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   1 /**************************************************************************
   2 *   Copyright (C) 2012 by Andreas Fritiofson                              *
   3 *   andreas.fritiofson@gmail.com                                          *
   4 *                                                                         *
   5 *   This program is free software; you can redistribute it and/or modify  *
   6 *   it under the terms of the GNU General Public License as published by  *
   7 *   the Free Software Foundation; either version 2 of the License, or     *
   8 *   (at your option) any later version.                                   *
   9 *                                                                         *
  10 *   This program is distributed in the hope that it will be useful,       *
  11 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  12 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  13 *   GNU General Public License for more details.                          *
  14 *                                                                         *
  15 *   You should have received a copy of the GNU General Public License     *
  16 *   along with this program; if not, write to the                         *
  17 *   Free Software Foundation, Inc.,                                       *
  18 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  19 ***************************************************************************/
  20
  21 /**
  22  * @file
  23  * JTAG adapters based on the FT2232 full and high speed USB parts are
  24  * popular low cost JTAG debug solutions.  Many FT2232 based JTAG adapters
  25  * are discrete, but development boards may integrate them as alternatives
  26  * to more capable (and expensive) third party JTAG pods.
  27  *
  28  * JTAG uses only one of the two communications channels ("MPSSE engines")
  29  * on these devices.  Adapters based on FT4232 parts have four ports/channels
  30  * (A/B/C/D), instead of just two (A/B).
  31  *
  32  * Especially on development boards integrating one of these chips (as
  33  * opposed to discrete pods/dongles), the additional channels can be used
  34  * for a variety of purposes, but OpenOCD only uses one channel at a time.
  35  *
  36  *  - As a USB-to-serial adapter for the target's console UART ...
  37  *    which may be able to support ROM boot loaders that load initial
  38  *    firmware images to flash (or SRAM).
  39  *
  40  *  - On systems which support ARM's SWD in addition to JTAG, or instead
  41  *    of it, that second port can be used for reading SWV/SWO trace data.
  42  *
  43  *  - Additional JTAG links, e.g. to a CPLD or * FPGA.
  44  *
  45  * FT2232 based JTAG adapters are "dumb" not "smart", because most JTAG
  46  * request/response interactions involve round trips over the USB link.
  47  * A "smart" JTAG adapter has intelligence close to the scan chain, so it
  48  * can for example poll quickly for a status change (usually taking on the
  49  * order of microseconds not milliseconds) before beginning a queued
  50  * transaction which require the previous one to have completed.
  51  *
  52  * There are dozens of adapters of this type, differing in details which
  53  * this driver needs to understand.  Those "layout" details are required
  54  * as part of FT2232 driver configuration.
  55  *
  56  * This code uses information contained in the MPSSE specification which was
  57  * found here:
  58  * http://www.ftdichip.com/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
  59  * Hereafter this is called the "MPSSE Spec".
  60  *
  61  * The datasheet for the ftdichip.com's FT2232D part is here:
  62  * http://www.ftdichip.com/Documents/DataSheets/DS_FT2232D.pdf
  63  *
  64  * Also note the issue with code 0x4b (clock data to TMS) noted in
  65  * http://developer.intra2net.com/mailarchive/html/libftdi/2009/msg00292.html
  66  * which can affect longer JTAG state paths.
  67  */
  68
  69 #ifdef HAVE_CONFIG_H
  70 #include "config.h"
  71 #endif
  72
  73 /* project specific includes */
  74 #include <jtag/interface.h>
  75 #include <transport/transport.h>
  76 #include <helper/time_support.h>
  77
  78 #if IS_CYGWIN == 1
  79 #include <windows.h>
  80 #endif
  81
  82 #include <assert.h>
  83
  84 /* FTDI access library includes */
  85 #include "mpsse.h"
  86
  87 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
  88
  89 static char *ftdi_device_desc;
  90 static char *ftdi_serial;
  91 static uint8_t ftdi_channel;
  92
  93 #define MAX_USB_IDS 8
  94 /* vid = pid = 0 marks the end of the list */
  95 static uint16_t ftdi_vid[MAX_USB_IDS + 1] = { 0 };
  96 static uint16_t ftdi_pid[MAX_USB_IDS + 1] = { 0 };
  97
  98 static struct mpsse_ctx *mpsse_ctx;
  99
 100 struct signal {
 101         const char *name;
 102         uint16_t data_mask;
 103         uint16_t oe_mask;
 104         bool invert_data;
 105         bool invert_oe;
 106         struct signal *next;
 107 };
 108
 109 static struct signal *signals;
 110
 111 static uint16_t output;
 112 static uint16_t direction;
 113
 114 static struct signal *find_signal_by_name(const char *name)
 115 {
 116         for (struct signal *sig = signals; sig; sig = sig->next) {
 117                 if (strcmp(name, sig->name) == 0)
 118                         return sig;
 119         }
 120         return NULL;
 121 }
 122
 123 static struct signal *create_signal(const char *name)
 124 {
 125         struct signal **psig = &signals;
 126         while (*psig)
 127                 psig = &(*psig)->next;
 128
 129         *psig = calloc(1, sizeof(**psig));
 130         if (*psig)
 131                 (*psig)->name = strdup(name);
 132         if ((*psig)->name == NULL) {
 133                 free(*psig);
 134                 *psig = NULL;
 135         }
 136         return *psig;
 137 }
 138
 139 static int ftdi_set_signal(const struct signal *s, char value)
 140 {
 141         int retval;
 142         bool data;
 143         bool oe;
 144
 145         if (s->data_mask == 0 && s->oe_mask == 0) {
 146                 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
 147                 return ERROR_FAIL;
 148         }
 149         switch (value) {
 150         case '0':
 151                 data = s->invert_data;
 152                 oe = !s->invert_oe;
 153                 break;
 154         case '1':
 155                 if (s->data_mask == 0) {
 156                         LOG_ERROR("interface can't drive '%s' high", s->name);
 157                         return ERROR_FAIL;
 158                 }
 159                 data = !s->invert_data;
 160                 oe = !s->invert_oe;
 161                 break;
 162         case 'z':
 163         case 'Z':
 164                 if (s->oe_mask == 0) {
 165                         LOG_ERROR("interface can't tri-state '%s'", s->name);
 166                         return ERROR_FAIL;
 167                 }
 168                 data = s->invert_data;
 169                 oe = s->invert_oe;
 170                 break;
 171         default:
 172                 assert(0 && "invalid signal level specifier");
 173                 return ERROR_FAIL;
 174         }
 175
 176         output = data ? output | s->data_mask : output & ~s->data_mask;
 177         if (s->oe_mask == s->data_mask)
 178                 direction = oe ? output | s->oe_mask : output & ~s->oe_mask;
 179         else
 180                 output = oe ? output | s->oe_mask : output & ~s->oe_mask;
 181
 182         retval = mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
 183         if (retval == ERROR_OK)
 184                 retval = mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
 185         if (retval != ERROR_OK) {
 186                 LOG_ERROR("couldn't initialize FTDI GPIO");
 187                 return ERROR_JTAG_INIT_FAILED;
 188         }
 189
 190         return ERROR_OK;
 191 }
 192
 193
 194 /**
 195  * Function move_to_state
 196  * moves the TAP controller from the current state to a
 197  * \a goal_state through a path given by tap_get_tms_path().  State transition
 198  * logging is performed by delegation to clock_tms().
 199  *
 200  * @param goal_state is the destination state for the move.
 201  */
 202 static int move_to_state(tap_state_t goal_state)
 203 {
 204         tap_state_t start_state = tap_get_state();
 205
 206         /*      goal_state is 1/2 of a tuple/pair of states which allow convenient
 207                 lookup of the required TMS pattern to move to this state from the
 208                 start state.
 209         */
 210
 211         /* do the 2 lookups */
 212         int tms_bits  = tap_get_tms_path(start_state, goal_state);
 213         int tms_count = tap_get_tms_path_len(start_state, goal_state);
 214
 215         DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
 216
 217         /* Track state transitions step by step */
 218         for (int i = 0; i < tms_count; i++)
 219                 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits >> i) & 1));
 220
 221         return mpsse_clock_tms_cs_out(mpsse_ctx,
 222                 (uint8_t *)&tms_bits,
 223                 0,
 224                 tms_count,
 225                 false,
 226                 JTAG_MODE);
 227 }
 228
 229 static int ftdi_speed(int speed)
 230 {
 231         int retval;
 232         retval = mpsse_set_frequency(mpsse_ctx, speed);
 233
 234         if (retval < 0) {
 235                 LOG_ERROR("couldn't set FTDI TCK speed");
 236                 return retval;
 237         }
 238
 239         return ERROR_OK;
 240 }
 241
 242 static int ftdi_speed_div(int speed, int *khz)
 243 {
 244         *khz = speed / 1000;
 245         return ERROR_OK;
 246 }
 247
 248 static int ftdi_khz(int khz, int *jtag_speed)
 249 {
 250         if (khz == 0 && !mpsse_is_high_speed(mpsse_ctx)) {
 251                 LOG_DEBUG("RCLK not supported");
 252                 return ERROR_FAIL;
 253         }
 254
 255         *jtag_speed = khz * 1000;
 256         return ERROR_OK;
 257 }
 258
 259 static void ftdi_end_state(tap_state_t state)
 260 {
 261         if (tap_is_state_stable(state))
 262                 tap_set_end_state(state);
 263         else {
 264                 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state));
 265                 exit(-1);
 266         }
 267 }
 268
 269 static int ftdi_execute_runtest(struct jtag_command *cmd)
 270 {
 271         int retval = ERROR_OK;
 272         int i;
 273         uint8_t zero = 0;
 274
 275         DEBUG_JTAG_IO("runtest %i cycles, end in %s",
 276                 cmd->cmd.runtest->num_cycles,
 277                 tap_state_name(cmd->cmd.runtest->end_state));
 278
 279         if (tap_get_state() != TAP_IDLE)
 280                 move_to_state(TAP_IDLE);
 281
 282         /* TODO: Reuse ftdi_execute_stableclocks */
 283         i = cmd->cmd.runtest->num_cycles;
 284         while (i > 0 && retval == ERROR_OK) {
 285                 /* there are no state transitions in this code, so omit state tracking */
 286                 unsigned this_len = i > 7 ? 7 : i;
 287                 retval = mpsse_clock_tms_cs_out(mpsse_ctx, &zero, 0, this_len, false, JTAG_MODE);
 288                 i -= this_len;
 289         }
 290
 291         ftdi_end_state(cmd->cmd.runtest->end_state);
 292
 293         if (tap_get_state() != tap_get_end_state())
 294                 move_to_state(tap_get_end_state());
 295
 296         DEBUG_JTAG_IO("runtest: %i, end in %s",
 297                 cmd->cmd.runtest->num_cycles,
 298                 tap_state_name(tap_get_end_state()));
 299         return retval;
 300 }
 301
 302 static int ftdi_execute_statemove(struct jtag_command *cmd)
 303 {
 304         int retval = ERROR_OK;
 305
 306         DEBUG_JTAG_IO("statemove end in %s",
 307                 tap_state_name(cmd->cmd.statemove->end_state));
 308
 309         ftdi_end_state(cmd->cmd.statemove->end_state);
 310
 311         /* shortest-path move to desired end state */
 312         if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET)
 313                 move_to_state(tap_get_end_state());
 314
 315         return retval;
 316 }
 317
 318 /**
 319  * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
 320  * (or SWD) state machine. REVISIT: Not the best method, perhaps.
 321  */
 322 static int ftdi_execute_tms(struct jtag_command *cmd)
 323 {
 324         DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
 325
 326         /* TODO: Missing tap state tracking, also missing from ft2232.c! */
 327         return mpsse_clock_tms_cs_out(mpsse_ctx,
 328                 cmd->cmd.tms->bits,
 329                 0,
 330                 cmd->cmd.tms->num_bits,
 331                 false,
 332                 JTAG_MODE);
 333 }
 334
 335 static int ftdi_execute_pathmove(struct jtag_command *cmd)
 336 {
 337         int retval = ERROR_OK;
 338
 339         tap_state_t *path = cmd->cmd.pathmove->path;
 340         int num_states  = cmd->cmd.pathmove->num_states;
 341
 342         DEBUG_JTAG_IO("pathmove: %i states, current: %s  end: %s", num_states,
 343                 tap_state_name(tap_get_state()),
 344                 tap_state_name(path[num_states-1]));
 345
 346         int state_count = 0;
 347         unsigned bit_count = 0;
 348         uint8_t tms_byte = 0;
 349
 350         DEBUG_JTAG_IO("-");
 351
 352         /* this loop verifies that the path is legal and logs each state in the path */
 353         while (num_states-- && retval == ERROR_OK) {
 354
 355                 /* either TMS=0 or TMS=1 must work ... */
 356                 if (tap_state_transition(tap_get_state(), false)
 357                     == path[state_count])
 358                         buf_set_u32(&tms_byte, bit_count++, 1, 0x0);
 359                 else if (tap_state_transition(tap_get_state(), true)
 360                          == path[state_count]) {
 361                         buf_set_u32(&tms_byte, bit_count++, 1, 0x1);
 362
 363                         /* ... or else the caller goofed BADLY */
 364                 } else {
 365                         LOG_ERROR("BUG: %s -> %s isn't a valid "
 366                                 "TAP state transition",
 367                                 tap_state_name(tap_get_state()),
 368                                 tap_state_name(path[state_count]));
 369                         exit(-1);
 370                 }
 371
 372                 tap_set_state(path[state_count]);
 373                 state_count++;
 374
 375                 if (bit_count == 7 || num_states == 0) {
 376                         retval = mpsse_clock_tms_cs_out(mpsse_ctx,
 377                                         &tms_byte,
 378                                         0,
 379                                         bit_count,
 380                                         false,
 381                                         JTAG_MODE);
 382                         bit_count = 0;
 383                 }
 384         }
 385         tap_set_end_state(tap_get_state());
 386
 387         return retval;
 388 }
 389
 390 static int ftdi_execute_scan(struct jtag_command *cmd)
 391 {
 392         int retval = ERROR_OK;
 393
 394         DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
 395                 jtag_scan_type(cmd->cmd.scan));
 396
 397         /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
 398         while (cmd->cmd.scan->num_fields > 0
 399                         && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
 400                 cmd->cmd.scan->num_fields--;
 401                 LOG_DEBUG("discarding trailing empty field");
 402         }
 403
 404         if (cmd->cmd.scan->num_fields == 0) {
 405                 LOG_DEBUG("empty scan, doing nothing");
 406                 return retval;
 407         }
 408
 409         if (cmd->cmd.scan->ir_scan) {
 410                 if (tap_get_state() != TAP_IRSHIFT)
 411                         move_to_state(TAP_IRSHIFT);
 412         } else {
 413                 if (tap_get_state() != TAP_DRSHIFT)
 414                         move_to_state(TAP_DRSHIFT);
 415         }
 416
 417         ftdi_end_state(cmd->cmd.scan->end_state);
 418
 419         struct scan_field *field = cmd->cmd.scan->fields;
 420         unsigned scan_size = 0;
 421
 422         for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
 423                 scan_size += field->num_bits;
 424                 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
 425                         field->in_value ? "in" : "",
 426                         field->out_value ? "out" : "",
 427                         i,
 428                         cmd->cmd.scan->num_fields,
 429                         field->num_bits);
 430
 431                 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
 432                         /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
 433                          * movement. This last field can't have length zero, it was checked above. */
 434                         mpsse_clock_data(mpsse_ctx,
 435                                 field->out_value,
 436                                 0,
 437                                 field->in_value,
 438                                 0,
 439                                 field->num_bits - 1,
 440                                 JTAG_MODE);
 441                         uint8_t last_bit = 0;
 442                         if (field->out_value)
 443                                 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
 444                         uint8_t tms_bits = 0x01;
 445                         retval = mpsse_clock_tms_cs(mpsse_ctx,
 446                                         &tms_bits,
 447                                         0,
 448                                         field->in_value,
 449                                         field->num_bits - 1,
 450                                         1,
 451                                         last_bit,
 452                                         JTAG_MODE);
 453                         tap_set_state(tap_state_transition(tap_get_state(), 1));
 454                         retval = mpsse_clock_tms_cs_out(mpsse_ctx,
 455                                         &tms_bits,
 456                                         1,
 457                                         1,
 458                                         last_bit,
 459                                         JTAG_MODE);
 460                         tap_set_state(tap_state_transition(tap_get_state(), 0));
 461                 } else
 462                         mpsse_clock_data(mpsse_ctx,
 463                                 field->out_value,
 464                                 0,
 465                                 field->in_value,
 466                                 0,
 467                                 field->num_bits,
 468                                 JTAG_MODE);
 469                 if (retval != ERROR_OK) {
 470                         LOG_ERROR("failed to add field %d in scan", i);
 471                         return retval;
 472                 }
 473         }
 474
 475         if (tap_get_state() != tap_get_end_state())
 476                 move_to_state(tap_get_end_state());
 477
 478         DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
 479                 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
 480                 tap_state_name(tap_get_end_state()));
 481         return retval;
 482
 483 }
 484
 485 static int ftdi_execute_reset(struct jtag_command *cmd)
 486 {
 487         DEBUG_JTAG_IO("reset trst: %i srst %i",
 488                 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 489
 490         if (cmd->cmd.reset->trst == 1
 491             || (cmd->cmd.reset->srst
 492                 && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
 493                 tap_set_state(TAP_RESET);
 494
 495         struct signal *trst = find_signal_by_name("nTRST");
 496         if (trst && cmd->cmd.reset->trst == 1) {
 497                 ftdi_set_signal(trst, '0');
 498         } else if (trst && cmd->cmd.reset->trst == 0) {
 499                 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
 500                         ftdi_set_signal(trst, 'z');
 501                 else
 502                         ftdi_set_signal(trst, '1');
 503         }
 504
 505         struct signal *srst = find_signal_by_name("nSRST");
 506         if (srst && cmd->cmd.reset->srst == 1) {
 507                 ftdi_set_signal(srst, '0');
 508         } else if (srst && cmd->cmd.reset->srst == 0) {
 509                 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
 510                         ftdi_set_signal(srst, '1');
 511                 else
 512                         ftdi_set_signal(srst, 'z');
 513         }
 514
 515         DEBUG_JTAG_IO("trst: %i, srst: %i",
 516                 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 517         return ERROR_OK;
 518 }
 519
 520 static int ftdi_execute_sleep(struct jtag_command *cmd)
 521 {
 522         int retval = ERROR_OK;
 523
 524         DEBUG_JTAG_IO("sleep %" PRIi32, cmd->cmd.sleep->us);
 525
 526         retval = mpsse_flush(mpsse_ctx);
 527         jtag_sleep(cmd->cmd.sleep->us);
 528         DEBUG_JTAG_IO("sleep %" PRIi32 " usec while in %s",
 529                 cmd->cmd.sleep->us,
 530                 tap_state_name(tap_get_state()));
 531         return retval;
 532 }
 533
 534 static int ftdi_execute_stableclocks(struct jtag_command *cmd)
 535 {
 536         int retval = ERROR_OK;
 537
 538         /* this is only allowed while in a stable state.  A check for a stable
 539          * state was done in jtag_add_clocks()
 540          */
 541         int num_cycles = cmd->cmd.stableclocks->num_cycles;
 542
 543         /* 7 bits of either ones or zeros. */
 544         uint8_t tms = tap_get_state() == TAP_RESET ? 0x7f : 0x00;
 545
 546         /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
 547          * the correct level and remain there during the scan */
 548         while (num_cycles > 0 && retval == ERROR_OK) {
 549                 /* there are no state transitions in this code, so omit state tracking */
 550                 unsigned this_len = num_cycles > 7 ? 7 : num_cycles;
 551                 retval = mpsse_clock_tms_cs_out(mpsse_ctx, &tms, 0, this_len, false, JTAG_MODE);
 552                 num_cycles -= this_len;
 553         }
 554
 555         DEBUG_JTAG_IO("clocks %i while in %s",
 556                 cmd->cmd.stableclocks->num_cycles,
 557                 tap_state_name(tap_get_state()));
 558         return retval;
 559 }
 560
 561 static int ftdi_execute_command(struct jtag_command *cmd)
 562 {
 563         int retval;
 564
 565         switch (cmd->type) {
 566                 case JTAG_RESET:
 567                         retval = ftdi_execute_reset(cmd);
 568                         break;
 569                 case JTAG_RUNTEST:
 570                         retval = ftdi_execute_runtest(cmd);
 571                         break;
 572                 case JTAG_TLR_RESET:
 573                         retval = ftdi_execute_statemove(cmd);
 574                         break;
 575                 case JTAG_PATHMOVE:
 576                         retval = ftdi_execute_pathmove(cmd);
 577                         break;
 578                 case JTAG_SCAN:
 579                         retval = ftdi_execute_scan(cmd);
 580                         break;
 581                 case JTAG_SLEEP:
 582                         retval = ftdi_execute_sleep(cmd);
 583                         break;
 584                 case JTAG_STABLECLOCKS:
 585                         retval = ftdi_execute_stableclocks(cmd);
 586                         break;
 587                 case JTAG_TMS:
 588                         retval = ftdi_execute_tms(cmd);
 589                         break;
 590                 default:
 591                         LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd->type);
 592                         retval = ERROR_JTAG_QUEUE_FAILED;
 593                         break;
 594         }
 595         return retval;
 596 }
 597
 598 static int ftdi_execute_queue(void)
 599 {
 600         int retval = ERROR_OK;
 601
 602         /* blink, if the current layout has that feature */
 603         struct signal *led = find_signal_by_name("LED");
 604         if (led)
 605                 ftdi_set_signal(led, '1');
 606
 607         for (struct jtag_command *cmd = jtag_command_queue; cmd; cmd = cmd->next) {
 608                 /* fill the write buffer with the desired command */
 609                 if (ftdi_execute_command(cmd) != ERROR_OK)
 610                         retval = ERROR_JTAG_QUEUE_FAILED;
 611         }
 612
 613         if (led)
 614                 ftdi_set_signal(led, '0');
 615
 616         retval = mpsse_flush(mpsse_ctx);
 617         if (retval != ERROR_OK)
 618                 LOG_ERROR("error while flushing MPSSE queue: %d", retval);
 619
 620         return retval;
 621 }
 622
 623 static int ftdi_initialize(void)
 624 {
 625         int retval;
 626
 627         if (tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRPAUSE) == 7)
 628                 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
 629         else
 630                 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
 631
 632         for (int i = 0; ftdi_vid[i] || ftdi_pid[i]; i++) {
 633                 mpsse_ctx = mpsse_open(&ftdi_vid[i], &ftdi_pid[i], ftdi_device_desc,
 634                                 ftdi_serial, ftdi_channel);
 635                 if (mpsse_ctx)
 636                         break;
 637         }
 638
 639         if (!mpsse_ctx)
 640                 return ERROR_JTAG_INIT_FAILED;
 641
 642         retval = mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
 643         if (retval == ERROR_OK)
 644                 retval = mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
 645         if (retval != ERROR_OK) {
 646                 LOG_ERROR("couldn't initialize FTDI with 'JTAGkey' layout");
 647                 return ERROR_JTAG_INIT_FAILED;
 648         }
 649
 650         retval = mpsse_loopback_config(mpsse_ctx, false);
 651         if (retval != ERROR_OK) {
 652                 LOG_ERROR("couldn't write to FTDI to disable loopback");
 653                 return ERROR_JTAG_INIT_FAILED;
 654         }
 655
 656         return mpsse_flush(mpsse_ctx);
 657 }
 658
 659 static int ftdi_quit(void)
 660 {
 661         mpsse_close(mpsse_ctx);
 662
 663         return ERROR_OK;
 664 }
 665
 666 COMMAND_HANDLER(ftdi_handle_device_desc_command)
 667 {
 668         if (CMD_ARGC == 1) {
 669                 if (ftdi_device_desc)
 670                         free(ftdi_device_desc);
 671                 ftdi_device_desc = strdup(CMD_ARGV[0]);
 672         } else {
 673                 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
 674         }
 675
 676         return ERROR_OK;
 677 }
 678
 679 COMMAND_HANDLER(ftdi_handle_serial_command)
 680 {
 681         if (CMD_ARGC == 1) {
 682                 if (ftdi_serial)
 683                         free(ftdi_serial);
 684                 ftdi_serial = strdup(CMD_ARGV[0]);
 685         } else {
 686                 return ERROR_COMMAND_SYNTAX_ERROR;
 687         }
 688
 689         return ERROR_OK;
 690 }
 691
 692 COMMAND_HANDLER(ftdi_handle_channel_command)
 693 {
 694         if (CMD_ARGC == 1)
 695                 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], ftdi_channel);
 696         else
 697                 return ERROR_COMMAND_SYNTAX_ERROR;
 698
 699         return ERROR_OK;
 700 }
 701
 702 COMMAND_HANDLER(ftdi_handle_layout_init_command)
 703 {
 704         if (CMD_ARGC != 2)
 705                 return ERROR_COMMAND_SYNTAX_ERROR;
 706
 707         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], output);
 708         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], direction);
 709
 710         return ERROR_OK;
 711 }
 712
 713 COMMAND_HANDLER(ftdi_handle_layout_signal_command)
 714 {
 715         if (CMD_ARGC < 1)
 716                 return ERROR_COMMAND_SYNTAX_ERROR;
 717
 718         bool invert_data = false;
 719         uint16_t data_mask = 0;
 720         bool invert_oe = false;
 721         uint16_t oe_mask = 0;
 722         for (unsigned i = 1; i < CMD_ARGC; i += 2) {
 723                 if (strcmp("-data", CMD_ARGV[i]) == 0) {
 724                         invert_data = false;
 725                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 726                 } else if (strcmp("-ndata", CMD_ARGV[i]) == 0) {
 727                         invert_data = true;
 728                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 729                 } else if (strcmp("-oe", CMD_ARGV[i]) == 0) {
 730                         invert_oe = false;
 731                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 732                 } else if (strcmp("-noe", CMD_ARGV[i]) == 0) {
 733                         invert_oe = true;
 734                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 735                 } else {
 736                         LOG_ERROR("unknown option '%s'", CMD_ARGV[i]);
 737                         return ERROR_COMMAND_SYNTAX_ERROR;
 738                 }
 739         }
 740
 741         struct signal *sig;
 742         sig = find_signal_by_name(CMD_ARGV[0]);
 743         if (!sig)
 744                 sig = create_signal(CMD_ARGV[0]);
 745         if (!sig) {
 746                 LOG_ERROR("failed to create signal %s", CMD_ARGV[0]);
 747                 return ERROR_FAIL;
 748         }
 749
 750         sig->invert_data = invert_data;
 751         sig->data_mask = data_mask;
 752         sig->invert_oe = invert_oe;
 753         sig->oe_mask = oe_mask;
 754
 755         return ERROR_OK;
 756 }
 757
 758 COMMAND_HANDLER(ftdi_handle_set_signal_command)
 759 {
 760         if (CMD_ARGC < 2)
 761                 return ERROR_COMMAND_SYNTAX_ERROR;
 762
 763         struct signal *sig;
 764         sig = find_signal_by_name(CMD_ARGV[0]);
 765         if (!sig) {
 766                 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
 767                 return ERROR_FAIL;
 768         }
 769
 770         switch (*CMD_ARGV[1]) {
 771         case '0':
 772         case '1':
 773         case 'z':
 774         case 'Z':
 775                 /* single character level specifier only */
 776                 if (CMD_ARGV[1][1] == '\0') {
 777                         ftdi_set_signal(sig, *CMD_ARGV[1]);
 778                         break;
 779                 }
 780         default:
 781                 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV[1]);
 782                 return ERROR_COMMAND_SYNTAX_ERROR;
 783         }
 784
 785         return mpsse_flush(mpsse_ctx);
 786 }
 787
 788 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
 789 {
 790         if (CMD_ARGC > MAX_USB_IDS * 2) {
 791                 LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
 792                         "(maximum is %d pairs)", MAX_USB_IDS);
 793                 CMD_ARGC = MAX_USB_IDS * 2;
 794         }
 795         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
 796                 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
 797                 if (CMD_ARGC < 2)
 798                         return ERROR_COMMAND_SYNTAX_ERROR;
 799                 /* remove the incomplete trailing id */
 800                 CMD_ARGC -= 1;
 801         }
 802
 803         unsigned i;
 804         for (i = 0; i < CMD_ARGC; i += 2) {
 805                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], ftdi_vid[i >> 1]);
 806                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], ftdi_pid[i >> 1]);
 807         }
 808
 809         /*
 810          * Explicitly terminate, in case there are multiples instances of
 811          * ftdi_vid_pid.
 812          */
 813         ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
 814
 815         return ERROR_OK;
 816 }
 817
 818 static const struct command_registration ftdi_command_handlers[] = {
 819         {
 820                 .name = "ftdi_device_desc",
 821                 .handler = &ftdi_handle_device_desc_command,
 822                 .mode = COMMAND_CONFIG,
 823                 .help = "set the USB device description of the FTDI device",
 824                 .usage = "description_string",
 825         },
 826         {
 827                 .name = "ftdi_serial",
 828                 .handler = &ftdi_handle_serial_command,
 829                 .mode = COMMAND_CONFIG,
 830                 .help = "set the serial number of the FTDI device",
 831                 .usage = "serial_string",
 832         },
 833         {
 834                 .name = "ftdi_channel",
 835                 .handler = &ftdi_handle_channel_command,
 836                 .mode = COMMAND_CONFIG,
 837                 .help = "set the channel of the FTDI device that is used as JTAG",
 838                 .usage = "(0-3)",
 839         },
 840         {
 841                 .name = "ftdi_layout_init",
 842                 .handler = &ftdi_handle_layout_init_command,
 843                 .mode = COMMAND_CONFIG,
 844                 .help = "initialize the FTDI GPIO signals used "
 845                         "to control output-enables and reset signals",
 846                 .usage = "data direction",
 847         },
 848         {
 849                 .name = "ftdi_layout_signal",
 850                 .handler = &ftdi_handle_layout_signal_command,
 851                 .mode = COMMAND_ANY,
 852                 .help = "define a signal controlled by one or more FTDI GPIO as data "
 853                         "and/or output enable",
 854                 .usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask]",
 855         },
 856         {
 857                 .name = "ftdi_set_signal",
 858                 .handler = &ftdi_handle_set_signal_command,
 859                 .mode = COMMAND_EXEC,
 860                 .help = "control a layout-specific signal",
 861                 .usage = "name (1|0|z)",
 862         },
 863         {
 864                 .name = "ftdi_vid_pid",
 865                 .handler = &ftdi_handle_vid_pid_command,
 866                 .mode = COMMAND_CONFIG,
 867                 .help = "the vendor ID and product ID of the FTDI device",
 868                 .usage = "(vid pid)* ",
 869         },
 870         COMMAND_REGISTRATION_DONE
 871 };
 872
 873 struct jtag_interface ftdi_interface = {
 874         .name = "ftdi",
 875         .supported = DEBUG_CAP_TMS_SEQ,
 876         .commands = ftdi_command_handlers,
 877         .transports = jtag_only,
 878
 879         .init = ftdi_initialize,
 880         .quit = ftdi_quit,
 881         .speed = ftdi_speed,
 882         .speed_div = ftdi_speed_div,
 883         .khz = ftdi_khz,
 884         .execute_queue = ftdi_execute_queue,
 885 };