eud.c

Go to the documentation of this file.

// SPDX-License-Identifier: GPL-2.0-or-later
 
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
 
#include <assert.h>
#include <inttypes.h>
#include <stdint.h>
 
#include <helper/binarybuffer.h>
#include <helper/bits.h>
#include <helper/bitfield.h>
#include <helper/log.h>
#include <jtag/adapter.h>
#include <jtag/interface.h>
#include <jtag/swd.h>
#include <libusb.h>
#include <target/arm_adi_v5.h>
 
#include "libusb_helper.h"
 
#define EUD_VID                         0x05c6
#define EUD_CTL_PID                     0x9501
#define EUD_SWD_PID                     0x9504
#define EUD_INTERFACE                   0
#define EUD_EP_OUT                      0x02
#define EUD_EP_IN                       0x81
#define EUD_USB_TIMEOUT_MS              6000
/*
 * The SWD function exposes 32-byte hardware FIFOs in both directions.
 * The hardware processes commands in order until any of the following:
 * a) it encounters an undefined opcode
 * b) cur_cmd == EUD_NOP/FLUSH, after which it ignores the rest of the buffer
 * c) until it processes everything
 */
#define EUD_SWD_BUFFER_SIZE             32
/*
 * Every queue flush ends with a STATUS opcode; budget for a FLUSH opcode
 * too, even though eud_swd_flush_queue() omits it when the IN FIFO ends up
 * exactly full.
 */
#define EUD_SWD_QUEUE_TRAILER_SIZE      2
#define EUD_SWD_STATUS_SIZE             4
 
#define EUD_CTL_CMD_CTLOUT_SET          7
#define EUD_CTL_CMD_CTLOUT_CLR          8
 
#define EUD_CTL_RCTLR_SRST_N        BIT(0)
#define EUD_CTL_SWD_PERIPH_EN       BIT(2)
#define EUD_CTL_JTAG_PERIPH_EN      BIT(4)
#define EUD_CTL_VDDMIN_TCK_EN       BIT(6)
#define EUD_CTL_GPIO_JTAG_SEL       BIT(7)
#define EUD_CTL_DAP_MUX_SEL         BIT(10)
#define EUD_CTL_ACC_TDO_SEL         BIT(17)
#define EUD_CTL_DAP_TDO_SEL         BIT(18)
#define EUD_CTL_MTAP_TDO_SEL        BIT(19)
#define EUD_CTL_DAP_SWDO_SEL        BIT(20)
 
#define EUD_CTL_SWD_ON_CLEAR        (EUD_CTL_JTAG_PERIPH_EN | \
                                     EUD_CTL_GPIO_JTAG_SEL | \
                                     EUD_CTL_ACC_TDO_SEL | \
                                     EUD_CTL_DAP_TDO_SEL | \
                                     EUD_CTL_MTAP_TDO_SEL)
#define EUD_CTL_SWD_ON_SET          (EUD_CTL_RCTLR_SRST_N | \
                                     EUD_CTL_SWD_PERIPH_EN | \
                                     EUD_CTL_VDDMIN_TCK_EN | \
                                     EUD_CTL_DAP_MUX_SEL | \
                                     EUD_CTL_DAP_SWDO_SEL)
#define EUD_SWD_BB_RCTLR_SRST_N     BIT(2)
#define EUD_SWD_BB_GPIO_SRST_N      BIT(4)
#define EUD_SWD_BB_GPIO_TRST_N      BIT(5)
#define EUD_SWD_BB_DAP_TRST_N       BIT(6)
#define EUD_SWD_BB_RESET_DEFAULT    (EUD_SWD_BB_RCTLR_SRST_N | \
                                     EUD_SWD_BB_GPIO_SRST_N | \
                                     EUD_SWD_BB_GPIO_TRST_N | \
                                     EUD_SWD_BB_DAP_TRST_N)
 
#define EUD_SWD_CMD_FLUSH           1
#define EUD_SWD_CMD_FREQ            2
#define EUD_SWD_CMD_DELAY           3
 // Delay between commands = (N+1) / swd_clk_freq
#define SWD_CMD_DELAY_TIME      GENMASK(7, 0)
#define SWD_CMD_DELAY_RESERVED      GENMASK(31, 8)
#define EUD_SWD_CMD_BITBANG         4
#define EUD_SWD_CMD_DITMS           5
#define SWD_CMD_DITMS_DATA      GENMASK(15, 0)
#define SWD_CMD_DITMS_DATA_BITS     16
#define SWD_CMD_DITMS_COUNT     GENMASK(31, 16)
#define EUD_SWD_DITMS_MAX_BITS      (FIELD_GET(SWD_CMD_DITMS_COUNT, SWD_CMD_DITMS_COUNT) + 1)
#define EUD_SWD_CMD_TIMING          6
 // The number of retries the SWD Peripheral performs due to a WAIT response
 // from the DAP
#define SWD_CMD_TIMING_RETRY_COUNT  GENMASK(15, 0)
 // The number of SWD clock cycles allowed for the turn-around time minus 1
#define SWD_CMD_TIMING_TURNAROUND_TIME  GENMASK(17, 16)
 // If retry_count == 0 and SWD R/W is delayed by ACK.WAIT, wait 35 cycles
 // before issuing another SWD R/W
#define SWD_CMD_TIMING_WAIT_35_IF_ERR   BIT(18)
#define SWD_CMD_TIMING_RESERVED GENMASK(31, 19)
#define EUD_SWD_CMD_STATUS          7
 // Reading the status clears cmd_cntr and the error flags, so every queue
 // flush needs a status of its own
 // The ack[2:0] the DAP returned for the last command processed
#define SWD_CMD_STATUS_ACK      GENMASK(2, 0)
 // Set once the SWD Peripheral has exhausted its ACK.WAIT retries
#define SWD_CMD_STATUS_WAIT_TIMEOUT BIT(3)
 // Set when a DAP response does not match the parity bit it came with
#define SWD_CMD_STATUS_PARITY_ERR   BIT(4)
 // The number of SWD R/W commands the peripheral got through. An error flag
 // stops it on the offending command, but an ack that is merely not OK does
 // not, so it bounds a failure rather than pinpointing it
#define SWD_CMD_STATUS_CMD_CNTR     GENMASK(31, 16)
#define EUD_SWD_CMD_PERIPH_RST      8
 
struct eud_device {
    libusb_device_handle *handle;
    uint16_t pid;
    bool claimed;
};
 
struct eud_swd_transfer {
    uint8_t cmd;
    uint32_t value;
    uint32_t *read_value;
    uint32_t ap_delay_clk;
};
 
static libusb_context *eud_libusb_ctx;
static struct eud_device eud_ctl;
static struct eud_device eud_swd;
/*
 * Every transfer costs at least one OUT byte, so a queue can never hold more
 * transfers than the FIFO is bytes wide.
 */
static struct eud_swd_transfer eud_queue[EUD_SWD_BUFFER_SIZE];
static unsigned int eud_queue_len;
static unsigned int eud_queue_out_len;
static unsigned int eud_queue_in_len;
static int eud_speed_index = 0xa;
 
static const unsigned int eud_speed_khz[] = {
    120000,
    80000,
    60000,
    40000,
    30000,
    15000,
    7500,
    3750,
    1875,
    938,
    469,
    234,
    117,
};
 
static void eud_close(struct eud_device *dev)
{
    if (!dev->handle)
        return;
 
    if (dev->claimed)
        libusb_release_interface(dev->handle, EUD_INTERFACE);
 
    libusb_close(dev->handle);
    dev->handle = NULL;
    dev->pid = 0;
    dev->claimed = false;
}
 
static int eud_libusb_reinit(void)
{
    if (eud_libusb_ctx)
        libusb_exit(eud_libusb_ctx);
 
    int ret = libusb_init(&eud_libusb_ctx);
    if (ret != LIBUSB_SUCCESS) {
        LOG_ERROR("libusb_init() failed: %s", libusb_error_name(ret));
        return ERROR_FAIL;
    }
 
    return ERROR_OK;
}
 
static int eud_open_inner(uint16_t pid, struct eud_device *dev, bool quiet)
{
    dev->handle = libusb_open_device_with_vid_pid(eud_libusb_ctx, EUD_VID, pid);
    if (!dev->handle) {
        if (!quiet)
            LOG_ERROR("unable to open EUD USB function %04x:%04x", EUD_VID, pid);
        return ERROR_FAIL;
    }
 
    int ret = libusb_claim_interface(dev->handle, EUD_INTERFACE);
    if (ret != LIBUSB_SUCCESS) {
        if (!quiet)
            LOG_ERROR("libusb_claim_interface() failed: %s", libusb_error_name(ret));
        eud_close(dev);
        return jtag_libusb_error(ret);
    }
 
    dev->pid = pid;
    dev->claimed = true;
    return ERROR_OK;
}
 
static int eud_open(uint16_t pid, struct eud_device *dev)
{
    return eud_open_inner(pid, dev, false);
}
 
static int eud_bulk_write(struct eud_device *dev, const uint8_t *buf, int len)
{
    LOG_DEBUG_IO("EUD pid 0x%04x write len %d opcode 0x%02x", dev->pid, len, buf[0]);
    int transferred;
    int ret = libusb_bulk_transfer(dev->handle, EUD_EP_OUT, (unsigned char *)buf,
                                 len, &transferred, EUD_USB_TIMEOUT_MS);
    if (ret != LIBUSB_SUCCESS) {
        LOG_ERROR("EUD bulk write failed: %s", libusb_error_name(ret));
        return jtag_libusb_error(ret);
    }
 
    if (transferred != len) {
        LOG_ERROR("short EUD bulk write: %d of %d bytes", transferred, len);
        return ERROR_FAIL;
    }
 
    return ERROR_OK;
}
 
static int eud_bulk_read(struct eud_device *dev, uint8_t *buf, int len)
{
    int transferred;
    int ret = libusb_bulk_transfer(dev->handle, EUD_EP_IN, buf, len,
                                 &transferred, EUD_USB_TIMEOUT_MS);
    if (ret != LIBUSB_SUCCESS) {
        LOG_ERROR("EUD bulk read failed: %s", libusb_error_name(ret));
        return jtag_libusb_error(ret);
    }
 
    if (transferred != len) {
        LOG_ERROR("short EUD bulk read: %d of %d bytes", transferred, len);
        return ERROR_FAIL;
    }
 
    return ERROR_OK;
}
 
static int eud_op(struct eud_device *dev, uint8_t opcode, uint32_t payload)
{
    uint8_t buf[5];
 
    buf[0] = opcode;
    h_u32_to_le(&buf[1], payload);
 
    return eud_bulk_write(dev, buf, sizeof(buf));
}
 
static int eud_op_no_payload(struct eud_device *dev, uint8_t opcode)
{
    return eud_bulk_write(dev, &opcode, sizeof(opcode));
}
 
static int eud_ctl_enable_swd(void)
{
    int retval = eud_open(EUD_CTL_PID, &eud_ctl);
    if (retval != ERROR_OK)
        return retval;
 
    retval = eud_op(&eud_ctl, EUD_CTL_CMD_CTLOUT_CLR, EUD_CTL_SWD_ON_CLEAR);
    if (retval != ERROR_OK)
        goto out;
 
    retval = eud_op(&eud_ctl, EUD_CTL_CMD_CTLOUT_SET, EUD_CTL_SWD_ON_SET);
 
out:
    eud_close(&eud_ctl);
    return retval;
}
 
static int eud_open_swd_after_enable(void)
{
    int retval = eud_ctl_enable_swd();
    if (retval != ERROR_OK)
        return retval;
 
    for (unsigned int i = 0; i < 5000; i++) {
        alive_sleep(1);
 
        retval = eud_libusb_reinit();
        if (retval != ERROR_OK)
            return retval;
 
        retval = eud_open_inner(EUD_SWD_PID, &eud_swd, true);
        if (retval == ERROR_OK)
            return ERROR_OK;
    }
 
    LOG_ERROR("unable to open EUD USB function %04x:%04x", EUD_VID, EUD_SWD_PID);
    return ERROR_FAIL;
}
 
static int eud_reopen_swd(void)
{
    eud_close(&eud_swd);
    return eud_open_swd_after_enable();
}
 
static int eud_swd_set_speed_index(int speed_index)
{
    if (speed_index < 0 || speed_index >= (int)ARRAY_SIZE(eud_speed_khz)) {
        LOG_ERROR("EUD speed index %d is out of range", speed_index);
        return ERROR_FAIL;
    }
 
    int retval = eud_op(&eud_swd, EUD_SWD_CMD_FREQ, speed_index);
    if (retval != ERROR_OK)
        return retval;
 
    eud_speed_index = speed_index;
    return ERROR_OK;
}
 
static int eud_swd_init_defaults(void)
{
    int retval = eud_op_no_payload(&eud_swd, EUD_SWD_CMD_PERIPH_RST);
    if (retval != ERROR_OK)
        return retval;
 
    retval = eud_swd_set_speed_index(eud_speed_index);
    if (retval != ERROR_OK)
        return retval;
 
    retval = eud_op(&eud_swd, EUD_SWD_CMD_DELAY,
                    FIELD_PREP(SWD_CMD_DELAY_TIME, 18));
    if (retval != ERROR_OK)
        return retval;
 
    return eud_op(&eud_swd, EUD_SWD_CMD_TIMING,
                  FIELD_PREP(SWD_CMD_TIMING_RETRY_COUNT, 4095));
}
 
static int eud_swd_bitbang(uint32_t payload)
{
    uint8_t out[6];
    uint8_t in[4];
 
    out[0] = EUD_SWD_CMD_BITBANG;
    h_u32_to_le(&out[1], payload);
    out[5] = EUD_SWD_CMD_FLUSH;
 
    int retval = eud_bulk_write(&eud_swd, out, sizeof(out));
    if (retval != ERROR_OK)
        return retval;
 
    return eud_bulk_read(&eud_swd, in, sizeof(in));
}
 
static int eud_ditms_u16(uint16_t tms, uint16_t count)
{
    int retval = eud_op(&eud_swd, EUD_SWD_CMD_DITMS,
            FIELD_PREP(SWD_CMD_DITMS_DATA, tms) |
            FIELD_PREP(SWD_CMD_DITMS_COUNT, count));
    if (retval == ERROR_OK)
        alive_sleep(1);
    return retval;
}
 
static int eud_swd_prepare(void)
{
    return eud_swd_init_defaults();
}
 
static int eud_ditms_sequence(const uint8_t *seq, unsigned int bit_len)
{
    int retval = ERROR_OK;
    unsigned int bit_pos = 0;
 
    // EUD can issue (N + 1) bits with a single CMD_DITMS
    // However, for N > 15 (i.e. 'send more than 16 bits') it repeats the payload[15]
    // value (N - 16) times
    while (bit_pos < bit_len) {
        unsigned int cmd_len = bit_len - bit_pos;
        if (cmd_len > SWD_CMD_DITMS_DATA_BITS) {
            bool repeated_bit = buf_get_u32(seq, bit_pos + SWD_CMD_DITMS_DATA_BITS - 1, 1);
 
            cmd_len = SWD_CMD_DITMS_DATA_BITS;
            while (cmd_len < EUD_SWD_DITMS_MAX_BITS && bit_pos + cmd_len < bit_len) {
                if (buf_get_u32(seq, bit_pos + cmd_len, 1) != repeated_bit)
                    break;
 
                cmd_len++;
            }
        }
 
        unsigned int payload_bits = MIN(cmd_len, SWD_CMD_DITMS_DATA_BITS);
        uint16_t tms = buf_get_u32(seq, bit_pos, payload_bits);
 
        retval = eud_ditms_u16(tms, cmd_len - 1);
        if (retval != ERROR_OK)
            break;
 
        bit_pos += cmd_len;
    }
 
    return retval;
}
 
static int eud_swd_switch_seq(enum swd_special_seq seq)
{
    switch (seq) {
    case LINE_RESET:
        LOG_DEBUG("SWD line reset");
        return eud_ditms_sequence(swd_seq_line_reset, swd_seq_line_reset_len);
    case JTAG_TO_SWD:
        LOG_DEBUG("JTAG-to-SWD");
        return eud_ditms_sequence(swd_seq_jtag_to_swd, swd_seq_jtag_to_swd_len);
    case JTAG_TO_DORMANT:
        LOG_DEBUG("JTAG-to-DORMANT");
        return eud_ditms_sequence(swd_seq_jtag_to_dormant, swd_seq_jtag_to_dormant_len);
    case SWD_TO_JTAG:
        LOG_DEBUG("SWD-to-JTAG ignored");
        return ERROR_OK;
    case SWD_TO_DORMANT:
        LOG_DEBUG("SWD-to-DORMANT");
        return eud_ditms_sequence(swd_seq_swd_to_dormant, swd_seq_swd_to_dormant_len);
    case DORMANT_TO_SWD:
        LOG_DEBUG("DORMANT-to-SWD");
        return eud_ditms_sequence(swd_seq_dormant_to_swd, swd_seq_dormant_to_swd_len);
    case DORMANT_TO_JTAG:
        LOG_DEBUG("DORMANT-to-JTAG");
        return eud_ditms_sequence(swd_seq_dormant_to_jtag, swd_seq_dormant_to_jtag_len);
    default:
        LOG_ERROR("Sequence %d not supported", seq);
        return ERROR_FAIL;
    }
}
 
static int eud_swd_init(void)
{
    if (!eud_swd.handle)
        return ERROR_OK;
 
    int retval = eud_swd_prepare();
    if (retval == ERROR_OK)
        return ERROR_OK;
 
    retval = eud_reopen_swd();
    if (retval != ERROR_OK)
        return retval;
 
    return eud_swd_prepare();
}
 
static int eud_swd_flush_queue(void);
 
static unsigned int eud_swd_transfer_out_size(const struct eud_swd_transfer *transfer)
{
    unsigned int size = transfer->cmd & SWD_CMD_RNW ? 1 : 5;
 
    if (transfer->ap_delay_clk)
        size += 5;
 
    return size;
}
 
static unsigned int eud_swd_transfer_in_size(const struct eud_swd_transfer *transfer)
{
    return transfer->cmd & SWD_CMD_RNW ? 4 : 0;
}
 
static int eud_swd_queue_transfer(uint8_t cmd, uint32_t value,
        uint32_t *read_value, uint32_t ap_delay_clk)
{
    if (ap_delay_clk > EUD_SWD_DITMS_MAX_BITS) {
        LOG_ERROR("EUD SWD AP delay of %" PRIu32 " clocks is too large", ap_delay_clk);
        return ERROR_FAIL;
    }
 
    struct eud_swd_transfer transfer = {
        .cmd = cmd,
        .value = value,
        .read_value = read_value,
        .ap_delay_clk = ap_delay_clk,
    };
    unsigned int transfer_out = eud_swd_transfer_out_size(&transfer);
    unsigned int transfer_in = eud_swd_transfer_in_size(&transfer);
    bool returns_ack = swd_cmd_returns_ack(cmd);
 
    /*
     * Run whatever is already queued if this transfer would not fit in
     * the hardware FIFOs alongside it, or if it is unacknowledged: a
     * DP_TARGETSEL write is answered with silence, so it must be the
     * only transfer in the queue, see eud_swd_flush_queue().
     */
    if (eud_queue_len &&
            (!returns_ack ||
             eud_queue_out_len + transfer_out + EUD_SWD_QUEUE_TRAILER_SIZE > EUD_SWD_BUFFER_SIZE ||
             eud_queue_in_len + transfer_in + EUD_SWD_STATUS_SIZE > EUD_SWD_BUFFER_SIZE)) {
        int retval = eud_swd_flush_queue();
        if (retval != ERROR_OK)
            return retval;
    }
 
    eud_queue[eud_queue_len++] = transfer;
    eud_queue_out_len += transfer_out;
    eud_queue_in_len += transfer_in;
 
    if (!returns_ack)
        return eud_swd_flush_queue();
 
    return ERROR_OK;
}
 
static int eud_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
{
    assert(cmd & SWD_CMD_RNW);
    return eud_swd_queue_transfer(cmd, 0, value, ap_delay_clk);
}
 
static int eud_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
{
    assert(!(cmd & SWD_CMD_RNW));
    return eud_swd_queue_transfer(cmd, value, NULL, ap_delay_clk);
}
 
static int eud_swd_flush_queue(void)
{
    uint8_t out[EUD_SWD_BUFFER_SIZE];
    uint8_t in[EUD_SWD_BUFFER_SIZE];
    unsigned int out_len = 0;
    unsigned int in_len = 0;
    unsigned int count = eud_queue_len;
 
    for (unsigned int i = 0; i < count; i++) {
        const struct eud_swd_transfer *transfer = &eud_queue[i];
        uint8_t eud_cmd = (transfer->cmd | SWD_CMD_START | SWD_CMD_PARK) & ~SWD_CMD_STOP;
 
        LOG_DEBUG_IO("%s %s reg %x %" PRIx32,
                transfer->cmd & SWD_CMD_APNDP ? "AP" : "DP",
                transfer->cmd & SWD_CMD_RNW ? "read" : "write",
                (transfer->cmd & SWD_CMD_A32) >> 1,
                transfer->value);
 
        out[out_len++] = eud_cmd;
        if (transfer->cmd & SWD_CMD_RNW) {
            in_len += 4;
        } else {
            h_u32_to_le(&out[out_len], transfer->value);
            out_len += 4;
        }
 
        if (transfer->ap_delay_clk) {
            out[out_len++] = EUD_SWD_CMD_DITMS;
            h_u32_to_le(&out[out_len],
                    FIELD_PREP(SWD_CMD_DITMS_COUNT, transfer->ap_delay_clk - 1));
            out_len += 4;
        }
    }
 
    out[out_len++] = EUD_SWD_CMD_STATUS;
    in_len += EUD_SWD_STATUS_SIZE;
 
    /*
     * The hardware auto-flushes once the IN FIFO is exactly full, so an
     * explicit FLUSH is only needed when the queue leaves it partially
     * filled.
     */
    if (in_len != EUD_SWD_BUFFER_SIZE)
        out[out_len++] = EUD_SWD_CMD_FLUSH;
 
    assert(out_len <= sizeof(out));
    assert(in_len <= sizeof(in));
 
    LOG_DEBUG_IO("Flushing EUD SWD queue of %u transfers (%u bytes out, %u bytes in)",
            count, out_len, in_len);
 
    int retval = eud_bulk_write(&eud_swd, out, out_len);
    if (retval != ERROR_OK)
        goto out;
 
    retval = eud_bulk_read(&eud_swd, in, in_len);
    if (retval != ERROR_OK)
        goto out;
 
    unsigned int in_pos = 0;
    for (unsigned int i = 0; i < count; i++) {
        const struct eud_swd_transfer *transfer = &eud_queue[i];
        if (transfer->cmd & SWD_CMD_RNW) {
            uint32_t value = le_to_h_u32(&in[in_pos]);
            in_pos += 4;
            if (transfer->read_value)
                *transfer->read_value = value;
            LOG_DEBUG_IO("read result: %" PRIx32, value);
        }
    }
 
    uint32_t status = le_to_h_u32(&in[in_pos]);
 
    /*
     * A DP_TARGETSEL write is answered with silence, so whatever the
     * peripheral sampled during the ack phase is meaningless. Such a
     * transfer gets a queue of its own precisely so that its status can be
     * dropped without hiding the transfers around it.
     */
    if (!swd_cmd_returns_ack(eud_queue[0].cmd)) {
        assert(count == 1);
        retval = ERROR_OK;
        goto out;
    }
 
    /*
     * The ack belongs to the last command the peripheral processed and a
     * sticky DAP error makes every command after the first bad one fail
     * too, so a failure can only be attributed to the queue, not to a
     * transfer within it. Report how far the queue got instead.
     */
    uint32_t processed = FIELD_GET(SWD_CMD_STATUS_CMD_CNTR, status);
    uint8_t ack = FIELD_GET(SWD_CMD_STATUS_ACK, status);
 
    if (status & SWD_CMD_STATUS_PARITY_ERR) {
        LOG_ERROR("SWD parity error after %" PRIu32 " of %u transfers (status 0x%08" PRIx32 ")",
                processed, count, status);
        retval = ERROR_SWD_FAIL;
        goto out;
    }
 
    if (status & SWD_CMD_STATUS_WAIT_TIMEOUT) {
        LOG_DEBUG("SWD out of ACK.WAIT retries after %" PRIu32 " of %u transfers (status 0x%08" PRIx32 ")",
                processed, count, status);
        retval = ERROR_WAIT;
        goto out;
    }
 
    if (ack != SWD_ACK_OK) {
        LOG_DEBUG("SWD ack=%u after %" PRIu32 " of %u transfers (status 0x%08" PRIx32 ")",
                ack, processed, count, status);
        retval = swd_ack_to_error_code(ack);
        goto out;
    }
 
    retval = ERROR_OK;
 
out:
    eud_queue_len = 0;
    eud_queue_out_len = 0;
    eud_queue_in_len = 0;
    return retval;
}
 
static int eud_swd_run_queue(void)
{
    if (!eud_queue_len)
        return ERROR_OK;
 
    return eud_swd_flush_queue();
}
 
static int eud_init(void)
{
    eud_queue_len = 0;
    eud_queue_out_len = 0;
    eud_queue_in_len = 0;
 
    int ret = libusb_init(&eud_libusb_ctx);
    if (ret != LIBUSB_SUCCESS) {
        LOG_ERROR("libusb_init() failed: %s", libusb_error_name(ret));
        return ERROR_FAIL;
    }
 
    int retval = eud_open_inner(EUD_SWD_PID, &eud_swd, true);
    if (retval != ERROR_OK) {
        retval = eud_open_swd_after_enable();
        if (retval != ERROR_OK)
            goto fail;
    }
 
    retval = eud_swd_prepare();
    if (retval != ERROR_OK) {
        retval = eud_reopen_swd();
        if (retval != ERROR_OK)
            goto fail;
 
        retval = eud_swd_prepare();
        if (retval != ERROR_OK)
            goto fail;
    }
 
    return ERROR_OK;
 
fail:
    eud_close(&eud_swd);
    eud_close(&eud_ctl);
    libusb_exit(eud_libusb_ctx);
    eud_libusb_ctx = NULL;
    return retval;
}
 
static int eud_quit(void)
{
    eud_close(&eud_swd);
    eud_close(&eud_ctl);
 
    if (eud_libusb_ctx) {
        libusb_exit(eud_libusb_ctx);
        eud_libusb_ctx = NULL;
    }
 
    return ERROR_OK;
}
 
static int eud_reset(int trst, int srst)
{
    uint32_t value = EUD_SWD_BB_RESET_DEFAULT;
 
    if (srst)
        value &= ~(EUD_SWD_BB_RCTLR_SRST_N | EUD_SWD_BB_GPIO_SRST_N);
    if (trst)
        value &= ~EUD_SWD_BB_DAP_TRST_N;
 
    return eud_swd_bitbang(value);
}
 
static int eud_speed(int speed)
{
    if (speed < 0 || speed >= (int)ARRAY_SIZE(eud_speed_khz)) {
        LOG_ERROR("EUD speed index %d is out of range", speed);
        return ERROR_FAIL;
    }
 
    eud_speed_index = speed;
 
    if (!eud_swd.handle)
        return ERROR_OK;
 
    return eud_swd_set_speed_index(speed);
}
 
static int eud_khz(int khz, int *jtag_speed)
{
    int selected = ARRAY_SIZE(eud_speed_khz) - 1;
 
    for (unsigned int i = 0; i < ARRAY_SIZE(eud_speed_khz); i++) {
        if ((unsigned int)khz >= eud_speed_khz[i]) {
            selected = i;
            break;
        }
    }
 
    *jtag_speed = selected;
    return ERROR_OK;
}
 
static int eud_speed_div(int speed, int *khz)
{
    if (speed < 0 || speed >= (int)ARRAY_SIZE(eud_speed_khz))
        return ERROR_FAIL;
 
    *khz = eud_speed_khz[speed];
    return ERROR_OK;
}
 
static const struct swd_driver eud_swd_driver = {
    .init = eud_swd_init,
    .switch_seq = eud_swd_switch_seq,
    .read_reg = eud_swd_read_reg,
    .write_reg = eud_swd_write_reg,
    .run = eud_swd_run_queue,
};
 
struct adapter_driver eud_adapter_driver = {
    .name = "eud",
    .transport_ids = TRANSPORT_SWD,
    .transport_preferred_id = TRANSPORT_SWD,
 
    .init = eud_init,
    .quit = eud_quit,
    .reset = eud_reset,
    .speed = eud_speed,
    .khz = eud_khz,
    .speed_div = eud_speed_div,
 
    .swd_ops = &eud_swd_driver,
};