swd: Remove DAP from parameter list
[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, write to the *
17 * Free Software Foundation, Inc., *
18 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
19 ***************************************************************************/
20
21 /**
22 * @file
23 * JTAG adapters based on the FT2232 full and high speed USB parts are
24 * popular low cost JTAG debug solutions. Many FT2232 based JTAG adapters
25 * are discrete, but development boards may integrate them as alternatives
26 * to more capable (and expensive) third party JTAG pods.
27 *
28 * JTAG uses only one of the two communications channels ("MPSSE engines")
29 * on these devices. Adapters based on FT4232 parts have four ports/channels
30 * (A/B/C/D), instead of just two (A/B).
31 *
32 * Especially on development boards integrating one of these chips (as
33 * opposed to discrete pods/dongles), the additional channels can be used
34 * for a variety of purposes, but OpenOCD only uses one channel at a time.
35 *
36 * - As a USB-to-serial adapter for the target's console UART ...
37 * which may be able to support ROM boot loaders that load initial
38 * firmware images to flash (or SRAM).
39 *
40 * - On systems which support ARM's SWD in addition to JTAG, or instead
41 * of it, that second port can be used for reading SWV/SWO trace data.
42 *
43 * - Additional JTAG links, e.g. to a CPLD or * FPGA.
44 *
45 * FT2232 based JTAG adapters are "dumb" not "smart", because most JTAG
46 * request/response interactions involve round trips over the USB link.
47 * A "smart" JTAG adapter has intelligence close to the scan chain, so it
48 * can for example poll quickly for a status change (usually taking on the
49 * order of microseconds not milliseconds) before beginning a queued
50 * transaction which require the previous one to have completed.
51 *
52 * There are dozens of adapters of this type, differing in details which
53 * this driver needs to understand. Those "layout" details are required
54 * as part of FT2232 driver configuration.
55 *
56 * This code uses information contained in the MPSSE specification which was
57 * found here:
58 * http://www.ftdichip.com/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
59 * Hereafter this is called the "MPSSE Spec".
60 *
61 * The datasheet for the ftdichip.com's FT2232D part is here:
62 * http://www.ftdichip.com/Documents/DataSheets/DS_FT2232D.pdf
63 *
64 * Also note the issue with code 0x4b (clock data to TMS) noted in
65 * http://developer.intra2net.com/mailarchive/html/libftdi/2009/msg00292.html
66 * which can affect longer JTAG state paths.
67 */
68
69 #ifdef HAVE_CONFIG_H
70 #include "config.h"
71 #endif
72
73 /* project specific includes */
74 #include <jtag/interface.h>
75 #include <jtag/swd.h>
76 #include <transport/transport.h>
77 #include <helper/time_support.h>
78
79 #if IS_CYGWIN == 1
80 #include <windows.h>
81 #endif
82
83 #include <assert.h>
84
85 /* FTDI access library includes */
86 #include "mpsse.h"
87
88 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
89 #define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
90
91 static char *ftdi_device_desc;
92 static char *ftdi_serial;
93 static uint8_t ftdi_channel;
94
95 static bool swd_mode;
96
97 #define MAX_USB_IDS 8
98 /* vid = pid = 0 marks the end of the list */
99 static uint16_t ftdi_vid[MAX_USB_IDS + 1] = { 0 };
100 static uint16_t ftdi_pid[MAX_USB_IDS + 1] = { 0 };
101
102 static struct mpsse_ctx *mpsse_ctx;
103
104 struct signal {
105 const char *name;
106 uint16_t data_mask;
107 uint16_t oe_mask;
108 bool invert_data;
109 bool invert_oe;
110 struct signal *next;
111 };
112
113 static struct signal *signals;
114
115 /* FIXME: Where to store per-instance data? We need an SWD context. */
116 static struct swd_cmd_queue_entry {
117 uint8_t cmd;
118 uint32_t *dst;
119 uint8_t trn_ack_data_parity_trn[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
120 } *swd_cmd_queue;
121 static size_t swd_cmd_queue_length;
122 static size_t swd_cmd_queue_alloced;
123 static int queued_retval;
124 static int freq;
125
126 static uint16_t output;
127 static uint16_t direction;
128 static uint16_t jtag_output_init;
129 static uint16_t jtag_direction_init;
130
131 static int ftdi_swd_switch_seq(enum swd_special_seq seq);
132
133 static struct signal *find_signal_by_name(const char *name)
134 {
135 for (struct signal *sig = signals; sig; sig = sig->next) {
136 if (strcmp(name, sig->name) == 0)
137 return sig;
138 }
139 return NULL;
140 }
141
142 static struct signal *create_signal(const char *name)
143 {
144 struct signal **psig = &signals;
145 while (*psig)
146 psig = &(*psig)->next;
147
148 *psig = calloc(1, sizeof(**psig));
149 if (*psig == NULL)
150 return NULL;
151
152 (*psig)->name = strdup(name);
153 if ((*psig)->name == NULL) {
154 free(*psig);
155 *psig = NULL;
156 }
157 return *psig;
158 }
159
160 static int ftdi_set_signal(const struct signal *s, char value)
161 {
162 bool data;
163 bool oe;
164
165 if (s->data_mask == 0 && s->oe_mask == 0) {
166 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
167 return ERROR_FAIL;
168 }
169 switch (value) {
170 case '0':
171 data = s->invert_data;
172 oe = !s->invert_oe;
173 break;
174 case '1':
175 if (s->data_mask == 0) {
176 LOG_ERROR("interface can't drive '%s' high", s->name);
177 return ERROR_FAIL;
178 }
179 data = !s->invert_data;
180 oe = !s->invert_oe;
181 break;
182 case 'z':
183 case 'Z':
184 if (s->oe_mask == 0) {
185 LOG_ERROR("interface can't tri-state '%s'", s->name);
186 return ERROR_FAIL;
187 }
188 data = s->invert_data;
189 oe = s->invert_oe;
190 break;
191 default:
192 assert(0 && "invalid signal level specifier");
193 return ERROR_FAIL;
194 }
195
196 uint16_t old_output = output;
197 uint16_t old_direction = direction;
198
199 output = data ? output | s->data_mask : output & ~s->data_mask;
200 if (s->oe_mask == s->data_mask)
201 direction = oe ? direction | s->oe_mask : direction & ~s->oe_mask;
202 else
203 output = oe ? output | s->oe_mask : output & ~s->oe_mask;
204
205 if ((output & 0xff) != (old_output & 0xff) || (direction & 0xff) != (old_direction & 0xff))
206 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
207 if ((output >> 8 != old_output >> 8) || (direction >> 8 != old_direction >> 8))
208 mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
209
210 return ERROR_OK;
211 }
212
213
214 /**
215 * Function move_to_state
216 * moves the TAP controller from the current state to a
217 * \a goal_state through a path given by tap_get_tms_path(). State transition
218 * logging is performed by delegation to clock_tms().
219 *
220 * @param goal_state is the destination state for the move.
221 */
222 static void move_to_state(tap_state_t goal_state)
223 {
224 tap_state_t start_state = tap_get_state();
225
226 /* goal_state is 1/2 of a tuple/pair of states which allow convenient
227 lookup of the required TMS pattern to move to this state from the
228 start state.
229 */
230
231 /* do the 2 lookups */
232 uint8_t tms_bits = tap_get_tms_path(start_state, goal_state);
233 int tms_count = tap_get_tms_path_len(start_state, goal_state);
234 assert(tms_count <= 8);
235
236 DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
237
238 /* Track state transitions step by step */
239 for (int i = 0; i < tms_count; i++)
240 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits >> i) & 1));
241
242 mpsse_clock_tms_cs_out(mpsse_ctx,
243 &tms_bits,
244 0,
245 tms_count,
246 false,
247 JTAG_MODE);
248 }
249
250 static int ftdi_speed(int speed)
251 {
252 int retval;
253 retval = mpsse_set_frequency(mpsse_ctx, speed);
254
255 if (retval < 0) {
256 LOG_ERROR("couldn't set FTDI TCK speed");
257 return retval;
258 }
259
260 return ERROR_OK;
261 }
262
263 static int ftdi_speed_div(int speed, int *khz)
264 {
265 *khz = speed / 1000;
266 return ERROR_OK;
267 }
268
269 static int ftdi_khz(int khz, int *jtag_speed)
270 {
271 if (khz == 0 && !mpsse_is_high_speed(mpsse_ctx)) {
272 LOG_DEBUG("RCLK not supported");
273 return ERROR_FAIL;
274 }
275
276 *jtag_speed = khz * 1000;
277 return ERROR_OK;
278 }
279
280 static void ftdi_end_state(tap_state_t state)
281 {
282 if (tap_is_state_stable(state))
283 tap_set_end_state(state);
284 else {
285 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state));
286 exit(-1);
287 }
288 }
289
290 static void ftdi_execute_runtest(struct jtag_command *cmd)
291 {
292 int i;
293 uint8_t zero = 0;
294
295 DEBUG_JTAG_IO("runtest %i cycles, end in %s",
296 cmd->cmd.runtest->num_cycles,
297 tap_state_name(cmd->cmd.runtest->end_state));
298
299 if (tap_get_state() != TAP_IDLE)
300 move_to_state(TAP_IDLE);
301
302 /* TODO: Reuse ftdi_execute_stableclocks */
303 i = cmd->cmd.runtest->num_cycles;
304 while (i > 0) {
305 /* there are no state transitions in this code, so omit state tracking */
306 unsigned this_len = i > 7 ? 7 : i;
307 mpsse_clock_tms_cs_out(mpsse_ctx, &zero, 0, this_len, false, JTAG_MODE);
308 i -= this_len;
309 }
310
311 ftdi_end_state(cmd->cmd.runtest->end_state);
312
313 if (tap_get_state() != tap_get_end_state())
314 move_to_state(tap_get_end_state());
315
316 DEBUG_JTAG_IO("runtest: %i, end in %s",
317 cmd->cmd.runtest->num_cycles,
318 tap_state_name(tap_get_end_state()));
319 }
320
321 static void ftdi_execute_statemove(struct jtag_command *cmd)
322 {
323 DEBUG_JTAG_IO("statemove end in %s",
324 tap_state_name(cmd->cmd.statemove->end_state));
325
326 ftdi_end_state(cmd->cmd.statemove->end_state);
327
328 /* shortest-path move to desired end state */
329 if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET)
330 move_to_state(tap_get_end_state());
331 }
332
333 /**
334 * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
335 * (or SWD) state machine. REVISIT: Not the best method, perhaps.
336 */
337 static void ftdi_execute_tms(struct jtag_command *cmd)
338 {
339 DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
340
341 /* TODO: Missing tap state tracking, also missing from ft2232.c! */
342 mpsse_clock_tms_cs_out(mpsse_ctx,
343 cmd->cmd.tms->bits,
344 0,
345 cmd->cmd.tms->num_bits,
346 false,
347 JTAG_MODE);
348 }
349
350 static void ftdi_execute_pathmove(struct jtag_command *cmd)
351 {
352 tap_state_t *path = cmd->cmd.pathmove->path;
353 int num_states = cmd->cmd.pathmove->num_states;
354
355 DEBUG_JTAG_IO("pathmove: %i states, current: %s end: %s", num_states,
356 tap_state_name(tap_get_state()),
357 tap_state_name(path[num_states-1]));
358
359 int state_count = 0;
360 unsigned bit_count = 0;
361 uint8_t tms_byte = 0;
362
363 DEBUG_JTAG_IO("-");
364
365 /* this loop verifies that the path is legal and logs each state in the path */
366 while (num_states--) {
367
368 /* either TMS=0 or TMS=1 must work ... */
369 if (tap_state_transition(tap_get_state(), false)
370 == path[state_count])
371 buf_set_u32(&tms_byte, bit_count++, 1, 0x0);
372 else if (tap_state_transition(tap_get_state(), true)
373 == path[state_count]) {
374 buf_set_u32(&tms_byte, bit_count++, 1, 0x1);
375
376 /* ... or else the caller goofed BADLY */
377 } else {
378 LOG_ERROR("BUG: %s -> %s isn't a valid "
379 "TAP state transition",
380 tap_state_name(tap_get_state()),
381 tap_state_name(path[state_count]));
382 exit(-1);
383 }
384
385 tap_set_state(path[state_count]);
386 state_count++;
387
388 if (bit_count == 7 || num_states == 0) {
389 mpsse_clock_tms_cs_out(mpsse_ctx,
390 &tms_byte,
391 0,
392 bit_count,
393 false,
394 JTAG_MODE);
395 bit_count = 0;
396 }
397 }
398 tap_set_end_state(tap_get_state());
399 }
400
401 static void ftdi_execute_scan(struct jtag_command *cmd)
402 {
403 DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
404 jtag_scan_type(cmd->cmd.scan));
405
406 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
407 while (cmd->cmd.scan->num_fields > 0
408 && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
409 cmd->cmd.scan->num_fields--;
410 LOG_DEBUG("discarding trailing empty field");
411 }
412
413 if (cmd->cmd.scan->num_fields == 0) {
414 LOG_DEBUG("empty scan, doing nothing");
415 return;
416 }
417
418 if (cmd->cmd.scan->ir_scan) {
419 if (tap_get_state() != TAP_IRSHIFT)
420 move_to_state(TAP_IRSHIFT);
421 } else {
422 if (tap_get_state() != TAP_DRSHIFT)
423 move_to_state(TAP_DRSHIFT);
424 }
425
426 ftdi_end_state(cmd->cmd.scan->end_state);
427
428 struct scan_field *field = cmd->cmd.scan->fields;
429 unsigned scan_size = 0;
430
431 for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
432 scan_size += field->num_bits;
433 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
434 field->in_value ? "in" : "",
435 field->out_value ? "out" : "",
436 i,
437 cmd->cmd.scan->num_fields,
438 field->num_bits);
439
440 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
441 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
442 * movement. This last field can't have length zero, it was checked above. */
443 mpsse_clock_data(mpsse_ctx,
444 field->out_value,
445 0,
446 field->in_value,
447 0,
448 field->num_bits - 1,
449 JTAG_MODE);
450 uint8_t last_bit = 0;
451 if (field->out_value)
452 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
453 uint8_t tms_bits = 0x01;
454 mpsse_clock_tms_cs(mpsse_ctx,
455 &tms_bits,
456 0,
457 field->in_value,
458 field->num_bits - 1,
459 1,
460 last_bit,
461 JTAG_MODE);
462 tap_set_state(tap_state_transition(tap_get_state(), 1));
463 mpsse_clock_tms_cs_out(mpsse_ctx,
464 &tms_bits,
465 1,
466 1,
467 last_bit,
468 JTAG_MODE);
469 tap_set_state(tap_state_transition(tap_get_state(), 0));
470 } else
471 mpsse_clock_data(mpsse_ctx,
472 field->out_value,
473 0,
474 field->in_value,
475 0,
476 field->num_bits,
477 JTAG_MODE);
478 }
479
480 if (tap_get_state() != tap_get_end_state())
481 move_to_state(tap_get_end_state());
482
483 DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
484 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
485 tap_state_name(tap_get_end_state()));
486 }
487
488 static void ftdi_execute_reset(struct jtag_command *cmd)
489 {
490 DEBUG_JTAG_IO("reset trst: %i srst %i",
491 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
492
493 if (cmd->cmd.reset->trst == 1
494 || (cmd->cmd.reset->srst
495 && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
496 tap_set_state(TAP_RESET);
497
498 struct signal *trst = find_signal_by_name("nTRST");
499 if (cmd->cmd.reset->trst == 1) {
500 if (trst)
501 ftdi_set_signal(trst, '0');
502 else
503 LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
504 } else if (trst && jtag_get_reset_config() & RESET_HAS_TRST &&
505 cmd->cmd.reset->trst == 0) {
506 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
507 ftdi_set_signal(trst, 'z');
508 else
509 ftdi_set_signal(trst, '1');
510 }
511
512 struct signal *srst = find_signal_by_name("nSRST");
513 if (cmd->cmd.reset->srst == 1) {
514 if (srst)
515 ftdi_set_signal(srst, '0');
516 else
517 LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
518 } else if (srst && jtag_get_reset_config() & RESET_HAS_SRST &&
519 cmd->cmd.reset->srst == 0) {
520 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
521 ftdi_set_signal(srst, '1');
522 else
523 ftdi_set_signal(srst, 'z');
524 }
525
526 DEBUG_JTAG_IO("trst: %i, srst: %i",
527 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
528 }
529
530 static void ftdi_execute_sleep(struct jtag_command *cmd)
531 {
532 DEBUG_JTAG_IO("sleep %" PRIi32, cmd->cmd.sleep->us);
533
534 mpsse_flush(mpsse_ctx);
535 jtag_sleep(cmd->cmd.sleep->us);
536 DEBUG_JTAG_IO("sleep %" PRIi32 " usec while in %s",
537 cmd->cmd.sleep->us,
538 tap_state_name(tap_get_state()));
539 }
540
541 static void ftdi_execute_stableclocks(struct jtag_command *cmd)
542 {
543 /* this is only allowed while in a stable state. A check for a stable
544 * state was done in jtag_add_clocks()
545 */
546 int num_cycles = cmd->cmd.stableclocks->num_cycles;
547
548 /* 7 bits of either ones or zeros. */
549 uint8_t tms = tap_get_state() == TAP_RESET ? 0x7f : 0x00;
550
551 /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
552 * the correct level and remain there during the scan */
553 while (num_cycles > 0) {
554 /* there are no state transitions in this code, so omit state tracking */
555 unsigned this_len = num_cycles > 7 ? 7 : num_cycles;
556 mpsse_clock_tms_cs_out(mpsse_ctx, &tms, 0, this_len, false, JTAG_MODE);
557 num_cycles -= this_len;
558 }
559
560 DEBUG_JTAG_IO("clocks %i while in %s",
561 cmd->cmd.stableclocks->num_cycles,
562 tap_state_name(tap_get_state()));
563 }
564
565 static void ftdi_execute_command(struct jtag_command *cmd)
566 {
567 switch (cmd->type) {
568 case JTAG_RESET:
569 ftdi_execute_reset(cmd);
570 break;
571 case JTAG_RUNTEST:
572 ftdi_execute_runtest(cmd);
573 break;
574 case JTAG_TLR_RESET:
575 ftdi_execute_statemove(cmd);
576 break;
577 case JTAG_PATHMOVE:
578 ftdi_execute_pathmove(cmd);
579 break;
580 case JTAG_SCAN:
581 ftdi_execute_scan(cmd);
582 break;
583 case JTAG_SLEEP:
584 ftdi_execute_sleep(cmd);
585 break;
586 case JTAG_STABLECLOCKS:
587 ftdi_execute_stableclocks(cmd);
588 break;
589 case JTAG_TMS:
590 ftdi_execute_tms(cmd);
591 break;
592 default:
593 LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd->type);
594 break;
595 }
596 }
597
598 static int ftdi_execute_queue(void)
599 {
600 /* blink, if the current layout has that feature */
601 struct signal *led = find_signal_by_name("LED");
602 if (led)
603 ftdi_set_signal(led, '1');
604
605 for (struct jtag_command *cmd = jtag_command_queue; cmd; cmd = cmd->next) {
606 /* fill the write buffer with the desired command */
607 ftdi_execute_command(cmd);
608 }
609
610 if (led)
611 ftdi_set_signal(led, '0');
612
613 int retval = mpsse_flush(mpsse_ctx);
614 if (retval != ERROR_OK)
615 LOG_ERROR("error while flushing MPSSE queue: %d", retval);
616
617 return retval;
618 }
619
620 static int ftdi_initialize(void)
621 {
622 if (tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRPAUSE) == 7)
623 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
624 else
625 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
626
627 for (int i = 0; ftdi_vid[i] || ftdi_pid[i]; i++) {
628 mpsse_ctx = mpsse_open(&ftdi_vid[i], &ftdi_pid[i], ftdi_device_desc,
629 ftdi_serial, ftdi_channel);
630 if (mpsse_ctx)
631 break;
632 }
633
634 if (!mpsse_ctx)
635 return ERROR_JTAG_INIT_FAILED;
636
637 output = jtag_output_init;
638 direction = jtag_direction_init;
639
640 if (swd_mode) {
641 struct signal *sig = find_signal_by_name("SWD_EN");
642 if (!sig) {
643 LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
644 return ERROR_JTAG_INIT_FAILED;
645 }
646 /* A dummy SWD_EN would have zero mask */
647 if (sig->data_mask)
648 ftdi_set_signal(sig, '1');
649 }
650
651 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
652 mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
653
654 mpsse_loopback_config(mpsse_ctx, false);
655
656 freq = mpsse_set_frequency(mpsse_ctx, jtag_get_speed_khz() * 1000);
657
658 return mpsse_flush(mpsse_ctx);
659 }
660
661 static int ftdi_quit(void)
662 {
663 mpsse_close(mpsse_ctx);
664
665 free(swd_cmd_queue);
666
667 return ERROR_OK;
668 }
669
670 COMMAND_HANDLER(ftdi_handle_device_desc_command)
671 {
672 if (CMD_ARGC == 1) {
673 if (ftdi_device_desc)
674 free(ftdi_device_desc);
675 ftdi_device_desc = strdup(CMD_ARGV[0]);
676 } else {
677 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
678 }
679
680 return ERROR_OK;
681 }
682
683 COMMAND_HANDLER(ftdi_handle_serial_command)
684 {
685 if (CMD_ARGC == 1) {
686 if (ftdi_serial)
687 free(ftdi_serial);
688 ftdi_serial = strdup(CMD_ARGV[0]);
689 } else {
690 return ERROR_COMMAND_SYNTAX_ERROR;
691 }
692
693 return ERROR_OK;
694 }
695
696 COMMAND_HANDLER(ftdi_handle_channel_command)
697 {
698 if (CMD_ARGC == 1)
699 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], ftdi_channel);
700 else
701 return ERROR_COMMAND_SYNTAX_ERROR;
702
703 return ERROR_OK;
704 }
705
706 COMMAND_HANDLER(ftdi_handle_layout_init_command)
707 {
708 if (CMD_ARGC != 2)
709 return ERROR_COMMAND_SYNTAX_ERROR;
710
711 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], jtag_output_init);
712 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], jtag_direction_init);
713
714 return ERROR_OK;
715 }
716
717 COMMAND_HANDLER(ftdi_handle_layout_signal_command)
718 {
719 if (CMD_ARGC < 1)
720 return ERROR_COMMAND_SYNTAX_ERROR;
721
722 bool invert_data = false;
723 uint16_t data_mask = 0;
724 bool invert_oe = false;
725 uint16_t oe_mask = 0;
726 for (unsigned i = 1; i < CMD_ARGC; i += 2) {
727 if (strcmp("-data", CMD_ARGV[i]) == 0) {
728 invert_data = false;
729 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
730 } else if (strcmp("-ndata", CMD_ARGV[i]) == 0) {
731 invert_data = true;
732 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
733 } else if (strcmp("-oe", CMD_ARGV[i]) == 0) {
734 invert_oe = false;
735 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
736 } else if (strcmp("-noe", CMD_ARGV[i]) == 0) {
737 invert_oe = true;
738 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
739 } else if (!strcmp("-alias", CMD_ARGV[i]) ||
740 !strcmp("-nalias", CMD_ARGV[i])) {
741 if (!strcmp("-nalias", CMD_ARGV[i]))
742 invert_data = true;
743 struct signal *sig = find_signal_by_name(CMD_ARGV[i + 1]);
744 if (!sig) {
745 LOG_ERROR("signal %s is not defined", CMD_ARGV[i + 1]);
746 return ERROR_FAIL;
747 }
748 data_mask = sig->data_mask;
749 oe_mask = sig->oe_mask;
750 invert_oe = sig->invert_oe;
751 invert_data ^= sig->invert_data;
752 } else {
753 LOG_ERROR("unknown option '%s'", CMD_ARGV[i]);
754 return ERROR_COMMAND_SYNTAX_ERROR;
755 }
756 }
757
758 struct signal *sig;
759 sig = find_signal_by_name(CMD_ARGV[0]);
760 if (!sig)
761 sig = create_signal(CMD_ARGV[0]);
762 if (!sig) {
763 LOG_ERROR("failed to create signal %s", CMD_ARGV[0]);
764 return ERROR_FAIL;
765 }
766
767 sig->invert_data = invert_data;
768 sig->data_mask = data_mask;
769 sig->invert_oe = invert_oe;
770 sig->oe_mask = oe_mask;
771
772 return ERROR_OK;
773 }
774
775 COMMAND_HANDLER(ftdi_handle_set_signal_command)
776 {
777 if (CMD_ARGC < 2)
778 return ERROR_COMMAND_SYNTAX_ERROR;
779
780 struct signal *sig;
781 sig = find_signal_by_name(CMD_ARGV[0]);
782 if (!sig) {
783 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
784 return ERROR_FAIL;
785 }
786
787 switch (*CMD_ARGV[1]) {
788 case '0':
789 case '1':
790 case 'z':
791 case 'Z':
792 /* single character level specifier only */
793 if (CMD_ARGV[1][1] == '\0') {
794 ftdi_set_signal(sig, *CMD_ARGV[1]);
795 break;
796 }
797 default:
798 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV[1]);
799 return ERROR_COMMAND_SYNTAX_ERROR;
800 }
801
802 return mpsse_flush(mpsse_ctx);
803 }
804
805 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
806 {
807 if (CMD_ARGC > MAX_USB_IDS * 2) {
808 LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
809 "(maximum is %d pairs)", MAX_USB_IDS);
810 CMD_ARGC = MAX_USB_IDS * 2;
811 }
812 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
813 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
814 if (CMD_ARGC < 2)
815 return ERROR_COMMAND_SYNTAX_ERROR;
816 /* remove the incomplete trailing id */
817 CMD_ARGC -= 1;
818 }
819
820 unsigned i;
821 for (i = 0; i < CMD_ARGC; i += 2) {
822 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], ftdi_vid[i >> 1]);
823 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], ftdi_pid[i >> 1]);
824 }
825
826 /*
827 * Explicitly terminate, in case there are multiples instances of
828 * ftdi_vid_pid.
829 */
830 ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
831
832 return ERROR_OK;
833 }
834
835 static const struct command_registration ftdi_command_handlers[] = {
836 {
837 .name = "ftdi_device_desc",
838 .handler = &ftdi_handle_device_desc_command,
839 .mode = COMMAND_CONFIG,
840 .help = "set the USB device description of the FTDI device",
841 .usage = "description_string",
842 },
843 {
844 .name = "ftdi_serial",
845 .handler = &ftdi_handle_serial_command,
846 .mode = COMMAND_CONFIG,
847 .help = "set the serial number of the FTDI device",
848 .usage = "serial_string",
849 },
850 {
851 .name = "ftdi_channel",
852 .handler = &ftdi_handle_channel_command,
853 .mode = COMMAND_CONFIG,
854 .help = "set the channel of the FTDI device that is used as JTAG",
855 .usage = "(0-3)",
856 },
857 {
858 .name = "ftdi_layout_init",
859 .handler = &ftdi_handle_layout_init_command,
860 .mode = COMMAND_CONFIG,
861 .help = "initialize the FTDI GPIO signals used "
862 "to control output-enables and reset signals",
863 .usage = "data direction",
864 },
865 {
866 .name = "ftdi_layout_signal",
867 .handler = &ftdi_handle_layout_signal_command,
868 .mode = COMMAND_ANY,
869 .help = "define a signal controlled by one or more FTDI GPIO as data "
870 "and/or output enable",
871 .usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
872 },
873 {
874 .name = "ftdi_set_signal",
875 .handler = &ftdi_handle_set_signal_command,
876 .mode = COMMAND_EXEC,
877 .help = "control a layout-specific signal",
878 .usage = "name (1|0|z)",
879 },
880 {
881 .name = "ftdi_vid_pid",
882 .handler = &ftdi_handle_vid_pid_command,
883 .mode = COMMAND_CONFIG,
884 .help = "the vendor ID and product ID of the FTDI device",
885 .usage = "(vid pid)* ",
886 },
887 COMMAND_REGISTRATION_DONE
888 };
889
890 static int create_default_signal(const char *name, uint16_t data_mask)
891 {
892 struct signal *sig = create_signal(name);
893 if (!sig) {
894 LOG_ERROR("failed to create signal %s", name);
895 return ERROR_FAIL;
896 }
897 sig->invert_data = false;
898 sig->data_mask = data_mask;
899 sig->invert_oe = false;
900 sig->oe_mask = 0;
901
902 return ERROR_OK;
903 }
904
905 static int create_signals(void)
906 {
907 if (create_default_signal("TCK", 0x01) != ERROR_OK)
908 return ERROR_FAIL;
909 if (create_default_signal("TDI", 0x02) != ERROR_OK)
910 return ERROR_FAIL;
911 if (create_default_signal("TDO", 0x04) != ERROR_OK)
912 return ERROR_FAIL;
913 if (create_default_signal("TMS", 0x08) != ERROR_OK)
914 return ERROR_FAIL;
915 return ERROR_OK;
916 }
917
918 static int ftdi_swd_init(void)
919 {
920 LOG_INFO("FTDI SWD mode enabled");
921 swd_mode = true;
922
923 if (create_signals() != ERROR_OK)
924 return ERROR_FAIL;
925
926 swd_cmd_queue_alloced = 10;
927 swd_cmd_queue = malloc(swd_cmd_queue_alloced * sizeof(*swd_cmd_queue));
928
929 return swd_cmd_queue != NULL ? ERROR_OK : ERROR_FAIL;
930 }
931
932 static void ftdi_swd_swdio_en(bool enable)
933 {
934 struct signal *oe = find_signal_by_name("SWDIO_OE");
935 if (oe)
936 ftdi_set_signal(oe, enable ? '1' : '0');
937 }
938
939 /**
940 * Flush the MPSSE queue and process the SWD transaction queue
941 * @param dap
942 * @return
943 */
944 static int ftdi_swd_run_queue(void)
945 {
946 LOG_DEBUG("Executing %zu queued transactions", swd_cmd_queue_length);
947 int retval;
948 struct signal *led = find_signal_by_name("LED");
949
950 if (queued_retval != ERROR_OK) {
951 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
952 goto skip;
953 }
954
955 /* A transaction must be followed by another transaction or at least 8 idle cycles to
956 * ensure that data is clocked through the AP. */
957 mpsse_clock_data_out(mpsse_ctx, NULL, 0, 8, SWD_MODE);
958
959 /* Terminate the "blink", if the current layout has that feature */
960 if (led)
961 ftdi_set_signal(led, '0');
962
963 queued_retval = mpsse_flush(mpsse_ctx);
964 if (queued_retval != ERROR_OK) {
965 LOG_ERROR("MPSSE failed");
966 goto skip;
967 }
968
969 for (size_t i = 0; i < swd_cmd_queue_length; i++) {
970 int ack = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1, 3);
971
972 LOG_DEBUG("%s %s %s reg %X = %08"PRIx32,
973 ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
974 swd_cmd_queue[i].cmd & SWD_CMD_APnDP ? "AP" : "DP",
975 swd_cmd_queue[i].cmd & SWD_CMD_RnW ? "read" : "write",
976 (swd_cmd_queue[i].cmd & SWD_CMD_A32) >> 1,
977 buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn,
978 1 + 3 + (swd_cmd_queue[i].cmd & SWD_CMD_RnW ? 0 : 1), 32));
979
980 if (ack != SWD_ACK_OK) {
981 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
982 goto skip;
983
984 } else if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
985 uint32_t data = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3, 32);
986 int parity = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 32, 1);
987
988 if (parity != parity_u32(data)) {
989 LOG_ERROR("SWD Read data parity mismatch");
990 queued_retval = ERROR_FAIL;
991 goto skip;
992 }
993
994 if (swd_cmd_queue[i].dst != NULL)
995 *swd_cmd_queue[i].dst = data;
996 }
997 }
998
999 skip:
1000 swd_cmd_queue_length = 0;
1001 retval = queued_retval;
1002 queued_retval = ERROR_OK;
1003
1004 /* Queue a new "blink" */
1005 if (led && retval == ERROR_OK)
1006 ftdi_set_signal(led, '1');
1007
1008 return retval;
1009 }
1010
1011 static void ftdi_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data, uint32_t ap_delay_clk)
1012 {
1013 if (swd_cmd_queue_length >= swd_cmd_queue_alloced) {
1014 /* Not enough room in the queue. Run the queue and increase its size for next time.
1015 * Note that it's not possible to avoid running the queue here, because mpsse contains
1016 * pointers into the queue which may be invalid after the realloc. */
1017 queued_retval = ftdi_swd_run_queue();
1018 struct swd_cmd_queue_entry *q = realloc(swd_cmd_queue, swd_cmd_queue_alloced * 2 * sizeof(*swd_cmd_queue));
1019 if (q != NULL) {
1020 swd_cmd_queue = q;
1021 swd_cmd_queue_alloced *= 2;
1022 LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced);
1023 }
1024 }
1025
1026 if (queued_retval != ERROR_OK)
1027 return;
1028
1029 size_t i = swd_cmd_queue_length++;
1030 swd_cmd_queue[i].cmd = cmd | SWD_CMD_START | SWD_CMD_PARK;
1031
1032 mpsse_clock_data_out(mpsse_ctx, &swd_cmd_queue[i].cmd, 0, 8, SWD_MODE);
1033
1034 if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
1035 /* Queue a read transaction */
1036 swd_cmd_queue[i].dst = dst;
1037
1038 ftdi_swd_swdio_en(false);
1039 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1040 0, 1 + 3 + 32 + 1 + 1, SWD_MODE);
1041 ftdi_swd_swdio_en(true);
1042 } else {
1043 /* Queue a write transaction */
1044 ftdi_swd_swdio_en(false);
1045
1046 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1047 0, 1 + 3 + 1, SWD_MODE);
1048
1049 ftdi_swd_swdio_en(true);
1050
1051 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1, 32, data);
1052 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1 + 32, 1, parity_u32(data));
1053
1054 mpsse_clock_data_out(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1055 1 + 3 + 1, 32 + 1, SWD_MODE);
1056 }
1057
1058 /* Insert idle cycles after AP accesses to avoid WAIT */
1059 if (cmd & SWD_CMD_APnDP)
1060 mpsse_clock_data_out(mpsse_ctx, NULL, 0, ap_delay_clk, SWD_MODE);
1061
1062 }
1063
1064 static void ftdi_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
1065 {
1066 assert(cmd & SWD_CMD_RnW);
1067 ftdi_swd_queue_cmd(cmd, value, 0, ap_delay_clk);
1068 }
1069
1070 static void ftdi_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
1071 {
1072 assert(!(cmd & SWD_CMD_RnW));
1073 ftdi_swd_queue_cmd(cmd, NULL, value, ap_delay_clk);
1074 }
1075
1076 static int_least32_t ftdi_swd_frequency(int_least32_t hz)
1077 {
1078 if (hz > 0)
1079 freq = mpsse_set_frequency(mpsse_ctx, hz);
1080
1081 return freq;
1082 }
1083
1084 static int ftdi_swd_switch_seq(enum swd_special_seq seq)
1085 {
1086 switch (seq) {
1087 case LINE_RESET:
1088 LOG_DEBUG("SWD line reset");
1089 mpsse_clock_data_out(mpsse_ctx, swd_seq_line_reset, 0, swd_seq_line_reset_len, SWD_MODE);
1090 break;
1091 case JTAG_TO_SWD:
1092 LOG_DEBUG("JTAG-to-SWD");
1093 mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_swd, 0, swd_seq_jtag_to_swd_len, SWD_MODE);
1094 break;
1095 case SWD_TO_JTAG:
1096 LOG_DEBUG("SWD-to-JTAG");
1097 mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_jtag, 0, swd_seq_swd_to_jtag_len, SWD_MODE);
1098 break;
1099 default:
1100 LOG_ERROR("Sequence %d not supported", seq);
1101 return ERROR_FAIL;
1102 }
1103
1104 return ERROR_OK;
1105 }
1106
1107 static const struct swd_driver ftdi_swd = {
1108 .init = ftdi_swd_init,
1109 .frequency = ftdi_swd_frequency,
1110 .switch_seq = ftdi_swd_switch_seq,
1111 .read_reg = ftdi_swd_read_reg,
1112 .write_reg = ftdi_swd_write_reg,
1113 .run = ftdi_swd_run_queue,
1114 };
1115
1116 static const char * const ftdi_transports[] = { "jtag", "swd", NULL };
1117
1118 struct jtag_interface ftdi_interface = {
1119 .name = "ftdi",
1120 .supported = DEBUG_CAP_TMS_SEQ,
1121 .commands = ftdi_command_handlers,
1122 .transports = ftdi_transports,
1123 .swd = &ftdi_swd,
1124
1125 .init = ftdi_initialize,
1126 .quit = ftdi_quit,
1127 .speed = ftdi_speed,
1128 .speed_div = ftdi_speed_div,
1129 .khz = ftdi_khz,
1130 .execute_queue = ftdi_execute_queue,
1131 };