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   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                 LOG_DEBUG("discarding trailing empty field");
 443         }
 444
 445         if (cmd->cmd.scan->num_fields == 0) {
 446                 LOG_DEBUG("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 };