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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, see <http://www.gnu.org/licenses/>. *
  17 ***************************************************************************/
  18
  19 /**
  20  * @file
  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.
  25  *
  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).
  29  *
  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.
  33  *
  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).
  37  *
  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.
  40  *
  41  *  - Additional JTAG links, e.g. to a CPLD or * FPGA.
  42  *
  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.
  49  *
  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.
  53  *
  54  * This code uses information contained in the MPSSE specification which was
  55  * found here:
  56  * https://www.ftdichip.com/Support/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
  57  * Hereafter this is called the "MPSSE Spec".
  58  *
  59  * The datasheet for the ftdichip.com's FT2232H part is here:
  60  * https://www.ftdichip.com/Support/Documents/DataSheets/ICs/DS_FT2232H.pdf
  61  *
  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.
  65  */
  66
  67 #ifdef HAVE_CONFIG_H
  68 #include "config.h"
  69 #endif
  70
  71 /* project specific includes */
  72 #include <jtag/adapter.h>
  73 #include <jtag/interface.h>
  74 #include <jtag/swd.h>
  75 #include <transport/transport.h>
  76 #include <helper/time_support.h>
  77 #include <helper/log.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 JTAG_MODE_ALT (LSB_FIRST | NEG_EDGE_IN | NEG_EDGE_OUT)
  90 #define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
  91
  92 static char *ftdi_device_desc;
  93 static uint8_t ftdi_channel;
  94 static uint8_t ftdi_jtag_mode = JTAG_MODE;
  95
  96 static bool swd_mode;
  97
  98 #define MAX_USB_IDS 8
  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 };
 102
 103 static struct mpsse_ctx *mpsse_ctx;
 104
 105 struct signal {
 106         const char *name;
 107         uint16_t data_mask;
 108         uint16_t input_mask;
 109         uint16_t oe_mask;
 110         bool invert_data;
 111         bool invert_input;
 112         bool invert_oe;
 113         struct signal *next;
 114 };
 115
 116 static struct signal *signals;
 117
 118 /* FIXME: Where to store per-instance data? We need an SWD context. */
 119 static struct swd_cmd_queue_entry {
 120         uint8_t cmd;
 121         uint32_t *dst;
 122         uint8_t trn_ack_data_parity_trn[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
 123 } *swd_cmd_queue;
 124 static size_t swd_cmd_queue_length;
 125 static size_t swd_cmd_queue_alloced;
 126 static int queued_retval;
 127 static int freq;
 128
 129 static uint16_t output;
 130 static uint16_t direction;
 131 static uint16_t jtag_output_init;
 132 static uint16_t jtag_direction_init;
 133
 134 static int ftdi_swd_switch_seq(enum swd_special_seq seq);
 135
 136 static struct signal *find_signal_by_name(const char *name)
 137 {
 138         for (struct signal *sig = signals; sig; sig = sig->next) {
 139                 if (strcmp(name, sig->name) == 0)
 140                         return sig;
 141         }
 142         return NULL;
 143 }
 144
 145 static struct signal *create_signal(const char *name)
 146 {
 147         struct signal **psig = &signals;
 148         while (*psig)
 149                 psig = &(*psig)->next;
 150
 151         *psig = calloc(1, sizeof(**psig));
 152         if (!*psig)
 153                 return NULL;
 154
 155         (*psig)->name = strdup(name);
 156         if (!(*psig)->name) {
 157                 free(*psig);
 158                 *psig = NULL;
 159         }
 160         return *psig;
 161 }
 162
 163 static int ftdi_set_signal(const struct signal *s, char value)
 164 {
 165         bool data;
 166         bool oe;
 167
 168         if (s->data_mask == 0 && s->oe_mask == 0) {
 169                 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
 170                 return ERROR_FAIL;
 171         }
 172         switch (value) {
 173         case '0':
 174                 data = s->invert_data;
 175                 oe = !s->invert_oe;
 176                 break;
 177         case '1':
 178                 if (s->data_mask == 0) {
 179                         LOG_ERROR("interface can't drive '%s' high", s->name);
 180                         return ERROR_FAIL;
 181                 }
 182                 data = !s->invert_data;
 183                 oe = !s->invert_oe;
 184                 break;
 185         case 'z':
 186         case 'Z':
 187                 if (s->oe_mask == 0) {
 188                         LOG_ERROR("interface can't tri-state '%s'", s->name);
 189                         return ERROR_FAIL;
 190                 }
 191                 data = s->invert_data;
 192                 oe = s->invert_oe;
 193                 break;
 194         default:
 195                 assert(0 && "invalid signal level specifier");
 196                 return ERROR_FAIL;
 197         }
 198
 199         uint16_t old_output = output;
 200         uint16_t old_direction = direction;
 201
 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;
 205         else
 206                 output = oe ? output | s->oe_mask : output & ~s->oe_mask;
 207
 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);
 212
 213         return ERROR_OK;
 214 }
 215
 216 static int ftdi_get_signal(const struct signal *s, uint16_t *value_out)
 217 {
 218         uint8_t data_low = 0;
 219         uint8_t data_high = 0;
 220
 221         if (s->input_mask == 0) {
 222                 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
 223                 return ERROR_FAIL;
 224         }
 225
 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);
 230
 231         mpsse_flush(mpsse_ctx);
 232
 233         *value_out = (((uint16_t)data_high) << 8) | data_low;
 234
 235         if (s->invert_input)
 236                 *value_out = ~(*value_out);
 237
 238         *value_out &= s->input_mask;
 239
 240         return ERROR_OK;
 241 }
 242
 243 /**
 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().
 248  *
 249  * @param goal_state is the destination state for the move.
 250  */
 251 static void move_to_state(tap_state_t goal_state)
 252 {
 253         tap_state_t start_state = tap_get_state();
 254
 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
 257                 start state.
 258         */
 259
 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);
 264
 265         LOG_DEBUG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
 266
 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));
 270
 271         mpsse_clock_tms_cs_out(mpsse_ctx,
 272                 &tms_bits,
 273                 0,
 274                 tms_count,
 275                 false,
 276                 ftdi_jtag_mode);
 277 }
 278
 279 static int ftdi_speed(int speed)
 280 {
 281         int retval;
 282         retval = mpsse_set_frequency(mpsse_ctx, speed);
 283
 284         if (retval < 0) {
 285                 LOG_ERROR("couldn't set FTDI TCK speed");
 286                 return retval;
 287         }
 288
 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\"");
 292         return ERROR_OK;
 293 }
 294
 295 static int ftdi_speed_div(int speed, int *khz)
 296 {
 297         *khz = speed / 1000;
 298         return ERROR_OK;
 299 }
 300
 301 static int ftdi_khz(int khz, int *jtag_speed)
 302 {
 303         if (khz == 0 && !mpsse_is_high_speed(mpsse_ctx)) {
 304                 LOG_DEBUG("RCLK not supported");
 305                 return ERROR_FAIL;
 306         }
 307
 308         *jtag_speed = khz * 1000;
 309         return ERROR_OK;
 310 }
 311
 312 static void ftdi_end_state(tap_state_t state)
 313 {
 314         if (tap_is_state_stable(state))
 315                 tap_set_end_state(state);
 316         else {
 317                 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state));
 318                 exit(-1);
 319         }
 320 }
 321
 322 static void ftdi_execute_runtest(struct jtag_command *cmd)
 323 {
 324         int i;
 325         uint8_t zero = 0;
 326
 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));
 330
 331         if (tap_get_state() != TAP_IDLE)
 332                 move_to_state(TAP_IDLE);
 333
 334         /* TODO: Reuse ftdi_execute_stableclocks */
 335         i = cmd->cmd.runtest->num_cycles;
 336         while (i > 0) {
 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);
 340                 i -= this_len;
 341         }
 342
 343         ftdi_end_state(cmd->cmd.runtest->end_state);
 344
 345         if (tap_get_state() != tap_get_end_state())
 346                 move_to_state(tap_get_end_state());
 347
 348         LOG_DEBUG_IO("runtest: %i, end in %s",
 349                 cmd->cmd.runtest->num_cycles,
 350                 tap_state_name(tap_get_end_state()));
 351 }
 352
 353 static void ftdi_execute_statemove(struct jtag_command *cmd)
 354 {
 355         LOG_DEBUG_IO("statemove end in %s",
 356                 tap_state_name(cmd->cmd.statemove->end_state));
 357
 358         ftdi_end_state(cmd->cmd.statemove->end_state);
 359
 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());
 363 }
 364
 365 /**
 366  * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
 367  * (or SWD) state machine. REVISIT: Not the best method, perhaps.
 368  */
 369 static void ftdi_execute_tms(struct jtag_command *cmd)
 370 {
 371         LOG_DEBUG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
 372
 373         /* TODO: Missing tap state tracking, also missing from ft2232.c! */
 374         mpsse_clock_tms_cs_out(mpsse_ctx,
 375                 cmd->cmd.tms->bits,
 376                 0,
 377                 cmd->cmd.tms->num_bits,
 378                 false,
 379                 ftdi_jtag_mode);
 380 }
 381
 382 static void ftdi_execute_pathmove(struct jtag_command *cmd)
 383 {
 384         tap_state_t *path = cmd->cmd.pathmove->path;
 385         int num_states  = cmd->cmd.pathmove->num_states;
 386
 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]));
 390
 391         int state_count = 0;
 392         unsigned bit_count = 0;
 393         uint8_t tms_byte = 0;
 394
 395         LOG_DEBUG_IO("-");
 396
 397         /* this loop verifies that the path is legal and logs each state in the path */
 398         while (num_states--) {
 399
 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);
 407
 408                         /* ... or else the caller goofed BADLY */
 409                 } else {
 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]));
 414                         exit(-1);
 415                 }
 416
 417                 tap_set_state(path[state_count]);
 418                 state_count++;
 419
 420                 if (bit_count == 7 || num_states == 0) {
 421                         mpsse_clock_tms_cs_out(mpsse_ctx,
 422                                         &tms_byte,
 423                                         0,
 424                                         bit_count,
 425                                         false,
 426                                         ftdi_jtag_mode);
 427                         bit_count = 0;
 428                 }
 429         }
 430         tap_set_end_state(tap_get_state());
 431 }
 432
 433 static void ftdi_execute_scan(struct jtag_command *cmd)
 434 {
 435         LOG_DEBUG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
 436                 jtag_scan_type(cmd->cmd.scan));
 437
 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");
 443         }
 444
 445         if (cmd->cmd.scan->num_fields == 0) {
 446                 LOG_DEBUG_IO("empty scan, doing nothing");
 447                 return;
 448         }
 449
 450         if (cmd->cmd.scan->ir_scan) {
 451                 if (tap_get_state() != TAP_IRSHIFT)
 452                         move_to_state(TAP_IRSHIFT);
 453         } else {
 454                 if (tap_get_state() != TAP_DRSHIFT)
 455                         move_to_state(TAP_DRSHIFT);
 456         }
 457
 458         ftdi_end_state(cmd->cmd.scan->end_state);
 459
 460         struct scan_field *field = cmd->cmd.scan->fields;
 461         unsigned scan_size = 0;
 462
 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" : "",
 468                         i,
 469                         cmd->cmd.scan->num_fields,
 470                         field->num_bits);
 471
 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,
 476                                 field->out_value,
 477                                 0,
 478                                 field->in_value,
 479                                 0,
 480                                 field->num_bits - 1,
 481                                 ftdi_jtag_mode);
 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
 486                         /* If endstate is TAP_IDLE, clock out 1-1-0 (->EXIT1 ->UPDATE ->IDLE)
 487                          * Otherwise, clock out 1-0 (->EXIT1 ->PAUSE)
 488                          */
 489                         uint8_t tms_bits = 0x03;
 490                         mpsse_clock_tms_cs(mpsse_ctx,
 491                                         &tms_bits,
 492                                         0,
 493                                         field->in_value,
 494                                         field->num_bits - 1,
 495                                         1,
 496                                         last_bit,
 497                                         ftdi_jtag_mode);
 498                         tap_set_state(tap_state_transition(tap_get_state(), 1));
 499                         if (tap_get_end_state() == TAP_IDLE) {
 500                                 mpsse_clock_tms_cs_out(mpsse_ctx,
 501                                                 &tms_bits,
 502                                                 1,
 503                                                 2,
 504                                                 last_bit,
 505                                                 ftdi_jtag_mode);
 506                                 tap_set_state(tap_state_transition(tap_get_state(), 1));
 507                                 tap_set_state(tap_state_transition(tap_get_state(), 0));
 508                         } else {
 509                                 mpsse_clock_tms_cs_out(mpsse_ctx,
 510                                                 &tms_bits,
 511                                                 2,
 512                                                 1,
 513                                                 last_bit,
 514                                                 ftdi_jtag_mode);
 515                                 tap_set_state(tap_state_transition(tap_get_state(), 0));
 516                         }
 517                 } else
 518                         mpsse_clock_data(mpsse_ctx,
 519                                 field->out_value,
 520                                 0,
 521                                 field->in_value,
 522                                 0,
 523                                 field->num_bits,
 524                                 ftdi_jtag_mode);
 525         }
 526
 527         if (tap_get_state() != tap_get_end_state())
 528                 move_to_state(tap_get_end_state());
 529
 530         LOG_DEBUG_IO("%s scan, %i bits, end in %s",
 531                 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
 532                 tap_state_name(tap_get_end_state()));
 533 }
 534
 535 static int ftdi_reset(int trst, int srst)
 536 {
 537         struct signal *sig_ntrst = find_signal_by_name("nTRST");
 538         struct signal *sig_nsrst = find_signal_by_name("nSRST");
 539
 540         LOG_DEBUG_IO("reset trst: %i srst %i", trst, srst);
 541
 542         if (!swd_mode) {
 543                 if (trst == 1) {
 544                         if (sig_ntrst)
 545                                 ftdi_set_signal(sig_ntrst, '0');
 546                         else
 547                                 LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
 548                 } else if (sig_ntrst && jtag_get_reset_config() & RESET_HAS_TRST &&
 549                                 trst == 0) {
 550                         if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
 551                                 ftdi_set_signal(sig_ntrst, 'z');
 552                         else
 553                                 ftdi_set_signal(sig_ntrst, '1');
 554                 }
 555         }
 556
 557         if (srst == 1) {
 558                 if (sig_nsrst)
 559                         ftdi_set_signal(sig_nsrst, '0');
 560                 else
 561                         LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
 562         } else if (sig_nsrst && jtag_get_reset_config() & RESET_HAS_SRST &&
 563                         srst == 0) {
 564                 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
 565                         ftdi_set_signal(sig_nsrst, '1');
 566                 else
 567                         ftdi_set_signal(sig_nsrst, 'z');
 568         }
 569
 570         return mpsse_flush(mpsse_ctx);
 571 }
 572
 573 static void ftdi_execute_sleep(struct jtag_command *cmd)
 574 {
 575         LOG_DEBUG_IO("sleep %" PRIu32, cmd->cmd.sleep->us);
 576
 577         mpsse_flush(mpsse_ctx);
 578         jtag_sleep(cmd->cmd.sleep->us);
 579         LOG_DEBUG_IO("sleep %" PRIu32 " usec while in %s",
 580                 cmd->cmd.sleep->us,
 581                 tap_state_name(tap_get_state()));
 582 }
 583
 584 static void ftdi_execute_stableclocks(struct jtag_command *cmd)
 585 {
 586         /* this is only allowed while in a stable state.  A check for a stable
 587          * state was done in jtag_add_clocks()
 588          */
 589         int num_cycles = cmd->cmd.stableclocks->num_cycles;
 590
 591         /* 7 bits of either ones or zeros. */
 592         uint8_t tms = tap_get_state() == TAP_RESET ? 0x7f : 0x00;
 593
 594         /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
 595          * the correct level and remain there during the scan */
 596         while (num_cycles > 0) {
 597                 /* there are no state transitions in this code, so omit state tracking */
 598                 unsigned this_len = num_cycles > 7 ? 7 : num_cycles;
 599                 mpsse_clock_tms_cs_out(mpsse_ctx, &tms, 0, this_len, false, ftdi_jtag_mode);
 600                 num_cycles -= this_len;
 601         }
 602
 603         LOG_DEBUG_IO("clocks %i while in %s",
 604                 cmd->cmd.stableclocks->num_cycles,
 605                 tap_state_name(tap_get_state()));
 606 }
 607
 608 static void ftdi_execute_command(struct jtag_command *cmd)
 609 {
 610         switch (cmd->type) {
 611                 case JTAG_RUNTEST:
 612                         ftdi_execute_runtest(cmd);
 613                         break;
 614                 case JTAG_TLR_RESET:
 615                         ftdi_execute_statemove(cmd);
 616                         break;
 617                 case JTAG_PATHMOVE:
 618                         ftdi_execute_pathmove(cmd);
 619                         break;
 620                 case JTAG_SCAN:
 621                         ftdi_execute_scan(cmd);
 622                         break;
 623                 case JTAG_SLEEP:
 624                         ftdi_execute_sleep(cmd);
 625                         break;
 626                 case JTAG_STABLECLOCKS:
 627                         ftdi_execute_stableclocks(cmd);
 628                         break;
 629                 case JTAG_TMS:
 630                         ftdi_execute_tms(cmd);
 631                         break;
 632                 default:
 633                         LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd->type);
 634                         break;
 635         }
 636 }
 637
 638 static int ftdi_execute_queue(void)
 639 {
 640         /* blink, if the current layout has that feature */
 641         struct signal *led = find_signal_by_name("LED");
 642         if (led)
 643                 ftdi_set_signal(led, '1');
 644
 645         for (struct jtag_command *cmd = jtag_command_queue; cmd; cmd = cmd->next) {
 646                 /* fill the write buffer with the desired command */
 647                 ftdi_execute_command(cmd);
 648         }
 649
 650         if (led)
 651                 ftdi_set_signal(led, '0');
 652
 653         int retval = mpsse_flush(mpsse_ctx);
 654         if (retval != ERROR_OK)
 655                 LOG_ERROR("error while flushing MPSSE queue: %d", retval);
 656
 657         return retval;
 658 }
 659
 660 static int ftdi_initialize(void)
 661 {
 662         if (tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRPAUSE) == 7)
 663                 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
 664         else
 665                 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
 666
 667         if (!ftdi_vid[0] && !ftdi_pid[0]) {
 668                 LOG_ERROR("Please specify ftdi vid_pid");
 669                 return ERROR_JTAG_INIT_FAILED;
 670         }
 671
 672         for (int i = 0; ftdi_vid[i] || ftdi_pid[i]; i++) {
 673                 mpsse_ctx = mpsse_open(&ftdi_vid[i], &ftdi_pid[i], ftdi_device_desc,
 674                                 adapter_get_required_serial(), adapter_usb_get_location(), ftdi_channel);
 675                 if (mpsse_ctx)
 676                         break;
 677         }
 678
 679         if (!mpsse_ctx)
 680                 return ERROR_JTAG_INIT_FAILED;
 681
 682         output = jtag_output_init;
 683         direction = jtag_direction_init;
 684
 685         if (swd_mode) {
 686                 struct signal *sig = find_signal_by_name("SWD_EN");
 687                 if (!sig) {
 688                         LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
 689                         return ERROR_JTAG_INIT_FAILED;
 690                 }
 691                 /* A dummy SWD_EN would have zero mask */
 692                 if (sig->data_mask)
 693                         ftdi_set_signal(sig, '1');
 694         }
 695
 696         mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
 697         mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
 698
 699         mpsse_loopback_config(mpsse_ctx, false);
 700
 701         freq = mpsse_set_frequency(mpsse_ctx, adapter_get_speed_khz() * 1000);
 702
 703         return mpsse_flush(mpsse_ctx);
 704 }
 705
 706 static int ftdi_quit(void)
 707 {
 708         mpsse_close(mpsse_ctx);
 709
 710         struct signal *sig = signals;
 711         while (sig) {
 712                 struct signal *next = sig->next;
 713                 free((void *)sig->name);
 714                 free(sig);
 715                 sig = next;
 716         }
 717
 718         free(ftdi_device_desc);
 719
 720         free(swd_cmd_queue);
 721
 722         return ERROR_OK;
 723 }
 724
 725 COMMAND_HANDLER(ftdi_handle_device_desc_command)
 726 {
 727         if (CMD_ARGC == 1) {
 728                 free(ftdi_device_desc);
 729                 ftdi_device_desc = strdup(CMD_ARGV[0]);
 730         } else {
 731                 LOG_ERROR("expected exactly one argument to ftdi device_desc <description>");
 732         }
 733
 734         return ERROR_OK;
 735 }
 736
 737 COMMAND_HANDLER(ftdi_handle_channel_command)
 738 {
 739         if (CMD_ARGC == 1)
 740                 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], ftdi_channel);
 741         else
 742                 return ERROR_COMMAND_SYNTAX_ERROR;
 743
 744         return ERROR_OK;
 745 }
 746
 747 COMMAND_HANDLER(ftdi_handle_layout_init_command)
 748 {
 749         if (CMD_ARGC != 2)
 750                 return ERROR_COMMAND_SYNTAX_ERROR;
 751
 752         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], jtag_output_init);
 753         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], jtag_direction_init);
 754
 755         return ERROR_OK;
 756 }
 757
 758 COMMAND_HANDLER(ftdi_handle_layout_signal_command)
 759 {
 760         if (CMD_ARGC < 1)
 761                 return ERROR_COMMAND_SYNTAX_ERROR;
 762
 763         bool invert_data = false;
 764         uint16_t data_mask = 0;
 765         bool invert_input = false;
 766         uint16_t input_mask = 0;
 767         bool invert_oe = false;
 768         uint16_t oe_mask = 0;
 769         for (unsigned i = 1; i < CMD_ARGC; i += 2) {
 770                 if (strcmp("-data", CMD_ARGV[i]) == 0) {
 771                         invert_data = false;
 772                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 773                 } else if (strcmp("-ndata", CMD_ARGV[i]) == 0) {
 774                         invert_data = true;
 775                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 776                 } else if (strcmp("-input", CMD_ARGV[i]) == 0) {
 777                         invert_input = false;
 778                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], input_mask);
 779                 } else if (strcmp("-ninput", CMD_ARGV[i]) == 0) {
 780                         invert_input = true;
 781                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], input_mask);
 782                 } else if (strcmp("-oe", CMD_ARGV[i]) == 0) {
 783                         invert_oe = false;
 784                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 785                 } else if (strcmp("-noe", CMD_ARGV[i]) == 0) {
 786                         invert_oe = true;
 787                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 788                 } else if (!strcmp("-alias", CMD_ARGV[i]) ||
 789                            !strcmp("-nalias", CMD_ARGV[i])) {
 790                         if (!strcmp("-nalias", CMD_ARGV[i])) {
 791                                 invert_data = true;
 792                                 invert_input = true;
 793                         }
 794                         struct signal *sig = find_signal_by_name(CMD_ARGV[i + 1]);
 795                         if (!sig) {
 796                                 LOG_ERROR("signal %s is not defined", CMD_ARGV[i + 1]);
 797                                 return ERROR_FAIL;
 798                         }
 799                         data_mask = sig->data_mask;
 800                         input_mask = sig->input_mask;
 801                         oe_mask = sig->oe_mask;
 802                         invert_input ^= sig->invert_input;
 803                         invert_oe = sig->invert_oe;
 804                         invert_data ^= sig->invert_data;
 805                 } else {
 806                         LOG_ERROR("unknown option '%s'", CMD_ARGV[i]);
 807                         return ERROR_COMMAND_SYNTAX_ERROR;
 808                 }
 809         }
 810
 811         struct signal *sig;
 812         sig = find_signal_by_name(CMD_ARGV[0]);
 813         if (!sig)
 814                 sig = create_signal(CMD_ARGV[0]);
 815         if (!sig) {
 816                 LOG_ERROR("failed to create signal %s", CMD_ARGV[0]);
 817                 return ERROR_FAIL;
 818         }
 819
 820         sig->invert_data = invert_data;
 821         sig->data_mask = data_mask;
 822         sig->invert_input = invert_input;
 823         sig->input_mask = input_mask;
 824         sig->invert_oe = invert_oe;
 825         sig->oe_mask = oe_mask;
 826
 827         return ERROR_OK;
 828 }
 829
 830 COMMAND_HANDLER(ftdi_handle_set_signal_command)
 831 {
 832         if (CMD_ARGC < 2)
 833                 return ERROR_COMMAND_SYNTAX_ERROR;
 834
 835         struct signal *sig;
 836         sig = find_signal_by_name(CMD_ARGV[0]);
 837         if (!sig) {
 838                 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
 839                 return ERROR_FAIL;
 840         }
 841
 842         switch (*CMD_ARGV[1]) {
 843         case '0':
 844         case '1':
 845         case 'z':
 846         case 'Z':
 847                 /* single character level specifier only */
 848                 if (CMD_ARGV[1][1] == '\0') {
 849                         ftdi_set_signal(sig, *CMD_ARGV[1]);
 850                         break;
 851                 }
 852                 /* fallthrough */
 853         default:
 854                 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV[1]);
 855                 return ERROR_COMMAND_SYNTAX_ERROR;
 856         }
 857
 858         return mpsse_flush(mpsse_ctx);
 859 }
 860
 861 COMMAND_HANDLER(ftdi_handle_get_signal_command)
 862 {
 863         if (CMD_ARGC < 1)
 864                 return ERROR_COMMAND_SYNTAX_ERROR;
 865
 866         struct signal *sig;
 867         uint16_t sig_data = 0;
 868         sig = find_signal_by_name(CMD_ARGV[0]);
 869         if (!sig) {
 870                 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
 871                 return ERROR_FAIL;
 872         }
 873
 874         int ret = ftdi_get_signal(sig, &sig_data);
 875         if (ret != ERROR_OK)
 876                 return ret;
 877
 878         LOG_USER("Signal %s = %#06x", sig->name, sig_data);
 879
 880         return ERROR_OK;
 881 }
 882
 883 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
 884 {
 885         if (CMD_ARGC > MAX_USB_IDS * 2) {
 886                 LOG_WARNING("ignoring extra IDs in ftdi vid_pid "
 887                         "(maximum is %d pairs)", MAX_USB_IDS);
 888                 CMD_ARGC = MAX_USB_IDS * 2;
 889         }
 890         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
 891                 LOG_WARNING("incomplete ftdi vid_pid configuration directive");
 892                 if (CMD_ARGC < 2)
 893                         return ERROR_COMMAND_SYNTAX_ERROR;
 894                 /* remove the incomplete trailing id */
 895                 CMD_ARGC -= 1;
 896         }
 897
 898         unsigned i;
 899         for (i = 0; i < CMD_ARGC; i += 2) {
 900                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], ftdi_vid[i >> 1]);
 901                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], ftdi_pid[i >> 1]);
 902         }
 903
 904         /*
 905          * Explicitly terminate, in case there are multiples instances of
 906          * ftdi vid_pid.
 907          */
 908         ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
 909
 910         return ERROR_OK;
 911 }
 912
 913 COMMAND_HANDLER(ftdi_handle_tdo_sample_edge_command)
 914 {
 915         struct jim_nvp *n;
 916         static const struct jim_nvp nvp_ftdi_jtag_modes[] = {
 917                 { .name = "rising", .value = JTAG_MODE },
 918                 { .name = "falling", .value = JTAG_MODE_ALT },
 919                 { .name = NULL, .value = -1 },
 920         };
 921
 922         if (CMD_ARGC > 0) {
 923                 n = jim_nvp_name2value_simple(nvp_ftdi_jtag_modes, CMD_ARGV[0]);
 924                 if (!n->name)
 925                         return ERROR_COMMAND_SYNTAX_ERROR;
 926                 ftdi_jtag_mode = n->value;
 927
 928         }
 929
 930         n = jim_nvp_value2name_simple(nvp_ftdi_jtag_modes, ftdi_jtag_mode);
 931         command_print(CMD, "ftdi samples TDO on %s edge of TCK", n->name);
 932
 933         return ERROR_OK;
 934 }
 935
 936 static const struct command_registration ftdi_subcommand_handlers[] = {
 937         {
 938                 .name = "device_desc",
 939                 .handler = &ftdi_handle_device_desc_command,
 940                 .mode = COMMAND_CONFIG,
 941                 .help = "set the USB device description of the FTDI device",
 942                 .usage = "description_string",
 943         },
 944         {
 945                 .name = "channel",
 946                 .handler = &ftdi_handle_channel_command,
 947                 .mode = COMMAND_CONFIG,
 948                 .help = "set the channel of the FTDI device that is used as JTAG",
 949                 .usage = "(0-3)",
 950         },
 951         {
 952                 .name = "layout_init",
 953                 .handler = &ftdi_handle_layout_init_command,
 954                 .mode = COMMAND_CONFIG,
 955                 .help = "initialize the FTDI GPIO signals used "
 956                         "to control output-enables and reset signals",
 957                 .usage = "data direction",
 958         },
 959         {
 960                 .name = "layout_signal",
 961                 .handler = &ftdi_handle_layout_signal_command,
 962                 .mode = COMMAND_ANY,
 963                 .help = "define a signal controlled by one or more FTDI GPIO as data "
 964                         "and/or output enable",
 965                 .usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
 966         },
 967         {
 968                 .name = "set_signal",
 969                 .handler = &ftdi_handle_set_signal_command,
 970                 .mode = COMMAND_EXEC,
 971                 .help = "control a layout-specific signal",
 972                 .usage = "name (1|0|z)",
 973         },
 974         {
 975                 .name = "get_signal",
 976                 .handler = &ftdi_handle_get_signal_command,
 977                 .mode = COMMAND_EXEC,
 978                 .help = "read the value of a layout-specific signal",
 979                 .usage = "name",
 980         },
 981         {
 982                 .name = "vid_pid",
 983                 .handler = &ftdi_handle_vid_pid_command,
 984                 .mode = COMMAND_CONFIG,
 985                 .help = "the vendor ID and product ID of the FTDI device",
 986                 .usage = "(vid pid)*",
 987         },
 988         {
 989                 .name = "tdo_sample_edge",
 990                 .handler = &ftdi_handle_tdo_sample_edge_command,
 991                 .mode = COMMAND_ANY,
 992                 .help = "set which TCK clock edge is used for sampling TDO "
 993                         "- default is rising-edge (Setting to falling-edge may "
 994                         "allow signalling speed increase)",
 995                 .usage = "(rising|falling)",
 996         },
 997         COMMAND_REGISTRATION_DONE
 998 };
 999
1000 static const struct command_registration ftdi_command_handlers[] = {
1001         {
1002                 .name = "ftdi",
1003                 .mode = COMMAND_ANY,
1004                 .help = "perform ftdi management",
1005                 .chain = ftdi_subcommand_handlers,
1006                 .usage = "",
1007         },
1008         COMMAND_REGISTRATION_DONE
1009 };
1010
1011 static int create_default_signal(const char *name, uint16_t data_mask)
1012 {
1013         struct signal *sig = create_signal(name);
1014         if (!sig) {
1015                 LOG_ERROR("failed to create signal %s", name);
1016                 return ERROR_FAIL;
1017         }
1018         sig->invert_data = false;
1019         sig->data_mask = data_mask;
1020         sig->invert_oe = false;
1021         sig->oe_mask = 0;
1022
1023         return ERROR_OK;
1024 }
1025
1026 static int create_signals(void)
1027 {
1028         if (create_default_signal("TCK", 0x01) != ERROR_OK)
1029                 return ERROR_FAIL;
1030         if (create_default_signal("TDI", 0x02) != ERROR_OK)
1031                 return ERROR_FAIL;
1032         if (create_default_signal("TDO", 0x04) != ERROR_OK)
1033                 return ERROR_FAIL;
1034         if (create_default_signal("TMS", 0x08) != ERROR_OK)
1035                 return ERROR_FAIL;
1036         return ERROR_OK;
1037 }
1038
1039 static int ftdi_swd_init(void)
1040 {
1041         LOG_INFO("FTDI SWD mode enabled");
1042         swd_mode = true;
1043
1044         if (create_signals() != ERROR_OK)
1045                 return ERROR_FAIL;
1046
1047         swd_cmd_queue_alloced = 10;
1048         swd_cmd_queue = malloc(swd_cmd_queue_alloced * sizeof(*swd_cmd_queue));
1049
1050         return swd_cmd_queue ? ERROR_OK : ERROR_FAIL;
1051 }
1052
1053 static void ftdi_swd_swdio_en(bool enable)
1054 {
1055         struct signal *oe = find_signal_by_name("SWDIO_OE");
1056         if (oe) {
1057                 if (oe->data_mask)
1058                         ftdi_set_signal(oe, enable ? '1' : '0');
1059                 else {
1060                         /* Sets TDI/DO pin to input during rx when both pins are connected
1061                            to SWDIO */
1062                         if (enable)
1063                                 direction |= jtag_direction_init & 0x0002U;
1064                         else
1065                                 direction &= ~0x0002U;
1066                         mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
1067                 }
1068         }
1069 }
1070
1071 /**
1072  * Flush the MPSSE queue and process the SWD transaction queue
1073  * @return
1074  */
1075 static int ftdi_swd_run_queue(void)
1076 {
1077         LOG_DEBUG_IO("Executing %zu queued transactions", swd_cmd_queue_length);
1078         int retval;
1079         struct signal *led = find_signal_by_name("LED");
1080
1081         if (queued_retval != ERROR_OK) {
1082                 LOG_DEBUG_IO("Skipping due to previous errors: %d", queued_retval);
1083                 goto skip;
1084         }
1085
1086         /* A transaction must be followed by another transaction or at least 8 idle cycles to
1087          * ensure that data is clocked through the AP. */
1088         mpsse_clock_data_out(mpsse_ctx, NULL, 0, 8, SWD_MODE);
1089
1090         /* Terminate the "blink", if the current layout has that feature */
1091         if (led)
1092                 ftdi_set_signal(led, '0');
1093
1094         queued_retval = mpsse_flush(mpsse_ctx);
1095         if (queued_retval != ERROR_OK) {
1096                 LOG_ERROR("MPSSE failed");
1097                 goto skip;
1098         }
1099
1100         for (size_t i = 0; i < swd_cmd_queue_length; i++) {
1101                 int ack = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1, 3);
1102
1103                 /* Devices do not reply to DP_TARGETSEL write cmd, ignore received ack */
1104                 bool check_ack = swd_cmd_returns_ack(swd_cmd_queue[i].cmd);
1105
1106                 LOG_DEBUG_IO("%s%s %s %s reg %X = %08"PRIx32,
1107                                 check_ack ? "" : "ack ignored ",
1108                                 ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
1109                                 swd_cmd_queue[i].cmd & SWD_CMD_APNDP ? "AP" : "DP",
1110                                 swd_cmd_queue[i].cmd & SWD_CMD_RNW ? "read" : "write",
1111                                 (swd_cmd_queue[i].cmd & SWD_CMD_A32) >> 1,
1112                                 buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn,
1113                                                 1 + 3 + (swd_cmd_queue[i].cmd & SWD_CMD_RNW ? 0 : 1), 32));
1114
1115                 if (ack != SWD_ACK_OK && check_ack) {
1116                         queued_retval = swd_ack_to_error_code(ack);
1117                         goto skip;
1118
1119                 } else if (swd_cmd_queue[i].cmd & SWD_CMD_RNW) {
1120                         uint32_t data = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3, 32);
1121                         int parity = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 32, 1);
1122
1123                         if (parity != parity_u32(data)) {
1124                                 LOG_ERROR("SWD Read data parity mismatch");
1125                                 queued_retval = ERROR_FAIL;
1126                                 goto skip;
1127                         }
1128
1129                         if (swd_cmd_queue[i].dst)
1130                                 *swd_cmd_queue[i].dst = data;
1131                 }
1132         }
1133
1134 skip:
1135         swd_cmd_queue_length = 0;
1136         retval = queued_retval;
1137         queued_retval = ERROR_OK;
1138
1139         /* Queue a new "blink" */
1140         if (led && retval == ERROR_OK)
1141                 ftdi_set_signal(led, '1');
1142
1143         return retval;
1144 }
1145
1146 static void ftdi_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data, uint32_t ap_delay_clk)
1147 {
1148         if (swd_cmd_queue_length >= swd_cmd_queue_alloced) {
1149                 /* Not enough room in the queue. Run the queue and increase its size for next time.
1150                  * Note that it's not possible to avoid running the queue here, because mpsse contains
1151                  * pointers into the queue which may be invalid after the realloc. */
1152                 queued_retval = ftdi_swd_run_queue();
1153                 struct swd_cmd_queue_entry *q = realloc(swd_cmd_queue, swd_cmd_queue_alloced * 2 * sizeof(*swd_cmd_queue));
1154                 if (q) {
1155                         swd_cmd_queue = q;
1156                         swd_cmd_queue_alloced *= 2;
1157                         LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced);
1158                 }
1159         }
1160
1161         if (queued_retval != ERROR_OK)
1162                 return;
1163
1164         size_t i = swd_cmd_queue_length++;
1165         swd_cmd_queue[i].cmd = cmd | SWD_CMD_START | SWD_CMD_PARK;
1166
1167         mpsse_clock_data_out(mpsse_ctx, &swd_cmd_queue[i].cmd, 0, 8, SWD_MODE);
1168
1169         if (swd_cmd_queue[i].cmd & SWD_CMD_RNW) {
1170                 /* Queue a read transaction */
1171                 swd_cmd_queue[i].dst = dst;
1172
1173                 ftdi_swd_swdio_en(false);
1174                 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1175                                 0, 1 + 3 + 32 + 1 + 1, SWD_MODE);
1176                 ftdi_swd_swdio_en(true);
1177         } else {
1178                 /* Queue a write transaction */
1179                 ftdi_swd_swdio_en(false);
1180
1181                 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1182                                 0, 1 + 3 + 1, SWD_MODE);
1183
1184                 ftdi_swd_swdio_en(true);
1185
1186                 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1, 32, data);
1187                 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1 + 32, 1, parity_u32(data));
1188
1189                 mpsse_clock_data_out(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1190                                 1 + 3 + 1, 32 + 1, SWD_MODE);
1191         }
1192
1193         /* Insert idle cycles after AP accesses to avoid WAIT */
1194         if (cmd & SWD_CMD_APNDP)
1195                 mpsse_clock_data_out(mpsse_ctx, NULL, 0, ap_delay_clk, SWD_MODE);
1196
1197 }
1198
1199 static void ftdi_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
1200 {
1201         assert(cmd & SWD_CMD_RNW);
1202         ftdi_swd_queue_cmd(cmd, value, 0, ap_delay_clk);
1203 }
1204
1205 static void ftdi_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
1206 {
1207         assert(!(cmd & SWD_CMD_RNW));
1208         ftdi_swd_queue_cmd(cmd, NULL, value, ap_delay_clk);
1209 }
1210
1211 static int ftdi_swd_switch_seq(enum swd_special_seq seq)
1212 {
1213         switch (seq) {
1214         case LINE_RESET:
1215                 LOG_DEBUG("SWD line reset");
1216                 ftdi_swd_swdio_en(true);
1217                 mpsse_clock_data_out(mpsse_ctx, swd_seq_line_reset, 0, swd_seq_line_reset_len, SWD_MODE);
1218                 break;
1219         case JTAG_TO_SWD:
1220                 LOG_DEBUG("JTAG-to-SWD");
1221                 ftdi_swd_swdio_en(true);
1222                 mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_swd, 0, swd_seq_jtag_to_swd_len, SWD_MODE);
1223                 break;
1224         case JTAG_TO_DORMANT:
1225                 LOG_DEBUG("JTAG-to-DORMANT");
1226                 ftdi_swd_swdio_en(true);
1227                 mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_dormant, 0, swd_seq_jtag_to_dormant_len, SWD_MODE);
1228                 break;
1229         case SWD_TO_JTAG:
1230                 LOG_DEBUG("SWD-to-JTAG");
1231                 ftdi_swd_swdio_en(true);
1232                 mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_jtag, 0, swd_seq_swd_to_jtag_len, SWD_MODE);
1233                 break;
1234         case SWD_TO_DORMANT:
1235                 LOG_DEBUG("SWD-to-DORMANT");
1236                 ftdi_swd_swdio_en(true);
1237                 mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_dormant, 0, swd_seq_swd_to_dormant_len, SWD_MODE);
1238                 break;
1239         case DORMANT_TO_SWD:
1240                 LOG_DEBUG("DORMANT-to-SWD");
1241                 ftdi_swd_swdio_en(true);
1242                 mpsse_clock_data_out(mpsse_ctx, swd_seq_dormant_to_swd, 0, swd_seq_dormant_to_swd_len, SWD_MODE);
1243                 break;
1244         case DORMANT_TO_JTAG:
1245                 LOG_DEBUG("DORMANT-to-JTAG");
1246                 ftdi_swd_swdio_en(true);
1247                 mpsse_clock_data_out(mpsse_ctx, swd_seq_dormant_to_jtag, 0, swd_seq_dormant_to_jtag_len, SWD_MODE);
1248                 break;
1249         default:
1250                 LOG_ERROR("Sequence %d not supported", seq);
1251                 return ERROR_FAIL;
1252         }
1253
1254         return ERROR_OK;
1255 }
1256
1257 static const struct swd_driver ftdi_swd = {
1258         .init = ftdi_swd_init,
1259         .switch_seq = ftdi_swd_switch_seq,
1260         .read_reg = ftdi_swd_read_reg,
1261         .write_reg = ftdi_swd_write_reg,
1262         .run = ftdi_swd_run_queue,
1263 };
1264
1265 static const char * const ftdi_transports[] = { "jtag", "swd", NULL };
1266
1267 static struct jtag_interface ftdi_interface = {
1268         .supported = DEBUG_CAP_TMS_SEQ,
1269         .execute_queue = ftdi_execute_queue,
1270 };
1271
1272 struct adapter_driver ftdi_adapter_driver = {
1273         .name = "ftdi",
1274         .transports = ftdi_transports,
1275         .commands = ftdi_command_handlers,
1276
1277         .init = ftdi_initialize,
1278         .quit = ftdi_quit,
1279         .reset = ftdi_reset,
1280         .speed = ftdi_speed,
1281         .khz = ftdi_khz,
1282         .speed_div = ftdi_speed_div,
1283
1284         .jtag_ops = &ftdi_interface,
1285         .swd_ops = &ftdi_swd,
1286 };