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 JTAG_MODE_ALT (LSB_FIRST | NEG_EDGE_IN | NEG_EDGE_OUT)
  90 #define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
  91
  92 static char *ftdi_device_desc;
  93 static char *ftdi_serial;
  94 static char *ftdi_location;
  95 static uint8_t ftdi_channel;
  96 static uint8_t ftdi_jtag_mode = JTAG_MODE;
  97
  98 static bool swd_mode;
  99
 100 #define MAX_USB_IDS 8
 101 /* vid = pid = 0 marks the end of the list */
 102 static uint16_t ftdi_vid[MAX_USB_IDS + 1] = { 0 };
 103 static uint16_t ftdi_pid[MAX_USB_IDS + 1] = { 0 };
 104
 105 static struct mpsse_ctx *mpsse_ctx;
 106
 107 struct signal {
 108         const char *name;
 109         uint16_t data_mask;
 110         uint16_t oe_mask;
 111         bool invert_data;
 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
 217 /**
 218  * Function move_to_state
 219  * moves the TAP controller from the current state to a
 220  * \a goal_state through a path given by tap_get_tms_path().  State transition
 221  * logging is performed by delegation to clock_tms().
 222  *
 223  * @param goal_state is the destination state for the move.
 224  */
 225 static void move_to_state(tap_state_t goal_state)
 226 {
 227         tap_state_t start_state = tap_get_state();
 228
 229         /*      goal_state is 1/2 of a tuple/pair of states which allow convenient
 230                 lookup of the required TMS pattern to move to this state from the
 231                 start state.
 232         */
 233
 234         /* do the 2 lookups */
 235         uint8_t tms_bits  = tap_get_tms_path(start_state, goal_state);
 236         int tms_count = tap_get_tms_path_len(start_state, goal_state);
 237         assert(tms_count <= 8);
 238
 239         DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
 240
 241         /* Track state transitions step by step */
 242         for (int i = 0; i < tms_count; i++)
 243                 tap_set_state(tap_state_transition(tap_get_state(), (tms_bits >> i) & 1));
 244
 245         mpsse_clock_tms_cs_out(mpsse_ctx,
 246                 &tms_bits,
 247                 0,
 248                 tms_count,
 249                 false,
 250                 ftdi_jtag_mode);
 251 }
 252
 253 static int ftdi_speed(int speed)
 254 {
 255         int retval;
 256         retval = mpsse_set_frequency(mpsse_ctx, speed);
 257
 258         if (retval < 0) {
 259                 LOG_ERROR("couldn't set FTDI TCK speed");
 260                 return retval;
 261         }
 262
 263         if (!swd_mode && speed >= 10000000 && ftdi_jtag_mode != JTAG_MODE_ALT)
 264                 LOG_INFO("ftdi: if you experience problems at higher adapter clocks, try "
 265                          "the command \"ftdi_tdo_sample_edge falling\"");
 266         return ERROR_OK;
 267 }
 268
 269 static int ftdi_speed_div(int speed, int *khz)
 270 {
 271         *khz = speed / 1000;
 272         return ERROR_OK;
 273 }
 274
 275 static int ftdi_khz(int khz, int *jtag_speed)
 276 {
 277         if (khz == 0 && !mpsse_is_high_speed(mpsse_ctx)) {
 278                 LOG_DEBUG("RCLK not supported");
 279                 return ERROR_FAIL;
 280         }
 281
 282         *jtag_speed = khz * 1000;
 283         return ERROR_OK;
 284 }
 285
 286 static void ftdi_end_state(tap_state_t state)
 287 {
 288         if (tap_is_state_stable(state))
 289                 tap_set_end_state(state);
 290         else {
 291                 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state));
 292                 exit(-1);
 293         }
 294 }
 295
 296 static void ftdi_execute_runtest(struct jtag_command *cmd)
 297 {
 298         int i;
 299         uint8_t zero = 0;
 300
 301         DEBUG_JTAG_IO("runtest %i cycles, end in %s",
 302                 cmd->cmd.runtest->num_cycles,
 303                 tap_state_name(cmd->cmd.runtest->end_state));
 304
 305         if (tap_get_state() != TAP_IDLE)
 306                 move_to_state(TAP_IDLE);
 307
 308         /* TODO: Reuse ftdi_execute_stableclocks */
 309         i = cmd->cmd.runtest->num_cycles;
 310         while (i > 0) {
 311                 /* there are no state transitions in this code, so omit state tracking */
 312                 unsigned this_len = i > 7 ? 7 : i;
 313                 mpsse_clock_tms_cs_out(mpsse_ctx, &zero, 0, this_len, false, ftdi_jtag_mode);
 314                 i -= this_len;
 315         }
 316
 317         ftdi_end_state(cmd->cmd.runtest->end_state);
 318
 319         if (tap_get_state() != tap_get_end_state())
 320                 move_to_state(tap_get_end_state());
 321
 322         DEBUG_JTAG_IO("runtest: %i, end in %s",
 323                 cmd->cmd.runtest->num_cycles,
 324                 tap_state_name(tap_get_end_state()));
 325 }
 326
 327 static void ftdi_execute_statemove(struct jtag_command *cmd)
 328 {
 329         DEBUG_JTAG_IO("statemove end in %s",
 330                 tap_state_name(cmd->cmd.statemove->end_state));
 331
 332         ftdi_end_state(cmd->cmd.statemove->end_state);
 333
 334         /* shortest-path move to desired end state */
 335         if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET)
 336                 move_to_state(tap_get_end_state());
 337 }
 338
 339 /**
 340  * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
 341  * (or SWD) state machine. REVISIT: Not the best method, perhaps.
 342  */
 343 static void ftdi_execute_tms(struct jtag_command *cmd)
 344 {
 345         DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
 346
 347         /* TODO: Missing tap state tracking, also missing from ft2232.c! */
 348         mpsse_clock_tms_cs_out(mpsse_ctx,
 349                 cmd->cmd.tms->bits,
 350                 0,
 351                 cmd->cmd.tms->num_bits,
 352                 false,
 353                 ftdi_jtag_mode);
 354 }
 355
 356 static void ftdi_execute_pathmove(struct jtag_command *cmd)
 357 {
 358         tap_state_t *path = cmd->cmd.pathmove->path;
 359         int num_states  = cmd->cmd.pathmove->num_states;
 360
 361         DEBUG_JTAG_IO("pathmove: %i states, current: %s  end: %s", num_states,
 362                 tap_state_name(tap_get_state()),
 363                 tap_state_name(path[num_states-1]));
 364
 365         int state_count = 0;
 366         unsigned bit_count = 0;
 367         uint8_t tms_byte = 0;
 368
 369         DEBUG_JTAG_IO("-");
 370
 371         /* this loop verifies that the path is legal and logs each state in the path */
 372         while (num_states--) {
 373
 374                 /* either TMS=0 or TMS=1 must work ... */
 375                 if (tap_state_transition(tap_get_state(), false)
 376                     == path[state_count])
 377                         buf_set_u32(&tms_byte, bit_count++, 1, 0x0);
 378                 else if (tap_state_transition(tap_get_state(), true)
 379                          == path[state_count]) {
 380                         buf_set_u32(&tms_byte, bit_count++, 1, 0x1);
 381
 382                         /* ... or else the caller goofed BADLY */
 383                 } else {
 384                         LOG_ERROR("BUG: %s -> %s isn't a valid "
 385                                 "TAP state transition",
 386                                 tap_state_name(tap_get_state()),
 387                                 tap_state_name(path[state_count]));
 388                         exit(-1);
 389                 }
 390
 391                 tap_set_state(path[state_count]);
 392                 state_count++;
 393
 394                 if (bit_count == 7 || num_states == 0) {
 395                         mpsse_clock_tms_cs_out(mpsse_ctx,
 396                                         &tms_byte,
 397                                         0,
 398                                         bit_count,
 399                                         false,
 400                                         ftdi_jtag_mode);
 401                         bit_count = 0;
 402                 }
 403         }
 404         tap_set_end_state(tap_get_state());
 405 }
 406
 407 static void ftdi_execute_scan(struct jtag_command *cmd)
 408 {
 409         DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
 410                 jtag_scan_type(cmd->cmd.scan));
 411
 412         /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
 413         while (cmd->cmd.scan->num_fields > 0
 414                         && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
 415                 cmd->cmd.scan->num_fields--;
 416                 LOG_DEBUG("discarding trailing empty field");
 417         }
 418
 419         if (cmd->cmd.scan->num_fields == 0) {
 420                 LOG_DEBUG("empty scan, doing nothing");
 421                 return;
 422         }
 423
 424         if (cmd->cmd.scan->ir_scan) {
 425                 if (tap_get_state() != TAP_IRSHIFT)
 426                         move_to_state(TAP_IRSHIFT);
 427         } else {
 428                 if (tap_get_state() != TAP_DRSHIFT)
 429                         move_to_state(TAP_DRSHIFT);
 430         }
 431
 432         ftdi_end_state(cmd->cmd.scan->end_state);
 433
 434         struct scan_field *field = cmd->cmd.scan->fields;
 435         unsigned scan_size = 0;
 436
 437         for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
 438                 scan_size += field->num_bits;
 439                 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
 440                         field->in_value ? "in" : "",
 441                         field->out_value ? "out" : "",
 442                         i,
 443                         cmd->cmd.scan->num_fields,
 444                         field->num_bits);
 445
 446                 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
 447                         /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
 448                          * movement. This last field can't have length zero, it was checked above. */
 449                         mpsse_clock_data(mpsse_ctx,
 450                                 field->out_value,
 451                                 0,
 452                                 field->in_value,
 453                                 0,
 454                                 field->num_bits - 1,
 455                                 ftdi_jtag_mode);
 456                         uint8_t last_bit = 0;
 457                         if (field->out_value)
 458                                 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
 459                         uint8_t tms_bits = 0x01;
 460                         mpsse_clock_tms_cs(mpsse_ctx,
 461                                         &tms_bits,
 462                                         0,
 463                                         field->in_value,
 464                                         field->num_bits - 1,
 465                                         1,
 466                                         last_bit,
 467                                         ftdi_jtag_mode);
 468                         tap_set_state(tap_state_transition(tap_get_state(), 1));
 469                         mpsse_clock_tms_cs_out(mpsse_ctx,
 470                                         &tms_bits,
 471                                         1,
 472                                         1,
 473                                         last_bit,
 474                                         ftdi_jtag_mode);
 475                         tap_set_state(tap_state_transition(tap_get_state(), 0));
 476                 } else
 477                         mpsse_clock_data(mpsse_ctx,
 478                                 field->out_value,
 479                                 0,
 480                                 field->in_value,
 481                                 0,
 482                                 field->num_bits,
 483                                 ftdi_jtag_mode);
 484         }
 485
 486         if (tap_get_state() != tap_get_end_state())
 487                 move_to_state(tap_get_end_state());
 488
 489         DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
 490                 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
 491                 tap_state_name(tap_get_end_state()));
 492 }
 493
 494 static void ftdi_execute_reset(struct jtag_command *cmd)
 495 {
 496         DEBUG_JTAG_IO("reset trst: %i srst %i",
 497                 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 498
 499         if (cmd->cmd.reset->trst == 1
 500             || (cmd->cmd.reset->srst
 501                 && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
 502                 tap_set_state(TAP_RESET);
 503
 504         struct signal *trst = find_signal_by_name("nTRST");
 505         if (cmd->cmd.reset->trst == 1) {
 506                 if (trst)
 507                         ftdi_set_signal(trst, '0');
 508                 else
 509                         LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
 510         } else if (trst && jtag_get_reset_config() & RESET_HAS_TRST &&
 511                         cmd->cmd.reset->trst == 0) {
 512                 if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
 513                         ftdi_set_signal(trst, 'z');
 514                 else
 515                         ftdi_set_signal(trst, '1');
 516         }
 517
 518         struct signal *srst = find_signal_by_name("nSRST");
 519         if (cmd->cmd.reset->srst == 1) {
 520                 if (srst)
 521                         ftdi_set_signal(srst, '0');
 522                 else
 523                         LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
 524         } else if (srst && jtag_get_reset_config() & RESET_HAS_SRST &&
 525                         cmd->cmd.reset->srst == 0) {
 526                 if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
 527                         ftdi_set_signal(srst, '1');
 528                 else
 529                         ftdi_set_signal(srst, 'z');
 530         }
 531
 532         DEBUG_JTAG_IO("trst: %i, srst: %i",
 533                 cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 534 }
 535
 536 static void ftdi_execute_sleep(struct jtag_command *cmd)
 537 {
 538         DEBUG_JTAG_IO("sleep %" PRIi32, cmd->cmd.sleep->us);
 539
 540         mpsse_flush(mpsse_ctx);
 541         jtag_sleep(cmd->cmd.sleep->us);
 542         DEBUG_JTAG_IO("sleep %" PRIi32 " usec while in %s",
 543                 cmd->cmd.sleep->us,
 544                 tap_state_name(tap_get_state()));
 545 }
 546
 547 static void ftdi_execute_stableclocks(struct jtag_command *cmd)
 548 {
 549         /* this is only allowed while in a stable state.  A check for a stable
 550          * state was done in jtag_add_clocks()
 551          */
 552         int num_cycles = cmd->cmd.stableclocks->num_cycles;
 553
 554         /* 7 bits of either ones or zeros. */
 555         uint8_t tms = tap_get_state() == TAP_RESET ? 0x7f : 0x00;
 556
 557         /* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
 558          * the correct level and remain there during the scan */
 559         while (num_cycles > 0) {
 560                 /* there are no state transitions in this code, so omit state tracking */
 561                 unsigned this_len = num_cycles > 7 ? 7 : num_cycles;
 562                 mpsse_clock_tms_cs_out(mpsse_ctx, &tms, 0, this_len, false, ftdi_jtag_mode);
 563                 num_cycles -= this_len;
 564         }
 565
 566         DEBUG_JTAG_IO("clocks %i while in %s",
 567                 cmd->cmd.stableclocks->num_cycles,
 568                 tap_state_name(tap_get_state()));
 569 }
 570
 571 static void ftdi_execute_command(struct jtag_command *cmd)
 572 {
 573         switch (cmd->type) {
 574                 case JTAG_RESET:
 575                         ftdi_execute_reset(cmd);
 576                         break;
 577                 case JTAG_RUNTEST:
 578                         ftdi_execute_runtest(cmd);
 579                         break;
 580                 case JTAG_TLR_RESET:
 581                         ftdi_execute_statemove(cmd);
 582                         break;
 583                 case JTAG_PATHMOVE:
 584                         ftdi_execute_pathmove(cmd);
 585                         break;
 586                 case JTAG_SCAN:
 587                         ftdi_execute_scan(cmd);
 588                         break;
 589                 case JTAG_SLEEP:
 590                         ftdi_execute_sleep(cmd);
 591                         break;
 592                 case JTAG_STABLECLOCKS:
 593                         ftdi_execute_stableclocks(cmd);
 594                         break;
 595                 case JTAG_TMS:
 596                         ftdi_execute_tms(cmd);
 597                         break;
 598                 default:
 599                         LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd->type);
 600                         break;
 601         }
 602 }
 603
 604 static int ftdi_execute_queue(void)
 605 {
 606         /* blink, if the current layout has that feature */
 607         struct signal *led = find_signal_by_name("LED");
 608         if (led)
 609                 ftdi_set_signal(led, '1');
 610
 611         for (struct jtag_command *cmd = jtag_command_queue; cmd; cmd = cmd->next) {
 612                 /* fill the write buffer with the desired command */
 613                 ftdi_execute_command(cmd);
 614         }
 615
 616         if (led)
 617                 ftdi_set_signal(led, '0');
 618
 619         int retval = mpsse_flush(mpsse_ctx);
 620         if (retval != ERROR_OK)
 621                 LOG_ERROR("error while flushing MPSSE queue: %d", retval);
 622
 623         return retval;
 624 }
 625
 626 static int ftdi_initialize(void)
 627 {
 628         if (tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRPAUSE) == 7)
 629                 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
 630         else
 631                 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
 632
 633         for (int i = 0; ftdi_vid[i] || ftdi_pid[i]; i++) {
 634                 mpsse_ctx = mpsse_open(&ftdi_vid[i], &ftdi_pid[i], ftdi_device_desc,
 635                                 ftdi_serial, ftdi_location, ftdi_channel);
 636                 if (mpsse_ctx)
 637                         break;
 638         }
 639
 640         if (!mpsse_ctx)
 641                 return ERROR_JTAG_INIT_FAILED;
 642
 643         output = jtag_output_init;
 644         direction = jtag_direction_init;
 645
 646         if (swd_mode) {
 647                 struct signal *sig = find_signal_by_name("SWD_EN");
 648                 if (!sig) {
 649                         LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
 650                         return ERROR_JTAG_INIT_FAILED;
 651                 }
 652                 /* A dummy SWD_EN would have zero mask */
 653                 if (sig->data_mask)
 654                         ftdi_set_signal(sig, '1');
 655         }
 656
 657         mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
 658         mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
 659
 660         mpsse_loopback_config(mpsse_ctx, false);
 661
 662         freq = mpsse_set_frequency(mpsse_ctx, jtag_get_speed_khz() * 1000);
 663
 664         return mpsse_flush(mpsse_ctx);
 665 }
 666
 667 static int ftdi_quit(void)
 668 {
 669         mpsse_close(mpsse_ctx);
 670
 671         free(swd_cmd_queue);
 672
 673         return ERROR_OK;
 674 }
 675
 676 COMMAND_HANDLER(ftdi_handle_device_desc_command)
 677 {
 678         if (CMD_ARGC == 1) {
 679                 if (ftdi_device_desc)
 680                         free(ftdi_device_desc);
 681                 ftdi_device_desc = strdup(CMD_ARGV[0]);
 682         } else {
 683                 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
 684         }
 685
 686         return ERROR_OK;
 687 }
 688
 689 COMMAND_HANDLER(ftdi_handle_serial_command)
 690 {
 691         if (CMD_ARGC == 1) {
 692                 if (ftdi_serial)
 693                         free(ftdi_serial);
 694                 ftdi_serial = strdup(CMD_ARGV[0]);
 695         } else {
 696                 return ERROR_COMMAND_SYNTAX_ERROR;
 697         }
 698
 699         return ERROR_OK;
 700 }
 701
 702 COMMAND_HANDLER(ftdi_handle_location_command)
 703 {
 704         if (CMD_ARGC == 1) {
 705                 if (ftdi_location)
 706                         free(ftdi_location);
 707                 ftdi_location = strdup(CMD_ARGV[0]);
 708         } else {
 709                 return ERROR_COMMAND_SYNTAX_ERROR;
 710         }
 711
 712         return ERROR_OK;
 713 }
 714
 715 COMMAND_HANDLER(ftdi_handle_channel_command)
 716 {
 717         if (CMD_ARGC == 1)
 718                 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], ftdi_channel);
 719         else
 720                 return ERROR_COMMAND_SYNTAX_ERROR;
 721
 722         return ERROR_OK;
 723 }
 724
 725 COMMAND_HANDLER(ftdi_handle_layout_init_command)
 726 {
 727         if (CMD_ARGC != 2)
 728                 return ERROR_COMMAND_SYNTAX_ERROR;
 729
 730         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], jtag_output_init);
 731         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], jtag_direction_init);
 732
 733         return ERROR_OK;
 734 }
 735
 736 COMMAND_HANDLER(ftdi_handle_layout_signal_command)
 737 {
 738         if (CMD_ARGC < 1)
 739                 return ERROR_COMMAND_SYNTAX_ERROR;
 740
 741         bool invert_data = false;
 742         uint16_t data_mask = 0;
 743         bool invert_oe = false;
 744         uint16_t oe_mask = 0;
 745         for (unsigned i = 1; i < CMD_ARGC; i += 2) {
 746                 if (strcmp("-data", CMD_ARGV[i]) == 0) {
 747                         invert_data = false;
 748                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 749                 } else if (strcmp("-ndata", CMD_ARGV[i]) == 0) {
 750                         invert_data = true;
 751                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
 752                 } else if (strcmp("-oe", CMD_ARGV[i]) == 0) {
 753                         invert_oe = false;
 754                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 755                 } else if (strcmp("-noe", CMD_ARGV[i]) == 0) {
 756                         invert_oe = true;
 757                         COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 758                 } else if (!strcmp("-alias", CMD_ARGV[i]) ||
 759                            !strcmp("-nalias", CMD_ARGV[i])) {
 760                         if (!strcmp("-nalias", CMD_ARGV[i]))
 761                                 invert_data = true;
 762                         struct signal *sig = find_signal_by_name(CMD_ARGV[i + 1]);
 763                         if (!sig) {
 764                                 LOG_ERROR("signal %s is not defined", CMD_ARGV[i + 1]);
 765                                 return ERROR_FAIL;
 766                         }
 767                         data_mask = sig->data_mask;
 768                         oe_mask = sig->oe_mask;
 769                         invert_oe = sig->invert_oe;
 770                         invert_data ^= sig->invert_data;
 771                 } else {
 772                         LOG_ERROR("unknown option '%s'", CMD_ARGV[i]);
 773                         return ERROR_COMMAND_SYNTAX_ERROR;
 774                 }
 775         }
 776
 777         struct signal *sig;
 778         sig = find_signal_by_name(CMD_ARGV[0]);
 779         if (!sig)
 780                 sig = create_signal(CMD_ARGV[0]);
 781         if (!sig) {
 782                 LOG_ERROR("failed to create signal %s", CMD_ARGV[0]);
 783                 return ERROR_FAIL;
 784         }
 785
 786         sig->invert_data = invert_data;
 787         sig->data_mask = data_mask;
 788         sig->invert_oe = invert_oe;
 789         sig->oe_mask = oe_mask;
 790
 791         return ERROR_OK;
 792 }
 793
 794 COMMAND_HANDLER(ftdi_handle_set_signal_command)
 795 {
 796         if (CMD_ARGC < 2)
 797                 return ERROR_COMMAND_SYNTAX_ERROR;
 798
 799         struct signal *sig;
 800         sig = find_signal_by_name(CMD_ARGV[0]);
 801         if (!sig) {
 802                 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
 803                 return ERROR_FAIL;
 804         }
 805
 806         switch (*CMD_ARGV[1]) {
 807         case '0':
 808         case '1':
 809         case 'z':
 810         case 'Z':
 811                 /* single character level specifier only */
 812                 if (CMD_ARGV[1][1] == '\0') {
 813                         ftdi_set_signal(sig, *CMD_ARGV[1]);
 814                         break;
 815                 }
 816         default:
 817                 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV[1]);
 818                 return ERROR_COMMAND_SYNTAX_ERROR;
 819         }
 820
 821         return mpsse_flush(mpsse_ctx);
 822 }
 823
 824 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
 825 {
 826         if (CMD_ARGC > MAX_USB_IDS * 2) {
 827                 LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
 828                         "(maximum is %d pairs)", MAX_USB_IDS);
 829                 CMD_ARGC = MAX_USB_IDS * 2;
 830         }
 831         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
 832                 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
 833                 if (CMD_ARGC < 2)
 834                         return ERROR_COMMAND_SYNTAX_ERROR;
 835                 /* remove the incomplete trailing id */
 836                 CMD_ARGC -= 1;
 837         }
 838
 839         unsigned i;
 840         for (i = 0; i < CMD_ARGC; i += 2) {
 841                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], ftdi_vid[i >> 1]);
 842                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], ftdi_pid[i >> 1]);
 843         }
 844
 845         /*
 846          * Explicitly terminate, in case there are multiples instances of
 847          * ftdi_vid_pid.
 848          */
 849         ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
 850
 851         return ERROR_OK;
 852 }
 853
 854 COMMAND_HANDLER(ftdi_handle_tdo_sample_edge_command)
 855 {
 856         Jim_Nvp *n;
 857         static const Jim_Nvp nvp_ftdi_jtag_modes[] = {
 858                 { .name = "rising", .value = JTAG_MODE },
 859                 { .name = "falling", .value = JTAG_MODE_ALT },
 860                 { .name = NULL, .value = -1 },
 861         };
 862
 863         if (CMD_ARGC > 0) {
 864                 n = Jim_Nvp_name2value_simple(nvp_ftdi_jtag_modes, CMD_ARGV[0]);
 865                 if (n->name == NULL)
 866                         return ERROR_COMMAND_SYNTAX_ERROR;
 867                 ftdi_jtag_mode = n->value;
 868
 869         }
 870
 871         n = Jim_Nvp_value2name_simple(nvp_ftdi_jtag_modes, ftdi_jtag_mode);
 872         command_print(CMD_CTX, "ftdi samples TDO on %s edge of TCK", n->name);
 873
 874         return ERROR_OK;
 875 }
 876
 877 static const struct command_registration ftdi_command_handlers[] = {
 878         {
 879                 .name = "ftdi_device_desc",
 880                 .handler = &ftdi_handle_device_desc_command,
 881                 .mode = COMMAND_CONFIG,
 882                 .help = "set the USB device description of the FTDI device",
 883                 .usage = "description_string",
 884         },
 885         {
 886                 .name = "ftdi_serial",
 887                 .handler = &ftdi_handle_serial_command,
 888                 .mode = COMMAND_CONFIG,
 889                 .help = "set the serial number of the FTDI device",
 890                 .usage = "serial_string",
 891         },
 892         {
 893                 .name = "ftdi_location",
 894                 .handler = &ftdi_handle_location_command,
 895                 .mode = COMMAND_CONFIG,
 896                 .help = "set the USB bus location of the FTDI device",
 897                 .usage = "<bus>:port[,port]...",
 898         },
 899         {
 900                 .name = "ftdi_channel",
 901                 .handler = &ftdi_handle_channel_command,
 902                 .mode = COMMAND_CONFIG,
 903                 .help = "set the channel of the FTDI device that is used as JTAG",
 904                 .usage = "(0-3)",
 905         },
 906         {
 907                 .name = "ftdi_layout_init",
 908                 .handler = &ftdi_handle_layout_init_command,
 909                 .mode = COMMAND_CONFIG,
 910                 .help = "initialize the FTDI GPIO signals used "
 911                         "to control output-enables and reset signals",
 912                 .usage = "data direction",
 913         },
 914         {
 915                 .name = "ftdi_layout_signal",
 916                 .handler = &ftdi_handle_layout_signal_command,
 917                 .mode = COMMAND_ANY,
 918                 .help = "define a signal controlled by one or more FTDI GPIO as data "
 919                         "and/or output enable",
 920                 .usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
 921         },
 922         {
 923                 .name = "ftdi_set_signal",
 924                 .handler = &ftdi_handle_set_signal_command,
 925                 .mode = COMMAND_EXEC,
 926                 .help = "control a layout-specific signal",
 927                 .usage = "name (1|0|z)",
 928         },
 929         {
 930                 .name = "ftdi_vid_pid",
 931                 .handler = &ftdi_handle_vid_pid_command,
 932                 .mode = COMMAND_CONFIG,
 933                 .help = "the vendor ID and product ID of the FTDI device",
 934                 .usage = "(vid pid)* ",
 935         },
 936         {
 937                 .name = "ftdi_tdo_sample_edge",
 938                 .handler = &ftdi_handle_tdo_sample_edge_command,
 939                 .mode = COMMAND_ANY,
 940                 .help = "set which TCK clock edge is used for sampling TDO "
 941                         "- default is rising-edge (Setting to falling-edge may "
 942                         "allow signalling speed increase)",
 943                 .usage = "(rising|falling)",
 944         },
 945         COMMAND_REGISTRATION_DONE
 946 };
 947
 948 static int create_default_signal(const char *name, uint16_t data_mask)
 949 {
 950         struct signal *sig = create_signal(name);
 951         if (!sig) {
 952                 LOG_ERROR("failed to create signal %s", name);
 953                 return ERROR_FAIL;
 954         }
 955         sig->invert_data = false;
 956         sig->data_mask = data_mask;
 957         sig->invert_oe = false;
 958         sig->oe_mask = 0;
 959
 960         return ERROR_OK;
 961 }
 962
 963 static int create_signals(void)
 964 {
 965         if (create_default_signal("TCK", 0x01) != ERROR_OK)
 966                 return ERROR_FAIL;
 967         if (create_default_signal("TDI", 0x02) != ERROR_OK)
 968                 return ERROR_FAIL;
 969         if (create_default_signal("TDO", 0x04) != ERROR_OK)
 970                 return ERROR_FAIL;
 971         if (create_default_signal("TMS", 0x08) != ERROR_OK)
 972                 return ERROR_FAIL;
 973         return ERROR_OK;
 974 }
 975
 976 static int ftdi_swd_init(void)
 977 {
 978         LOG_INFO("FTDI SWD mode enabled");
 979         swd_mode = true;
 980
 981         if (create_signals() != ERROR_OK)
 982                 return ERROR_FAIL;
 983
 984         swd_cmd_queue_alloced = 10;
 985         swd_cmd_queue = malloc(swd_cmd_queue_alloced * sizeof(*swd_cmd_queue));
 986
 987         return swd_cmd_queue != NULL ? ERROR_OK : ERROR_FAIL;
 988 }
 989
 990 static void ftdi_swd_swdio_en(bool enable)
 991 {
 992         struct signal *oe = find_signal_by_name("SWDIO_OE");
 993         if (oe)
 994                 ftdi_set_signal(oe, enable ? '1' : '0');
 995 }
 996
 997 /**
 998  * Flush the MPSSE queue and process the SWD transaction queue
 999  * @param dap
1000  * @return
1001  */
1002 static int ftdi_swd_run_queue(void)
1003 {
1004         LOG_DEBUG("Executing %zu queued transactions", swd_cmd_queue_length);
1005         int retval;
1006         struct signal *led = find_signal_by_name("LED");
1007
1008         if (queued_retval != ERROR_OK) {
1009                 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
1010                 goto skip;
1011         }
1012
1013         /* A transaction must be followed by another transaction or at least 8 idle cycles to
1014          * ensure that data is clocked through the AP. */
1015         mpsse_clock_data_out(mpsse_ctx, NULL, 0, 8, SWD_MODE);
1016
1017         /* Terminate the "blink", if the current layout has that feature */
1018         if (led)
1019                 ftdi_set_signal(led, '0');
1020
1021         queued_retval = mpsse_flush(mpsse_ctx);
1022         if (queued_retval != ERROR_OK) {
1023                 LOG_ERROR("MPSSE failed");
1024                 goto skip;
1025         }
1026
1027         for (size_t i = 0; i < swd_cmd_queue_length; i++) {
1028                 int ack = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1, 3);
1029
1030                 LOG_DEBUG("%s %s %s reg %X = %08"PRIx32,
1031                                 ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
1032                                 swd_cmd_queue[i].cmd & SWD_CMD_APnDP ? "AP" : "DP",
1033                                 swd_cmd_queue[i].cmd & SWD_CMD_RnW ? "read" : "write",
1034                                 (swd_cmd_queue[i].cmd & SWD_CMD_A32) >> 1,
1035                                 buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn,
1036                                                 1 + 3 + (swd_cmd_queue[i].cmd & SWD_CMD_RnW ? 0 : 1), 32));
1037
1038                 if (ack != SWD_ACK_OK) {
1039                         queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
1040                         goto skip;
1041
1042                 } else if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
1043                         uint32_t data = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3, 32);
1044                         int parity = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 32, 1);
1045
1046                         if (parity != parity_u32(data)) {
1047                                 LOG_ERROR("SWD Read data parity mismatch");
1048                                 queued_retval = ERROR_FAIL;
1049                                 goto skip;
1050                         }
1051
1052                         if (swd_cmd_queue[i].dst != NULL)
1053                                 *swd_cmd_queue[i].dst = data;
1054                 }
1055         }
1056
1057 skip:
1058         swd_cmd_queue_length = 0;
1059         retval = queued_retval;
1060         queued_retval = ERROR_OK;
1061
1062         /* Queue a new "blink" */
1063         if (led && retval == ERROR_OK)
1064                 ftdi_set_signal(led, '1');
1065
1066         return retval;
1067 }
1068
1069 static void ftdi_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data, uint32_t ap_delay_clk)
1070 {
1071         if (swd_cmd_queue_length >= swd_cmd_queue_alloced) {
1072                 /* Not enough room in the queue. Run the queue and increase its size for next time.
1073                  * Note that it's not possible to avoid running the queue here, because mpsse contains
1074                  * pointers into the queue which may be invalid after the realloc. */
1075                 queued_retval = ftdi_swd_run_queue();
1076                 struct swd_cmd_queue_entry *q = realloc(swd_cmd_queue, swd_cmd_queue_alloced * 2 * sizeof(*swd_cmd_queue));
1077                 if (q != NULL) {
1078                         swd_cmd_queue = q;
1079                         swd_cmd_queue_alloced *= 2;
1080                         LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced);
1081                 }
1082         }
1083
1084         if (queued_retval != ERROR_OK)
1085                 return;
1086
1087         size_t i = swd_cmd_queue_length++;
1088         swd_cmd_queue[i].cmd = cmd | SWD_CMD_START | SWD_CMD_PARK;
1089
1090         mpsse_clock_data_out(mpsse_ctx, &swd_cmd_queue[i].cmd, 0, 8, SWD_MODE);
1091
1092         if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
1093                 /* Queue a read transaction */
1094                 swd_cmd_queue[i].dst = dst;
1095
1096                 ftdi_swd_swdio_en(false);
1097                 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1098                                 0, 1 + 3 + 32 + 1 + 1, SWD_MODE);
1099                 ftdi_swd_swdio_en(true);
1100         } else {
1101                 /* Queue a write transaction */
1102                 ftdi_swd_swdio_en(false);
1103
1104                 mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1105                                 0, 1 + 3 + 1, SWD_MODE);
1106
1107                 ftdi_swd_swdio_en(true);
1108
1109                 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1, 32, data);
1110                 buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1 + 32, 1, parity_u32(data));
1111
1112                 mpsse_clock_data_out(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
1113                                 1 + 3 + 1, 32 + 1, SWD_MODE);
1114         }
1115
1116         /* Insert idle cycles after AP accesses to avoid WAIT */
1117         if (cmd & SWD_CMD_APnDP)
1118                 mpsse_clock_data_out(mpsse_ctx, NULL, 0, ap_delay_clk, SWD_MODE);
1119
1120 }
1121
1122 static void ftdi_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
1123 {
1124         assert(cmd & SWD_CMD_RnW);
1125         ftdi_swd_queue_cmd(cmd, value, 0, ap_delay_clk);
1126 }
1127
1128 static void ftdi_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
1129 {
1130         assert(!(cmd & SWD_CMD_RnW));
1131         ftdi_swd_queue_cmd(cmd, NULL, value, ap_delay_clk);
1132 }
1133
1134 static int_least32_t ftdi_swd_frequency(int_least32_t hz)
1135 {
1136         if (hz > 0)
1137                 freq = mpsse_set_frequency(mpsse_ctx, hz);
1138
1139         return freq;
1140 }
1141
1142 static int ftdi_swd_switch_seq(enum swd_special_seq seq)
1143 {
1144         switch (seq) {
1145         case LINE_RESET:
1146                 LOG_DEBUG("SWD line reset");
1147                 mpsse_clock_data_out(mpsse_ctx, swd_seq_line_reset, 0, swd_seq_line_reset_len, SWD_MODE);
1148                 break;
1149         case JTAG_TO_SWD:
1150                 LOG_DEBUG("JTAG-to-SWD");
1151                 mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_swd, 0, swd_seq_jtag_to_swd_len, SWD_MODE);
1152                 break;
1153         case SWD_TO_JTAG:
1154                 LOG_DEBUG("SWD-to-JTAG");
1155                 mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_jtag, 0, swd_seq_swd_to_jtag_len, SWD_MODE);
1156                 break;
1157         default:
1158                 LOG_ERROR("Sequence %d not supported", seq);
1159                 return ERROR_FAIL;
1160         }
1161
1162         return ERROR_OK;
1163 }
1164
1165 static const struct swd_driver ftdi_swd = {
1166         .init = ftdi_swd_init,
1167         .frequency = ftdi_swd_frequency,
1168         .switch_seq = ftdi_swd_switch_seq,
1169         .read_reg = ftdi_swd_read_reg,
1170         .write_reg = ftdi_swd_write_reg,
1171         .run = ftdi_swd_run_queue,
1172 };
1173
1174 static const char * const ftdi_transports[] = { "jtag", "swd", NULL };
1175
1176 struct jtag_interface ftdi_interface = {
1177         .name = "ftdi",
1178         .supported = DEBUG_CAP_TMS_SEQ,
1179         .commands = ftdi_command_handlers,
1180         .transports = ftdi_transports,
1181         .swd = &ftdi_swd,
1182
1183         .init = ftdi_initialize,
1184         .quit = ftdi_quit,
1185         .speed = ftdi_speed,
1186         .speed_div = ftdi_speed_div,
1187         .khz = ftdi_khz,
1188         .execute_queue = ftdi_execute_queue,
1189 };