jtag: linuxgpiod: drop extra parenthesis

[openocd.git] / src / jtag / drivers / ft232r.c

// SPDX-License-Identifier: GPL-2.0-or-later

/***************************************************************************
 *   Copyright (C) 2010 Serge Vakulenko                                    *
 *   serge@vak.ru                                                          *
 ***************************************************************************/

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#if IS_CYGWIN == 1
#include "windows.h"
#undef LOG_ERROR
#endif

/* project specific includes */
#include <jtag/adapter.h>
#include <jtag/interface.h>
#include <jtag/commands.h>
#include <helper/time_support.h>
#include "libusb_helper.h"

/* system includes */
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/time.h>
#include <time.h>

/*
 * Sync bit bang mode is implemented as described in FTDI Application
 * Note AN232R-01: "Bit Bang Modes for the FT232R and FT245R".
 */

/*
 * USB endpoints.
 */
#define IN_EP                   0x02
#define OUT_EP                  0x81

/* Requests */
#define SIO_RESET               0 /* Reset the port */
#define SIO_MODEM_CTRL          1 /* Set the modem control register */
#define SIO_SET_FLOW_CTRL       2 /* Set flow control register */
#define SIO_SET_BAUD_RATE       3 /* Set baud rate */
#define SIO_SET_DATA            4 /* Set the data characteristics of the port */
#define SIO_POLL_MODEM_STATUS   5
#define SIO_SET_EVENT_CHAR      6
#define SIO_SET_ERROR_CHAR      7
#define SIO_SET_LATENCY_TIMER   9
#define SIO_GET_LATENCY_TIMER   10
#define SIO_SET_BITMODE         11
#define SIO_READ_PINS           12
#define SIO_READ_EEPROM         0x90
#define SIO_WRITE_EEPROM        0x91
#define SIO_ERASE_EEPROM        0x92

#define FT232R_BUF_SIZE_EXTRA   4096

static uint16_t ft232r_vid = 0x0403; /* FTDI */
static uint16_t ft232r_pid = 0x6001; /* FT232R */
static struct libusb_device_handle *adapter;

static uint8_t *ft232r_output;
static size_t ft232r_output_len;

/**
 * FT232R GPIO bit number to RS232 name
 */
#define FT232R_BIT_COUNT 8
static char *ft232r_bit_name_array[FT232R_BIT_COUNT] = {
        "TXD", /* 0: pin 1  TCK output */
        "RXD", /* 1: pin 5  TDI output */
        "RTS", /* 2: pin 3  TDO input */
        "CTS", /* 3: pin 11 TMS output */
        "DTR", /* 4: pin 2  /TRST output */
        "DSR", /* 5: pin 9  unused */
        "DCD", /* 6: pin 10 /SYSRST output */
        "RI"   /* 7: pin 6  unused */
};

static int tck_gpio; /* initialized to 0 by default */
static int tdi_gpio = 1;
static int tdo_gpio = 2;
static int tms_gpio = 3;
static int ntrst_gpio = 4;
static int nsysrst_gpio = 6;
static size_t ft232r_buf_size = FT232R_BUF_SIZE_EXTRA;
/** 0xFFFF disables restore by default, after exit serial port will not work.
 *  0x15 sets TXD RTS DTR as outputs, after exit serial port will continue to work.
 */
static uint16_t ft232r_restore_bitmode = 0xFFFF;

/**
 * Perform sync bitbang output/input transaction.
 * Before call, an array ft232r_output[] should be filled with data to send.
 * Counter ft232r_output_len contains the number of bytes to send.
 * On return, received data is put back to array ft232r_output[].
 */
static int ft232r_send_recv(void)
{
        /* FIFO TX buffer has 128 bytes.
         * FIFO RX buffer has 256 bytes.
         * First two bytes of received packet contain contain modem
         * and line status and are ignored.
         * Unfortunately, transfer sizes bigger than 64 bytes
         * frequently cause hang ups. */
        assert(ft232r_output_len > 0);

        size_t total_written = 0;
        size_t total_read = 0;
        int rxfifo_free = 128;

        while (total_read < ft232r_output_len) {
                /* Write */
                int bytes_to_write = ft232r_output_len - total_written;
                if (bytes_to_write > 64)
                        bytes_to_write = 64;
                if (bytes_to_write > rxfifo_free)
                        bytes_to_write = rxfifo_free;

                if (bytes_to_write) {
                        int n;

                        if (jtag_libusb_bulk_write(adapter, IN_EP,
                                                   (char *) ft232r_output + total_written,
                                                   bytes_to_write, 1000, &n) != ERROR_OK) {
                                LOG_ERROR("usb bulk write failed");
                                return ERROR_JTAG_DEVICE_ERROR;
                        }

                        total_written += n;
                        rxfifo_free -= n;
                }

                /* Read */
                uint8_t reply[64];
                int n;

                if (jtag_libusb_bulk_read(adapter, OUT_EP, (char *) reply,
                                          sizeof(reply), 1000, &n) != ERROR_OK) {
                        LOG_ERROR("usb bulk read failed");
                        return ERROR_JTAG_DEVICE_ERROR;
                }
                if (n > 2) {
                        /* Copy data, ignoring first 2 bytes. */
                        memcpy(ft232r_output + total_read, reply + 2, n - 2);
                        int bytes_read = n - 2;
                        total_read += bytes_read;
                        rxfifo_free += bytes_read;
                        if (total_read > total_written) {
                                LOG_ERROR("read more bytes than wrote");
                                return ERROR_JTAG_DEVICE_ERROR;
                        }
                }
        }
        ft232r_output_len = 0;
        return ERROR_OK;
}

static void ft232r_increase_buf_size(size_t new_buf_size)
{
        uint8_t *new_buf_ptr;
        if (new_buf_size >= ft232r_buf_size) {
                new_buf_size += FT232R_BUF_SIZE_EXTRA;
                new_buf_ptr = realloc(ft232r_output, new_buf_size);
                if (new_buf_ptr) {
                        ft232r_output = new_buf_ptr;
                        ft232r_buf_size = new_buf_size;
                }
        }
}

/**
 * Add one TCK/TMS/TDI sample to send buffer.
 */
static void ft232r_write(int tck, int tms, int tdi)
{
        unsigned out_value = (1<<ntrst_gpio) | (1<<nsysrst_gpio);
        if (tck)
                out_value |= (1<<tck_gpio);
        if (tms)
                out_value |= (1<<tms_gpio);
        if (tdi)
                out_value |= (1<<tdi_gpio);

        ft232r_increase_buf_size(ft232r_output_len);

        if (ft232r_output_len >= ft232r_buf_size) {
                /* FIXME: should we just execute queue here? */
                LOG_ERROR("ft232r_write: buffer overflow");
                return;
        }
        ft232r_output[ft232r_output_len++] = out_value;
}

/**
 * Control /TRST and /SYSRST pins.
 * Perform immediate bitbang transaction.
 */
static void ft232r_reset(int trst, int srst)
{
        unsigned out_value = (1<<ntrst_gpio) | (1<<nsysrst_gpio);
        LOG_DEBUG("ft232r_reset(%d,%d)", trst, srst);

        if (trst == 1)
                out_value &= ~(1<<ntrst_gpio);          /* switch /TRST low */
        else if (trst == 0)
                out_value |= (1<<ntrst_gpio);                   /* switch /TRST high */

        if (srst == 1)
                out_value &= ~(1<<nsysrst_gpio);                /* switch /SYSRST low */
        else if (srst == 0)
                out_value |= (1<<nsysrst_gpio);         /* switch /SYSRST high */

        ft232r_increase_buf_size(ft232r_output_len);

        if (ft232r_output_len >= ft232r_buf_size) {
                /* FIXME: should we just execute queue here? */
                LOG_ERROR("ft232r_write: buffer overflow");
                return;
        }

        ft232r_output[ft232r_output_len++] = out_value;
        ft232r_send_recv();
}

static int ft232r_speed(int divisor)
{
        int baud = (divisor == 0) ? 3000000 :
                (divisor == 1) ? 2000000 :
                3000000 / divisor;
        LOG_DEBUG("ft232r_speed(%d) rate %d bits/sec", divisor, baud);

        if (jtag_libusb_control_transfer(adapter,
                LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE | LIBUSB_ENDPOINT_OUT,
                SIO_SET_BAUD_RATE, divisor, 0, NULL, 0, 1000, NULL) != ERROR_OK) {
                LOG_ERROR("cannot set baud rate");
                return ERROR_JTAG_DEVICE_ERROR;
        }
        return ERROR_OK;
}

static int ft232r_init(void)
{
        uint16_t avids[] = {ft232r_vid, 0};
        uint16_t apids[] = {ft232r_pid, 0};
        if (jtag_libusb_open(avids, apids, NULL, &adapter, NULL)) {
                const char *ft232r_serial_desc = adapter_get_required_serial();
                LOG_ERROR("ft232r not found: vid=%04x, pid=%04x, serial=%s\n",
                        ft232r_vid, ft232r_pid, (!ft232r_serial_desc) ? "[any]" : ft232r_serial_desc);
                return ERROR_JTAG_INIT_FAILED;
        }

        if (ft232r_restore_bitmode == 0xFFFF) /* serial port will not be restored after jtag: */
                libusb_detach_kernel_driver(adapter, 0);
        else /* serial port will be restored after jtag: */
                libusb_set_auto_detach_kernel_driver(adapter, 1); /* 1: DONT_DETACH_SIO_MODULE */

        if (libusb_claim_interface(adapter, 0)) {
                LOG_ERROR("unable to claim interface");
                return ERROR_JTAG_INIT_FAILED;
        }

        /* Reset the device. */
        if (jtag_libusb_control_transfer(adapter,
                LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE | LIBUSB_ENDPOINT_OUT,
                SIO_RESET, 0, 0, NULL, 0, 1000, NULL) != ERROR_OK) {
                LOG_ERROR("unable to reset device");
                return ERROR_JTAG_INIT_FAILED;
        }

        /* Sync bit bang mode. */
        if (jtag_libusb_control_transfer(adapter,
                LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE | LIBUSB_ENDPOINT_OUT,
                SIO_SET_BITMODE, (1<<tck_gpio) | (1<<tdi_gpio) | (1<<tms_gpio) | (1<<ntrst_gpio) | (1<<nsysrst_gpio) | 0x400,
                0, NULL, 0, 1000, NULL) != ERROR_OK) {
                LOG_ERROR("cannot set sync bitbang mode");
                return ERROR_JTAG_INIT_FAILED;
        }

        /* Exactly 500 nsec between updates. */
        unsigned divisor = 1;
        unsigned char latency_timer = 1;

        /* Frequency divisor is 14-bit non-zero value. */
        if (jtag_libusb_control_transfer(adapter,
                LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE | LIBUSB_ENDPOINT_OUT,
                SIO_SET_BAUD_RATE, divisor,
                0, NULL, 0, 1000, NULL) != ERROR_OK) {
                LOG_ERROR("cannot set baud rate");
                return ERROR_JTAG_INIT_FAILED;
        }
        if (jtag_libusb_control_transfer(adapter,
                LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE | LIBUSB_ENDPOINT_OUT,
                SIO_SET_LATENCY_TIMER, latency_timer, 0, NULL, 0, 1000, NULL) != ERROR_OK) {
                LOG_ERROR("unable to set latency timer");
                return ERROR_JTAG_INIT_FAILED;
        }

        ft232r_output = malloc(ft232r_buf_size);
        if (!ft232r_output) {
                LOG_ERROR("Unable to allocate memory for the buffer");
                return ERROR_JTAG_INIT_FAILED;
        }

        return ERROR_OK;
}

static int ft232r_quit(void)
{
        /* to restore serial port: set TXD RTS DTR as outputs, others as inputs, disable sync bit bang mode. */
        if (ft232r_restore_bitmode != 0xFFFF) {
                if (jtag_libusb_control_transfer(adapter,
                        LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE | LIBUSB_ENDPOINT_OUT,
                        SIO_SET_BITMODE, ft232r_restore_bitmode,
                        0, NULL, 0, 1000, NULL) != ERROR_OK) {
                        LOG_ERROR("cannot set bitmode to restore serial port");
                }
        }

        if (libusb_release_interface(adapter, 0) != 0)
                LOG_ERROR("usb release interface failed");

        jtag_libusb_close(adapter);

        free(ft232r_output); /* free used memory */
        ft232r_output = NULL; /* reset pointer to memory */
        ft232r_buf_size = FT232R_BUF_SIZE_EXTRA; /* reset next initial buffer size */

        return ERROR_OK;
}

static int ft232r_speed_div(int divisor, int *khz)
{
        /* Maximum 3 Mbaud for bit bang mode. */
        if (divisor == 0)
                *khz = 3000;
        else if (divisor == 1)
                *khz = 2000;
        else
                *khz = 3000 / divisor;
        return ERROR_OK;
}

static int ft232r_khz(int khz, int *divisor)
{
        if (khz == 0) {
                LOG_DEBUG("RCLK not supported");
                return ERROR_FAIL;
        }

        /* Calculate frequency divisor. */
        if (khz > 2500)
                *divisor = 0;           /* Special case: 3 MHz */
        else if (khz > 1700)
                *divisor = 1;           /* Special case: 2 MHz */
        else {
                *divisor = (2*3000 / khz + 1) / 2;
                if (*divisor > 0x3FFF)
                        *divisor = 0x3FFF;
        }
        return ERROR_OK;
}

static char *ft232r_bit_number_to_name(int bit)
{
        if (bit >= 0 && bit < FT232R_BIT_COUNT)
                return ft232r_bit_name_array[bit];
        return "?";
}

static int ft232r_bit_name_to_number(const char *name)
{
        int i;
        if (name[0] >= '0' && name[0] <= '9' && name[1] == '\0') {
                i = atoi(name);
                if (i >= 0 && i < FT232R_BIT_COUNT)
                        return i;
        }
        for (i = 0; i < FT232R_BIT_COUNT; i++)
                if (strcasecmp(name, ft232r_bit_name_array[i]) == 0)
                        return i;
        return -1;
}

COMMAND_HANDLER(ft232r_handle_vid_pid_command)
{
        if (CMD_ARGC > 2) {
                LOG_WARNING("ignoring extra IDs in ft232r_vid_pid "
                                        "(maximum is 1 pair)");
                CMD_ARGC = 2;
        }
        if (CMD_ARGC == 2) {
                COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], ft232r_vid);
                COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], ft232r_pid);
        } else
                LOG_WARNING("incomplete ft232r_vid_pid configuration");

        return ERROR_OK;
}

COMMAND_HANDLER(ft232r_handle_jtag_nums_command)
{
        if (CMD_ARGC == 4) {
                tck_gpio = ft232r_bit_name_to_number(CMD_ARGV[0]);
                tms_gpio = ft232r_bit_name_to_number(CMD_ARGV[1]);
                tdi_gpio = ft232r_bit_name_to_number(CMD_ARGV[2]);
                tdo_gpio = ft232r_bit_name_to_number(CMD_ARGV[3]);
        } else if (CMD_ARGC != 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        if (tck_gpio < 0)
                return ERROR_COMMAND_SYNTAX_ERROR;
        if (tms_gpio < 0)
                return ERROR_COMMAND_SYNTAX_ERROR;
        if (tdi_gpio < 0)
                return ERROR_COMMAND_SYNTAX_ERROR;
        if (tdo_gpio < 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        command_print(CMD,
                        "FT232R nums: TCK = %d %s, TMS = %d %s, TDI = %d %s, TDO = %d %s",
                        tck_gpio, ft232r_bit_number_to_name(tck_gpio),
                        tms_gpio, ft232r_bit_number_to_name(tms_gpio),
                        tdi_gpio, ft232r_bit_number_to_name(tdi_gpio),
                        tdo_gpio, ft232r_bit_number_to_name(tdo_gpio));

        return ERROR_OK;
}

COMMAND_HANDLER(ft232r_handle_tck_num_command)
{
        if (CMD_ARGC == 1)
                tck_gpio = ft232r_bit_name_to_number(CMD_ARGV[0]);
        else if (CMD_ARGC != 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        if (tck_gpio < 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        command_print(CMD,
                        "FT232R num: TCK = %d %s", tck_gpio, ft232r_bit_number_to_name(tck_gpio));

        return ERROR_OK;
}

COMMAND_HANDLER(ft232r_handle_tms_num_command)
{
        if (CMD_ARGC == 1)
                tms_gpio = ft232r_bit_name_to_number(CMD_ARGV[0]);
        else if (CMD_ARGC != 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        if (tms_gpio < 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        command_print(CMD,
                        "FT232R num: TMS = %d %s", tms_gpio, ft232r_bit_number_to_name(tms_gpio));

        return ERROR_OK;
}

COMMAND_HANDLER(ft232r_handle_tdo_num_command)
{
        if (CMD_ARGC == 1)
                tdo_gpio = ft232r_bit_name_to_number(CMD_ARGV[0]);
        else if (CMD_ARGC != 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        if (tdo_gpio < 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        command_print(CMD,
                        "FT232R num: TDO = %d %s", tdo_gpio, ft232r_bit_number_to_name(tdo_gpio));

        return ERROR_OK;
}

COMMAND_HANDLER(ft232r_handle_tdi_num_command)
{
        if (CMD_ARGC == 1)
                tdi_gpio = ft232r_bit_name_to_number(CMD_ARGV[0]);
        else if (CMD_ARGC != 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        if (tdi_gpio < 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        command_print(CMD,
                        "FT232R num: TDI = %d %s", tdi_gpio, ft232r_bit_number_to_name(tdi_gpio));

        return ERROR_OK;
}

COMMAND_HANDLER(ft232r_handle_trst_num_command)
{
        if (CMD_ARGC == 1)
                ntrst_gpio = ft232r_bit_name_to_number(CMD_ARGV[0]);
        else if (CMD_ARGC != 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        if (ntrst_gpio < 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        command_print(CMD,
                        "FT232R num: TRST = %d %s", ntrst_gpio, ft232r_bit_number_to_name(ntrst_gpio));

        return ERROR_OK;
}

COMMAND_HANDLER(ft232r_handle_srst_num_command)
{
        if (CMD_ARGC == 1)
                nsysrst_gpio = ft232r_bit_name_to_number(CMD_ARGV[0]);
        else if (CMD_ARGC != 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        if (nsysrst_gpio < 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        command_print(CMD,
                        "FT232R num: SRST = %d %s", nsysrst_gpio, ft232r_bit_number_to_name(nsysrst_gpio));

        return ERROR_OK;
}

COMMAND_HANDLER(ft232r_handle_restore_serial_command)
{
        if (CMD_ARGC == 1)
                COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], ft232r_restore_bitmode);
        else if (CMD_ARGC != 0)
                return ERROR_COMMAND_SYNTAX_ERROR;

        command_print(CMD,
                        "FT232R restore serial: 0x%04X (%s)",
                        ft232r_restore_bitmode, ft232r_restore_bitmode == 0xFFFF ? "disabled" : "enabled");

        return ERROR_OK;
}

static const struct command_registration ft232r_subcommand_handlers[] = {
        {
                .name = "vid_pid",
                .handler = ft232r_handle_vid_pid_command,
                .mode = COMMAND_CONFIG,
                .help = "USB VID and PID of the adapter",
                .usage = "vid pid",
        },
        {
                .name = "jtag_nums",
                .handler = ft232r_handle_jtag_nums_command,
                .mode = COMMAND_CONFIG,
                .help = "gpio numbers for tck, tms, tdi, tdo. (in that order)",
                .usage = "<0-7|TXD-RI> <0-7|TXD-RI> <0-7|TXD-RI> <0-7|TXD-RI>",
        },
        {
                .name = "tck_num",
                .handler = ft232r_handle_tck_num_command,
                .mode = COMMAND_CONFIG,
                .help = "gpio number for tck.",
                .usage = "<0-7|TXD|RXD|RTS|CTS|DTR|DSR|DCD|RI>",
        },
        {
                .name = "tms_num",
                .handler = ft232r_handle_tms_num_command,
                .mode = COMMAND_CONFIG,
                .help = "gpio number for tms.",
                .usage = "<0-7|TXD|RXD|RTS|CTS|DTR|DSR|DCD|RI>",
        },
        {
                .name = "tdo_num",
                .handler = ft232r_handle_tdo_num_command,
                .mode = COMMAND_CONFIG,
                .help = "gpio number for tdo.",
                .usage = "<0-7|TXD|RXD|RTS|CTS|DTR|DSR|DCD|RI>",
        },
        {
                .name = "tdi_num",
                .handler = ft232r_handle_tdi_num_command,
                .mode = COMMAND_CONFIG,
                .help = "gpio number for tdi.",
                .usage = "<0-7|TXD|RXD|RTS|CTS|DTR|DSR|DCD|RI>",
        },
        {
                .name = "srst_num",
                .handler = ft232r_handle_srst_num_command,
                .mode = COMMAND_CONFIG,
                .help = "gpio number for srst.",
                .usage = "<0-7|TXD|RXD|RTS|CTS|DTR|DSR|DCD|RI>",
        },
        {
                .name = "trst_num",
                .handler = ft232r_handle_trst_num_command,
                .mode = COMMAND_CONFIG,
                .help = "gpio number for trst.",
                .usage = "<0-7|TXD|RXD|RTS|CTS|DTR|DSR|DCD|RI>",
        },
        {
                .name = "restore_serial",
                .handler = ft232r_handle_restore_serial_command,
                .mode = COMMAND_CONFIG,
                .help = "bitmode control word that restores serial port.",
                .usage = "bitmode_control_word",
        },
        COMMAND_REGISTRATION_DONE
};

static const struct command_registration ft232r_command_handlers[] = {
        {
                .name = "ft232r",
                .mode = COMMAND_ANY,
                .help = "perform ft232r management",
                .chain = ft232r_subcommand_handlers,
                .usage = "",
        },
        COMMAND_REGISTRATION_DONE
};

/*
 * Synchronous bitbang protocol implementation.
 */

static void syncbb_end_state(tap_state_t state)
{
        if (tap_is_state_stable(state))
                tap_set_end_state(state);
        else {
                LOG_ERROR("BUG: %i is not a valid end state", state);
                exit(-1);
        }
}

static void syncbb_state_move(int skip)
{
        int i = 0, tms = 0;
        uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
        int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());

        for (i = skip; i < tms_count; i++) {
                tms = (tms_scan >> i) & 1;
                ft232r_write(0, tms, 0);
                ft232r_write(1, tms, 0);
        }
        ft232r_write(0, tms, 0);

        tap_set_state(tap_get_end_state());
}

/**
 * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
 * (or SWD) state machine.
 */
static int syncbb_execute_tms(struct jtag_command *cmd)
{
        unsigned num_bits = cmd->cmd.tms->num_bits;
        const uint8_t *bits = cmd->cmd.tms->bits;

        LOG_DEBUG_IO("TMS: %d bits", num_bits);

        int tms = 0;
        for (unsigned i = 0; i < num_bits; i++) {
                tms = ((bits[i/8] >> (i % 8)) & 1);
                ft232r_write(0, tms, 0);
                ft232r_write(1, tms, 0);
        }
        ft232r_write(0, tms, 0);

        return ERROR_OK;
}

static void syncbb_path_move(struct pathmove_command *cmd)
{
        int num_states = cmd->num_states;
        int state_count;
        int tms = 0;

        state_count = 0;
        while (num_states) {
                if (tap_state_transition(tap_get_state(), false) == cmd->path[state_count]) {
                        tms = 0;
                } else if (tap_state_transition(tap_get_state(), true) == cmd->path[state_count]) {
                        tms = 1;
                } else {
                        LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
                                tap_state_name(tap_get_state()),
                                tap_state_name(cmd->path[state_count]));
                        exit(-1);
                }

                ft232r_write(0, tms, 0);
                ft232r_write(1, tms, 0);

                tap_set_state(cmd->path[state_count]);
                state_count++;
                num_states--;
        }

        ft232r_write(0, tms, 0);

        tap_set_end_state(tap_get_state());
}

static void syncbb_runtest(int num_cycles)
{
        int i;

        tap_state_t saved_end_state = tap_get_end_state();

        /* only do a state_move when we're not already in IDLE */
        if (tap_get_state() != TAP_IDLE) {
                syncbb_end_state(TAP_IDLE);
                syncbb_state_move(0);
        }

        /* execute num_cycles */
        for (i = 0; i < num_cycles; i++) {
                ft232r_write(0, 0, 0);
                ft232r_write(1, 0, 0);
        }
        ft232r_write(0, 0, 0);

        /* finish in end_state */
        syncbb_end_state(saved_end_state);
        if (tap_get_state() != tap_get_end_state())
                syncbb_state_move(0);
}

/**
 * Function syncbb_stableclocks
 * issues a number of clock cycles while staying in a stable state.
 * Because the TMS value required to stay in the RESET state is a 1, whereas
 * the TMS value required to stay in any of the other stable states is a 0,
 * this function checks the current stable state to decide on the value of TMS
 * to use.
 */
static void syncbb_stableclocks(int num_cycles)
{
        int tms = (tap_get_state() == TAP_RESET ? 1 : 0);
        int i;

        /* send num_cycles clocks onto the cable */
        for (i = 0; i < num_cycles; i++) {
                ft232r_write(1, tms, 0);
                ft232r_write(0, tms, 0);
        }
}

static void syncbb_scan(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size)
{
        tap_state_t saved_end_state = tap_get_end_state();
        int bit_cnt, bit0_index;

        if (!((!ir_scan && (tap_get_state() == TAP_DRSHIFT)) || (ir_scan && (tap_get_state() == TAP_IRSHIFT)))) {
                if (ir_scan)
                        syncbb_end_state(TAP_IRSHIFT);
                else
                        syncbb_end_state(TAP_DRSHIFT);

                syncbb_state_move(0);
                syncbb_end_state(saved_end_state);
        }

        bit0_index = ft232r_output_len;
        for (bit_cnt = 0; bit_cnt < scan_size; bit_cnt++) {
                int tms = (bit_cnt == scan_size-1) ? 1 : 0;
                int tdi;
                int bytec = bit_cnt/8;
                int bcval = 1 << (bit_cnt % 8);

                /* if we're just reading the scan, but don't care about the output
                 * default to outputting 'low', this also makes valgrind traces more readable,
                 * as it removes the dependency on an uninitialised value
                 */
                tdi = 0;
                if ((type != SCAN_IN) && (buffer[bytec] & bcval))
                        tdi = 1;

                ft232r_write(0, tms, tdi);
                ft232r_write(1, tms, tdi);
        }

        if (tap_get_state() != tap_get_end_state()) {
                /* we *KNOW* the above loop transitioned out of
                 * the shift state, so we skip the first state
                 * and move directly to the end state.
                 */
                syncbb_state_move(1);
        }
        ft232r_send_recv();

        if (type != SCAN_OUT)
                for (bit_cnt = 0; bit_cnt < scan_size; bit_cnt++) {
                        int bytec = bit_cnt/8;
                        int bcval = 1 << (bit_cnt % 8);
                        int val = ft232r_output[bit0_index + bit_cnt*2 + 1];

                        if (val & (1<<tdo_gpio))
                                buffer[bytec] |= bcval;
                        else
                                buffer[bytec] &= ~bcval;
                }
}

static int syncbb_execute_queue(struct jtag_command *cmd_queue)
{
        struct jtag_command *cmd = cmd_queue; /* currently processed command */
        int scan_size;
        enum scan_type type;
        uint8_t *buffer;
        int retval;

        /* return ERROR_OK, unless a jtag_read_buffer returns a failed check
         * that wasn't handled by a caller-provided error handler
         */
        retval = ERROR_OK;

/*      ft232r_blink(1);*/

        while (cmd) {
                switch (cmd->type) {
                        case JTAG_RESET:
                                LOG_DEBUG_IO("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);

                                if ((cmd->cmd.reset->trst == 1) ||
                                        (cmd->cmd.reset->srst &&
                                        (jtag_get_reset_config() & RESET_SRST_PULLS_TRST))) {
                                        tap_set_state(TAP_RESET);
                                }
                                ft232r_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
                                break;

                        case JTAG_RUNTEST:
                                LOG_DEBUG_IO("runtest %i cycles, end in %s", cmd->cmd.runtest->num_cycles,
                                        tap_state_name(cmd->cmd.runtest->end_state));

                                syncbb_end_state(cmd->cmd.runtest->end_state);
                                syncbb_runtest(cmd->cmd.runtest->num_cycles);
                                break;

                        case JTAG_STABLECLOCKS:
                                /* this is only allowed while in a stable state.  A check for a stable
                                 * state was done in jtag_add_clocks()
                                 */
                                syncbb_stableclocks(cmd->cmd.stableclocks->num_cycles);
                                break;

                        case JTAG_TLR_RESET: /* renamed from JTAG_STATEMOVE */
                                LOG_DEBUG_IO("statemove end in %s", tap_state_name(cmd->cmd.statemove->end_state));

                                syncbb_end_state(cmd->cmd.statemove->end_state);
                                syncbb_state_move(0);
                                break;

                        case JTAG_PATHMOVE:
                                LOG_DEBUG_IO("pathmove: %i states, end in %s", cmd->cmd.pathmove->num_states,
                                        tap_state_name(cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]));

                                syncbb_path_move(cmd->cmd.pathmove);
                                break;

                        case JTAG_SCAN:
                                LOG_DEBUG_IO("%s scan end in %s",  (cmd->cmd.scan->ir_scan) ? "IR" : "DR",
                                        tap_state_name(cmd->cmd.scan->end_state));

                                syncbb_end_state(cmd->cmd.scan->end_state);
                                scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
                                type = jtag_scan_type(cmd->cmd.scan);
                                syncbb_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size);
                                if (jtag_read_buffer(buffer, cmd->cmd.scan) != ERROR_OK)
                                        retval = ERROR_JTAG_QUEUE_FAILED;
                                free(buffer);
                                break;

                        case JTAG_SLEEP:
                                LOG_DEBUG_IO("sleep %" PRIu32, cmd->cmd.sleep->us);

                                jtag_sleep(cmd->cmd.sleep->us);
                                break;

                        case JTAG_TMS:
                                retval = syncbb_execute_tms(cmd);
                                break;
                        default:
                                LOG_ERROR("BUG: unknown JTAG command type encountered");
                                exit(-1);
                }
                if (ft232r_output_len > 0)
                        ft232r_send_recv();
                cmd = cmd->next;
        }
/*      ft232r_blink(0);*/

        return retval;
}

static struct jtag_interface ft232r_interface = {
        .supported = DEBUG_CAP_TMS_SEQ,
        .execute_queue = syncbb_execute_queue,
};

struct adapter_driver ft232r_adapter_driver = {
        .name = "ft232r",
        .transports = jtag_only,
        .commands = ft232r_command_handlers,

        .init = ft232r_init,
        .quit = ft232r_quit,
        .speed = ft232r_speed,
        .khz = ft232r_khz,
        .speed_div = ft232r_speed_div,

        .jtag_ops = &ft232r_interface,
};