git.sur5r.net Git - openocd/blob - 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 static uint16_t swd_output_init;
 131 static uint16_t swd_direction_init;
 132
 133 static int ftdi_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq);
 134
 135 static struct signal *find_signal_by_name(const char *name)
 136 {
 137         for (struct signal *sig = signals; sig; sig = sig->next) {
 138                 if (strcmp(name, sig->name) == 0)
 139                         return sig;
 140         }
 141         return NULL;
 142 }
 143
 144 static struct signal *create_signal(const char *name)
 145 {
 146         struct signal **psig = &signals;
 147         while (*psig)
 148                 psig = &(*psig)->next;
 149
 150         *psig = calloc(1, sizeof(**psig));
 151         if (*psig == NULL)
 152                 return NULL;
 153
 154         (*psig)->name = strdup(name);
 155         if ((*psig)->name == NULL) {
 156                 free(*psig);
 157                 *psig = NULL;
 158         }
 159         return *psig;
 160 }
 161
 162 static int ftdi_set_signal(const struct signal *s, char value)
 163 {
 164         bool data;
 165         bool oe;
 166
 167         if (s->data_mask == 0 && s->oe_mask == 0) {
 168                 LOG_ERROR("interface doesn't provide signal '%s'", s->name);
 169                 return ERROR_FAIL;
 170         }
 171         switch (value) {
 172         case '0':
 173                 data = s->invert_data;
 174                 oe = !s->invert_oe;
 175                 break;
 176         case '1':
 177                 if (s->data_mask == 0) {
 178                         LOG_ERROR("interface can't drive '%s' high", s->name);
 179                         return ERROR_FAIL;
 180                 }
 181                 data = !s->invert_data;
 182                 oe = !s->invert_oe;
 183                 break;
 184         case 'z':
 185         case 'Z':
 186                 if (s->oe_mask == 0) {
 187                         LOG_ERROR("interface can't tri-state '%s'", s->name);
 188                         return ERROR_FAIL;
 189                 }
 190                 data = s->invert_data;
 191                 oe = s->invert_oe;
 192                 break;
 193         default:
 194                 assert(0 && "invalid signal level specifier");
 195                 return ERROR_FAIL;
 196         }
 197
 198         uint16_t old_output = output;
 199         uint16_t old_direction = direction;
 200
 201         output = data ? output | s->data_mask : output & ~s->data_mask;
 202         if (s->oe_mask == s->data_mask)
 203                 direction = oe ? direction | s->oe_mask : direction & ~s->oe_mask;
 204         else
 205                 output = oe ? output | s->oe_mask : output & ~s->oe_mask;
 206
 207         if ((output & 0xff) != (old_output & 0xff) || (direction & 0xff) != (old_direction & 0xff))
 208                 mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
 209         if ((output >> 8 != old_output >> 8) || (direction >> 8 != old_direction >> 8))
 210                 mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
 211
 212         return ERROR_OK;
 213 }
 214
 215
 216 /**
 217  * Function move_to_state
 218  * moves the TAP controller from the current state to a
 219  * \a goal_state through a path given by tap_get_tms_path().  State transition
 220  * logging is performed by delegation to clock_tms().
 221  *
 222  * @param goal_state is the destination state for the move.
 223  */
 224 static void move_to_state(tap_state_t goal_state)
 225 {
 226         tap_state_t start_state = tap_get_state();
 227
 228         /*      goal_state is 1/2 of a tuple/pair of states which allow convenient
 229                 lookup of the required TMS pattern to move to this state from the
 230                 start state.
 231         */
 232
 233         /* do the 2 lookups */
 234         uint8_t tms_bits  = tap_get_tms_path(start_state, goal_state);
 235         int tms_count = tap_get_tms_path_len(start_state, goal_state);
 236         assert(tms_count <= 8);
 237
 238         DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
 239
 240         /* Track state transitions step by step */
 241         for (int i = 0; i < tms_count; i++)
 242                 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits >> i) & 1));
 243
 244         mpsse_clock_tms_cs_out(mpsse_ctx,
 245                 &tms_bits,
 246                 0,
 247                 tms_count,
 248                 false,
 249                 JTAG_MODE);
 250 }
 251
 252 static int ftdi_speed(int speed)
 253 {
 254         int retval;
 255         retval = mpsse_set_frequency(mpsse_ctx, speed);
 256
 257         if (retval < 0) {
 258                 LOG_ERROR("couldn't set FTDI TCK speed");
 259                 return retval;
 260         }
 261
 262         return ERROR_OK;
 263 }
 264
 265 static int ftdi_speed_div(int speed, int *khz)
 266 {
 267         *khz = speed / 1000;
 268         return ERROR_OK;
 269 }
 270
 271 static int ftdi_khz(int khz, int *jtag_speed)
 272 {
 273         if (khz == 0 && !mpsse_is_high_speed(mpsse_ctx)) {
 274                 LOG_DEBUG("RCLK not supported");
 275                 return ERROR_FAIL;
 276         }
 277
 278         *jtag_speed = khz * 1000;
 279         return ERROR_OK;
 280 }
 281
 282 static void ftdi_end_state(tap_state_t state)
 283 {
 284         if (tap_is_state_stable(state))
 285                 tap_set_end_state(state);
 286         else {
 287                 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state));
 288                 exit(-1);
 289         }
 290 }
 291
 292 static void ftdi_execute_runtest(struct jtag_command *cmd)
 293 {
 294         int i;
 295         uint8_t zero = 0;
 296
 297         DEBUG_JTAG_IO("runtest %i cycles, end in %s",
 298                 cmd->cmd.runtest->num_cycles,
 299                 tap_state_name(cmd->cmd.runtest->end_state));
 300
 301         if (tap_get_state() != TAP_IDLE)
 302                 move_to_state(TAP_IDLE);
 303
 304         /* TODO: Reuse ftdi_execute_stableclocks */
 305         i = cmd->cmd.runtest->num_cycles;
 306         while (i > 0) {
 307                 /* there are no state transitions in this code, so omit state tracking */
 308                 unsigned this_len = i > 7 ? 7 : i;
 309                 mpsse_clock_tms_cs_out(mpsse_ctx, &zero, 0, this_len, false, JTAG_MODE);
 310                 i -= this_len;
 311         }
 312
 313         ftdi_end_state(cmd->cmd.runtest->end_state);
 314
 315         if (tap_get_state() != tap_get_end_state())
 316                 move_to_state(tap_get_end_state());
 317
 318         DEBUG_JTAG_IO("runtest: %i, end in %s",
 319                 cmd->cmd.runtest->num_cycles,
 320                 tap_state_name(tap_get_end_state()));
 321 }
 322
 323 static void ftdi_execute_statemove(struct jtag_command *cmd)
 324 {
 325         DEBUG_JTAG_IO("statemove end in %s",
 326                 tap_state_name(cmd->cmd.statemove->end_state));
 327
 328         ftdi_end_state(cmd->cmd.statemove->end_state);
 329
 330         /* shortest-path move to desired end state */
 331         if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET)
 332                 move_to_state(tap_get_end_state());
 333 }
 334
 335 /**
 336  * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
 337  * (or SWD) state machine. REVISIT: Not the best method, perhaps.
 338  */
 339 static void ftdi_execute_tms(struct jtag_command *cmd)
 340 {
 341         DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
 342
 343         /* TODO: Missing tap state tracking, also missing from ft2232.c! */
 344         mpsse_clock_tms_cs_out(mpsse_ctx,
 345                 cmd->cmd.tms->bits,
 346                 0,
 347                 cmd->cmd.tms->num_bits,
 348                 false,
 349                 JTAG_MODE);
 350 }
 351
 352 static void ftdi_execute_pathmove(struct jtag_command *cmd)
 353 {
 354         tap_state_t *path = cmd->cmd.pathmove->path;
 355         int num_states  = cmd->cmd.pathmove->num_states;
 356
 357         DEBUG_JTAG_IO("pathmove: %i states, current: %s  end: %s", num_states,
 358                 tap_state_name(tap_get_state()),
 359                 tap_state_name(path[num_states-1]));
 360
 361         int state_count = 0;
 362         unsigned bit_count = 0;
 363         uint8_t tms_byte = 0;
 364
 365         DEBUG_JTAG_IO("-");
 366
 367         /* this loop verifies that the path is legal and logs each state in the path */
 368         while (num_states--) {
 369
 370                 /* either TMS=0 or TMS=1 must work ... */
 371                 if (tap_state_transition(tap_get_state(), false)
 372                     == path[state_count])
 373                         buf_set_u32(&tms_byte, bit_count++, 1, 0x0);
 374                 else if (tap_state_transition(tap_get_state(), true)
 375                          == path[state_count]) {
 376                         buf_set_u32(&tms_byte, bit_count++, 1, 0x1);
 377
 378                         /* ... or else the caller goofed BADLY */
 379                 } else {
 380                         LOG_ERROR("BUG: %s -> %s isn't a valid "
 381                                 "TAP state transition",
 382                                 tap_state_name(tap_get_state()),
 383                                 tap_state_name(path[state_count]));
 384                         exit(-1);
 385                 }
 386
 387                 tap_set_state(path[state_count]);
 388                 state_count++;
 389
 390                 if (bit_count == 7 || num_states == 0) {
 391                         mpsse_clock_tms_cs_out(mpsse_ctx,
 392                                         &tms_byte,
 393                                         0,
 394                                         bit_count,
 395                                         false,
 396                                         JTAG_MODE);
 397                         bit_count = 0;
 398                 }
 399         }
 400         tap_set_end_state(tap_get_state());
 401 }
 402
 403 static void ftdi_execute_scan(struct jtag_command *cmd)
 404 {
 405         DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
 406                 jtag_scan_type(cmd->cmd.scan));
 407
 408         /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
 409         while (cmd->cmd.scan->num_fields > 0
 410                         && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
 411                 cmd->cmd.scan->num_fields--;
 412                 LOG_DEBUG("discarding trailing empty field");
 413         }
 414
 415         if (cmd->cmd.scan->num_fields == 0) {
 416                 LOG_DEBUG("empty scan, doing nothing");
 417                 return;
 418         }
 419
 420         if (cmd->cmd.scan->ir_scan) {
 421                 if (tap_get_state() != TAP_IRSHIFT)
 422                         move_to_state(TAP_IRSHIFT);
 423         } else {
 424                 if (tap_get_state() != TAP_DRSHIFT)
 425                         move_to_state(TAP_DRSHIFT);
 426         }
 427
 428         ftdi_end_state(cmd->cmd.scan->end_state);
 429
 430         struct scan_field *field = cmd->cmd.scan->fields;
 431         unsigned scan_size = 0;
 432
 433         for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
 434                 scan_size += field->num_bits;
 435                 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
 436                         field->in_value ? "in" : "",
 437                         field->out_value ? "out" : "",
 438                         i,
 439                         cmd->cmd.scan->num_fields,
 440                         field->num_bits);
 441
 442                 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
 443                         /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
 444                          * movement. This last field can't have length zero, it was checked above. */
 445                         mpsse_clock_data(mpsse_ctx,
 446                                 field->out_value,
 447                                 0,
 448                                 field->in_value,
 449                                 0,
 450                                 field->num_bits - 1,
 451                                 JTAG_MODE);
 452                         uint8_t last_bit = 0;
 453                         if (field->out_value)
 454                                 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
 455                         uint8_t tms_bits = 0x01;
 456                         mpsse_clock_tms_cs(mpsse_ctx,
 457                                         &tms_bits,
 458                                         0,
 459                                         field->in_value,
 460                                         field->num_bits - 1,
 461                                         1,
 462                                         last_bit,
 463                                         JTAG_MODE);
 464                         tap_set_state(tap_state_transition(tap_get_state(), 1));
 465                         mpsse_clock_tms_cs_out(mpsse_ctx,
 466                                         &tms_bits,
 467                                         1,
 468                                         1,
 469                                         last_bit,
 470                                         JTAG_MODE);
 471                         tap_set_state(tap_state_transition(tap_get_state(), 0));
 472                 } else
 473                         mpsse_clock_data(mpsse_ctx,
 474                                 field->out_value,
 475                                 0,
 476                                 field->in_value,
 477                                 0,
 478                                 field->num_bits,
 479                                 JTAG_MODE);
 480         }
 481
 482         if (tap_get_state() != tap_get_end_state())
 483                 move_to_state(tap_get_end_state());
 484
 485         DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
 486                 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
 487                 tap_state_name(tap_get_end_state()));
 488 }
 489
 490 static void ftdi_execute_reset(struct jtag_command *cmd)
 491 {
 492         DEBUG_JTAG_IO("reset trst: %i srst %i",
 493                 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 494
 495         if (cmd->cmd.reset->trst == 1
 496             || (cmd->cmd.reset->srst
 497                 && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
 498                 tap_set_state(TAP_RESET);
 499
 500         struct signal *trst = find_signal_by_name("nTRST");
 501         if (cmd->cmd.reset->trst == 1) {
 502                 if (trst)
 503                         ftdi_set_signal(trst, '0');
 504                 else
 505                         LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
 506         } else if (trst && cmd->cmd.reset->trst == 0) {
 507                 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
 508                         ftdi_set_signal(trst, 'z');
 509                 else
 510                         ftdi_set_signal(trst, '1');
 511         }
 512
 513         struct signal *srst = find_signal_by_name("nSRST");
 514         if (cmd->cmd.reset->srst == 1) {
 515                 if (srst)
 516                         ftdi_set_signal(srst, '0');
 517                 else
 518                         LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
 519         } else if (srst && 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 = swd_mode ? swd_output_init : jtag_output_init;
 638         direction = swd_mode ? swd_direction_init : jtag_direction_init;
 639
 640         mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
 641         mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
 642
 643         mpsse_loopback_config(mpsse_ctx, false);
 644
 645         /* Set a low default */
 646         freq = mpsse_set_frequency(mpsse_ctx, 1000);
 647
 648         if (swd_mode)
 649                 ftdi_swd_switch_seq(NULL, JTAG_TO_SWD);
 650         else
 651                 ftdi_swd_switch_seq(NULL, SWD_TO_JTAG);
 652
 653         return mpsse_flush(mpsse_ctx);
 654 }
 655
 656 static int ftdi_quit(void)
 657 {
 658         mpsse_close(mpsse_ctx);
 659
 660         return ERROR_OK;
 661 }
 662
 663 COMMAND_HANDLER(ftdi_handle_device_desc_command)
 664 {
 665         if (CMD_ARGC == 1) {
 666                 if (ftdi_device_desc)
 667                         free(ftdi_device_desc);
 668                 ftdi_device_desc = strdup(CMD_ARGV[0]);
 669         } else {
 670                 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
 671         }
 672
 673         return ERROR_OK;
 674 }
 675
 676 COMMAND_HANDLER(ftdi_handle_serial_command)
 677 {
 678         if (CMD_ARGC == 1) {
 679                 if (ftdi_serial)
 680                         free(ftdi_serial);
 681                 ftdi_serial = strdup(CMD_ARGV[0]);
 682         } else {
 683                 return ERROR_COMMAND_SYNTAX_ERROR;
 684         }
 685
 686         return ERROR_OK;
 687 }
 688
 689 COMMAND_HANDLER(ftdi_handle_channel_command)
 690 {
 691         if (CMD_ARGC == 1)
 692                 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], ftdi_channel);
 693         else
 694                 return ERROR_COMMAND_SYNTAX_ERROR;
 695
 696         return ERROR_OK;
 697 }
 698
 699 COMMAND_HANDLER(ftdi_handle_layout_init_command)
 700 {
 701         if (CMD_ARGC != 2)
 702                 return ERROR_COMMAND_SYNTAX_ERROR;
 703
 704         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], jtag_output_init);
 705         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], jtag_direction_init);
 706
 707         return ERROR_OK;
 708 }
 709
 710 COMMAND_HANDLER(ftdi_handle_layout_init_swd_command)
 711 {
 712         if (CMD_ARGC != 2)
 713                 return ERROR_COMMAND_SYNTAX_ERROR;
 714
 715         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], swd_output_init);
 716         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], swd_direction_init);
 717
 718         return ERROR_OK;
 719 }
 720
 721 COMMAND_HANDLER(ftdi_handle_layout_signal_command)
 722 {
 723         if (CMD_ARGC < 1)
 724                 return ERROR_COMMAND_SYNTAX_ERROR;
 725
 726         bool invert_data = false;
 727         uint16_t data_mask = 0;
 728         bool invert_oe = false;
 729         uint16_t oe_mask = 0;
 730         for (unsigned i = 1; i < CMD_ARGC; i += 2) {
 731                 if (strcmp("-data", CMD_ARGV[i]) == 0) {
 732                         invert_data = false;
 733                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 734                 } else if (strcmp("-ndata", CMD_ARGV[i]) == 0) {
 735                         invert_data = true;
 736                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 737                 } else if (strcmp("-oe", CMD_ARGV[i]) == 0) {
 738                         invert_oe = false;
 739                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 740                 } else if (strcmp("-noe", CMD_ARGV[i]) == 0) {
 741                         invert_oe = true;
 742                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 743                 } else {
 744                         LOG_ERROR("unknown option '%s'", CMD_ARGV[i]);
 745                         return ERROR_COMMAND_SYNTAX_ERROR;
 746                 }
 747         }
 748
 749         struct signal *sig;
 750         sig = find_signal_by_name(CMD_ARGV[0]);
 751         if (!sig)
 752                 sig = create_signal(CMD_ARGV[0]);
 753         if (!sig) {
 754                 LOG_ERROR("failed to create signal %s", CMD_ARGV[0]);
 755                 return ERROR_FAIL;
 756         }
 757
 758         sig->invert_data = invert_data;
 759         sig->data_mask = data_mask;
 760         sig->invert_oe = invert_oe;
 761         sig->oe_mask = oe_mask;
 762
 763         return ERROR_OK;
 764 }
 765
 766 COMMAND_HANDLER(ftdi_handle_set_signal_command)
 767 {
 768         if (CMD_ARGC < 2)
 769                 return ERROR_COMMAND_SYNTAX_ERROR;
 770
 771         struct signal *sig;
 772         sig = find_signal_by_name(CMD_ARGV[0]);
 773         if (!sig) {
 774                 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
 775                 return ERROR_FAIL;
 776         }
 777
 778         switch (*CMD_ARGV[1]) {
 779         case '0':
 780         case '1':
 781         case 'z':
 782         case 'Z':
 783                 /* single character level specifier only */
 784                 if (CMD_ARGV[1][1] == '\0') {
 785                         ftdi_set_signal(sig, *CMD_ARGV[1]);
 786                         break;
 787                 }
 788         default:
 789                 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV[1]);
 790                 return ERROR_COMMAND_SYNTAX_ERROR;
 791         }
 792
 793         return mpsse_flush(mpsse_ctx);
 794 }
 795
 796 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
 797 {
 798         if (CMD_ARGC > MAX_USB_IDS * 2) {
 799                 LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
 800                         "(maximum is %d pairs)", MAX_USB_IDS);
 801                 CMD_ARGC = MAX_USB_IDS * 2;
 802         }
 803         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
 804                 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
 805                 if (CMD_ARGC < 2)
 806                         return ERROR_COMMAND_SYNTAX_ERROR;
 807                 /* remove the incomplete trailing id */
 808                 CMD_ARGC -= 1;
 809         }
 810
 811         unsigned i;
 812         for (i = 0; i < CMD_ARGC; i += 2) {
 813                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], ftdi_vid[i >> 1]);
 814                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], ftdi_pid[i >> 1]);
 815         }
 816
 817         /*
 818          * Explicitly terminate, in case there are multiples instances of
 819          * ftdi_vid_pid.
 820          */
 821         ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
 822
 823         return ERROR_OK;
 824 }
 825
 826 static const struct command_registration ftdi_command_handlers[] = {
 827         {
 828                 .name = "ftdi_device_desc",
 829                 .handler = &ftdi_handle_device_desc_command,
 830                 .mode = COMMAND_CONFIG,
 831                 .help = "set the USB device description of the FTDI device",
 832                 .usage = "description_string",
 833         },
 834         {
 835                 .name = "ftdi_serial",
 836                 .handler = &ftdi_handle_serial_command,
 837                 .mode = COMMAND_CONFIG,
 838                 .help = "set the serial number of the FTDI device",
 839                 .usage = "serial_string",
 840         },
 841         {
 842                 .name = "ftdi_channel",
 843                 .handler = &ftdi_handle_channel_command,
 844                 .mode = COMMAND_CONFIG,
 845                 .help = "set the channel of the FTDI device that is used as JTAG",
 846                 .usage = "(0-3)",
 847         },
 848         {
 849                 .name = "ftdi_layout_init",
 850                 .handler = &ftdi_handle_layout_init_command,
 851                 .mode = COMMAND_CONFIG,
 852                 .help = "initialize the FTDI GPIO signals used "
 853                         "to control output-enables and reset signals"
 854                         "when JTAG mode is selected",
 855                 .usage = "data direction",
 856         },
 857         {
 858                 .name = "ftdi_layout_init_swd",
 859                 .handler = &ftdi_handle_layout_init_swd_command,
 860                 .mode = COMMAND_CONFIG,
 861                 .help = "initialize the FTDI GPIO signals used "
 862                         "to control output-enables and reset signals"
 863                         "when SWD mode is selected",
 864                 .usage = "data direction",
 865         },
 866         {
 867                 .name = "ftdi_layout_signal",
 868                 .handler = &ftdi_handle_layout_signal_command,
 869                 .mode = COMMAND_ANY,
 870                 .help = "define a signal controlled by one or more FTDI GPIO as data "
 871                         "and/or output enable",
 872                 .usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask]",
 873         },
 874         {
 875                 .name = "ftdi_set_signal",
 876                 .handler = &ftdi_handle_set_signal_command,
 877                 .mode = COMMAND_EXEC,
 878                 .help = "control a layout-specific signal",
 879                 .usage = "name (1|0|z)",
 880         },
 881         {
 882                 .name = "ftdi_vid_pid",
 883                 .handler = &ftdi_handle_vid_pid_command,
 884                 .mode = COMMAND_CONFIG,
 885                 .help = "the vendor ID and product ID of the FTDI device",
 886                 .usage = "(vid pid)* ",
 887         },
 888         COMMAND_REGISTRATION_DONE
 889 };
 890
 891 static int ftdi_swd_init(void)
 892 {
 893         LOG_INFO("FTDI SWD mode enabled");
 894         swd_mode = true;
 895
 896         swd_cmd_queue_alloced = 10;
 897         swd_cmd_queue = malloc(swd_cmd_queue_alloced * sizeof(*swd_cmd_queue));
 898
 899         return swd_cmd_queue != NULL ? ERROR_OK : ERROR_FAIL;
 900 }
 901
 902 static void ftdi_swd_swdio_en(bool enable)
 903 {
 904         struct signal *oe = find_signal_by_name("SWDIO_OE");
 905         if (oe)
 906                 ftdi_set_signal(oe, enable ? '1' : '0');
 907 }
 908
 909 /**
 910  * Flush the MPSSE queue and process the SWD transaction queue
 911  * @param dap
 912  * @return
 913  */
 914 static int ftdi_swd_run_queue(struct adiv5_dap *dap)
 915 {
 916         LOG_DEBUG("Executing %zu queued transactions", swd_cmd_queue_length);
 917         int retval;
 918         struct signal *led = find_signal_by_name("LED");
 919
 920         if (queued_retval != ERROR_OK) {
 921                 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
 922                 goto skip;
 923         }
 924
 925         /* A transaction must be followed by another transaction or at least 8 idle cycles to
 926          * ensure that data is clocked through the AP. */
 927         mpsse_clock_data_out(mpsse_ctx, NULL, 0, 8, SWD_MODE);
 928
 929         /* Terminate the "blink", if the current layout has that feature */
 930         if (led)
 931                 ftdi_set_signal(led, '0');
 932
 933         queued_retval = mpsse_flush(mpsse_ctx);
 934         if (queued_retval != ERROR_OK) {
 935                 LOG_ERROR("MPSSE failed");
 936                 goto skip;
 937         }
 938
 939         for (size_t i = 0; i < swd_cmd_queue_length; i++) {
 940                 int ack = buf_get_u32(&swd_cmd_queue[i].trn_ack_data_parity_trn, 1, 3);
 941
 942                 LOG_DEBUG("%s %s %s reg %X = %08"PRIx32,
 943                                 ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
 944                                 swd_cmd_queue[i].cmd & SWD_CMD_APnDP ? "AP" : "DP",
 945                                 swd_cmd_queue[i].cmd & SWD_CMD_RnW ? "read" : "write",
 946                                 (swd_cmd_queue[i].cmd & SWD_CMD_A32) >> 1,
 947                                 buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn,
 948                                                 1 + 3 + (swd_cmd_queue[i].cmd & SWD_CMD_RnW ? 0 : 1), 32));
 949
 950                 if (ack != SWD_ACK_OK) {
 951                         queued_retval = ack;
 952                         goto skip;
 953
 954                 } else if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
 955                         uint32_t data = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3, 32);
 956                         int parity = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 32, 1);
 957
 958                         if (parity != parity_u32(data)) {
 959                                 LOG_ERROR("SWD Read data parity mismatch");
 960                                 queued_retval = ERROR_FAIL;
 961                                 goto skip;
 962                         }
 963
 964                         if (swd_cmd_queue[i].dst != NULL)
 965                                 *swd_cmd_queue[i].dst = data;
 966                 }
 967         }
 968
 969 skip:
 970         swd_cmd_queue_length = 0;
 971         retval = queued_retval;
 972         queued_retval = ERROR_OK;
 973
 974         /* Queue a new "blink" */
 975         if (led && retval == ERROR_OK)
 976                 ftdi_set_signal(led, '1');
 977
 978         return retval;
 979 }
 980
 981 static void ftdi_swd_queue_cmd(struct adiv5_dap *dap, uint8_t cmd, uint32_t *dst, uint32_t data)
 982 {
 983         if (swd_cmd_queue_length >= swd_cmd_queue_alloced) {
 984                 /* Not enough room in the queue. Run the queue and increase its size for next time.
 985                  * Note that it's not possible to avoid running the queue here, because mpsse contains
 986                  * pointers into the queue which may be invalid after the realloc. */
 987                 queued_retval = ftdi_swd_run_queue(dap);
 988                 struct swd_cmd_queue_entry *q = realloc(swd_cmd_queue, swd_cmd_queue_alloced * 2 * sizeof(*swd_cmd_queue));
 989                 if (q != NULL) {
 990                         swd_cmd_queue = q;
 991                         swd_cmd_queue_alloced *= 2;
 992                         LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced);
 993                 }
 994         }
 995
 996         if (queued_retval != ERROR_OK)
 997                 return;
 998
 999         size_t i = swd_cmd_queue_length++;
1000         swd_cmd_queue[i].cmd = cmd | SWD_CMD_START | SWD_CMD_PARK;
1001
1002         mpsse_clock_data_out(mpsse_ctx, &swd_cmd_queue[i].cmd, 0, 8, SWD_MODE);
1003
1004         if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
1005                 /* Queue a read transaction */
1006                 swd_cmd_queue[i].dst = dst;
1007
1008                 ftdi_swd_swdio_en(false);
1009                 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1010                                 0, 1 + 3 + 32 + 1 + 1, SWD_MODE);
1011                 ftdi_swd_swdio_en(true);
1012         } else {
1013                 /* Queue a write transaction */
1014                 ftdi_swd_swdio_en(false);
1015
1016                 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1017                                 0, 1 + 3 + 1, SWD_MODE);
1018
1019                 ftdi_swd_swdio_en(true);
1020
1021                 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1, 32, data);
1022                 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1 + 32, 1, parity_u32(data));
1023
1024                 mpsse_clock_data_out(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1025                                 1 + 3 + 1, 32 + 1, SWD_MODE);
1026         }
1027
1028         /* Insert idle cycles after AP accesses to avoid WAIT */
1029         if (cmd & SWD_CMD_APnDP)
1030                 mpsse_clock_data_out(mpsse_ctx, NULL, 0, dap->memaccess_tck, SWD_MODE);
1031
1032 }
1033
1034 static void ftdi_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
1035 {
1036         assert(cmd & SWD_CMD_RnW);
1037         ftdi_swd_queue_cmd(dap, cmd, value, 0);
1038 }
1039
1040 static void ftdi_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t value)
1041 {
1042         assert(!(cmd & SWD_CMD_RnW));
1043         ftdi_swd_queue_cmd(dap, cmd, NULL, value);
1044 }
1045
1046 static int_least32_t ftdi_swd_frequency(struct adiv5_dap *dap, int_least32_t hz)
1047 {
1048         if (hz > 0)
1049                 freq = mpsse_set_frequency(mpsse_ctx, hz);
1050
1051         return freq;
1052 }
1053
1054 static int ftdi_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq)
1055 {
1056         switch (seq) {
1057         case LINE_RESET:
1058                 LOG_DEBUG("SWD line reset");
1059                 mpsse_clock_data_out(mpsse_ctx, swd_seq_line_reset, 0, swd_seq_line_reset_len, SWD_MODE);
1060                 break;
1061         case JTAG_TO_SWD:
1062                 LOG_DEBUG("JTAG-to-SWD");
1063                 mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_swd, 0, swd_seq_jtag_to_swd_len, SWD_MODE);
1064                 break;
1065         case SWD_TO_JTAG:
1066                 LOG_DEBUG("SWD-to-JTAG");
1067                 mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_jtag, 0, swd_seq_swd_to_jtag_len, SWD_MODE);
1068                 break;
1069         default:
1070                 LOG_ERROR("Sequence %d not supported", seq);
1071                 return ERROR_FAIL;
1072         }
1073
1074         return ERROR_OK;
1075 }
1076
1077 static const struct swd_driver ftdi_swd = {
1078         .init = ftdi_swd_init,
1079         .frequency = ftdi_swd_frequency,
1080         .switch_seq = ftdi_swd_switch_seq,
1081         .read_reg = ftdi_swd_read_reg,
1082         .write_reg = ftdi_swd_write_reg,
1083         .run = ftdi_swd_run_queue,
1084 };
1085
1086 static const char * const ftdi_transports[] = { "jtag", "swd", NULL };
1087
1088 struct jtag_interface ftdi_interface = {
1089         .name = "ftdi",
1090         .supported = DEBUG_CAP_TMS_SEQ,
1091         .commands = ftdi_command_handlers,
1092         .transports = ftdi_transports,
1093         .swd = &ftdi_swd,
1094
1095         .init = ftdi_initialize,
1096         .quit = ftdi_quit,
1097         .speed = ftdi_speed,
1098         .speed_div = ftdi_speed_div,
1099         .khz = ftdi_khz,
1100         .execute_queue = ftdi_execute_queue,
1101 };