1 /**************************************************************************
2 * Copyright (C) 2012 by Andreas Fritiofson *
3 * andreas.fritiofson@gmail.com *
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. *
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. *
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 ***************************************************************************/
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.
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).
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.
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).
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.
41 * - Additional JTAG links, e.g. to a CPLD or * FPGA.
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.
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.
54 * This code uses information contained in the MPSSE specification which was
56 * http://www.ftdichip.com/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
57 * Hereafter this is called the "MPSSE Spec".
59 * The datasheet for the ftdichip.com's FT2232D part is here:
60 * http://www.ftdichip.com/Documents/DataSheets/DS_FT2232D.pdf
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.
71 /* project specific includes */
72 #include <jtag/interface.h>
74 #include <transport/transport.h>
75 #include <helper/time_support.h>
83 /* FTDI access library includes */
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)
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
;
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 };
103 static struct mpsse_ctx
*mpsse_ctx
;
116 static struct signal
*signals
;
118 /* FIXME: Where to store per-instance data? We need an SWD context. */
119 static struct swd_cmd_queue_entry
{
122 uint8_t trn_ack_data_parity_trn
[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
124 static size_t swd_cmd_queue_length
;
125 static size_t swd_cmd_queue_alloced
;
126 static int queued_retval
;
129 static uint16_t output
;
130 static uint16_t direction
;
131 static uint16_t jtag_output_init
;
132 static uint16_t jtag_direction_init
;
134 static int ftdi_swd_switch_seq(enum swd_special_seq seq
);
136 static struct signal
*find_signal_by_name(const char *name
)
138 for (struct signal
*sig
= signals
; sig
; sig
= sig
->next
) {
139 if (strcmp(name
, sig
->name
) == 0)
145 static struct signal
*create_signal(const char *name
)
147 struct signal
**psig
= &signals
;
149 psig
= &(*psig
)->next
;
151 *psig
= calloc(1, sizeof(**psig
));
155 (*psig
)->name
= strdup(name
);
156 if ((*psig
)->name
== NULL
) {
163 static int ftdi_set_signal(const struct signal
*s
, char value
)
168 if (s
->data_mask
== 0 && s
->oe_mask
== 0) {
169 LOG_ERROR("interface doesn't provide signal '%s'", s
->name
);
174 data
= s
->invert_data
;
178 if (s
->data_mask
== 0) {
179 LOG_ERROR("interface can't drive '%s' high", s
->name
);
182 data
= !s
->invert_data
;
187 if (s
->oe_mask
== 0) {
188 LOG_ERROR("interface can't tri-state '%s'", s
->name
);
191 data
= s
->invert_data
;
195 assert(0 && "invalid signal level specifier");
199 uint16_t old_output
= output
;
200 uint16_t old_direction
= direction
;
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
;
206 output
= oe
? output
| s
->oe_mask
: output
& ~s
->oe_mask
;
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);
216 static int ftdi_get_signal(const struct signal
*s
, uint16_t * value_out
)
218 uint8_t data_low
= 0;
219 uint8_t data_high
= 0;
221 if (s
->input_mask
== 0) {
222 LOG_ERROR("interface doesn't provide signal '%s'", s
->name
);
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
);
231 mpsse_flush(mpsse_ctx
);
233 *value_out
= (((uint16_t)data_high
) << 8) | data_low
;
236 *value_out
= ~(*value_out
);
238 *value_out
&= s
->input_mask
;
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().
249 * @param goal_state is the destination state for the move.
251 static void move_to_state(tap_state_t goal_state
)
253 tap_state_t start_state
= tap_get_state();
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
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);
265 DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state
), tap_state_name(goal_state
));
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));
271 mpsse_clock_tms_cs_out(mpsse_ctx
,
279 static int ftdi_speed(int speed
)
282 retval
= mpsse_set_frequency(mpsse_ctx
, speed
);
285 LOG_ERROR("couldn't set FTDI TCK speed");
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\"");
295 static int ftdi_speed_div(int speed
, int *khz
)
301 static int ftdi_khz(int khz
, int *jtag_speed
)
303 if (khz
== 0 && !mpsse_is_high_speed(mpsse_ctx
)) {
304 LOG_DEBUG("RCLK not supported");
308 *jtag_speed
= khz
* 1000;
312 static void ftdi_end_state(tap_state_t state
)
314 if (tap_is_state_stable(state
))
315 tap_set_end_state(state
);
317 LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state
));
322 static void ftdi_execute_runtest(struct jtag_command
*cmd
)
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
));
331 if (tap_get_state() != TAP_IDLE
)
332 move_to_state(TAP_IDLE
);
334 /* TODO: Reuse ftdi_execute_stableclocks */
335 i
= cmd
->cmd
.runtest
->num_cycles
;
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
);
343 ftdi_end_state(cmd
->cmd
.runtest
->end_state
);
345 if (tap_get_state() != tap_get_end_state())
346 move_to_state(tap_get_end_state());
348 DEBUG_JTAG_IO("runtest: %i, end in %s",
349 cmd
->cmd
.runtest
->num_cycles
,
350 tap_state_name(tap_get_end_state()));
353 static void ftdi_execute_statemove(struct jtag_command
*cmd
)
355 DEBUG_JTAG_IO("statemove end in %s",
356 tap_state_name(cmd
->cmd
.statemove
->end_state
));
358 ftdi_end_state(cmd
->cmd
.statemove
->end_state
);
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());
366 * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
367 * (or SWD) state machine. REVISIT: Not the best method, perhaps.
369 static void ftdi_execute_tms(struct jtag_command
*cmd
)
371 DEBUG_JTAG_IO("TMS: %d bits", cmd
->cmd
.tms
->num_bits
);
373 /* TODO: Missing tap state tracking, also missing from ft2232.c! */
374 mpsse_clock_tms_cs_out(mpsse_ctx
,
377 cmd
->cmd
.tms
->num_bits
,
382 static void ftdi_execute_pathmove(struct jtag_command
*cmd
)
384 tap_state_t
*path
= cmd
->cmd
.pathmove
->path
;
385 int num_states
= cmd
->cmd
.pathmove
->num_states
;
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]));
392 unsigned bit_count
= 0;
393 uint8_t tms_byte
= 0;
397 /* this loop verifies that the path is legal and logs each state in the path */
398 while (num_states
--) {
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);
408 /* ... or else the caller goofed BADLY */
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
]));
417 tap_set_state(path
[state_count
]);
420 if (bit_count
== 7 || num_states
== 0) {
421 mpsse_clock_tms_cs_out(mpsse_ctx
,
430 tap_set_end_state(tap_get_state());
433 static void ftdi_execute_scan(struct jtag_command
*cmd
)
435 DEBUG_JTAG_IO("%s type:%d", cmd
->cmd
.scan
->ir_scan
? "IRSCAN" : "DRSCAN",
436 jtag_scan_type(cmd
->cmd
.scan
));
438 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
439 while (cmd
->cmd
.scan
->num_fields
> 0
440 && cmd
->cmd
.scan
->fields
[cmd
->cmd
.scan
->num_fields
- 1].num_bits
== 0) {
441 cmd
->cmd
.scan
->num_fields
--;
442 DEBUG_JTAG_IO("discarding trailing empty field");
445 if (cmd
->cmd
.scan
->num_fields
== 0) {
446 DEBUG_JTAG_IO("empty scan, doing nothing");
450 if (cmd
->cmd
.scan
->ir_scan
) {
451 if (tap_get_state() != TAP_IRSHIFT
)
452 move_to_state(TAP_IRSHIFT
);
454 if (tap_get_state() != TAP_DRSHIFT
)
455 move_to_state(TAP_DRSHIFT
);
458 ftdi_end_state(cmd
->cmd
.scan
->end_state
);
460 struct scan_field
*field
= cmd
->cmd
.scan
->fields
;
461 unsigned scan_size
= 0;
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" : "",
469 cmd
->cmd
.scan
->num_fields
,
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
,
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
,
494 tap_set_state(tap_state_transition(tap_get_state(), 1));
495 mpsse_clock_tms_cs_out(mpsse_ctx
,
501 tap_set_state(tap_state_transition(tap_get_state(), 0));
503 mpsse_clock_data(mpsse_ctx
,
512 if (tap_get_state() != tap_get_end_state())
513 move_to_state(tap_get_end_state());
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()));
520 static void ftdi_execute_reset(struct jtag_command
*cmd
)
522 DEBUG_JTAG_IO("reset trst: %i srst %i",
523 cmd
->cmd
.reset
->trst
, cmd
->cmd
.reset
->srst
);
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
);
530 struct signal
*trst
= find_signal_by_name("nTRST");
531 if (cmd
->cmd
.reset
->trst
== 1) {
533 ftdi_set_signal(trst
, '0');
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');
541 ftdi_set_signal(trst
, '1');
544 struct signal
*srst
= find_signal_by_name("nSRST");
545 if (cmd
->cmd
.reset
->srst
== 1) {
547 ftdi_set_signal(srst
, '0');
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');
555 ftdi_set_signal(srst
, 'z');
558 DEBUG_JTAG_IO("trst: %i, srst: %i",
559 cmd
->cmd
.reset
->trst
, cmd
->cmd
.reset
->srst
);
562 static void ftdi_execute_sleep(struct jtag_command
*cmd
)
564 DEBUG_JTAG_IO("sleep %" PRIi32
, cmd
->cmd
.sleep
->us
);
566 mpsse_flush(mpsse_ctx
);
567 jtag_sleep(cmd
->cmd
.sleep
->us
);
568 DEBUG_JTAG_IO("sleep %" PRIi32
" usec while in %s",
570 tap_state_name(tap_get_state()));
573 static void ftdi_execute_stableclocks(struct jtag_command
*cmd
)
575 /* this is only allowed while in a stable state. A check for a stable
576 * state was done in jtag_add_clocks()
578 int num_cycles
= cmd
->cmd
.stableclocks
->num_cycles
;
580 /* 7 bits of either ones or zeros. */
581 uint8_t tms
= tap_get_state() == TAP_RESET
? 0x7f : 0x00;
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
;
592 DEBUG_JTAG_IO("clocks %i while in %s",
593 cmd
->cmd
.stableclocks
->num_cycles
,
594 tap_state_name(tap_get_state()));
597 static void ftdi_execute_command(struct jtag_command
*cmd
)
601 ftdi_execute_reset(cmd
);
604 ftdi_execute_runtest(cmd
);
607 ftdi_execute_statemove(cmd
);
610 ftdi_execute_pathmove(cmd
);
613 ftdi_execute_scan(cmd
);
616 ftdi_execute_sleep(cmd
);
618 case JTAG_STABLECLOCKS
:
619 ftdi_execute_stableclocks(cmd
);
622 ftdi_execute_tms(cmd
);
625 LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd
->type
);
630 static int ftdi_execute_queue(void)
632 /* blink, if the current layout has that feature */
633 struct signal
*led
= find_signal_by_name("LED");
635 ftdi_set_signal(led
, '1');
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
);
643 ftdi_set_signal(led
, '0');
645 int retval
= mpsse_flush(mpsse_ctx
);
646 if (retval
!= ERROR_OK
)
647 LOG_ERROR("error while flushing MPSSE queue: %d", retval
);
652 static int ftdi_initialize(void)
654 if (tap_get_tms_path_len(TAP_IRPAUSE
, TAP_IRPAUSE
) == 7)
655 LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
657 LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
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
);
667 return ERROR_JTAG_INIT_FAILED
;
669 output
= jtag_output_init
;
670 direction
= jtag_direction_init
;
673 struct signal
*sig
= find_signal_by_name("SWD_EN");
675 LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
676 return ERROR_JTAG_INIT_FAILED
;
678 /* A dummy SWD_EN would have zero mask */
680 ftdi_set_signal(sig
, '1');
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);
686 mpsse_loopback_config(mpsse_ctx
, false);
688 freq
= mpsse_set_frequency(mpsse_ctx
, jtag_get_speed_khz() * 1000);
690 return mpsse_flush(mpsse_ctx
);
693 static int ftdi_quit(void)
695 mpsse_close(mpsse_ctx
);
697 struct signal
*sig
= signals
;
699 struct signal
*next
= sig
->next
;
700 free((void *)sig
->name
);
705 free(ftdi_device_desc
);
714 COMMAND_HANDLER(ftdi_handle_device_desc_command
)
717 if (ftdi_device_desc
)
718 free(ftdi_device_desc
);
719 ftdi_device_desc
= strdup(CMD_ARGV
[0]);
721 LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
727 COMMAND_HANDLER(ftdi_handle_serial_command
)
732 ftdi_serial
= strdup(CMD_ARGV
[0]);
734 return ERROR_COMMAND_SYNTAX_ERROR
;
740 #ifdef HAVE_LIBUSB_GET_PORT_NUMBERS
741 COMMAND_HANDLER(ftdi_handle_location_command
)
746 ftdi_location
= strdup(CMD_ARGV
[0]);
748 return ERROR_COMMAND_SYNTAX_ERROR
;
755 COMMAND_HANDLER(ftdi_handle_channel_command
)
758 COMMAND_PARSE_NUMBER(u8
, CMD_ARGV
[0], ftdi_channel
);
760 return ERROR_COMMAND_SYNTAX_ERROR
;
765 COMMAND_HANDLER(ftdi_handle_layout_init_command
)
768 return ERROR_COMMAND_SYNTAX_ERROR
;
770 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[0], jtag_output_init
);
771 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[1], jtag_direction_init
);
776 COMMAND_HANDLER(ftdi_handle_layout_signal_command
)
779 return ERROR_COMMAND_SYNTAX_ERROR
;
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) {
790 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], data_mask
);
791 } else if (strcmp("-ndata", CMD_ARGV
[i
]) == 0) {
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) {
799 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], input_mask
);
800 } else if (strcmp("-oe", CMD_ARGV
[i
]) == 0) {
802 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], oe_mask
);
803 } else if (strcmp("-noe", CMD_ARGV
[i
]) == 0) {
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
])) {
812 struct signal
*sig
= find_signal_by_name(CMD_ARGV
[i
+ 1]);
814 LOG_ERROR("signal %s is not defined", CMD_ARGV
[i
+ 1]);
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
;
824 LOG_ERROR("unknown option '%s'", CMD_ARGV
[i
]);
825 return ERROR_COMMAND_SYNTAX_ERROR
;
830 sig
= find_signal_by_name(CMD_ARGV
[0]);
832 sig
= create_signal(CMD_ARGV
[0]);
834 LOG_ERROR("failed to create signal %s", CMD_ARGV
[0]);
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
;
848 COMMAND_HANDLER(ftdi_handle_set_signal_command
)
851 return ERROR_COMMAND_SYNTAX_ERROR
;
854 sig
= find_signal_by_name(CMD_ARGV
[0]);
856 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV
[0]);
860 switch (*CMD_ARGV
[1]) {
865 /* single character level specifier only */
866 if (CMD_ARGV
[1][1] == '\0') {
867 ftdi_set_signal(sig
, *CMD_ARGV
[1]);
872 LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV
[1]);
873 return ERROR_COMMAND_SYNTAX_ERROR
;
876 return mpsse_flush(mpsse_ctx
);
879 COMMAND_HANDLER(ftdi_handle_get_signal_command
)
882 return ERROR_COMMAND_SYNTAX_ERROR
;
885 uint16_t sig_data
= 0;
886 sig
= find_signal_by_name(CMD_ARGV
[0]);
888 LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV
[0]);
892 int ret
= ftdi_get_signal(sig
, &sig_data
);
896 LOG_USER("Signal %s = %#06x", sig
->name
, sig_data
);
901 COMMAND_HANDLER(ftdi_handle_vid_pid_command
)
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;
908 if (CMD_ARGC
< 2 || (CMD_ARGC
& 1)) {
909 LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
911 return ERROR_COMMAND_SYNTAX_ERROR
;
912 /* remove the incomplete trailing id */
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]);
923 * Explicitly terminate, in case there are multiples instances of
926 ftdi_vid
[i
>> 1] = ftdi_pid
[i
>> 1] = 0;
931 COMMAND_HANDLER(ftdi_handle_tdo_sample_edge_command
)
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 },
941 n
= Jim_Nvp_name2value_simple(nvp_ftdi_jtag_modes
, CMD_ARGV
[0]);
943 return ERROR_COMMAND_SYNTAX_ERROR
;
944 ftdi_jtag_mode
= n
->value
;
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
);
954 static const struct command_registration ftdi_command_handlers
[] = {
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",
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",
969 #ifdef HAVE_LIBUSB_GET_PORT_NUMBERS
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]...",
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",
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",
994 .name
= "ftdi_layout_signal",
995 .handler
= &ftdi_handle_layout_signal_command
,
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]",
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)",
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",
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)* ",
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)",
1031 COMMAND_REGISTRATION_DONE
1034 static int create_default_signal(const char *name
, uint16_t data_mask
)
1036 struct signal
*sig
= create_signal(name
);
1038 LOG_ERROR("failed to create signal %s", name
);
1041 sig
->invert_data
= false;
1042 sig
->data_mask
= data_mask
;
1043 sig
->invert_oe
= false;
1049 static int create_signals(void)
1051 if (create_default_signal("TCK", 0x01) != ERROR_OK
)
1053 if (create_default_signal("TDI", 0x02) != ERROR_OK
)
1055 if (create_default_signal("TDO", 0x04) != ERROR_OK
)
1057 if (create_default_signal("TMS", 0x08) != ERROR_OK
)
1062 static int ftdi_swd_init(void)
1064 LOG_INFO("FTDI SWD mode enabled");
1067 if (create_signals() != ERROR_OK
)
1070 swd_cmd_queue_alloced
= 10;
1071 swd_cmd_queue
= malloc(swd_cmd_queue_alloced
* sizeof(*swd_cmd_queue
));
1073 return swd_cmd_queue
!= NULL
? ERROR_OK
: ERROR_FAIL
;
1076 static void ftdi_swd_swdio_en(bool enable
)
1078 struct signal
*oe
= find_signal_by_name("SWDIO_OE");
1081 ftdi_set_signal(oe
, enable
? '1' : '0');
1083 /* Sets TDI/DO pin (pin 2) to input during rx when both pins are connected
1086 direction
|= jtag_direction_init
& 0x0002U
;
1088 direction
&= ~0x0002U
;
1089 mpsse_set_data_bits_low_byte(mpsse_ctx
, output
& 0xff, direction
& 0xff);
1095 * Flush the MPSSE queue and process the SWD transaction queue
1099 static int ftdi_swd_run_queue(void)
1101 LOG_DEBUG_IO("Executing %zu queued transactions", swd_cmd_queue_length
);
1103 struct signal
*led
= find_signal_by_name("LED");
1105 if (queued_retval
!= ERROR_OK
) {
1106 LOG_DEBUG_IO("Skipping due to previous errors: %d", queued_retval
);
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
);
1114 /* Terminate the "blink", if the current layout has that feature */
1116 ftdi_set_signal(led
, '0');
1118 queued_retval
= mpsse_flush(mpsse_ctx
);
1119 if (queued_retval
!= ERROR_OK
) {
1120 LOG_ERROR("MPSSE failed");
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);
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));
1135 if (ack
!= SWD_ACK_OK
) {
1136 queued_retval
= ack
== SWD_ACK_WAIT
? ERROR_WAIT
: ERROR_FAIL
;
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);
1143 if (parity
!= parity_u32(data
)) {
1144 LOG_ERROR("SWD Read data parity mismatch");
1145 queued_retval
= ERROR_FAIL
;
1149 if (swd_cmd_queue
[i
].dst
!= NULL
)
1150 *swd_cmd_queue
[i
].dst
= data
;
1155 swd_cmd_queue_length
= 0;
1156 retval
= queued_retval
;
1157 queued_retval
= ERROR_OK
;
1159 /* Queue a new "blink" */
1160 if (led
&& retval
== ERROR_OK
)
1161 ftdi_set_signal(led
, '1');
1166 static void ftdi_swd_queue_cmd(uint8_t cmd
, uint32_t *dst
, uint32_t data
, uint32_t ap_delay_clk
)
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
));
1176 swd_cmd_queue_alloced
*= 2;
1177 LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced
);
1181 if (queued_retval
!= ERROR_OK
)
1184 size_t i
= swd_cmd_queue_length
++;
1185 swd_cmd_queue
[i
].cmd
= cmd
| SWD_CMD_START
| SWD_CMD_PARK
;
1187 mpsse_clock_data_out(mpsse_ctx
, &swd_cmd_queue
[i
].cmd
, 0, 8, SWD_MODE
);
1189 if (swd_cmd_queue
[i
].cmd
& SWD_CMD_RnW
) {
1190 /* Queue a read transaction */
1191 swd_cmd_queue
[i
].dst
= dst
;
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);
1198 /* Queue a write transaction */
1199 ftdi_swd_swdio_en(false);
1201 mpsse_clock_data_in(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1202 0, 1 + 3 + 1, SWD_MODE
);
1204 ftdi_swd_swdio_en(true);
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
));
1209 mpsse_clock_data_out(mpsse_ctx
, swd_cmd_queue
[i
].trn_ack_data_parity_trn
,
1210 1 + 3 + 1, 32 + 1, SWD_MODE
);
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
);
1219 static void ftdi_swd_read_reg(uint8_t cmd
, uint32_t *value
, uint32_t ap_delay_clk
)
1221 assert(cmd
& SWD_CMD_RnW
);
1222 ftdi_swd_queue_cmd(cmd
, value
, 0, ap_delay_clk
);
1225 static void ftdi_swd_write_reg(uint8_t cmd
, uint32_t value
, uint32_t ap_delay_clk
)
1227 assert(!(cmd
& SWD_CMD_RnW
));
1228 ftdi_swd_queue_cmd(cmd
, NULL
, value
, ap_delay_clk
);
1231 static int_least32_t ftdi_swd_frequency(int_least32_t hz
)
1234 freq
= mpsse_set_frequency(mpsse_ctx
, hz
);
1239 static int ftdi_swd_switch_seq(enum swd_special_seq seq
)
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
);
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
);
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
);
1258 LOG_ERROR("Sequence %d not supported", seq
);
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
,
1274 static const char * const ftdi_transports
[] = { "jtag", "swd", NULL
};
1276 struct jtag_interface ftdi_interface
= {
1278 .supported
= DEBUG_CAP_TMS_SEQ
,
1279 .commands
= ftdi_command_handlers
,
1280 .transports
= ftdi_transports
,
1283 .init
= ftdi_initialize
,
1285 .speed
= ftdi_speed
,
1286 .speed_div
= ftdi_speed_div
,
1288 .execute_queue
= ftdi_execute_queue
,
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