1afedd1af5adf617da2bdf97ee85b95b89c936d9
[openocd.git] / src / jtag / drivers / ftdi.c
1 /**************************************************************************
2 * Copyright (C) 2012 by Andreas Fritiofson *
3 * andreas.fritiofson@gmail.com *
4 * *
5 * This program is free software; you can redistribute it and/or modify *
6 * it under the terms of the GNU General Public License as published by *
7 * the Free Software Foundation; either version 2 of the License, or *
8 * (at your option) any later version. *
9 * *
10 * This program is distributed in the hope that it will be useful, *
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13 * GNU General Public License for more details. *
14 * *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
17 ***************************************************************************/
18
19 /**
20 * @file
21 * JTAG adapters based on the FT2232 full and high speed USB parts are
22 * popular low cost JTAG debug solutions. Many FT2232 based JTAG adapters
23 * are discrete, but development boards may integrate them as alternatives
24 * to more capable (and expensive) third party JTAG pods.
25 *
26 * JTAG uses only one of the two communications channels ("MPSSE engines")
27 * on these devices. Adapters based on FT4232 parts have four ports/channels
28 * (A/B/C/D), instead of just two (A/B).
29 *
30 * Especially on development boards integrating one of these chips (as
31 * opposed to discrete pods/dongles), the additional channels can be used
32 * for a variety of purposes, but OpenOCD only uses one channel at a time.
33 *
34 * - As a USB-to-serial adapter for the target's console UART ...
35 * which may be able to support ROM boot loaders that load initial
36 * firmware images to flash (or SRAM).
37 *
38 * - On systems which support ARM's SWD in addition to JTAG, or instead
39 * of it, that second port can be used for reading SWV/SWO trace data.
40 *
41 * - Additional JTAG links, e.g. to a CPLD or * FPGA.
42 *
43 * FT2232 based JTAG adapters are "dumb" not "smart", because most JTAG
44 * request/response interactions involve round trips over the USB link.
45 * A "smart" JTAG adapter has intelligence close to the scan chain, so it
46 * can for example poll quickly for a status change (usually taking on the
47 * order of microseconds not milliseconds) before beginning a queued
48 * transaction which require the previous one to have completed.
49 *
50 * There are dozens of adapters of this type, differing in details which
51 * this driver needs to understand. Those "layout" details are required
52 * as part of FT2232 driver configuration.
53 *
54 * This code uses information contained in the MPSSE specification which was
55 * found here:
56 * http://www.ftdichip.com/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
57 * Hereafter this is called the "MPSSE Spec".
58 *
59 * The datasheet for the ftdichip.com's FT2232D part is here:
60 * http://www.ftdichip.com/Documents/DataSheets/DS_FT2232D.pdf
61 *
62 * Also note the issue with code 0x4b (clock data to TMS) noted in
63 * http://developer.intra2net.com/mailarchive/html/libftdi/2009/msg00292.html
64 * which can affect longer JTAG state paths.
65 */
66
67 #ifdef HAVE_CONFIG_H
68 #include "config.h"
69 #endif
70
71 /* project specific includes */
72 #include <jtag/interface.h>
73 #include <jtag/swd.h>
74 #include <transport/transport.h>
75 #include <helper/time_support.h>
76
77 #if IS_CYGWIN == 1
78 #include <windows.h>
79 #endif
80
81 #include <assert.h>
82
83 /* FTDI access library includes */
84 #include "mpsse.h"
85
86 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
87 #define JTAG_MODE_ALT (LSB_FIRST | NEG_EDGE_IN | NEG_EDGE_OUT)
88 #define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
89
90 static char *ftdi_device_desc;
91 static char *ftdi_serial;
92 static char *ftdi_location;
93 static uint8_t ftdi_channel;
94 static uint8_t ftdi_jtag_mode = JTAG_MODE;
95
96 static bool swd_mode;
97
98 #define MAX_USB_IDS 8
99 /* vid = pid = 0 marks the end of the list */
100 static uint16_t ftdi_vid[MAX_USB_IDS + 1] = { 0 };
101 static uint16_t ftdi_pid[MAX_USB_IDS + 1] = { 0 };
102
103 static struct mpsse_ctx *mpsse_ctx;
104
105 struct signal {
106 const char *name;
107 uint16_t data_mask;
108 uint16_t input_mask;
109 uint16_t oe_mask;
110 bool invert_data;
111 bool invert_input;
112 bool invert_oe;
113 struct signal *next;
114 };
115
116 static struct signal *signals;
117
118 /* FIXME: Where to store per-instance data? We need an SWD context. */
119 static struct swd_cmd_queue_entry {
120 uint8_t cmd;
121 uint32_t *dst;
122 uint8_t trn_ack_data_parity_trn[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
123 } *swd_cmd_queue;
124 static size_t swd_cmd_queue_length;
125 static size_t swd_cmd_queue_alloced;
126 static int queued_retval;
127 static int freq;
128
129 static uint16_t output;
130 static uint16_t direction;
131 static uint16_t jtag_output_init;
132 static uint16_t jtag_direction_init;
133
134 static int ftdi_swd_switch_seq(enum swd_special_seq seq);
135
136 static struct signal *find_signal_by_name(const char *name)
137 {
138 for (struct signal *sig = signals; sig; sig = sig->next) {
139 if (strcmp(name, sig->name) == 0)
140 return sig;
141 }
142 return NULL;
143 }
144
145 static struct signal *create_signal(const char *name)
146 {
147 struct signal **psig = &signals;
148 while (*psig)
149 psig = &(*psig)->next;
150
151 *psig = calloc(1, sizeof(**psig));
152 if (*psig == NULL)
153 return NULL;
154
155 (*psig)->name = strdup(name);
156 if ((*psig)->name == NULL) {
157 free(*psig);
158 *psig = NULL;
159 }
160 return *psig;
161 }
162
163 static int ftdi_set_signal(const struct signal *s, char value)
164 {
165 bool data;
166 bool oe;
167
168 if (s->data_mask == 0 && s->oe_mask == 0) {
169 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
170 return ERROR_FAIL;
171 }
172 switch (value) {
173 case '0':
174 data = s->invert_data;
175 oe = !s->invert_oe;
176 break;
177 case '1':
178 if (s->data_mask == 0) {
179 LOG_ERROR("interface can't drive '%s' high", s->name);
180 return ERROR_FAIL;
181 }
182 data = !s->invert_data;
183 oe = !s->invert_oe;
184 break;
185 case 'z':
186 case 'Z':
187 if (s->oe_mask == 0) {
188 LOG_ERROR("interface can't tri-state '%s'", s->name);
189 return ERROR_FAIL;
190 }
191 data = s->invert_data;
192 oe = s->invert_oe;
193 break;
194 default:
195 assert(0 && "invalid signal level specifier");
196 return ERROR_FAIL;
197 }
198
199 uint16_t old_output = output;
200 uint16_t old_direction = direction;
201
202 output = data ? output | s->data_mask : output & ~s->data_mask;
203 if (s->oe_mask == s->data_mask)
204 direction = oe ? direction | s->oe_mask : direction & ~s->oe_mask;
205 else
206 output = oe ? output | s->oe_mask : output & ~s->oe_mask;
207
208 if ((output & 0xff) != (old_output & 0xff) || (direction & 0xff) != (old_direction & 0xff))
209 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
210 if ((output >> 8 != old_output >> 8) || (direction >> 8 != old_direction >> 8))
211 mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
212
213 return ERROR_OK;
214 }
215
216 static int ftdi_get_signal(const struct signal *s, uint16_t * value_out)
217 {
218 uint8_t data_low = 0;
219 uint8_t data_high = 0;
220
221 if (s->input_mask == 0) {
222 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
223 return ERROR_FAIL;
224 }
225
226 if (s->input_mask & 0xff)
227 mpsse_read_data_bits_low_byte(mpsse_ctx, &data_low);
228 if (s->input_mask >> 8)
229 mpsse_read_data_bits_high_byte(mpsse_ctx, &data_high);
230
231 mpsse_flush(mpsse_ctx);
232
233 *value_out = (((uint16_t)data_high) << 8) | data_low;
234
235 if (s->invert_input)
236 *value_out = ~(*value_out);
237
238 *value_out &= s->input_mask;
239
240 return ERROR_OK;
241 }
242
243 /**
244 * Function move_to_state
245 * moves the TAP controller from the current state to a
246 * \a goal_state through a path given by tap_get_tms_path(). State transition
247 * logging is performed by delegation to clock_tms().
248 *
249 * @param goal_state is the destination state for the move.
250 */
251 static void move_to_state(tap_state_t goal_state)
252 {
253 tap_state_t start_state = tap_get_state();
254
255 /* goal_state is 1/2 of a tuple/pair of states which allow convenient
256 lookup of the required TMS pattern to move to this state from the
257 start state.
258 */
259
260 /* do the 2 lookups */
261 uint8_t tms_bits = tap_get_tms_path(start_state, goal_state);
262 int tms_count = tap_get_tms_path_len(start_state, goal_state);
263 assert(tms_count <= 8);
264
265 DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
266
267 /* Track state transitions step by step */
268 for (int i = 0; i < tms_count; i++)
269 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits >> i) & 1));
270
271 mpsse_clock_tms_cs_out(mpsse_ctx,
272 &tms_bits,
273 0,
274 tms_count,
275 false,
276 ftdi_jtag_mode);
277 }
278
279 static int ftdi_speed(int speed)
280 {
281 int retval;
282 retval = mpsse_set_frequency(mpsse_ctx, speed);
283
284 if (retval < 0) {
285 LOG_ERROR("couldn't set FTDI TCK speed");
286 return retval;
287 }
288
289 if (!swd_mode && speed >= 10000000 && ftdi_jtag_mode != JTAG_MODE_ALT)
290 LOG_INFO("ftdi: if you experience problems at higher adapter clocks, try "
291 "the command \"ftdi_tdo_sample_edge falling\"");
292 return ERROR_OK;
293 }
294
295 static int ftdi_speed_div(int speed, int *khz)
296 {
297 *khz = speed / 1000;
298 return ERROR_OK;
299 }
300
301 static int ftdi_khz(int khz, int *jtag_speed)
302 {
303 if (khz == 0 && !mpsse_is_high_speed(mpsse_ctx)) {
304 LOG_DEBUG("RCLK not supported");
305 return ERROR_FAIL;
306 }
307
308 *jtag_speed = khz * 1000;
309 return ERROR_OK;
310 }
311
312 static void ftdi_end_state(tap_state_t state)
313 {
314 if (tap_is_state_stable(state))
315 tap_set_end_state(state);
316 else {
317 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state));
318 exit(-1);
319 }
320 }
321
322 static void ftdi_execute_runtest(struct jtag_command *cmd)
323 {
324 int i;
325 uint8_t zero = 0;
326
327 DEBUG_JTAG_IO("runtest %i cycles, end in %s",
328 cmd->cmd.runtest->num_cycles,
329 tap_state_name(cmd->cmd.runtest->end_state));
330
331 if (tap_get_state() != TAP_IDLE)
332 move_to_state(TAP_IDLE);
333
334 /* TODO: Reuse ftdi_execute_stableclocks */
335 i = cmd->cmd.runtest->num_cycles;
336 while (i > 0) {
337 /* there are no state transitions in this code, so omit state tracking */
338 unsigned this_len = i > 7 ? 7 : i;
339 mpsse_clock_tms_cs_out(mpsse_ctx, &zero, 0, this_len, false, ftdi_jtag_mode);
340 i -= this_len;
341 }
342
343 ftdi_end_state(cmd->cmd.runtest->end_state);
344
345 if (tap_get_state() != tap_get_end_state())
346 move_to_state(tap_get_end_state());
347
348 DEBUG_JTAG_IO("runtest: %i, end in %s",
349 cmd->cmd.runtest->num_cycles,
350 tap_state_name(tap_get_end_state()));
351 }
352
353 static void ftdi_execute_statemove(struct jtag_command *cmd)
354 {
355 DEBUG_JTAG_IO("statemove end in %s",
356 tap_state_name(cmd->cmd.statemove->end_state));
357
358 ftdi_end_state(cmd->cmd.statemove->end_state);
359
360 /* shortest-path move to desired end state */
361 if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET)
362 move_to_state(tap_get_end_state());
363 }
364
365 /**
366 * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
367 * (or SWD) state machine. REVISIT: Not the best method, perhaps.
368 */
369 static void ftdi_execute_tms(struct jtag_command *cmd)
370 {
371 DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
372
373 /* TODO: Missing tap state tracking, also missing from ft2232.c! */
374 mpsse_clock_tms_cs_out(mpsse_ctx,
375 cmd->cmd.tms->bits,
376 0,
377 cmd->cmd.tms->num_bits,
378 false,
379 ftdi_jtag_mode);
380 }
381
382 static void ftdi_execute_pathmove(struct jtag_command *cmd)
383 {
384 tap_state_t *path = cmd->cmd.pathmove->path;
385 int num_states = cmd->cmd.pathmove->num_states;
386
387 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]));
390
391 int state_count = 0;
392 unsigned bit_count = 0;
393 uint8_t tms_byte = 0;
394
395 DEBUG_JTAG_IO("-");
396
397 /* this loop verifies that the path is legal and logs each state in the path */
398 while (num_states--) {
399
400 /* either TMS=0 or TMS=1 must work ... */
401 if (tap_state_transition(tap_get_state(), false)
402 == path[state_count])
403 buf_set_u32(&tms_byte, bit_count++, 1, 0x0);
404 else if (tap_state_transition(tap_get_state(), true)
405 == path[state_count]) {
406 buf_set_u32(&tms_byte, bit_count++, 1, 0x1);
407
408 /* ... or else the caller goofed BADLY */
409 } else {
410 LOG_ERROR("BUG: %s -> %s isn't a valid "
411 "TAP state transition",
412 tap_state_name(tap_get_state()),
413 tap_state_name(path[state_count]));
414 exit(-1);
415 }
416
417 tap_set_state(path[state_count]);
418 state_count++;
419
420 if (bit_count == 7 || num_states == 0) {
421 mpsse_clock_tms_cs_out(mpsse_ctx,
422 &tms_byte,
423 0,
424 bit_count,
425 false,
426 ftdi_jtag_mode);
427 bit_count = 0;
428 }
429 }
430 tap_set_end_state(tap_get_state());
431 }
432
433 static void ftdi_execute_scan(struct jtag_command *cmd)
434 {
435 DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
436 jtag_scan_type(cmd->cmd.scan));
437
438 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
439 while (cmd->cmd.scan->num_fields > 0
440 && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
441 cmd->cmd.scan->num_fields--;
442 DEBUG_JTAG_IO("discarding trailing empty field");
443 }
444
445 if (cmd->cmd.scan->num_fields == 0) {
446 DEBUG_JTAG_IO("empty scan, doing nothing");
447 return;
448 }
449
450 if (cmd->cmd.scan->ir_scan) {
451 if (tap_get_state() != TAP_IRSHIFT)
452 move_to_state(TAP_IRSHIFT);
453 } else {
454 if (tap_get_state() != TAP_DRSHIFT)
455 move_to_state(TAP_DRSHIFT);
456 }
457
458 ftdi_end_state(cmd->cmd.scan->end_state);
459
460 struct scan_field *field = cmd->cmd.scan->fields;
461 unsigned scan_size = 0;
462
463 for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
464 scan_size += field->num_bits;
465 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
466 field->in_value ? "in" : "",
467 field->out_value ? "out" : "",
468 i,
469 cmd->cmd.scan->num_fields,
470 field->num_bits);
471
472 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
473 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
474 * movement. This last field can't have length zero, it was checked above. */
475 mpsse_clock_data(mpsse_ctx,
476 field->out_value,
477 0,
478 field->in_value,
479 0,
480 field->num_bits - 1,
481 ftdi_jtag_mode);
482 uint8_t last_bit = 0;
483 if (field->out_value)
484 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
485 uint8_t tms_bits = 0x01;
486 mpsse_clock_tms_cs(mpsse_ctx,
487 &tms_bits,
488 0,
489 field->in_value,
490 field->num_bits - 1,
491 1,
492 last_bit,
493 ftdi_jtag_mode);
494 tap_set_state(tap_state_transition(tap_get_state(), 1));
495 mpsse_clock_tms_cs_out(mpsse_ctx,
496 &tms_bits,
497 1,
498 1,
499 last_bit,
500 ftdi_jtag_mode);
501 tap_set_state(tap_state_transition(tap_get_state(), 0));
502 } else
503 mpsse_clock_data(mpsse_ctx,
504 field->out_value,
505 0,
506 field->in_value,
507 0,
508 field->num_bits,
509 ftdi_jtag_mode);
510 }
511
512 if (tap_get_state() != tap_get_end_state())
513 move_to_state(tap_get_end_state());
514
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()));
518 }
519
520 static void ftdi_execute_reset(struct jtag_command *cmd)
521 {
522 DEBUG_JTAG_IO("reset trst: %i srst %i",
523 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
524
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);
529
530 struct signal *trst = find_signal_by_name("nTRST");
531 if (cmd->cmd.reset->trst == 1) {
532 if (trst)
533 ftdi_set_signal(trst, '0');
534 else
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');
540 else
541 ftdi_set_signal(trst, '1');
542 }
543
544 struct signal *srst = find_signal_by_name("nSRST");
545 if (cmd->cmd.reset->srst == 1) {
546 if (srst)
547 ftdi_set_signal(srst, '0');
548 else
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');
554 else
555 ftdi_set_signal(srst, 'z');
556 }
557
558 DEBUG_JTAG_IO("trst: %i, srst: %i",
559 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
560 }
561
562 static void ftdi_execute_sleep(struct jtag_command *cmd)
563 {
564 DEBUG_JTAG_IO("sleep %" PRIi32, cmd->cmd.sleep->us);
565
566 mpsse_flush(mpsse_ctx);
567 jtag_sleep(cmd->cmd.sleep->us);
568 DEBUG_JTAG_IO("sleep %" PRIi32 " usec while in %s",
569 cmd->cmd.sleep->us,
570 tap_state_name(tap_get_state()));
571 }
572
573 static void ftdi_execute_stableclocks(struct jtag_command *cmd)
574 {
575 /* this is only allowed while in a stable state. A check for a stable
576 * state was done in jtag_add_clocks()
577 */
578 int num_cycles = cmd->cmd.stableclocks->num_cycles;
579
580 /* 7 bits of either ones or zeros. */
581 uint8_t tms = tap_get_state() == TAP_RESET ? 0x7f : 0x00;
582
583 /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
584 * the correct level and remain there during the scan */
585 while (num_cycles > 0) {
586 /* there are no state transitions in this code, so omit state tracking */
587 unsigned this_len = num_cycles > 7 ? 7 : num_cycles;
588 mpsse_clock_tms_cs_out(mpsse_ctx, &tms, 0, this_len, false, ftdi_jtag_mode);
589 num_cycles -= this_len;
590 }
591
592 DEBUG_JTAG_IO("clocks %i while in %s",
593 cmd->cmd.stableclocks->num_cycles,
594 tap_state_name(tap_get_state()));
595 }
596
597 static void ftdi_execute_command(struct jtag_command *cmd)
598 {
599 switch (cmd->type) {
600 case JTAG_RESET:
601 ftdi_execute_reset(cmd);
602 break;
603 case JTAG_RUNTEST:
604 ftdi_execute_runtest(cmd);
605 break;
606 case JTAG_TLR_RESET:
607 ftdi_execute_statemove(cmd);
608 break;
609 case JTAG_PATHMOVE:
610 ftdi_execute_pathmove(cmd);
611 break;
612 case JTAG_SCAN:
613 ftdi_execute_scan(cmd);
614 break;
615 case JTAG_SLEEP:
616 ftdi_execute_sleep(cmd);
617 break;
618 case JTAG_STABLECLOCKS:
619 ftdi_execute_stableclocks(cmd);
620 break;
621 case JTAG_TMS:
622 ftdi_execute_tms(cmd);
623 break;
624 default:
625 LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd->type);
626 break;
627 }
628 }
629
630 static int ftdi_execute_queue(void)
631 {
632 /* blink, if the current layout has that feature */
633 struct signal *led = find_signal_by_name("LED");
634 if (led)
635 ftdi_set_signal(led, '1');
636
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);
640 }
641
642 if (led)
643 ftdi_set_signal(led, '0');
644
645 int retval = mpsse_flush(mpsse_ctx);
646 if (retval != ERROR_OK)
647 LOG_ERROR("error while flushing MPSSE queue: %d", retval);
648
649 return retval;
650 }
651
652 static int ftdi_initialize(void)
653 {
654 if (tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRPAUSE) == 7)
655 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
656 else
657 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
658
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, ftdi_location, ftdi_channel);
662 if (mpsse_ctx)
663 break;
664 }
665
666 if (!mpsse_ctx)
667 return ERROR_JTAG_INIT_FAILED;
668
669 output = jtag_output_init;
670 direction = jtag_direction_init;
671
672 if (swd_mode) {
673 struct signal *sig = find_signal_by_name("SWD_EN");
674 if (!sig) {
675 LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
676 return ERROR_JTAG_INIT_FAILED;
677 }
678 /* A dummy SWD_EN would have zero mask */
679 if (sig->data_mask)
680 ftdi_set_signal(sig, '1');
681 }
682
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);
685
686 mpsse_loopback_config(mpsse_ctx, false);
687
688 freq = mpsse_set_frequency(mpsse_ctx, jtag_get_speed_khz() * 1000);
689
690 return mpsse_flush(mpsse_ctx);
691 }
692
693 static int ftdi_quit(void)
694 {
695 mpsse_close(mpsse_ctx);
696
697 struct signal *sig = signals;
698 while (sig) {
699 struct signal *next = sig->next;
700 free((void *)sig->name);
701 free(sig);
702 sig = next;
703 }
704
705 free(ftdi_device_desc);
706 free(ftdi_serial);
707 free(ftdi_location);
708
709 free(swd_cmd_queue);
710
711 return ERROR_OK;
712 }
713
714 COMMAND_HANDLER(ftdi_handle_device_desc_command)
715 {
716 if (CMD_ARGC == 1) {
717 if (ftdi_device_desc)
718 free(ftdi_device_desc);
719 ftdi_device_desc = strdup(CMD_ARGV[0]);
720 } else {
721 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
722 }
723
724 return ERROR_OK;
725 }
726
727 COMMAND_HANDLER(ftdi_handle_serial_command)
728 {
729 if (CMD_ARGC == 1) {
730 if (ftdi_serial)
731 free(ftdi_serial);
732 ftdi_serial = strdup(CMD_ARGV[0]);
733 } else {
734 return ERROR_COMMAND_SYNTAX_ERROR;
735 }
736
737 return ERROR_OK;
738 }
739
740 #ifdef HAVE_LIBUSB_GET_PORT_NUMBERS
741 COMMAND_HANDLER(ftdi_handle_location_command)
742 {
743 if (CMD_ARGC == 1) {
744 if (ftdi_location)
745 free(ftdi_location);
746 ftdi_location = strdup(CMD_ARGV[0]);
747 } else {
748 return ERROR_COMMAND_SYNTAX_ERROR;
749 }
750
751 return ERROR_OK;
752 }
753 #endif
754
755 COMMAND_HANDLER(ftdi_handle_channel_command)
756 {
757 if (CMD_ARGC == 1)
758 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], ftdi_channel);
759 else
760 return ERROR_COMMAND_SYNTAX_ERROR;
761
762 return ERROR_OK;
763 }
764
765 COMMAND_HANDLER(ftdi_handle_layout_init_command)
766 {
767 if (CMD_ARGC != 2)
768 return ERROR_COMMAND_SYNTAX_ERROR;
769
770 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], jtag_output_init);
771 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], jtag_direction_init);
772
773 return ERROR_OK;
774 }
775
776 COMMAND_HANDLER(ftdi_handle_layout_signal_command)
777 {
778 if (CMD_ARGC < 1)
779 return ERROR_COMMAND_SYNTAX_ERROR;
780
781 bool invert_data = false;
782 uint16_t data_mask = 0;
783 bool invert_input = false;
784 uint16_t input_mask = 0;
785 bool invert_oe = false;
786 uint16_t oe_mask = 0;
787 for (unsigned i = 1; i < CMD_ARGC; i += 2) {
788 if (strcmp("-data", CMD_ARGV[i]) == 0) {
789 invert_data = false;
790 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
791 } else if (strcmp("-ndata", CMD_ARGV[i]) == 0) {
792 invert_data = true;
793 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
794 } else if (strcmp("-input", CMD_ARGV[i]) == 0) {
795 invert_input = false;
796 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], input_mask);
797 } else if (strcmp("-ninput", CMD_ARGV[i]) == 0) {
798 invert_input = true;
799 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], input_mask);
800 } else if (strcmp("-oe", CMD_ARGV[i]) == 0) {
801 invert_oe = false;
802 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
803 } else if (strcmp("-noe", CMD_ARGV[i]) == 0) {
804 invert_oe = true;
805 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
806 } else if (!strcmp("-alias", CMD_ARGV[i]) ||
807 !strcmp("-nalias", CMD_ARGV[i])) {
808 if (!strcmp("-nalias", CMD_ARGV[i])) {
809 invert_data = true;
810 invert_input = true;
811 }
812 struct signal *sig = find_signal_by_name(CMD_ARGV[i + 1]);
813 if (!sig) {
814 LOG_ERROR("signal %s is not defined", CMD_ARGV[i + 1]);
815 return ERROR_FAIL;
816 }
817 data_mask = sig->data_mask;
818 input_mask = sig->input_mask;
819 oe_mask = sig->oe_mask;
820 invert_input ^= sig->invert_input;
821 invert_oe = sig->invert_oe;
822 invert_data ^= sig->invert_data;
823 } else {
824 LOG_ERROR("unknown option '%s'", CMD_ARGV[i]);
825 return ERROR_COMMAND_SYNTAX_ERROR;
826 }
827 }
828
829 struct signal *sig;
830 sig = find_signal_by_name(CMD_ARGV[0]);
831 if (!sig)
832 sig = create_signal(CMD_ARGV[0]);
833 if (!sig) {
834 LOG_ERROR("failed to create signal %s", CMD_ARGV[0]);
835 return ERROR_FAIL;
836 }
837
838 sig->invert_data = invert_data;
839 sig->data_mask = data_mask;
840 sig->invert_input = invert_input;
841 sig->input_mask = input_mask;
842 sig->invert_oe = invert_oe;
843 sig->oe_mask = oe_mask;
844
845 return ERROR_OK;
846 }
847
848 COMMAND_HANDLER(ftdi_handle_set_signal_command)
849 {
850 if (CMD_ARGC < 2)
851 return ERROR_COMMAND_SYNTAX_ERROR;
852
853 struct signal *sig;
854 sig = find_signal_by_name(CMD_ARGV[0]);
855 if (!sig) {
856 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
857 return ERROR_FAIL;
858 }
859
860 switch (*CMD_ARGV[1]) {
861 case '0':
862 case '1':
863 case 'z':
864 case 'Z':
865 /* single character level specifier only */
866 if (CMD_ARGV[1][1] == '\0') {
867 ftdi_set_signal(sig, *CMD_ARGV[1]);
868 break;
869 }
870 /* fallthrough */
871 default:
872 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV[1]);
873 return ERROR_COMMAND_SYNTAX_ERROR;
874 }
875
876 return mpsse_flush(mpsse_ctx);
877 }
878
879 COMMAND_HANDLER(ftdi_handle_get_signal_command)
880 {
881 if (CMD_ARGC < 1)
882 return ERROR_COMMAND_SYNTAX_ERROR;
883
884 struct signal *sig;
885 uint16_t sig_data = 0;
886 sig = find_signal_by_name(CMD_ARGV[0]);
887 if (!sig) {
888 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
889 return ERROR_FAIL;
890 }
891
892 int ret = ftdi_get_signal(sig, &sig_data);
893 if (ret != ERROR_OK)
894 return ret;
895
896 LOG_USER("Signal %s = %#06x", sig->name, sig_data);
897
898 return ERROR_OK;
899 }
900
901 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
902 {
903 if (CMD_ARGC > MAX_USB_IDS * 2) {
904 LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
905 "(maximum is %d pairs)", MAX_USB_IDS);
906 CMD_ARGC = MAX_USB_IDS * 2;
907 }
908 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
909 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
910 if (CMD_ARGC < 2)
911 return ERROR_COMMAND_SYNTAX_ERROR;
912 /* remove the incomplete trailing id */
913 CMD_ARGC -= 1;
914 }
915
916 unsigned i;
917 for (i = 0; i < CMD_ARGC; i += 2) {
918 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], ftdi_vid[i >> 1]);
919 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], ftdi_pid[i >> 1]);
920 }
921
922 /*
923 * Explicitly terminate, in case there are multiples instances of
924 * ftdi_vid_pid.
925 */
926 ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
927
928 return ERROR_OK;
929 }
930
931 COMMAND_HANDLER(ftdi_handle_tdo_sample_edge_command)
932 {
933 Jim_Nvp *n;
934 static const Jim_Nvp nvp_ftdi_jtag_modes[] = {
935 { .name = "rising", .value = JTAG_MODE },
936 { .name = "falling", .value = JTAG_MODE_ALT },
937 { .name = NULL, .value = -1 },
938 };
939
940 if (CMD_ARGC > 0) {
941 n = Jim_Nvp_name2value_simple(nvp_ftdi_jtag_modes, CMD_ARGV[0]);
942 if (n->name == NULL)
943 return ERROR_COMMAND_SYNTAX_ERROR;
944 ftdi_jtag_mode = n->value;
945
946 }
947
948 n = Jim_Nvp_value2name_simple(nvp_ftdi_jtag_modes, ftdi_jtag_mode);
949 command_print(CMD_CTX, "ftdi samples TDO on %s edge of TCK", n->name);
950
951 return ERROR_OK;
952 }
953
954 static const struct command_registration ftdi_command_handlers[] = {
955 {
956 .name = "ftdi_device_desc",
957 .handler = &ftdi_handle_device_desc_command,
958 .mode = COMMAND_CONFIG,
959 .help = "set the USB device description of the FTDI device",
960 .usage = "description_string",
961 },
962 {
963 .name = "ftdi_serial",
964 .handler = &ftdi_handle_serial_command,
965 .mode = COMMAND_CONFIG,
966 .help = "set the serial number of the FTDI device",
967 .usage = "serial_string",
968 },
969 #ifdef HAVE_LIBUSB_GET_PORT_NUMBERS
970 {
971 .name = "ftdi_location",
972 .handler = &ftdi_handle_location_command,
973 .mode = COMMAND_CONFIG,
974 .help = "set the USB bus location of the FTDI device",
975 .usage = "<bus>:port[,port]...",
976 },
977 #endif
978 {
979 .name = "ftdi_channel",
980 .handler = &ftdi_handle_channel_command,
981 .mode = COMMAND_CONFIG,
982 .help = "set the channel of the FTDI device that is used as JTAG",
983 .usage = "(0-3)",
984 },
985 {
986 .name = "ftdi_layout_init",
987 .handler = &ftdi_handle_layout_init_command,
988 .mode = COMMAND_CONFIG,
989 .help = "initialize the FTDI GPIO signals used "
990 "to control output-enables and reset signals",
991 .usage = "data direction",
992 },
993 {
994 .name = "ftdi_layout_signal",
995 .handler = &ftdi_handle_layout_signal_command,
996 .mode = COMMAND_ANY,
997 .help = "define a signal controlled by one or more FTDI GPIO as data "
998 "and/or output enable",
999 .usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
1000 },
1001 {
1002 .name = "ftdi_set_signal",
1003 .handler = &ftdi_handle_set_signal_command,
1004 .mode = COMMAND_EXEC,
1005 .help = "control a layout-specific signal",
1006 .usage = "name (1|0|z)",
1007 },
1008 {
1009 .name = "ftdi_get_signal",
1010 .handler = &ftdi_handle_get_signal_command,
1011 .mode = COMMAND_EXEC,
1012 .help = "read the value of a layout-specific signal",
1013 .usage = "name",
1014 },
1015 {
1016 .name = "ftdi_vid_pid",
1017 .handler = &ftdi_handle_vid_pid_command,
1018 .mode = COMMAND_CONFIG,
1019 .help = "the vendor ID and product ID of the FTDI device",
1020 .usage = "(vid pid)* ",
1021 },
1022 {
1023 .name = "ftdi_tdo_sample_edge",
1024 .handler = &ftdi_handle_tdo_sample_edge_command,
1025 .mode = COMMAND_ANY,
1026 .help = "set which TCK clock edge is used for sampling TDO "
1027 "- default is rising-edge (Setting to falling-edge may "
1028 "allow signalling speed increase)",
1029 .usage = "(rising|falling)",
1030 },
1031 COMMAND_REGISTRATION_DONE
1032 };
1033
1034 static int create_default_signal(const char *name, uint16_t data_mask)
1035 {
1036 struct signal *sig = create_signal(name);
1037 if (!sig) {
1038 LOG_ERROR("failed to create signal %s", name);
1039 return ERROR_FAIL;
1040 }
1041 sig->invert_data = false;
1042 sig->data_mask = data_mask;
1043 sig->invert_oe = false;
1044 sig->oe_mask = 0;
1045
1046 return ERROR_OK;
1047 }
1048
1049 static int create_signals(void)
1050 {
1051 if (create_default_signal("TCK", 0x01) != ERROR_OK)
1052 return ERROR_FAIL;
1053 if (create_default_signal("TDI", 0x02) != ERROR_OK)
1054 return ERROR_FAIL;
1055 if (create_default_signal("TDO", 0x04) != ERROR_OK)
1056 return ERROR_FAIL;
1057 if (create_default_signal("TMS", 0x08) != ERROR_OK)
1058 return ERROR_FAIL;
1059 return ERROR_OK;
1060 }
1061
1062 static int ftdi_swd_init(void)
1063 {
1064 LOG_INFO("FTDI SWD mode enabled");
1065 swd_mode = true;
1066
1067 if (create_signals() != ERROR_OK)
1068 return ERROR_FAIL;
1069
1070 swd_cmd_queue_alloced = 10;
1071 swd_cmd_queue = malloc(swd_cmd_queue_alloced * sizeof(*swd_cmd_queue));
1072
1073 return swd_cmd_queue != NULL ? ERROR_OK : ERROR_FAIL;
1074 }
1075
1076 static void ftdi_swd_swdio_en(bool enable)
1077 {
1078 struct signal *oe = find_signal_by_name("SWDIO_OE");
1079 if (oe) {
1080 if (oe->data_mask)
1081 ftdi_set_signal(oe, enable ? '1' : '0');
1082 else {
1083 /* Sets TDI/DO pin (pin 2) to input during rx when both pins are connected
1084 to SWDIO */
1085 if (enable)
1086 direction |= jtag_direction_init & 0x0002U;
1087 else
1088 direction &= ~0x0002U;
1089 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
1090 }
1091 }
1092 }
1093
1094 /**
1095 * Flush the MPSSE queue and process the SWD transaction queue
1096 * @param dap
1097 * @return
1098 */
1099 static int ftdi_swd_run_queue(void)
1100 {
1101 LOG_DEBUG_IO("Executing %zu queued transactions", swd_cmd_queue_length);
1102 int retval;
1103 struct signal *led = find_signal_by_name("LED");
1104
1105 if (queued_retval != ERROR_OK) {
1106 LOG_DEBUG_IO("Skipping due to previous errors: %d", queued_retval);
1107 goto skip;
1108 }
1109
1110 /* A transaction must be followed by another transaction or at least 8 idle cycles to
1111 * ensure that data is clocked through the AP. */
1112 mpsse_clock_data_out(mpsse_ctx, NULL, 0, 8, SWD_MODE);
1113
1114 /* Terminate the "blink", if the current layout has that feature */
1115 if (led)
1116 ftdi_set_signal(led, '0');
1117
1118 queued_retval = mpsse_flush(mpsse_ctx);
1119 if (queued_retval != ERROR_OK) {
1120 LOG_ERROR("MPSSE failed");
1121 goto skip;
1122 }
1123
1124 for (size_t i = 0; i < swd_cmd_queue_length; i++) {
1125 int ack = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1, 3);
1126
1127 LOG_DEBUG_IO("%s %s %s reg %X = %08"PRIx32,
1128 ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
1129 swd_cmd_queue[i].cmd & SWD_CMD_APnDP ? "AP" : "DP",
1130 swd_cmd_queue[i].cmd & SWD_CMD_RnW ? "read" : "write",
1131 (swd_cmd_queue[i].cmd & SWD_CMD_A32) >> 1,
1132 buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn,
1133 1 + 3 + (swd_cmd_queue[i].cmd & SWD_CMD_RnW ? 0 : 1), 32));
1134
1135 if (ack != SWD_ACK_OK) {
1136 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
1137 goto skip;
1138
1139 } else if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
1140 uint32_t data = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3, 32);
1141 int parity = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 32, 1);
1142
1143 if (parity != parity_u32(data)) {
1144 LOG_ERROR("SWD Read data parity mismatch");
1145 queued_retval = ERROR_FAIL;
1146 goto skip;
1147 }
1148
1149 if (swd_cmd_queue[i].dst != NULL)
1150 *swd_cmd_queue[i].dst = data;
1151 }
1152 }
1153
1154 skip:
1155 swd_cmd_queue_length = 0;
1156 retval = queued_retval;
1157 queued_retval = ERROR_OK;
1158
1159 /* Queue a new "blink" */
1160 if (led && retval == ERROR_OK)
1161 ftdi_set_signal(led, '1');
1162
1163 return retval;
1164 }
1165
1166 static void ftdi_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data, uint32_t ap_delay_clk)
1167 {
1168 if (swd_cmd_queue_length >= swd_cmd_queue_alloced) {
1169 /* Not enough room in the queue. Run the queue and increase its size for next time.
1170 * Note that it's not possible to avoid running the queue here, because mpsse contains
1171 * pointers into the queue which may be invalid after the realloc. */
1172 queued_retval = ftdi_swd_run_queue();
1173 struct swd_cmd_queue_entry *q = realloc(swd_cmd_queue, swd_cmd_queue_alloced * 2 * sizeof(*swd_cmd_queue));
1174 if (q != NULL) {
1175 swd_cmd_queue = q;
1176 swd_cmd_queue_alloced *= 2;
1177 LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced);
1178 }
1179 }
1180
1181 if (queued_retval != ERROR_OK)
1182 return;
1183
1184 size_t i = swd_cmd_queue_length++;
1185 swd_cmd_queue[i].cmd = cmd | SWD_CMD_START | SWD_CMD_PARK;
1186
1187 mpsse_clock_data_out(mpsse_ctx, &swd_cmd_queue[i].cmd, 0, 8, SWD_MODE);
1188
1189 if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
1190 /* Queue a read transaction */
1191 swd_cmd_queue[i].dst = dst;
1192
1193 ftdi_swd_swdio_en(false);
1194 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1195 0, 1 + 3 + 32 + 1 + 1, SWD_MODE);
1196 ftdi_swd_swdio_en(true);
1197 } else {
1198 /* Queue a write transaction */
1199 ftdi_swd_swdio_en(false);
1200
1201 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1202 0, 1 + 3 + 1, SWD_MODE);
1203
1204 ftdi_swd_swdio_en(true);
1205
1206 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1, 32, data);
1207 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1 + 32, 1, parity_u32(data));
1208
1209 mpsse_clock_data_out(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1210 1 + 3 + 1, 32 + 1, SWD_MODE);
1211 }
1212
1213 /* Insert idle cycles after AP accesses to avoid WAIT */
1214 if (cmd & SWD_CMD_APnDP)
1215 mpsse_clock_data_out(mpsse_ctx, NULL, 0, ap_delay_clk, SWD_MODE);
1216
1217 }
1218
1219 static void ftdi_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
1220 {
1221 assert(cmd & SWD_CMD_RnW);
1222 ftdi_swd_queue_cmd(cmd, value, 0, ap_delay_clk);
1223 }
1224
1225 static void ftdi_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
1226 {
1227 assert(!(cmd & SWD_CMD_RnW));
1228 ftdi_swd_queue_cmd(cmd, NULL, value, ap_delay_clk);
1229 }
1230
1231 static int_least32_t ftdi_swd_frequency(int_least32_t hz)
1232 {
1233 if (hz > 0)
1234 freq = mpsse_set_frequency(mpsse_ctx, hz);
1235
1236 return freq;
1237 }
1238
1239 static int ftdi_swd_switch_seq(enum swd_special_seq seq)
1240 {
1241 switch (seq) {
1242 case LINE_RESET:
1243 LOG_DEBUG("SWD line reset");
1244 ftdi_swd_swdio_en(true);
1245 mpsse_clock_data_out(mpsse_ctx, swd_seq_line_reset, 0, swd_seq_line_reset_len, SWD_MODE);
1246 break;
1247 case JTAG_TO_SWD:
1248 LOG_DEBUG("JTAG-to-SWD");
1249 ftdi_swd_swdio_en(true);
1250 mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_swd, 0, swd_seq_jtag_to_swd_len, SWD_MODE);
1251 break;
1252 case SWD_TO_JTAG:
1253 LOG_DEBUG("SWD-to-JTAG");
1254 ftdi_swd_swdio_en(true);
1255 mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_jtag, 0, swd_seq_swd_to_jtag_len, SWD_MODE);
1256 break;
1257 default:
1258 LOG_ERROR("Sequence %d not supported", seq);
1259 return ERROR_FAIL;
1260 }
1261
1262 return ERROR_OK;
1263 }
1264
1265 static const struct swd_driver ftdi_swd = {
1266 .init = ftdi_swd_init,
1267 .frequency = ftdi_swd_frequency,
1268 .switch_seq = ftdi_swd_switch_seq,
1269 .read_reg = ftdi_swd_read_reg,
1270 .write_reg = ftdi_swd_write_reg,
1271 .run = ftdi_swd_run_queue,
1272 };
1273
1274 static const char * const ftdi_transports[] = { "jtag", "swd", NULL };
1275
1276 struct jtag_interface ftdi_interface = {
1277 .name = "ftdi",
1278 .supported = DEBUG_CAP_TMS_SEQ,
1279 .commands = ftdi_command_handlers,
1280 .transports = ftdi_transports,
1281 .swd = &ftdi_swd,
1282
1283 .init = ftdi_initialize,
1284 .quit = ftdi_quit,
1285 .speed = ftdi_speed,
1286 .speed_div = ftdi_speed_div,
1287 .khz = ftdi_khz,
1288 .execute_queue = ftdi_execute_queue,
1289 };