1 /**************************************************************************
2 * Copyright (C) 2012 by Andreas Fritiofson *
3 * andreas.fritiofson@gmail.com *
5 * This program is free software; you can redistribute it and/or modify *
6 * it under the terms of the GNU General Public License as published by *
7 * the Free Software Foundation; either version 2 of the License, or *
8 * (at your option) any later version. *
10 * This program is distributed in the hope that it will be useful, *
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13 * GNU General Public License for more details. *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
17 ***************************************************************************/
21 * JTAG adapters based on the FT2232 full and high speed USB parts are
22 * popular low cost JTAG debug solutions. Many FT2232 based JTAG adapters
23 * are discrete, but development boards may integrate them as alternatives
24 * to more capable (and expensive) third party JTAG pods.
26 * JTAG uses only one of the two communications channels ("MPSSE engines")
27 * on these devices. Adapters based on FT4232 parts have four ports/channels
28 * (A/B/C/D), instead of just two (A/B).
30 * Especially on development boards integrating one of these chips (as
31 * opposed to discrete pods/dongles), the additional channels can be used
32 * for a variety of purposes, but OpenOCD only uses one channel at a time.
34 * - As a USB-to-serial adapter for the target's console UART ...
35 * which may be able to support ROM boot loaders that load initial
36 * firmware images to flash (or SRAM).
38 * - On systems which support ARM's SWD in addition to JTAG, or instead
39 * of it, that second port can be used for reading SWV/SWO trace data.
41 * - Additional JTAG links, e.g. to a CPLD or * FPGA.
43 * FT2232 based JTAG adapters are "dumb" not "smart", because most JTAG
44 * request/response interactions involve round trips over the USB link.
45 * A "smart" JTAG adapter has intelligence close to the scan chain, so it
46 * can for example poll quickly for a status change (usually taking on the
47 * order of microseconds not milliseconds) before beginning a queued
48 * transaction which require the previous one to have completed.
50 * There are dozens of adapters of this type, differing in details which
51 * this driver needs to understand. Those "layout" details are required
52 * as part of FT2232 driver configuration.
54 * This code uses information contained in the MPSSE specification which was
56 * https://www.ftdichip.com/Support/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
57 * Hereafter this is called the "MPSSE Spec".
59 * The datasheet for the ftdichip.com's FT2232H part is here:
60 * https://www.ftdichip.com/Support/Documents/DataSheets/ICs/DS_FT2232H.pdf
62 * Also note the issue with code 0x4b (clock data to TMS) noted in
63 * http://developer.intra2net.com/mailarchive/html/libftdi/2009/msg00292.html
64 * which can affect longer JTAG state paths.
71 /* project specific includes */
72 #include <jtag/drivers/jtag_usb_common.h>
73 #include <jtag/interface.h>
75 #include <transport/transport.h>
76 #include <helper/time_support.h>
84 /* FTDI access library includes */
87 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
88 #define JTAG_MODE_ALT (LSB_FIRST | NEG_EDGE_IN | NEG_EDGE_OUT)
89 #define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
91 static char *ftdi_device_desc
;
92 static char *ftdi_serial
;
93 static uint8_t ftdi_channel
;
94 static uint8_t ftdi_jtag_mode
= JTAG_MODE
;
99 /* vid = pid = 0 marks the end of the list */
100 static uint16_t ftdi_vid
[MAX_USB_IDS
+ 1] = { 0 };
101 static uint16_t ftdi_pid
[MAX_USB_IDS
+ 1] = { 0 };
103 static struct mpsse_ctx
*mpsse_ctx
;
116 static struct signal
*signals
;
118 /* FIXME: Where to store per-instance data? We need an SWD context. */
119 static struct swd_cmd_queue_entry
{
122 uint8_t trn_ack_data_parity_trn
[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
124 static size_t swd_cmd_queue_length
;
125 static size_t swd_cmd_queue_alloced
;
126 static int queued_retval
;
129 static uint16_t output
;
130 static uint16_t direction
;
131 static uint16_t jtag_output_init
;
132 static uint16_t jtag_direction_init
;
134 static int ftdi_swd_switch_seq(enum swd_special_seq seq
);
136 static struct signal
*find_signal_by_name(const char *name
)
138 for (struct signal
*sig
= signals
; sig
; sig
= sig
->next
) {
139 if (strcmp(name
, sig
->name
) == 0)
145 static struct signal
*create_signal(const char *name
)
147 struct signal
**psig
= &signals
;
149 psig
= &(*psig
)->next
;
151 *psig
= calloc(1, sizeof(**psig
));
155 (*psig
)->name
= strdup(name
);
156 if ((*psig
)->name
== NULL
) {
163 static int ftdi_set_signal(const struct signal
*s
, char value
)
168 if (s
->data_mask
== 0 && s
->oe_mask
== 0) {
169 LOG_ERROR("interface doesn't provide signal '%s'", s
->name
);
174 data
= s
->invert_data
;
178 if (s
->data_mask
== 0) {
179 LOG_ERROR("interface can't drive '%s' high", s
->name
);
182 data
= !s
->invert_data
;
187 if (s
->oe_mask
== 0) {
188 LOG_ERROR("interface can't tri-state '%s'", s
->name
);
191 data
= s
->invert_data
;
195 assert(0 && "invalid signal level specifier");
199 uint16_t old_output
= output
;
200 uint16_t old_direction
= direction
;
202 output
= data ? output
| s
->data_mask
: output
& ~s
->data_mask
;
203 if (s
->oe_mask
== s
->data_mask
)
204 direction
= oe ? direction
| s
->oe_mask
: direction
& ~s
->oe_mask
;
206 output
= oe ? output
| s
->oe_mask
: output
& ~s
->oe_mask
;
208 if ((output
& 0xff) != (old_output
& 0xff) || (direction
& 0xff) != (old_direction
& 0xff))
209 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
210 if ((output
>> 8 != old_output
>> 8) || (direction
>> 8 != old_direction
>> 8))
211 mpsse_set_data_bits_high_byte(mpsse_ctx
, output
>> 8, direction
>> 8);
216 static int ftdi_get_signal(const struct signal
*s
, uint16_t * value_out
)
218 uint8_t data_low
= 0;
219 uint8_t data_high
= 0;
221 if (s
->input_mask
== 0) {
222 LOG_ERROR("interface doesn't provide signal '%s'", s
->name
);
226 if (s
->input_mask
& 0xff)
227 mpsse_read_data_bits_low_byte(mpsse_ctx
, &data_low
);
228 if (s
->input_mask
>> 8)
229 mpsse_read_data_bits_high_byte(mpsse_ctx
, &data_high
);
231 mpsse_flush(mpsse_ctx
);
233 *value_out
= (((uint16_t)data_high
) << 8) | data_low
;
236 *value_out
= ~(*value_out
);
238 *value_out
&= s
->input_mask
;
244 * Function move_to_state
245 * moves the TAP controller from the current state to a
246 * \a goal_state through a path given by tap_get_tms_path(). State transition
247 * logging is performed by delegation to clock_tms().
249 * @param goal_state is the destination state for the move.
251 static void move_to_state(tap_state_t goal_state
)
253 tap_state_t start_state
= tap_get_state();
255 /* goal_state is 1/2 of a tuple/pair of states which allow convenient
256 lookup of the required TMS pattern to move to this state from the
260 /* do the 2 lookups */
261 uint8_t tms_bits
= tap_get_tms_path(start_state
, goal_state
);
262 int tms_count
= tap_get_tms_path_len(start_state
, goal_state
);
263 assert(tms_count
<= 8);
265 DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state
), tap_state_name(goal_state
));
267 /* Track state transitions step by step */
268 for (int i
= 0; i
< tms_count
; i
++)
269 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits
>> i
) & 1));
271 mpsse_clock_tms_cs_out(mpsse_ctx
,
279 static int ftdi_speed(int speed
)
282 retval
= mpsse_set_frequency(mpsse_ctx
, speed
);
285 LOG_ERROR("couldn't set FTDI TCK speed");
289 if (!swd_mode
&& speed
>= 10000000 && ftdi_jtag_mode
!= JTAG_MODE_ALT
)
290 LOG_INFO("ftdi: if you experience problems at higher adapter clocks, try "
291 "the command \"ftdi_tdo_sample_edge falling\"");
295 static int ftdi_speed_div(int speed
, int *khz
)
301 static int ftdi_khz(int khz
, int *jtag_speed
)
303 if (khz
== 0 && !mpsse_is_high_speed(mpsse_ctx
)) {
304 LOG_DEBUG("RCLK not supported");
308 *jtag_speed
= khz
* 1000;
312 static void ftdi_end_state(tap_state_t state
)
314 if (tap_is_state_stable(state
))
315 tap_set_end_state(state
);
317 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state
));
322 static void ftdi_execute_runtest(struct jtag_command
*cmd
)
327 DEBUG_JTAG_IO("runtest %i cycles, end in %s",
328 cmd
->cmd
.runtest
->num_cycles
,
329 tap_state_name(cmd
->cmd
.runtest
->end_state
));
331 if (tap_get_state() != TAP_IDLE
)
332 move_to_state(TAP_IDLE
);
334 /* TODO: Reuse ftdi_execute_stableclocks */
335 i
= cmd
->cmd
.runtest
->num_cycles
;
337 /* there are no state transitions in this code, so omit state tracking */
338 unsigned this_len
= i
> 7 ?
7 : i
;
339 mpsse_clock_tms_cs_out(mpsse_ctx
, &zero
, 0, this_len
, false, ftdi_jtag_mode
);
343 ftdi_end_state(cmd
->cmd
.runtest
->end_state
);
345 if (tap_get_state() != tap_get_end_state())
346 move_to_state(tap_get_end_state());
348 DEBUG_JTAG_IO("runtest: %i, end in %s",
349 cmd
->cmd
.runtest
->num_cycles
,
350 tap_state_name(tap_get_end_state()));
353 static void ftdi_execute_statemove(struct jtag_command
*cmd
)
355 DEBUG_JTAG_IO("statemove end in %s",
356 tap_state_name(cmd
->cmd
.statemove
->end_state
));
358 ftdi_end_state(cmd
->cmd
.statemove
->end_state
);
360 /* shortest-path move to desired end state */
361 if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET
)
362 move_to_state(tap_get_end_state());
366 * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
367 * (or SWD) state machine. REVISIT: Not the best method, perhaps.
369 static void ftdi_execute_tms(struct jtag_command
*cmd
)
371 DEBUG_JTAG_IO("TMS: %d bits", cmd
->cmd
.tms
->num_bits
);
373 /* TODO: Missing tap state tracking, also missing from ft2232.c! */
374 mpsse_clock_tms_cs_out(mpsse_ctx
,
377 cmd
->cmd
.tms
->num_bits
,
382 static void ftdi_execute_pathmove(struct jtag_command
*cmd
)
384 tap_state_t
*path
= cmd
->cmd
.pathmove
->path
;
385 int num_states
= cmd
->cmd
.pathmove
->num_states
;
387 DEBUG_JTAG_IO("pathmove: %i states, current: %s end: %s", num_states
,
388 tap_state_name(tap_get_state()),
389 tap_state_name(path
[num_states
-1]));
392 unsigned bit_count
= 0;
393 uint8_t tms_byte
= 0;
397 /* this loop verifies that the path is legal and logs each state in the path */
398 while (num_states
--) {
400 /* either TMS=0 or TMS=1 must work ... */
401 if (tap_state_transition(tap_get_state(), false)
402 == path
[state_count
])
403 buf_set_u32(&tms_byte
, bit_count
++, 1, 0x0);
404 else if (tap_state_transition(tap_get_state(), true)
405 == path
[state_count
]) {
406 buf_set_u32(&tms_byte
, bit_count
++, 1, 0x1);
408 /* ... or else the caller goofed BADLY */
410 LOG_ERROR("BUG: %s -> %s isn't a valid "
411 "TAP state transition",
412 tap_state_name(tap_get_state()),
413 tap_state_name(path
[state_count
]));
417 tap_set_state(path
[state_count
]);
420 if (bit_count
== 7 || num_states
== 0) {
421 mpsse_clock_tms_cs_out(mpsse_ctx
,
430 tap_set_end_state(tap_get_state());
433 static void ftdi_execute_scan(struct jtag_command
*cmd
)
435 DEBUG_JTAG_IO("%s type:%d", cmd
->cmd
.scan
->ir_scan ?
"IRSCAN" : "DRSCAN",
436 jtag_scan_type(cmd
->cmd
.scan
));
438 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
439 while (cmd
->cmd
.scan
->num_fields
> 0
440 && cmd
->cmd
.scan
->fields
[cmd
->cmd
.scan
->num_fields
- 1].num_bits
== 0) {
441 cmd
->cmd
.scan
->num_fields
--;
442 DEBUG_JTAG_IO("discarding trailing empty field");
445 if (cmd
->cmd
.scan
->num_fields
== 0) {
446 DEBUG_JTAG_IO("empty scan, doing nothing");
450 if (cmd
->cmd
.scan
->ir_scan
) {
451 if (tap_get_state() != TAP_IRSHIFT
)
452 move_to_state(TAP_IRSHIFT
);
454 if (tap_get_state() != TAP_DRSHIFT
)
455 move_to_state(TAP_DRSHIFT
);
458 ftdi_end_state(cmd
->cmd
.scan
->end_state
);
460 struct scan_field
*field
= cmd
->cmd
.scan
->fields
;
461 unsigned scan_size
= 0;
463 for (int i
= 0; i
< cmd
->cmd
.scan
->num_fields
; i
++, field
++) {
464 scan_size
+= field
->num_bits
;
465 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
466 field
->in_value ?
"in" : "",
467 field
->out_value ?
"out" : "",
469 cmd
->cmd
.scan
->num_fields
,
472 if (i
== cmd
->cmd
.scan
->num_fields
- 1 && tap_get_state() != tap_get_end_state()) {
473 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
474 * movement. This last field can't have length zero, it was checked above. */
475 mpsse_clock_data(mpsse_ctx
,
482 uint8_t last_bit
= 0;
483 if (field
->out_value
)
484 bit_copy(&last_bit
, 0, field
->out_value
, field
->num_bits
- 1, 1);
485 uint8_t tms_bits
= 0x01;
486 mpsse_clock_tms_cs(mpsse_ctx
,
494 tap_set_state(tap_state_transition(tap_get_state(), 1));
495 mpsse_clock_tms_cs_out(mpsse_ctx
,
501 tap_set_state(tap_state_transition(tap_get_state(), 0));
503 mpsse_clock_data(mpsse_ctx
,
512 if (tap_get_state() != tap_get_end_state())
513 move_to_state(tap_get_end_state());
515 DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
516 (cmd
->cmd
.scan
->ir_scan
) ?
"IR" : "DR", scan_size
,
517 tap_state_name(tap_get_end_state()));
520 static void ftdi_execute_reset(struct jtag_command
*cmd
)
522 DEBUG_JTAG_IO("reset trst: %i srst %i",
523 cmd
->cmd
.reset
->trst
, cmd
->cmd
.reset
->srst
);
525 if (cmd
->cmd
.reset
->trst
== 1
526 || (cmd
->cmd
.reset
->srst
527 && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST
)))
528 tap_set_state(TAP_RESET
);
530 struct signal
*trst
= find_signal_by_name("nTRST");
531 if (cmd
->cmd
.reset
->trst
== 1) {
533 ftdi_set_signal(trst
, '0');
535 LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
536 } else if (trst
&& jtag_get_reset_config() & RESET_HAS_TRST
&&
537 cmd
->cmd
.reset
->trst
== 0) {
538 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN
)
539 ftdi_set_signal(trst
, 'z');
541 ftdi_set_signal(trst
, '1');
544 struct signal
*srst
= find_signal_by_name("nSRST");
545 if (cmd
->cmd
.reset
->srst
== 1) {
547 ftdi_set_signal(srst
, '0');
549 LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
550 } else if (srst
&& jtag_get_reset_config() & RESET_HAS_SRST
&&
551 cmd
->cmd
.reset
->srst
== 0) {
552 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL
)
553 ftdi_set_signal(srst
, '1');
555 ftdi_set_signal(srst
, 'z');
558 DEBUG_JTAG_IO("trst: %i, srst: %i",
559 cmd
->cmd
.reset
->trst
, cmd
->cmd
.reset
->srst
);
562 static void ftdi_execute_sleep(struct jtag_command
*cmd
)
564 DEBUG_JTAG_IO("sleep %" PRIi32
, cmd
->cmd
.sleep
->us
);
566 mpsse_flush(mpsse_ctx
);
567 jtag_sleep(cmd
->cmd
.sleep
->us
);
568 DEBUG_JTAG_IO("sleep %" PRIi32
" usec while in %s",
570 tap_state_name(tap_get_state()));
573 static void ftdi_execute_stableclocks(struct jtag_command
*cmd
)
575 /* this is only allowed while in a stable state. A check for a stable
576 * state was done in jtag_add_clocks()
578 int num_cycles
= cmd
->cmd
.stableclocks
->num_cycles
;
580 /* 7 bits of either ones or zeros. */
581 uint8_t tms
= tap_get_state() == TAP_RESET ?
0x7f : 0x00;
583 /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
584 * the correct level and remain there during the scan */
585 while (num_cycles
> 0) {
586 /* there are no state transitions in this code, so omit state tracking */
587 unsigned this_len
= num_cycles
> 7 ?
7 : num_cycles
;
588 mpsse_clock_tms_cs_out(mpsse_ctx
, &tms
, 0, this_len
, false, ftdi_jtag_mode
);
589 num_cycles
-= this_len
;
592 DEBUG_JTAG_IO("clocks %i while in %s",
593 cmd
->cmd
.stableclocks
->num_cycles
,
594 tap_state_name(tap_get_state()));
597 static void ftdi_execute_command(struct jtag_command
*cmd
)
601 ftdi_execute_reset(cmd
);
604 ftdi_execute_runtest(cmd
);
607 ftdi_execute_statemove(cmd
);
610 ftdi_execute_pathmove(cmd
);
613 ftdi_execute_scan(cmd
);
616 ftdi_execute_sleep(cmd
);
618 case JTAG_STABLECLOCKS
:
619 ftdi_execute_stableclocks(cmd
);
622 ftdi_execute_tms(cmd
);
625 LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd
->type
);
630 static int ftdi_execute_queue(void)
632 /* blink, if the current layout has that feature */
633 struct signal
*led
= find_signal_by_name("LED");
635 ftdi_set_signal(led
, '1');
637 for (struct jtag_command
*cmd
= jtag_command_queue
; cmd
; cmd
= cmd
->next
) {
638 /* fill the write buffer with the desired command */
639 ftdi_execute_command(cmd
);
643 ftdi_set_signal(led
, '0');
645 int retval
= mpsse_flush(mpsse_ctx
);
646 if (retval
!= ERROR_OK
)
647 LOG_ERROR("error while flushing MPSSE queue: %d", retval
);
652 static int ftdi_initialize(void)
654 if (tap_get_tms_path_len(TAP_IRPAUSE
, TAP_IRPAUSE
) == 7)
655 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
657 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
659 for (int i
= 0; ftdi_vid
[i
] || ftdi_pid
[i
]; i
++) {
660 mpsse_ctx
= mpsse_open(&ftdi_vid
[i
], &ftdi_pid
[i
], ftdi_device_desc
,
661 ftdi_serial
, jtag_usb_get_location(), ftdi_channel
);
667 return ERROR_JTAG_INIT_FAILED
;
669 output
= jtag_output_init
;
670 direction
= jtag_direction_init
;
673 struct signal
*sig
= find_signal_by_name("SWD_EN");
675 LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
676 return ERROR_JTAG_INIT_FAILED
;
678 /* A dummy SWD_EN would have zero mask */
680 ftdi_set_signal(sig
, '1');
683 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
684 mpsse_set_data_bits_high_byte(mpsse_ctx
, output
>> 8, direction
>> 8);
686 mpsse_loopback_config(mpsse_ctx
, false);
688 freq
= mpsse_set_frequency(mpsse_ctx
, jtag_get_speed_khz() * 1000);
690 return mpsse_flush(mpsse_ctx
);
693 static int ftdi_quit(void)
695 mpsse_close(mpsse_ctx
);
697 struct signal
*sig
= signals
;
699 struct signal
*next
= sig
->next
;
700 free((void *)sig
->name
);
705 free(ftdi_device_desc
);
713 COMMAND_HANDLER(ftdi_handle_device_desc_command
)
716 if (ftdi_device_desc
)
717 free(ftdi_device_desc
);
718 ftdi_device_desc
= strdup(CMD_ARGV
[0]);
720 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
726 COMMAND_HANDLER(ftdi_handle_serial_command
)
731 ftdi_serial
= strdup(CMD_ARGV
[0]);
733 return ERROR_COMMAND_SYNTAX_ERROR
;
739 COMMAND_HANDLER(ftdi_handle_channel_command
)
742 COMMAND_PARSE_NUMBER(u8
, CMD_ARGV
[0], ftdi_channel
);
744 return ERROR_COMMAND_SYNTAX_ERROR
;
749 COMMAND_HANDLER(ftdi_handle_layout_init_command
)
752 return ERROR_COMMAND_SYNTAX_ERROR
;
754 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[0], jtag_output_init
);
755 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[1], jtag_direction_init
);
760 COMMAND_HANDLER(ftdi_handle_layout_signal_command
)
763 return ERROR_COMMAND_SYNTAX_ERROR
;
765 bool invert_data
= false;
766 uint16_t data_mask
= 0;
767 bool invert_input
= false;
768 uint16_t input_mask
= 0;
769 bool invert_oe
= false;
770 uint16_t oe_mask
= 0;
771 for (unsigned i
= 1; i
< CMD_ARGC
; i
+= 2) {
772 if (strcmp("-data", CMD_ARGV
[i
]) == 0) {
774 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], data_mask
);
775 } else if (strcmp("-ndata", CMD_ARGV
[i
]) == 0) {
777 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], data_mask
);
778 } else if (strcmp("-input", CMD_ARGV
[i
]) == 0) {
779 invert_input
= false;
780 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], input_mask
);
781 } else if (strcmp("-ninput", CMD_ARGV
[i
]) == 0) {
783 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], input_mask
);
784 } else if (strcmp("-oe", CMD_ARGV
[i
]) == 0) {
786 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], oe_mask
);
787 } else if (strcmp("-noe", CMD_ARGV
[i
]) == 0) {
789 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], oe_mask
);
790 } else if (!strcmp("-alias", CMD_ARGV
[i
]) ||
791 !strcmp("-nalias", CMD_ARGV
[i
])) {
792 if (!strcmp("-nalias", CMD_ARGV
[i
])) {
796 struct signal
*sig
= find_signal_by_name(CMD_ARGV
[i
+ 1]);
798 LOG_ERROR("signal %s is not defined", CMD_ARGV
[i
+ 1]);
801 data_mask
= sig
->data_mask
;
802 input_mask
= sig
->input_mask
;
803 oe_mask
= sig
->oe_mask
;
804 invert_input
^= sig
->invert_input
;
805 invert_oe
= sig
->invert_oe
;
806 invert_data
^= sig
->invert_data
;
808 LOG_ERROR("unknown option '%s'", CMD_ARGV
[i
]);
809 return ERROR_COMMAND_SYNTAX_ERROR
;
814 sig
= find_signal_by_name(CMD_ARGV
[0]);
816 sig
= create_signal(CMD_ARGV
[0]);
818 LOG_ERROR("failed to create signal %s", CMD_ARGV
[0]);
822 sig
->invert_data
= invert_data
;
823 sig
->data_mask
= data_mask
;
824 sig
->invert_input
= invert_input
;
825 sig
->input_mask
= input_mask
;
826 sig
->invert_oe
= invert_oe
;
827 sig
->oe_mask
= oe_mask
;
832 COMMAND_HANDLER(ftdi_handle_set_signal_command
)
835 return ERROR_COMMAND_SYNTAX_ERROR
;
838 sig
= find_signal_by_name(CMD_ARGV
[0]);
840 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV
[0]);
844 switch (*CMD_ARGV
[1]) {
849 /* single character level specifier only */
850 if (CMD_ARGV
[1][1] == '\0') {
851 ftdi_set_signal(sig
, *CMD_ARGV
[1]);
856 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV
[1]);
857 return ERROR_COMMAND_SYNTAX_ERROR
;
860 return mpsse_flush(mpsse_ctx
);
863 COMMAND_HANDLER(ftdi_handle_get_signal_command
)
866 return ERROR_COMMAND_SYNTAX_ERROR
;
869 uint16_t sig_data
= 0;
870 sig
= find_signal_by_name(CMD_ARGV
[0]);
872 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV
[0]);
876 int ret
= ftdi_get_signal(sig
, &sig_data
);
880 LOG_USER("Signal %s = %#06x", sig
->name
, sig_data
);
885 COMMAND_HANDLER(ftdi_handle_vid_pid_command
)
887 if (CMD_ARGC
> MAX_USB_IDS
* 2) {
888 LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
889 "(maximum is %d pairs)", MAX_USB_IDS
);
890 CMD_ARGC
= MAX_USB_IDS
* 2;
892 if (CMD_ARGC
< 2 || (CMD_ARGC
& 1)) {
893 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
895 return ERROR_COMMAND_SYNTAX_ERROR
;
896 /* remove the incomplete trailing id */
901 for (i
= 0; i
< CMD_ARGC
; i
+= 2) {
902 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
], ftdi_vid
[i
>> 1]);
903 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], ftdi_pid
[i
>> 1]);
907 * Explicitly terminate, in case there are multiples instances of
910 ftdi_vid
[i
>> 1] = ftdi_pid
[i
>> 1] = 0;
915 COMMAND_HANDLER(ftdi_handle_tdo_sample_edge_command
)
918 static const Jim_Nvp nvp_ftdi_jtag_modes
[] = {
919 { .name
= "rising", .value
= JTAG_MODE
},
920 { .name
= "falling", .value
= JTAG_MODE_ALT
},
921 { .name
= NULL
, .value
= -1 },
925 n
= Jim_Nvp_name2value_simple(nvp_ftdi_jtag_modes
, CMD_ARGV
[0]);
927 return ERROR_COMMAND_SYNTAX_ERROR
;
928 ftdi_jtag_mode
= n
->value
;
932 n
= Jim_Nvp_value2name_simple(nvp_ftdi_jtag_modes
, ftdi_jtag_mode
);
933 command_print(CMD
, "ftdi samples TDO on %s edge of TCK", n
->name
);
938 static const struct command_registration ftdi_command_handlers
[] = {
940 .name
= "ftdi_device_desc",
941 .handler
= &ftdi_handle_device_desc_command
,
942 .mode
= COMMAND_CONFIG
,
943 .help
= "set the USB device description of the FTDI device",
944 .usage
= "description_string",
947 .name
= "ftdi_serial",
948 .handler
= &ftdi_handle_serial_command
,
949 .mode
= COMMAND_CONFIG
,
950 .help
= "set the serial number of the FTDI device",
951 .usage
= "serial_string",
954 .name
= "ftdi_channel",
955 .handler
= &ftdi_handle_channel_command
,
956 .mode
= COMMAND_CONFIG
,
957 .help
= "set the channel of the FTDI device that is used as JTAG",
961 .name
= "ftdi_layout_init",
962 .handler
= &ftdi_handle_layout_init_command
,
963 .mode
= COMMAND_CONFIG
,
964 .help
= "initialize the FTDI GPIO signals used "
965 "to control output-enables and reset signals",
966 .usage
= "data direction",
969 .name
= "ftdi_layout_signal",
970 .handler
= &ftdi_handle_layout_signal_command
,
972 .help
= "define a signal controlled by one or more FTDI GPIO as data "
973 "and/or output enable",
974 .usage
= "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
977 .name
= "ftdi_set_signal",
978 .handler
= &ftdi_handle_set_signal_command
,
979 .mode
= COMMAND_EXEC
,
980 .help
= "control a layout-specific signal",
981 .usage
= "name (1|0|z)",
984 .name
= "ftdi_get_signal",
985 .handler
= &ftdi_handle_get_signal_command
,
986 .mode
= COMMAND_EXEC
,
987 .help
= "read the value of a layout-specific signal",
991 .name
= "ftdi_vid_pid",
992 .handler
= &ftdi_handle_vid_pid_command
,
993 .mode
= COMMAND_CONFIG
,
994 .help
= "the vendor ID and product ID of the FTDI device",
995 .usage
= "(vid pid)* ",
998 .name
= "ftdi_tdo_sample_edge",
999 .handler
= &ftdi_handle_tdo_sample_edge_command
,
1000 .mode
= COMMAND_ANY
,
1001 .help
= "set which TCK clock edge is used for sampling TDO "
1002 "- default is rising-edge (Setting to falling-edge may "
1003 "allow signalling speed increase)",
1004 .usage
= "(rising|falling)",
1006 COMMAND_REGISTRATION_DONE
1009 static int create_default_signal(const char *name
, uint16_t data_mask
)
1011 struct signal
*sig
= create_signal(name
);
1013 LOG_ERROR("failed to create signal %s", name
);
1016 sig
->invert_data
= false;
1017 sig
->data_mask
= data_mask
;
1018 sig
->invert_oe
= false;
1024 static int create_signals(void)
1026 if (create_default_signal("TCK", 0x01) != ERROR_OK
)
1028 if (create_default_signal("TDI", 0x02) != ERROR_OK
)
1030 if (create_default_signal("TDO", 0x04) != ERROR_OK
)
1032 if (create_default_signal("TMS", 0x08) != ERROR_OK
)
1037 static int ftdi_swd_init(void)
1039 LOG_INFO("FTDI SWD mode enabled");
1042 if (create_signals() != ERROR_OK
)
1045 swd_cmd_queue_alloced
= 10;
1046 swd_cmd_queue
= malloc(swd_cmd_queue_alloced
* sizeof(*swd_cmd_queue
));
1048 return swd_cmd_queue
!= NULL ? ERROR_OK
: ERROR_FAIL
;
1051 static void ftdi_swd_swdio_en(bool enable
)
1053 struct signal
*oe
= find_signal_by_name("SWDIO_OE");
1056 ftdi_set_signal(oe
, enable ?
'1' : '0');
1058 /* Sets TDI/DO pin to input during rx when both pins are connected
1061 direction
|= jtag_direction_init
& 0x0002U
;
1063 direction
&= ~0x0002U
;
1064 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
1070 * Flush the MPSSE queue and process the SWD transaction queue
1074 static int ftdi_swd_run_queue(void)
1076 LOG_DEBUG_IO("Executing %zu queued transactions", swd_cmd_queue_length
);
1078 struct signal
*led
= find_signal_by_name("LED");
1080 if (queued_retval
!= ERROR_OK
) {
1081 LOG_DEBUG_IO("Skipping due to previous errors: %d", queued_retval
);
1085 /* A transaction must be followed by another transaction or at least 8 idle cycles to
1086 * ensure that data is clocked through the AP. */
1087 mpsse_clock_data_out(mpsse_ctx
, NULL
, 0, 8, SWD_MODE
);
1089 /* Terminate the "blink", if the current layout has that feature */
1091 ftdi_set_signal(led
, '0');
1093 queued_retval
= mpsse_flush(mpsse_ctx
);
1094 if (queued_retval
!= ERROR_OK
) {
1095 LOG_ERROR("MPSSE failed");
1099 for (size_t i
= 0; i
< swd_cmd_queue_length
; i
++) {
1100 int ack
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1, 3);
1102 LOG_DEBUG_IO("%s %s %s reg %X = %08"PRIx32
,
1103 ack
== SWD_ACK_OK ?
"OK" : ack
== SWD_ACK_WAIT ?
"WAIT" : ack
== SWD_ACK_FAULT ?
"FAULT" : "JUNK",
1104 swd_cmd_queue
[i
].cmd
& SWD_CMD_APnDP ?
"AP" : "DP",
1105 swd_cmd_queue
[i
].cmd
& SWD_CMD_RnW ?
"read" : "write",
1106 (swd_cmd_queue
[i
].cmd
& SWD_CMD_A32
) >> 1,
1107 buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1108 1 + 3 + (swd_cmd_queue
[i
].cmd
& SWD_CMD_RnW ?
0 : 1), 32));
1110 if (ack
!= SWD_ACK_OK
) {
1111 queued_retval
= ack
== SWD_ACK_WAIT ? ERROR_WAIT
: ERROR_FAIL
;
1114 } else if (swd_cmd_queue
[i
].cmd
& SWD_CMD_RnW
) {
1115 uint32_t data
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3, 32);
1116 int parity
= buf_get_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 32, 1);
1118 if (parity
!= parity_u32(data
)) {
1119 LOG_ERROR("SWD Read data parity mismatch");
1120 queued_retval
= ERROR_FAIL
;
1124 if (swd_cmd_queue
[i
].dst
!= NULL
)
1125 *swd_cmd_queue
[i
].dst
= data
;
1130 swd_cmd_queue_length
= 0;
1131 retval
= queued_retval
;
1132 queued_retval
= ERROR_OK
;
1134 /* Queue a new "blink" */
1135 if (led
&& retval
== ERROR_OK
)
1136 ftdi_set_signal(led
, '1');
1141 static void ftdi_swd_queue_cmd(uint8_t cmd
, uint32_t *dst
, uint32_t data
, uint32_t ap_delay_clk
)
1143 if (swd_cmd_queue_length
>= swd_cmd_queue_alloced
) {
1144 /* Not enough room in the queue. Run the queue and increase its size for next time.
1145 * Note that it's not possible to avoid running the queue here, because mpsse contains
1146 * pointers into the queue which may be invalid after the realloc. */
1147 queued_retval
= ftdi_swd_run_queue();
1148 struct swd_cmd_queue_entry
*q
= realloc(swd_cmd_queue
, swd_cmd_queue_alloced
* 2 * sizeof(*swd_cmd_queue
));
1151 swd_cmd_queue_alloced
*= 2;
1152 LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced
);
1156 if (queued_retval
!= ERROR_OK
)
1159 size_t i
= swd_cmd_queue_length
++;
1160 swd_cmd_queue
[i
].cmd
= cmd
| SWD_CMD_START
| SWD_CMD_PARK
;
1162 mpsse_clock_data_out(mpsse_ctx
, &swd_cmd_queue
[i
].cmd
, 0, 8, SWD_MODE
);
1164 if (swd_cmd_queue
[i
].cmd
& SWD_CMD_RnW
) {
1165 /* Queue a read transaction */
1166 swd_cmd_queue
[i
].dst
= dst
;
1168 ftdi_swd_swdio_en(false);
1169 mpsse_clock_data_in(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1170 0, 1 + 3 + 32 + 1 + 1, SWD_MODE
);
1171 ftdi_swd_swdio_en(true);
1173 /* Queue a write transaction */
1174 ftdi_swd_swdio_en(false);
1176 mpsse_clock_data_in(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1177 0, 1 + 3 + 1, SWD_MODE
);
1179 ftdi_swd_swdio_en(true);
1181 buf_set_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 1, 32, data
);
1182 buf_set_u32(swd_cmd_queue
[i
].trn_ack_data_parity_trn
, 1 + 3 + 1 + 32, 1, parity_u32(data
));
1184 mpsse_clock_data_out(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1185 1 + 3 + 1, 32 + 1, SWD_MODE
);
1188 /* Insert idle cycles after AP accesses to avoid WAIT */
1189 if (cmd
& SWD_CMD_APnDP
)
1190 mpsse_clock_data_out(mpsse_ctx
, NULL
, 0, ap_delay_clk
, SWD_MODE
);
1194 static void ftdi_swd_read_reg(uint8_t cmd
, uint32_t *value
, uint32_t ap_delay_clk
)
1196 assert(cmd
& SWD_CMD_RnW
);
1197 ftdi_swd_queue_cmd(cmd
, value
, 0, ap_delay_clk
);
1200 static void ftdi_swd_write_reg(uint8_t cmd
, uint32_t value
, uint32_t ap_delay_clk
)
1202 assert(!(cmd
& SWD_CMD_RnW
));
1203 ftdi_swd_queue_cmd(cmd
, NULL
, value
, ap_delay_clk
);
1206 static int_least32_t ftdi_swd_frequency(int_least32_t hz
)
1209 freq
= mpsse_set_frequency(mpsse_ctx
, hz
);
1214 static int ftdi_swd_switch_seq(enum swd_special_seq seq
)
1218 LOG_DEBUG("SWD line reset");
1219 ftdi_swd_swdio_en(true);
1220 mpsse_clock_data_out(mpsse_ctx
, swd_seq_line_reset
, 0, swd_seq_line_reset_len
, SWD_MODE
);
1223 LOG_DEBUG("JTAG-to-SWD");
1224 ftdi_swd_swdio_en(true);
1225 mpsse_clock_data_out(mpsse_ctx
, swd_seq_jtag_to_swd
, 0, swd_seq_jtag_to_swd_len
, SWD_MODE
);
1228 LOG_DEBUG("SWD-to-JTAG");
1229 ftdi_swd_swdio_en(true);
1230 mpsse_clock_data_out(mpsse_ctx
, swd_seq_swd_to_jtag
, 0, swd_seq_swd_to_jtag_len
, SWD_MODE
);
1233 LOG_ERROR("Sequence %d not supported", seq
);
1240 static const struct swd_driver ftdi_swd
= {
1241 .init
= ftdi_swd_init
,
1242 .frequency
= ftdi_swd_frequency
,
1243 .switch_seq
= ftdi_swd_switch_seq
,
1244 .read_reg
= ftdi_swd_read_reg
,
1245 .write_reg
= ftdi_swd_write_reg
,
1246 .run
= ftdi_swd_run_queue
,
1249 static const char * const ftdi_transports
[] = { "jtag", "swd", NULL
};
1251 struct jtag_interface ftdi_interface
= {
1253 .supported
= DEBUG_CAP_TMS_SEQ
,
1254 .commands
= ftdi_command_handlers
,
1255 .transports
= ftdi_transports
,
1258 .init
= ftdi_initialize
,
1260 .speed
= ftdi_speed
,
1261 .speed_div
= ftdi_speed_div
,
1263 .execute_queue
= ftdi_execute_queue
,