = tap_get_state();
 243
 244         /*      goal_state is 1/2 of a tuple/pair of states which allow convenient
 245                 lookup of the required TMS pattern to move to this state from the
 246                 start state.
 247         */
 248
 249         /* do the 2 lookups */
 250         uint8_t tms_bits  = tap_get_tms_path(start_state, goal_state);
 251         int tms_count = tap_get_tms_path_len(start_state, goal_state);
 252         assert(tms_count <= 8);
 253
 254         LOG_DEBUG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
 255
 256         /* Track state transitions step by step */
 257         for (int i = 0; i < tms_count; i++)
 258                 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits >> i) & 1));
 259
 260         mpsse_clock_tms_cs_out(mpsse_ctx,
 261                 &tms_bits,
 262                 0,
 263                 tms_count,
 264                 false,
 265                 ftdi_jtag_mode);
 266 }
 267
 268 static int ftdi_speed(int speed)
 269 {
 270         int retval;
 271         retval = mpsse_set_frequency(mpsse_ctx, speed);
 272
 273         if (retval < 0) {
 274                 LOG_ERROR("couldn't set FTDI TCK speed");
 275                 return retval;
 276         }
 277
 278         if (!swd_mode && speed >= 10000000 && ftdi_jtag_mode != JTAG_MODE_ALT)
 279                 LOG_INFO("ftdi: if you experience problems at higher adapter clocks, try "
 280                          "the command \"ftdi tdo_sample_edge falling\"");
 281         return ERROR_OK;
 282 }
 283
 284 static int ftdi_speed_div(int speed, int *khz)
 285 {
 286         *khz = speed / 1000;
 287         return ERROR_OK;
 288 }
 289
 290 static int ftdi_khz(int khz, int *jtag_speed)
 291 {
 292         if (khz == 0 && !mpsse_is_high_speed(mpsse_ctx)) {
 293                 LOG_DEBUG("RCLK not supported");
 294                 return ERROR_FAIL;
 295         }
 296
 297         *jtag_speed = khz * 1000;
 298         return ERROR_OK;
 299 }
 300
 301 static void ftdi_end_state(tap_state_t state)
 302 {
 303         if (tap_is_state_stable(state))
 304                 tap_set_end_state(state);
 305         else {
 306                 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state));
 307                 exit(-1);
 308         }
 309 }
 310
 311 static void ftdi_execute_runtest(struct jtag_command *cmd)
 312 {
 313         int i;
 314         uint8_t zero = 0;
 315
 316         LOG_DEBUG_IO("runtest %i cycles, end in %s",
 317                 cmd->cmd.runtest->num_cycles,
 318                 tap_state_name(cmd->cmd.runtest->end_state));
 319
 320         if (tap_get_state() != TAP_IDLE)
 321                 move_to_state(TAP_IDLE);
 322
 323         /* TODO: Reuse ftdi_execute_stableclocks */
 324         i = cmd->cmd.runtest->num_cycles;
 325         while (i > 0) {
 326                 /* there are no state transitions in this code, so omit state tracking */
 327                 unsigned this_len = i > 7 ? 7 : i;
 328                 mpsse_clock_tms_cs_out(mpsse_ctx, &zero, 0, this_len, false, ftdi_jtag_mode);
 329                 i -= this_len;
 330         }
 331
 332         ftdi_end_state(cmd->cmd.runtest->end_state);
 333
 334         if (tap_get_state() != tap_get_end_state())
 335                 move_to_state(tap_get_end_state());
 336
 337         LOG_DEBUG_IO("runtest: %i, end in %s",
 338                 cmd->cmd.runtest->num_cycles,
 339                 tap_state_name(tap_get_end_state()));
 340 }
 341
 342 static void ftdi_execute_statemove(struct jtag_command *cmd)
 343 {
 344         LOG_DEBUG_IO("statemove end in %s",
 345                 tap_state_name(cmd->cmd.statemove->end_state));
 346
 347         ftdi_end_state(cmd->cmd.statemove->end_state);
 348
 349         /* shortest-path move to desired end state */
 350         if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET)
 351                 move_to_state(tap_get_end_state());
 352 }
 353
 354 /**
 355  * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
 356  * (or SWD) state machine. REVISIT: Not the best method, perhaps.
 357  */
 358 static void ftdi_execute_tms(struct jtag_command *cmd)
 359 {
 360         LOG_DEBUG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
 361
 362         /* TODO: Missing tap state tracking, also missing from ft2232.c! */
 363         mpsse_clock_tms_cs_out(mpsse_ctx,
 364                 cmd->cmd.tms->bits,
 365                 0,
 366                 cmd->cmd.tms->num_bits,
 367                 false,
 368                 ftdi_jtag_mode);
 369 }
 370
 371 static void ftdi_execute_pathmove(struct jtag_command *cmd)
 372 {
 373         tap_state_t *path = cmd->cmd.pathmove->path;
 374         int num_states  = cmd->cmd.pathmove->num_states;
 375
 376         LOG_DEBUG_IO("pathmove: %i states, current: %s  end: %s", num_states,
 377                 tap_state_name(tap_get_state()),
 378                 tap_state_name(path[num_states-1]));
 379
 380         int state_count = 0;
 381         unsigned bit_count = 0;
 382         uint8_t tms_byte = 0;
 383
 384         LOG_DEBUG_IO("-");
 385
 386         /* this loop verifies that the path is legal and logs each state in the path */
 387         while (num_states--) {
 388
 389                 /* either TMS=0 or TMS=1 must work ... */
 390                 if (tap_state_transition(tap_get_state(), false)
 391                     == path[state_count])
 392                         buf_set_u32(&tms_byte, bit_count++, 1, 0x0);
 393                 else if (tap_state_transition(tap_get_state(), true)
 394                          == path[state_count]) {
 395                         buf_set_u32(&tms_byte, bit_count++, 1, 0x1);
 396
 397                         /* ... or else the caller goofed BADLY */
 398                 } else {
 399                         LOG_ERROR("BUG: %s -> %s isn't a valid "
 400                                 "TAP state transition",
 401                                 tap_state_name(tap_get_state()),
 402                                 tap_state_name(path[state_count]));
 403                         exit(-1);
 404                 }
 405
 406                 tap_set_state(path[state_count]);
 407                 state_count++;
 408
 409                 if (bit_count == 7 || num_states == 0) {
 410                         mpsse_clock_tms_cs_out(mpsse_ctx,
 411                                         &tms_byte,
 412                                         0,
 413                                         bit_count,
 414                                         false,
 415                                         ftdi_jtag_mode);
 416                         bit_count = 0;
 417                 }
 418         }
 419         tap_set_end_state(tap_get_state());
 420 }
 421
 422 static void ftdi_execute_scan(struct jtag_command *cmd)
 423 {
 424         LOG_DEBUG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
 425                 jtag_scan_type(cmd->cmd.scan));
 426
 427         /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
 428         while (cmd->cmd.scan->num_fields > 0
 429                         && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
 430                 cmd->cmd.scan->num_fields--;
 431                 LOG_DEBUG_IO("discarding trailing empty field");
 432         }
 433
 434         if (cmd->cmd.scan->num_fields == 0) {
 435                 LOG_DEBUG_IO("empty scan, doing nothing");
 436                 return;
 437         }
 438
 439         if (cmd->cmd.scan->ir_scan) {
 440                 if (tap_get_state() != TAP_IRSHIFT)
 441                         move_to_state(TAP_IRSHIFT);
 442         } else {
 443                 if (tap_get_state() != TAP_DRSHIFT)
 444                         move_to_state(TAP_DRSHIFT);
 445         }
 446
 447         ftdi_end_state(cmd->cmd.scan->end_state);
 448
 449         struct scan_field *field = cmd->cmd.scan->fields;
 450         unsigned scan_size = 0;
 451
 452         for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
 453                 scan_size += field->num_bits;
 454                 LOG_DEBUG_IO("%s%s field %d/%d %d bits",
 455                         field->in_value ? "in" : "",
 456                         field->out_value ? "out" : "",
 457                         i,
 458                         cmd->cmd.scan->num_fields,
 459                         field->num_bits);
 460
 461                 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
 462                         /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
 463                          * movement. This last field can't have length zero, it was checked above. */
 464                         mpsse_clock_data(mpsse_ctx,
 465                                 field->out_value,
 466                                 0,
 467                                 field->in_value,
 468                                 0,
 469                                 field->num_bits - 1,
 470                                 ftdi_jtag_mode);
 471                         uint8_t last_bit = 0;
 472                         if (field->out_value)
 473                                 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
 474
 475                         /* If endstate is TAP_IDLE, clock out 1-1-0 (->EXIT1 ->UPDATE ->IDLE)
 476                          * Otherwise, clock out 1-0 (->EXIT1 ->PAUSE)
 477                          */
 478                         uint8_t tms_bits = 0x03;
 479                         mpsse_clock_tms_cs(mpsse_ctx,
 480                                         &tms_bits,
 481                                         0,
 482                                         field->in_value,
 483                                         field->num_bits - 1,
 484                                         1,
 485                                         last_bit,
 486                                         ftdi_jtag_mode);
 487                         tap_set_state(tap_state_transition(tap_get_state(), 1));
 488                         if (tap_get_end_state() == TAP_IDLE) {
 489                                 mpsse_clock_tms_cs_out(mpsse_ctx,
 490                                                 &tms_bits,
 491                                                 1,
 492                                                 2,
 493                                                 last_bit,
 494                                                 ftdi_jtag_mode);
 495                                 tap_set_state(tap_state_transition(tap_get_state(), 1));
 496                                 tap_set_state(tap_state_transition(tap_get_state(), 0));
 497                         } else {
 498                                 mpsse_clock_tms_cs_out(mpsse_ctx,
 499                                                 &tms_bits,
 500                                                 2,
 501                                                 1,
 502                                                 last_bit,
 503                                                 ftdi_jtag_mode);
 504                                 tap_set_state(tap_state_transition(tap_get_state(), 0));
 505                         }
 506                 } else
 507                         mpsse_clock_data(mpsse_ctx,
 508                                 field->out_value,
 509                                 0,
 510                                 field->in_value,
 511                                 0,
 512                                 field->num_bits,
 513                                 ftdi_jtag_mode);
 514         }
 515
 516         if (tap_get_state() != tap_get_end_state())
 517                 move_to_state(tap_get_end_state());
 518
 519         LOG_DEBUG_IO("%s scan, %i bits, end in %s",
 520                 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
 521                 tap_state_name(tap_get_end_state()));
 522 }
 523
 524 static int ftdi_reset(int trst, int srst)
 525 {
 526         struct signal *sig_ntrst = find_signal_by_name("nTRST");
 527         struct signal *sig_nsrst = find_signal_by_name("nSRST");
 528
 529         LOG_DEBUG_IO("reset trst: %i srst %i", trst, srst);
 530
 531         if (!swd_mode) {
 532                 if (trst == 1) {
 533                         if (sig_ntrst)
 534                                 ftdi_set_signal(sig_ntrst, '0');
 535                         else
 536                                 LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
 537                 } else if (sig_ntrst && jtag_get_reset_config() & RESET_HAS_TRST &&
 538                                 trst == 0) {
 539                         if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
 540                                 ftdi_set_signal(sig_ntrst, 'z');
 541                         else
 542                                 ftdi_set_signal(sig_ntrst, '1');
 543                 }
 544         }
 545
 546         if (srst == 1) {
 547                 if (sig_nsrst)
 548                         ftdi_set_signal(sig_nsrst, '0');
 549                 else
 550                         LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
 551         } else if (sig_nsrst && jtag_get_reset_config() & RESET_HAS_SRST &&
 552                         srst == 0) {
 553                 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
 554                         ftdi_set_signal(sig_nsrst, '1');
 555                 else
 556                         ftdi_set_signal(sig_nsrst, 'z');
 557         }
 558
 559         return mpsse_flush(mpsse_ctx);
 560 }
 561
 562 static void ftdi_execute_sleep(struct jtag_command *cmd)
 563 {
 564         LOG_DEBUG_IO("sleep %" PRIu32, cmd->cmd.sleep->us);
 565
 566         mpsse_flush(mpsse_ctx);
 567         jtag_sleep(cmd->cmd.sleep->us);
 568         LOG_DEBUG_IO("sleep %" PRIu32 " usec while in %s",
 569                 cmd->cmd.sleep->us,
 570                 tap_state_name(tap_get_state()));
 571 }
 572
 573 static void ftdi_execute_stableclocks(struct jtag_command *cmd)
 574 {
 575         /* this is only allowed while in a stable state.  A check for a stable
 576          * state was done in jtag_add_clocks()
 577          */
 578         int num_cycles = cmd->cmd.stableclocks->num_cycles;
 579
 580         /* 7 bits of either ones or zeros. */
 581         uint8_t tms = tap_get_state() == TAP_RESET ? 0x7f : 0x00;
 582
 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;
 590         }
 591
 592         LOG_DEBUG_IO("clocks %i while in %s",
 593                 cmd->cmd.stableclocks->num_cycles,
 594                 tap_state_name(tap_get_state()));
 595 }
 596
 597 static void ftdi_execute_command(struct jtag_command *cmd)
 598 {
 599         switch (cmd->type) {
 600                 case JTAG_RUNTEST:
 601                         ftdi_execute_runtest(cmd);
 602                         break;
 603                 case JTAG_TLR_RESET:
 604                         ftdi_execute_statemove(cmd);
 605                         break;
 606                 case JTAG_PATHMOVE:
 607                         ftdi_execute_pathmove(cmd);
 608                         break;
 609                 case JTAG_SCAN:
 610                         ftdi_execute_scan(cmd);
 611                         break;
 612                 case JTAG_SLEEP:
 613                         ftdi_execute_sleep(cmd);
 614                         break;
 615                 case JTAG_STABLECLOCKS:
 616                         ftdi_execute_stableclocks(cmd);
 617                         break;
 618                 case JTAG_TMS:
 619                         ftdi_execute_tms(cmd);
 620                         break;
 621                 default:
 622                         LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd->type);
 623                         break;
 624         }
 625 }
 626
 627 static int ftdi_execute_queue(void)
 628 {
 629         /* blink, if the current layout has that feature */
 630         struct signal *led = find_signal_by_name("LED");
 631         if (led)
 632                 ftdi_set_signal(led, '1');
 633
 634         for (struct jtag_command *cmd = jtag_command_queue; cmd; cmd = cmd->next) {
 635                 /* fill the write buffer with the desired command */
 636                 ftdi_execute_command(cmd);
 637         }
 638
 639         if (led)
 640                 ftdi_set_signal(led, '0');
 641
 642         int retval = mpsse_flush(mpsse_ctx);
 643         if (retval != ERROR_OK)
 644                 LOG_ERROR("error while flushing MPSSE queue: %d", retval);
 645
 646         return retval;
 647 }
 648
 649 static int ftdi_initialize(void)
 650 {
 651         if (tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRPAUSE) == 7)
 652                 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
 653         else
 654                 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
 655
 656         if (!ftdi_vid[0] && !ftdi_pid[0]) {
 657                 LOG_ERROR("Please specify ftdi vid_pid");
 658                 return ERROR_JTAG_INIT_FAILED;
 659         }
 660
 661         for (int i = 0; ftdi_vid[i] || ftdi_pid[i]; i++) {
 662                 mpsse_ctx = mpsse_open(&ftdi_vid[i], &ftdi_pid[i], ftdi_device_desc,
 663                                 adapter_get_required_serial(), adapter_usb_get_location(), ftdi_channel);
 664                 if (mpsse_ctx)
 665                         break;
 666         }
 667
 668         if (!mpsse_ctx)
 669                 return ERROR_JTAG_INIT_FAILED;
 670
 671         output = jtag_output_init;
 672         direction = jtag_direction_init;
 673
 674         if (swd_mode) {
 675                 struct signal *sig = find_signal_by_name("SWD_EN");
 676                 if (!sig) {
 677                         LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
 678                         return ERROR_JTAG_INIT_FAILED;
 679                 }
 680                 /* A dummy SWD_EN would have zero mask */
 681                 if (sig->data_mask)
 682                         ftdi_set_signal(sig, '1');
 683         }
 684
 685         mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
 686         mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
 687
 688         mpsse_loopback_config(mpsse_ctx, false);
 689
 690         freq = mpsse_set_frequency(mpsse_ctx, adapter_get_speed_khz() * 1000);
 691
 692         return mpsse_flush(mpsse_ctx);
 693 }
 694
 695 static int ftdi_quit(void)
 696 {
 697         mpsse_close(mpsse_ctx);
 698
 699         struct signal *sig = signals;
 700         while (sig) {
 701                 struct signal *next = sig->next;
 702                 free((void *)sig->name);
 703                 free(sig);
 704                 sig = next;
 705         }
 706
 707         free(ftdi_device_desc);
 708
 709         free(swd_cmd_queue);
 710
 711         return ERROR_OK;
 712 }
 713
 714 COMMAND_HANDLER(ftdi_handle_device_desc_command)
 715 {
 716         if (CMD_ARGC == 1) {
 717                 free(ftdi_device_desc);
 718                 ftdi_device_desc = strdup(CMD_ARGV[0]);
 719         } else {
 720                 LOG_ERROR("expected exactly one argument to ftdi device_desc <description>");
 721         }
 722
 723         return ERROR_OK;
 724 }
 725
 726 COMMAND_HANDLER(ftdi_handle_channel_command)
 727 {
 728         if (CMD_ARGC == 1)
 729                 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], ftdi_channel);
 730         else
 731                 return ERROR_COMMAND_SYNTAX_ERROR;
 732
 733         return ERROR_OK;
 734 }
 735
 736 COMMAND_HANDLER(ftdi_handle_layout_init_command)
 737 {
 738         if (CMD_ARGC != 2)
 739                 return ERROR_COMMAND_SYNTAX_ERROR;
 740
 741         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], jtag_output_init);
 742         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], jtag_direction_init);
 743
 744         return ERROR_OK;
 745 }
 746
 747 COMMAND_HANDLER(ftdi_handle_layout_signal_command)
 748 {
 749         if (CMD_ARGC < 1)
 750                 return ERROR_COMMAND_SYNTAX_ERROR;
 751
 752         bool invert_data = false;
 753         uint16_t data_mask = 0;
 754         bool invert_input = false;
 755         uint16_t input_mask = 0;
 756         bool invert_oe = false;
 757         uint16_t oe_mask = 0;
 758         for (unsigned i = 1; i < CMD_ARGC; i += 2) {
 759                 if (strcmp("-data", CMD_ARGV[i]) == 0) {
 760                         invert_data = false;
 761                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 762                 } else if (strcmp("-ndata", CMD_ARGV[i]) == 0) {
 763                         invert_data = true;
 764                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 765                 } else if (strcmp("-input", CMD_ARGV[i]) == 0) {
 766                         invert_input = false;
 767                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], input_mask);
 768                 } else if (strcmp("-ninput", CMD_ARGV[i]) == 0) {
 769                         invert_input = true;
 770                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], input_mask);
 771                 } else if (strcmp("-oe", CMD_ARGV[i]) == 0) {
 772                         invert_oe = false;
 773                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 774                 } else if (strcmp("-noe", CMD_ARGV[i]) == 0) {
 775                         invert_oe = true;
 776                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 777                 } else if (!strcmp("-alias", CMD_ARGV[i]) ||
 778                            !strcmp("-nalias", CMD_ARGV[i])) {
 779                         if (!strcmp("-nalias", CMD_ARGV[i])) {
 780                                 invert_data = true;
 781                                 invert_input = true;
 782                         }
 783                         struct signal *sig = find_signal_by_name(CMD_ARGV[i + 1]);
 784                         if (!sig) {
 785                                 LOG_ERROR("signal %s is not defined", CMD_ARGV[i + 1]);
 786                                 return ERROR_FAIL;
 787                         }
 788                         data_mask = sig->data_mask;
 789                         input_mask = sig->input_mask;
 790                         oe_mask = sig->oe_mask;
 791                         invert_input ^= sig->invert_input;
 792                         invert_oe = sig->invert_oe;
 793                         invert_data ^= sig->invert_data;
 794                 } else {
 795                         LOG_ERROR("unknown option '%s'", CMD_ARGV[i]);
 796                         return ERROR_COMMAND_SYNTAX_ERROR;
 797                 }
 798         }
 799
 800         struct signal *sig;
 801         sig = find_signal_by_name(CMD_ARGV[0]);
 802         if (!sig)
 803                 sig = create_signal(CMD_ARGV[0]);
 804         if (!sig) {
 805                 LOG_ERROR("failed to create signal %s", CMD_ARGV[0]);
 806                 return ERROR_FAIL;
 807         }
 808
 809         sig->invert_data = invert_data;
 810         sig->data_mask = data_mask;
 811         sig->invert_input = invert_input;
 812         sig->input_mask = input_mask;
 813         sig->invert_oe = invert_oe;
 814         sig->oe_mask = oe_mask;
 815
 816         return ERROR_OK;
 817 }
 818
 819 COMMAND_HANDLER(ftdi_handle_set_signal_command)
 820 {
 821         if (CMD_ARGC < 2)
 822                 return ERROR_COMMAND_SYNTAX_ERROR;
 823
 824         struct signal *sig;
 825         sig = find_signal_by_name(CMD_ARGV[0]);
 826         if (!sig) {
 827                 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
 828                 return ERROR_FAIL;
 829         }
 830
 831         switch (*CMD_ARGV[1]) {
 832         case '0':
 833         case '1':
 834         case 'z':
 835         case 'Z':
 836                 /* single character level specifier only */
 837                 if (CMD_ARGV[1][1] == '\0') {
 838                         ftdi_set_signal(sig, *CMD_ARGV[1]);
 839                         break;
 840                 }
 841                 /* fallthrough */
 842         default:
 843                 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV[1]);
 844                 return ERROR_COMMAND_SYNTAX_ERROR;
 845         }
 846
 847         return mpsse_flush(mpsse_ctx);
 848 }
 849
 850 COMMAND_HANDLER(ftdi_handle_get_signal_command)
 851 {
 852         if (CMD_ARGC < 1)
 853                 return ERROR_COMMAND_SYNTAX_ERROR;
 854
 855         struct signal *sig;
 856         uint16_t sig_data = 0;
 857         sig = find_signal_by_name(CMD_ARGV[0]);
 858         if (!sig) {
 859                 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
 860                 return ERROR_FAIL;
 861         }
 862
 863         int ret = ftdi_get_signal(sig, &sig_data);
 864         if (ret != ERROR_OK)
 865                 return ret;
 866
 867         LOG_USER("Signal %s = %#06x", sig->name, sig_data);
 868
 869         return ERROR_OK;
 870 }
 871
 872 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
 873 {
 874         if (CMD_ARGC > MAX_USB_IDS * 2) {
 875                 LOG_WARNING("ignoring extra IDs in ftdi vid_pid "
 876                         "(maximum is %d pairs)", MAX_USB_IDS);
 877                 CMD_ARGC = MAX_USB_IDS * 2;
 878         }
 879         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
 880                 LOG_WARNING("incomplete ftdi vid_pid configuration directive");
 881                 if (CMD_ARGC < 2)
 882                         return ERROR_COMMAND_SYNTAX_ERROR;
 883                 /* remove the incomplete trailing id */
 884                 CMD_ARGC -= 1;
 885         }
 886
 887         unsigned i;
 888         for (i = 0; i < CMD_ARGC; i += 2) {
 889                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], ftdi_vid[i >> 1]);
 890                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], ftdi_pid[i >> 1]);
 891         }
 892
 893         /*
 894          * Explicitly terminate, in case there are multiples instances of
 895          * ftdi vid_pid.
 896          */
 897         ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
 898
 899         return ERROR_OK;
 900 }
 901
 902 COMMAND_HANDLER(ftdi_handle_tdo_sample_edge_command)
 903 {
 904         struct jim_nvp *n;
 905         static const struct jim_nvp nvp_ftdi_jtag_modes[] = {
 906                 { .name = "rising", .value = JTAG_MODE },
 907                 { .name = "falling", .value = JTAG_MODE_ALT },
 908                 { .name = NULL, .value = -1 },
 909         };
 910
 911         if (CMD_ARGC > 0) {
 912                 n = jim_nvp_name2value_simple(nvp_ftdi_jtag_modes, CMD_ARGV[0]);
 913                 if (!n->name)
 914                         return ERROR_COMMAND_SYNTAX_ERROR;
 915                 ftdi_jtag_mode = n->value;
 916
 917         }
 918
 919         n = jim_nvp_value2name_simple(nvp_ftdi_jtag_modes, ftdi_jtag_mode);
 920         command_print(CMD, "ftdi samples TDO on %s edge of TCK", n->name);
 921
 922         return ERROR_OK;
 923 }
 924
 925 static const struct command_registration ftdi_subcommand_handlers[] = {
 926         {
 927                 .name = "device_desc",
 928                 .handler = &ftdi_handle_device_desc_command,
 929                 .mode = COMMAND_CONFIG,
 930                 .help = "set the USB device description of the FTDI device",
 931                 .usage = "description_string",
 932         },
 933         {
 934                 .name = "channel",
 935                 .handler = &ftdi_handle_channel_command,
 936                 .mode = COMMAND_CONFIG,
 937                 .help = "set the channel of the FTDI device that is used as JTAG",
 938                 .usage = "(0-3)",
 939         },
 940         {
 941                 .name = "layout_init",
 942                 .handler = &ftdi_handle_layout_init_command,
 943                 .mode = COMMAND_CONFIG,
 944                 .help = "initialize the FTDI GPIO signals used "
 945                         "to control output-enables and reset signals",
 946                 .usage = "data direction",
 947         },
 948         {
 949                 .name = "layout_signal",
 950                 .handler = &ftdi_handle_layout_signal_command,
 951                 .mode = COMMAND_ANY,
 952                 .help = "define a signal controlled by one or more FTDI GPIO as data "
 953                         "and/or output enable",
 954                 .usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
 955         },
 956         {
 957                 .name = "set_signal",
 958                 .handler = &ftdi_handle_set_signal_command,
 959                 .mode = COMMAND_EXEC,
 960                 .help = "control a layout-specific signal",
 961                 .usage = "name (1|0|z)",
 962         },
 963         {
 964                 .name = "get_signal",
 965                 .handler = &ftdi_handle_get_signal_command,
 966                 .mode = COMMAND_EXEC,
 967                 .help = "read the value of a layout-specific signal",
 968                 .usage = "name",
 969         },
 970         {
 971                 .name = "vid_pid",
 972                 .handler = &ftdi_handle_vid_pid_command,
 973                 .mode = COMMAND_CONFIG,
 974                 .help = "the vendor ID and product ID of the FTDI device",
 975                 .usage = "(vid pid)*",
 976         },
 977         {
 978                 .name = "tdo_sample_edge",
 979                 .handler = &ftdi_handle_tdo_sample_edge_command,
 980                 .mode = COMMAND_ANY,
 981                 .help = "set which TCK clock edge is used for sampling TDO "
 982                         "- default is rising-edge (Setting to falling-edge may "
 983                         "allow signalling speed increase)",
 984                 .usage = "(rising|falling)",
 985         },
 986         COMMAND_REGISTRATION_DONE
 987 };
 988
 989 static const struct command_registration ftdi_command_handlers[] = {
 990         {
 991                 .name = "ftdi",
 992                 .mode = COMMAND_ANY,
 993                 .help = "perform ftdi management",
 994                 .chain = ftdi_subcommand_handlers,
 995                 .usage = "",
 996         },
 997         COMMAND_REGISTRATION_DONE
 998 };
 999
1000 static int create_default_signal(const char *name, uint16_t data_mask)
1001 {
1002         struct signal *sig = create_signal(name);
1003         if (!sig) {
1004                 LOG_ERROR("failed to create signal %s", name);
1005                 return ERROR_FAIL;
1006         }
1007         sig->invert_data = false;
1008         sig->data_mask = data_mask;
1009         sig->invert_oe = false;
1010         sig->oe_mask = 0;
1011
1012         return ERROR_OK;
1013 }
1014
1015 static int create_signals(void)
1016 {
1017         if (create_default_signal("TCK", 0x01) != ERROR_OK)
1018                 return ERROR_FAIL;
1019         if (create_default_signal("TDI", 0x02) != ERROR_OK)
1020                 return ERROR_FAIL;
1021         if (create_default_signal("TDO", 0x04) != ERROR_OK)
1022                 return ERROR_FAIL;
1023         if (create_default_signal("TMS", 0x08) != ERROR_OK)
1024                 return ERROR_FAIL;
1025         return ERROR_OK;
1026 }
1027
1028 static int ftdi_swd_init(void)
1029 {
1030         LOG_INFO("FTDI SWD mode enabled");
1031         swd_mode = true;
1032
1033         if (create_signals() != ERROR_OK)
1034                 return ERROR_FAIL;
1035
1036         swd_cmd_queue_alloced = 10;
1037         swd_cmd_queue = malloc(swd_cmd_queue_alloced * sizeof(*swd_cmd_queue));
1038
1039         return swd_cmd_queue ? ERROR_OK : ERROR_FAIL;
1040 }
1041
1042 static void ftdi_swd_swdio_en(bool enable)
1043 {
1044         struct signal *oe = find_signal_by_name("SWDIO_OE");
1045         if (oe) {
1046                 if (oe->data_mask)
1047                         ftdi_set_signal(oe, enable ? '1' : '0');
1048                 else {
1049                         /* Sets TDI/DO pin to input during rx when both pins are connected
1050                            to SWDIO */
1051                         if (enable)
1052                                 direction |= jtag_direction_init & 0x0002U;
1053                         else
1054                                 direction &= ~0x0002U;
1055                         mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
1056                 }
1057         }
1058 }
1059
1060 /**
1061  * Flush the MPSSE queue and process the SWD transaction queue
1062  * @return
1063  */
1064 static int ftdi_swd_run_queue(void)
1065 {
1066         LOG_DEBUG_IO("Executing %zu queued transactions", swd_cmd_queue_length);
1067         int retval;
1068         struct signal *led = find_signal_by_name("LED");
1069
1070         if (queued_retval != ERROR_OK) {
1071                 LOG_DEBUG_IO("Skipping due to previous errors: %d", queued_retval);
1072                 goto skip;
1073         }
1074
1075         /* A transaction must be followed by another transaction or at least 8 idle cycles to
1076          * ensure that data is clocked through the AP. */
1077         mpsse_clock_data_out(mpsse_ctx, NULL, 0, 8, SWD_MODE);
1078
1079         /* Terminate the "blink", if the current layout has that feature */
1080         if (led)
1081                 ftdi_set_signal(led, '0');
1082
1083         queued_retval = mpsse_flush(mpsse_ctx);
1084         if (queued_retval != ERROR_OK) {
1085                 LOG_ERROR("MPSSE failed");
1086                 goto skip;
1087         }
1088
1089         for (size_t i = 0; i < swd_cmd_queue_length; i++) {
1090                 int ack = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1, 3);
1091
1092                 /* Devices do not reply to DP_TARGETSEL write cmd, ignore received ack */
1093                 bool check_ack = swd_cmd_returns_ack(swd_cmd_queue[i].cmd);
1094
1095                 LOG_DEBUG_IO("%s%s %s %s reg %X = %08"PRIx32,
1096                                 check_ack ? "" : "ack ignored ",
1097                                 ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
1098                                 swd_cmd_queue[i].cmd & SWD_CMD_APNDP ? "AP" : "DP",
1099                                 swd_cmd_queue[i].cmd & SWD_CMD_RNW ? "read" : "write",
1100                                 (swd_cmd_queue[i].cmd & SWD_CMD_A32) >> 1,
1101                                 buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn,
1102                                                 1 + 3 + (swd_cmd_queue[i].cmd & SWD_CMD_RNW ? 0 : 1), 32));
1103
1104                 if (ack != SWD_ACK_OK && check_ack) {
1105                         queued_retval = swd_ack_to_error_code(ack);
1106                         goto skip;
1107
1108                 } else if (swd_cmd_queue[i].cmd & SWD_CMD_RNW) {
1109                         uint32_t data = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3, 32);
1110                         int parity = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 32, 1);
1111
1112                         if (parity != parity_u32(data)) {
1113                                 LOG_ERROR("SWD Read data parity mismatch");
1114                                 queued_retval = ERROR_FAIL;
1115                                 goto skip;
1116                         }
1117
1118                         if (swd_cmd_queue[i].dst)
1119                                 *swd_cmd_queue[i].dst = data;
1120                 }
1121         }
1122
1123 skip:
1124         swd_cmd_queue_length = 0;
1125         retval = queued_retval;
1126         queued_retval = ERROR_OK;
1127
1128         /* Queue a new "blink" */
1129         if (led && retval == ERROR_OK)
1130                 ftdi_set_signal(led, '1');
1131
1132         return retval;
1133 }
1134
1135 static void ftdi_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data, uint32_t ap_delay_clk)
1136 {
1137         if (swd_cmd_queue_length >= swd_cmd_queue_alloced) {
1138                 /* Not enough room in the queue. Run the queue and increase its size for next time.
1139                  * Note that it's not possible to avoid running the queue here, because mpsse contains
1140                  * pointers into the queue which may be invalid after the realloc. */
1141                 queued_retval = ftdi_swd_run_queue();
1142                 struct swd_cmd_queue_entry *q = realloc(swd_cmd_queue, swd_cmd_queue_alloced * 2 * sizeof(*swd_cmd_queue));
1143                 if (q) {
1144                         swd_cmd_queue = q;
1145                         swd_cmd_queue_alloced *= 2;
1146                         LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced);
1147                 }
1148         }
1149
1150         if (queued_retval != ERROR_OK)
1151                 return;
1152
1153         size_t i = swd_cmd_queue_length++;
1154         swd_cmd_queue[i].cmd = cmd | SWD_CMD_START | SWD_CMD_PARK;
1155
1156         mpsse_clock_data_out(mpsse_ctx, &swd_cmd_queue[i].cmd, 0, 8, SWD_MODE);
1157
1158         if (swd_cmd_queue[i].cmd & SWD_CMD_RNW) {
1159                 /* Queue a read transaction */
1160                 swd_cmd_queue[i].dst = dst;
1161
1162                 ftdi_swd_swdio_en(false);
1163                 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1164                                 0, 1 + 3 + 32 + 1 + 1, SWD_MODE);
1165                 ftdi_swd_swdio_en(true);
1166         } else {
1167                 /* Queue a write transaction */
1168                 ftdi_swd_swdio_en(false);
1169
1170                 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1171                                 0, 1 + 3 + 1, SWD_MODE);
1172
1173                 ftdi_swd_swdio_en(true);
1174
1175                 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1, 32, data);
1176                 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1 + 32, 1, parity_u32(data));
1177
1178                 mpsse_clock_data_out(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1179                                 1 + 3 + 1, 32 + 1, SWD_MODE);
1180         }
1181
1182         /* Insert idle cycles after AP accesses to avoid WAIT */
1183         if (cmd & SWD_CMD_APNDP)
1184                 mpsse_clock_data_out(mpsse_ctx, NULL, 0, ap_delay_clk, SWD_MODE);
1185
1186 }
1187
1188 static void ftdi_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
1189 {
1190         assert(cmd & SWD_CMD_RNW);
1191         ftdi_swd_queue_cmd(cmd, value, 0, ap_delay_clk);
1192 }
1193
1194 static void ftdi_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
1195 {
1196         assert(!(cmd & SWD_CMD_RNW));
1197         ftdi_swd_queue_cmd(cmd, NULL, value, ap_delay_clk);
1198 }
1199
1200 static int ftdi_swd_switch_seq(enum swd_special_seq seq)
1201 {
1202         switch (seq) {
1203         case LINE_RESET:
1204                 LOG_DEBUG("SWD line reset");
1205                 ftdi_swd_swdio_en(true);
1206                 mpsse_clock_data_out(mpsse_ctx, swd_seq_line_reset, 0, swd_seq_line_reset_len, SWD_MODE);
1207                 break;
1208         case JTAG_TO_SWD:
1209                 LOG_DEBUG("JTAG-to-SWD");
1210                 ftdi_swd_swdio_en(true);
1211                 mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_swd, 0, swd_seq_jtag_to_swd_len, SWD_MODE);
1212                 break;
1213         case JTAG_TO_DORMANT:
1214                 LOG_DEBUG("JTAG-to-DORMANT");
1215                 ftdi_swd_swdio_en(true);
1216                 mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_dormant, 0, swd_seq_jtag_to_dormant_len, SWD_MODE);
1217                 break;
1218         case SWD_TO_JTAG:
1219                 LOG_DEBUG("SWD-to-JTAG");
1220                 ftdi_swd_swdio_en(true);
1221                 mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_jtag, 0, swd_seq_swd_to_jtag_len, SWD_MODE);
1222                 break;
1223         case SWD_TO_DORMANT:
1224                 LOG_DEBUG("SWD-to-DORMANT");
1225                 ftdi_swd_swdio_en(true);
1226                 mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_dormant, 0, swd_seq_swd_to_dormant_len, SWD_MODE);
1227                 break;
1228         case DORMANT_TO_SWD:
1229                 LOG_DEBUG("DORMANT-to-SWD");
1230                 ftdi_swd_swdio_en(true);
1231                 mpsse_clock_data_out(mpsse_ctx, swd_seq_dormant_to_swd, 0, swd_seq_dormant_to_swd_len, SWD_MODE);
1232                 break;
1233         case DORMANT_TO_JTAG:
1234                 LOG_DEBUG("DORMANT-to-JTAG");
1235                 ftdi_swd_swdio_en(true);
1236                 mpsse_clock_data_out(mpsse_ctx, swd_seq_dormant_to_jtag, 0, swd_seq_dormant_to_jtag_len, SWD_MODE);
1237                 break;
1238         default:
1239                 LOG_ERROR("Sequence %d not supported", seq);
1240                 return ERROR_FAIL;
1241         }
1242
1243         return ERROR_OK;
1244 }
1245
1246 static const struct swd_driver ftdi_swd = {
1247         .init = ftdi_swd_init,
1248         .switch_seq = ftdi_swd_switch_seq,
1249         .read_reg = ftdi_swd_read_reg,
1250         .write_reg = ftdi_swd_write_reg,
1251         .run = ftdi_swd_run_queue,
1252 };
1253
1254 static const char * const ftdi_transports[] = { "jtag", "swd", NULL };
1255
1256 static struct jtag_interface ftdi_interface = {
1257         .supported = DEBUG_CAP_TMS_SEQ,
1258         .execute_queue = ftdi_execute_queue,
1259 };
1260
1261 struct adapter_driver ftdi_adapter_driver = {
1262         .name = "ftdi",
1263         .transports = ftdi_transports,
1264         .commands = ftdi_command_handlers,
1265
1266         .init = ftdi_initialize,
1267         .quit = ftdi_quit,
1268         .reset = ftdi_reset,
1269         .speed = ftdi_speed,
1270         .khz = ftdi_khz,
1271         .speed_div = ftdi_speed_div,
1272
1273         .jtag_ops = &ftdi_interface,
1274         .swd_ops = &ftdi_swd,
1275 };