git.sur5r.net Git - openocd/blob - src/jtag/jtag.c

   1 /***************************************************************************
   2  *   Copyright (C) 2005 by Dominic Rath                                    *
   3  *   Dominic.Rath@gmx.de                                                   *
   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  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  19  ***************************************************************************/
  20 #ifdef HAVE_CONFIG_H
  21 #include "config.h"
  22 #endif
  23
  24 #include "replacements.h"
  25
  26 #include "jtag.h"
  27
  28 #include "command.h"
  29 #include "log.h"
  30 #include "interpreter.h"
  31
  32 #include "stdlib.h"
  33 #include "string.h"
  34 #include <unistd.h>
  35
  36 char* tap_state_strings[16] =
  37 {
  38         "tlr",
  39         "sds", "cd", "sd", "e1d", "pd", "e2d", "ud",
  40         "rti",
  41         "sis", "ci", "si", "e1i", "pi", "e2i", "ui"
  42 };
  43
  44 typedef struct cmd_queue_page_s
  45 {
  46         void *address;
  47         size_t used;
  48         struct cmd_queue_page_s *next;
  49 } cmd_queue_page_t;
  50
  51 #define CMD_QUEUE_PAGE_SIZE (1024 * 1024)
  52 static cmd_queue_page_t *cmd_queue_pages = NULL;
  53
  54 /* tap_move[i][j]: tap movement command to go from state i to state j
  55  * 0: Test-Logic-Reset
  56  * 1: Run-Test/Idle
  57  * 2: Shift-DR
  58  * 3: Pause-DR
  59  * 4: Shift-IR
  60  * 5: Pause-IR
  61  */
  62 u8 tap_move[6][6] =
  63 {
  64 /*        TLR   RTI   SD    PD    SI    PI             */
  65         {0x7f, 0x00, 0x17, 0x0a, 0x1b, 0x16},   /* TLR */
  66         {0x7f, 0x00, 0x25, 0x05, 0x2b, 0x0b},   /* RTI */
  67         {0x7f, 0x31, 0x00, 0x01, 0x0f, 0x2f},   /* SD  */
  68         {0x7f, 0x30, 0x20, 0x17, 0x1e, 0x2f},   /* PD  */
  69         {0x7f, 0x31, 0x07, 0x17, 0x00, 0x01},   /* SI  */
  70         {0x7f, 0x30, 0x1c, 0x17, 0x20, 0x2f}    /* PI  */
  71 };
  72
  73 int tap_move_map[16] = {
  74         0, -1, -1,  2, -1,  3, -1, -1,
  75         1, -1, -1,  4, -1,  5, -1, -1
  76 };
  77
  78 tap_transition_t tap_transitions[16] =
  79 {
  80         {TAP_TLR, TAP_RTI},             /* TLR */
  81         {TAP_SIS, TAP_CD},              /* SDS */
  82         {TAP_E1D, TAP_SD},              /* CD  */
  83         {TAP_E1D, TAP_SD},              /* SD  */
  84         {TAP_UD,  TAP_PD},              /* E1D */
  85         {TAP_E2D, TAP_PD},              /* PD  */
  86         {TAP_UD,  TAP_SD},              /* E2D */
  87         {TAP_SDS, TAP_RTI},             /* UD  */
  88         {TAP_SDS, TAP_RTI},             /* RTI */
  89         {TAP_TLR, TAP_CI},              /* SIS */
  90         {TAP_E1I, TAP_SI},              /* CI  */
  91         {TAP_E1I, TAP_SI},              /* SI  */
  92         {TAP_UI,  TAP_PI},              /* E1I */
  93         {TAP_E2I, TAP_PI},              /* PI  */
  94         {TAP_UI,  TAP_SI},              /* E2I */
  95         {TAP_SDS, TAP_RTI}              /* UI  */
  96 };
  97
  98 char* jtag_event_strings[] =
  99 {
 100         "SRST asserted",
 101         "TRST asserted",
 102         "SRST released",
 103         "TRST released"
 104 };
 105
 106 enum tap_state end_state = TAP_TLR;
 107 enum tap_state cur_state = TAP_TLR;
 108 int jtag_trst = 0;
 109 int jtag_srst = 0;
 110
 111 jtag_command_t *jtag_command_queue = NULL;
 112 jtag_command_t **last_comand_pointer = &jtag_command_queue;
 113 jtag_device_t *jtag_devices = NULL;
 114 int jtag_num_devices = 0;
 115 int jtag_ir_scan_size = 0;
 116 enum reset_types jtag_reset_config = RESET_NONE;
 117 enum tap_state cmd_queue_end_state = TAP_TLR;
 118 enum tap_state cmd_queue_cur_state = TAP_TLR;
 119
 120 int jtag_verify_capture_ir = 1;
 121
 122 /* how long the OpenOCD should wait before attempting JTAG communication after reset lines deasserted (in ms) */
 123 int jtag_nsrst_delay = 0; /* default to no nSRST delay */
 124 int jtag_ntrst_delay = 0; /* default to no nTRST delay */
 125
 126 /* maximum number of JTAG devices expected in the chain
 127  */
 128 #define JTAG_MAX_CHAIN_SIZE 20
 129
 130 /* callbacks to inform high-level handlers about JTAG state changes */
 131 jtag_event_callback_t *jtag_event_callbacks;
 132
 133 /* jtag interfaces (parport, FTDI-USB, TI-USB, ...)
 134  */
 135 #if BUILD_PARPORT == 1
 136         extern jtag_interface_t parport_interface;
 137 #endif
 138
 139 #if BUILD_FT2232_FTD2XX == 1
 140         extern jtag_interface_t ft2232_interface;
 141 #endif
 142
 143 #if BUILD_FT2232_LIBFTDI == 1
 144         extern jtag_interface_t ft2232_interface;
 145 #endif
 146
 147 #if BUILD_AMTJTAGACCEL == 1
 148         extern jtag_interface_t amt_jtagaccel_interface;
 149 #endif
 150
 151 #if BUILD_EP93XX == 1
 152         extern jtag_interface_t ep93xx_interface;
 153 #endif
 154
 155 #if BUILD_AT91RM9200 == 1
 156         extern jtag_interface_t at91rm9200_interface;
 157 #endif
 158
 159 #if BUILD_GW16012 == 1
 160         extern jtag_interface_t gw16012_interface;
 161 #endif
 162
 163 jtag_interface_t *jtag_interfaces[] = {
 164 #if BUILD_PARPORT == 1
 165         &parport_interface,
 166 #endif
 167 #if BUILD_FT2232_FTD2XX == 1
 168         &ft2232_interface,
 169 #endif
 170 #if BUILD_FT2232_LIBFTDI == 1
 171         &ft2232_interface,
 172 #endif
 173 #if BUILD_AMTJTAGACCEL == 1
 174         &amt_jtagaccel_interface,
 175 #endif
 176 #if BUILD_EP93XX == 1
 177         &ep93xx_interface,
 178 #endif
 179 #if BUILD_AT91RM9200 == 1
 180         &at91rm9200_interface,
 181 #endif
 182 #if BUILD_GW16012 == 1
 183         &gw16012_interface,
 184 #endif
 185         NULL,
 186 };
 187
 188 jtag_interface_t *jtag = NULL;
 189
 190 /* configuration */
 191 char* jtag_interface = NULL;
 192 int jtag_speed = -1;
 193
 194 /* forward declarations */
 195 int jtag_add_ir_scan(int num_fields, scan_field_t *fields, enum tap_state endstate);
 196 int jtag_add_dr_scan(int num_fields, scan_field_t *fields, enum tap_state endstate);
 197 int jtag_add_plain_ir_scan(int num_fields, scan_field_t *fields, enum tap_state endstate);
 198 int jtag_add_plain_dr_scan(int num_fields, scan_field_t *fields, enum tap_state endstate);
 199 int jtag_add_statemove(enum tap_state endstate);
 200 int jtag_add_pathmove(int num_states, enum tap_state *path);
 201 int jtag_add_runtest(int num_cycles, enum tap_state endstate);
 202 int jtag_add_reset(int trst, int srst);
 203 int jtag_add_end_state(enum tap_state endstate);
 204 int jtag_add_sleep(u32 us);
 205 int jtag_execute_queue(void);
 206 int jtag_cancel_queue(void);
 207
 208 /* jtag commands */
 209 int handle_interface_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 210 int handle_jtag_speed_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 211 int handle_jtag_device_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 212 int handle_reset_config_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 213 int handle_jtag_nsrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 214 int handle_jtag_ntrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 215
 216 int handle_scan_chain_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 217
 218 int handle_endstate_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 219 int handle_jtag_reset_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 220 int handle_runtest_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 221 int handle_statemove_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 222 int handle_irscan_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 223 int handle_drscan_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 224
 225 int handle_verify_ircapture_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 226
 227 int jtag_register_event_callback(int (*callback)(enum jtag_event event, void *priv), void *priv)
 228 {
 229         jtag_event_callback_t **callbacks_p = &jtag_event_callbacks;
 230
 231         if (callback == NULL)
 232         {
 233                 return ERROR_INVALID_ARGUMENTS;
 234         }
 235
 236         if (*callbacks_p)
 237         {
 238                 while ((*callbacks_p)->next)
 239                         callbacks_p = &((*callbacks_p)->next);
 240                 callbacks_p = &((*callbacks_p)->next);
 241         }
 242
 243         (*callbacks_p) = malloc(sizeof(jtag_event_callback_t));
 244         (*callbacks_p)->callback = callback;
 245         (*callbacks_p)->priv = priv;
 246         (*callbacks_p)->next = NULL;
 247
 248         return ERROR_OK;
 249 }
 250
 251 int jtag_unregister_event_callback(int (*callback)(enum jtag_event event, void *priv))
 252 {
 253         jtag_event_callback_t **callbacks_p = &jtag_event_callbacks;
 254
 255         if (callback == NULL)
 256         {
 257                 return ERROR_INVALID_ARGUMENTS;
 258         }
 259
 260         while (*callbacks_p)
 261         {
 262                 jtag_event_callback_t **next = &((*callbacks_p)->next);
 263                 if ((*callbacks_p)->callback == callback)
 264                 {
 265                         free(*callbacks_p);
 266                         *callbacks_p = *next;
 267                 }
 268                 callbacks_p = next;
 269         }
 270
 271         return ERROR_OK;
 272 }
 273
 274 int jtag_call_event_callbacks(enum jtag_event event)
 275 {
 276         jtag_event_callback_t *callback = jtag_event_callbacks;
 277
 278         DEBUG("jtag event: %s", jtag_event_strings[event]);
 279
 280         while (callback)
 281         {
 282                 callback->callback(event, callback->priv);
 283                 callback = callback->next;
 284         }
 285
 286         return ERROR_OK;
 287 }
 288
 289 /* returns a pointer to the pointer of the last command in queue
 290  * this may be a pointer to the root pointer (jtag_command_queue)
 291  * or to the next member of the last but one command
 292  */
 293 jtag_command_t** jtag_get_last_command_p(void)
 294 {
 295 /*      jtag_command_t *cmd = jtag_command_queue;
 296
 297         if (cmd)
 298                 while (cmd->next)
 299                         cmd = cmd->next;
 300         else
 301                 return &jtag_command_queue;
 302
 303         return &cmd->next;*/
 304
 305         return last_comand_pointer;
 306 }
 307
 308 /* returns a pointer to the n-th device in the scan chain */
 309 jtag_device_t* jtag_get_device(int num)
 310 {
 311         jtag_device_t *device = jtag_devices;
 312         int i = 0;
 313
 314         while (device)
 315         {
 316                 if (num == i)
 317                         return device;
 318                 device = device->next;
 319                 i++;
 320         }
 321
 322         return NULL;
 323 }
 324
 325 void* cmd_queue_alloc(size_t size)
 326 {
 327         cmd_queue_page_t **p_page = &cmd_queue_pages;
 328         int offset;
 329
 330         if (*p_page)
 331         {
 332                 while ((*p_page)->next)
 333                         p_page = &((*p_page)->next);
 334                 if (CMD_QUEUE_PAGE_SIZE - (*p_page)->used < size)
 335                         p_page = &((*p_page)->next);
 336         }
 337
 338         if (!*p_page)
 339         {
 340                 *p_page = malloc(sizeof(cmd_queue_page_t));
 341                 (*p_page)->used = 0;
 342                 (*p_page)->address = malloc(CMD_QUEUE_PAGE_SIZE);
 343                 (*p_page)->next = NULL;
 344         }
 345
 346         offset = (*p_page)->used;
 347         (*p_page)->used += size;
 348
 349         return ((*p_page)->address) + offset;
 350 }
 351
 352 void cmd_queue_free()
 353 {
 354         cmd_queue_page_t *page = cmd_queue_pages;
 355
 356         while (page)
 357         {
 358                 cmd_queue_page_t *last = page;
 359                 free(page->address);
 360                 page = page->next;
 361                 free(last);
 362         }
 363
 364         cmd_queue_pages = NULL;
 365 }
 366
 367 int jtag_add_ir_scan(int num_fields, scan_field_t *fields, enum tap_state state)
 368 {
 369         jtag_command_t **last_cmd;
 370         jtag_device_t *device;
 371         int i, j;
 372         int scan_size = 0;
 373         /*      int changed = 0; */
 374
 375         if (jtag_trst == 1)
 376         {
 377                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 378                 return ERROR_JTAG_TRST_ASSERTED;
 379         }
 380
 381         /*
 382         for (i=0; i<num_fields; i++)
 383         {
 384                 device = jtag_get_device(fields[i].device);
 385                 if (device)
 386                 {
 387                         if (buf_cmp(device->cur_instr, fields[i].out_value, device->ir_length))
 388                                 changed = 1;
 389                 }
 390                 else
 391                 {
 392                         ERROR("inexistant device specified for ir scan");
 393                         return ERROR_INVALID_ARGUMENTS;
 394                 }
 395         }
 396
 397         if (!changed)
 398                 return ERROR_OK;
 399         */
 400
 401         last_cmd = jtag_get_last_command_p();
 402
 403         /* allocate memory for a new list member */
 404         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 405         (*last_cmd)->next = NULL;
 406         last_comand_pointer = &((*last_cmd)->next);
 407         (*last_cmd)->type = JTAG_SCAN;
 408
 409         /* allocate memory for ir scan command */
 410         (*last_cmd)->cmd.scan = cmd_queue_alloc(sizeof(scan_command_t));
 411         (*last_cmd)->cmd.scan->ir_scan = 1;
 412         (*last_cmd)->cmd.scan->num_fields = jtag_num_devices;   /* one field per device */
 413         (*last_cmd)->cmd.scan->fields = cmd_queue_alloc(jtag_num_devices * sizeof(scan_field_t));
 414         (*last_cmd)->cmd.scan->end_state = state;
 415
 416         if (state != -1)
 417                 cmd_queue_end_state = state;
 418
 419         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 420                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 421
 422         if (cmd_queue_end_state == TAP_TLR)
 423                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 424
 425         cmd_queue_cur_state = cmd_queue_end_state;
 426
 427         for (i=0; i < jtag_num_devices; i++)
 428         {
 429                 int found = 0;
 430                 device = jtag_get_device(i);
 431                 scan_size = device->ir_length;
 432                 (*last_cmd)->cmd.scan->fields[i].device = i;
 433                 (*last_cmd)->cmd.scan->fields[i].num_bits = scan_size;
 434                 (*last_cmd)->cmd.scan->fields[i].in_value = NULL;
 435                 if (jtag_verify_capture_ir)
 436                 {
 437                         (*last_cmd)->cmd.scan->fields[i].in_check_value = buf_cpy(device->expected, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 438                         (*last_cmd)->cmd.scan->fields[i].in_check_mask = buf_cpy(device->expected_mask, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 439                 }
 440                 else
 441                 {
 442                         (*last_cmd)->cmd.scan->fields[i].in_check_value = NULL;
 443                         (*last_cmd)->cmd.scan->fields[i].in_check_mask = NULL;
 444                 }
 445                 (*last_cmd)->cmd.scan->fields[i].in_handler = NULL;
 446                 (*last_cmd)->cmd.scan->fields[i].in_handler_priv = NULL;
 447
 448                 /* search the list */
 449                 for (j=0; j < num_fields; j++)
 450                 {
 451                         if (i == fields[j].device)
 452                         {
 453                                 found = 1;
 454                                 (*last_cmd)->cmd.scan->fields[i].out_value = buf_cpy(fields[j].out_value, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 455                                 (*last_cmd)->cmd.scan->fields[i].out_mask = buf_cpy(fields[j].out_mask, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 456
 457                                 device->bypass = 0;
 458                                 break;
 459                         }
 460                 }
 461
 462                 if (!found)
 463                 {
 464                         /* if a device isn't listed, set it to BYPASS */
 465                         (*last_cmd)->cmd.scan->fields[i].out_value = buf_set_ones(cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 466                         (*last_cmd)->cmd.scan->fields[i].out_mask = NULL;
 467                         device->bypass = 1;
 468
 469                 }
 470
 471                 /* update device information */
 472                 buf_cpy((*last_cmd)->cmd.scan->fields[i].out_value, jtag_get_device(i)->cur_instr, scan_size);
 473         }
 474
 475         return ERROR_OK;
 476 }
 477
 478 int jtag_add_plain_ir_scan(int num_fields, scan_field_t *fields, enum tap_state state)
 479 {
 480         jtag_command_t **last_cmd;
 481         int i;
 482
 483         if (jtag_trst == 1)
 484         {
 485                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 486                 return ERROR_JTAG_TRST_ASSERTED;
 487         }
 488
 489         last_cmd = jtag_get_last_command_p();
 490
 491         /* allocate memory for a new list member */
 492         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 493         (*last_cmd)->next = NULL;
 494         last_comand_pointer = &((*last_cmd)->next);
 495         (*last_cmd)->type = JTAG_SCAN;
 496
 497         /* allocate memory for ir scan command */
 498         (*last_cmd)->cmd.scan = cmd_queue_alloc(sizeof(scan_command_t));
 499         (*last_cmd)->cmd.scan->ir_scan = 1;
 500         (*last_cmd)->cmd.scan->num_fields = num_fields;
 501         (*last_cmd)->cmd.scan->fields = cmd_queue_alloc(num_fields * sizeof(scan_field_t));
 502         (*last_cmd)->cmd.scan->end_state = state;
 503
 504         if (state != -1)
 505                 cmd_queue_end_state = state;
 506
 507         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 508                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 509
 510         if (cmd_queue_end_state == TAP_TLR)
 511                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 512
 513         cmd_queue_cur_state = cmd_queue_end_state;
 514
 515         for (i = 0; i < num_fields; i++)
 516         {
 517                 int num_bits = fields[i].num_bits;
 518                 int num_bytes = CEIL(fields[i].num_bits, 8);
 519                 (*last_cmd)->cmd.scan->fields[i].device = fields[i].device;
 520                 (*last_cmd)->cmd.scan->fields[i].num_bits = num_bits;
 521                 (*last_cmd)->cmd.scan->fields[i].out_value = buf_cpy(fields[i].out_value, cmd_queue_alloc(num_bytes), num_bits);
 522                 (*last_cmd)->cmd.scan->fields[i].out_mask = buf_cpy(fields[i].out_mask, cmd_queue_alloc(num_bytes), num_bits);
 523                 (*last_cmd)->cmd.scan->fields[i].in_value = fields[i].in_value;
 524                 (*last_cmd)->cmd.scan->fields[i].in_check_value = buf_cpy(fields[i].in_check_value, cmd_queue_alloc(num_bytes), num_bits);
 525                 (*last_cmd)->cmd.scan->fields[i].in_check_mask = buf_cpy(fields[i].in_check_mask, cmd_queue_alloc(num_bytes), num_bits);
 526                 (*last_cmd)->cmd.scan->fields[i].in_handler = NULL;
 527                 (*last_cmd)->cmd.scan->fields[i].in_handler_priv = NULL;
 528         }
 529         return ERROR_OK;
 530 }
 531
 532 int jtag_add_dr_scan(int num_fields, scan_field_t *fields, enum tap_state state)
 533 {
 534         int i, j;
 535         int bypass_devices = 0;
 536         int field_count = 0;
 537         jtag_command_t **last_cmd = jtag_get_last_command_p();
 538         jtag_device_t *device = jtag_devices;
 539         int scan_size;
 540
 541         if (jtag_trst == 1)
 542         {
 543                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 544                 return ERROR_JTAG_TRST_ASSERTED;
 545         }
 546
 547         /* count devices in bypass */
 548         while (device)
 549         {
 550                 if (device->bypass)
 551                         bypass_devices++;
 552                 device = device->next;
 553         }
 554
 555         /* allocate memory for a new list member */
 556         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 557         last_comand_pointer = &((*last_cmd)->next);
 558         (*last_cmd)->next = NULL;
 559         (*last_cmd)->type = JTAG_SCAN;
 560
 561         /* allocate memory for dr scan command */
 562         (*last_cmd)->cmd.scan = cmd_queue_alloc(sizeof(scan_command_t));
 563         (*last_cmd)->cmd.scan->ir_scan = 0;
 564         (*last_cmd)->cmd.scan->num_fields = num_fields + bypass_devices;
 565         (*last_cmd)->cmd.scan->fields = cmd_queue_alloc((num_fields + bypass_devices) * sizeof(scan_field_t));
 566         (*last_cmd)->cmd.scan->end_state = state;
 567
 568         if (state != -1)
 569                 cmd_queue_end_state = state;
 570
 571         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 572                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 573
 574         if (cmd_queue_end_state == TAP_TLR)
 575                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 576
 577         cmd_queue_cur_state = cmd_queue_end_state;
 578
 579         for (i=0; i < jtag_num_devices; i++)
 580         {
 581                 int found = 0;
 582                 (*last_cmd)->cmd.scan->fields[field_count].device = i;
 583
 584                 for (j=0; j < num_fields; j++)
 585                 {
 586                         if (i == fields[j].device)
 587                         {
 588                                 found = 1;
 589                                 scan_size = fields[j].num_bits;
 590                                 (*last_cmd)->cmd.scan->fields[field_count].num_bits = scan_size;
 591                                 (*last_cmd)->cmd.scan->fields[field_count].out_value = buf_cpy(fields[j].out_value, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 592                                 (*last_cmd)->cmd.scan->fields[field_count].out_mask = buf_cpy(fields[j].out_mask, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 593                                 (*last_cmd)->cmd.scan->fields[field_count].in_value = fields[j].in_value;
 594                                 (*last_cmd)->cmd.scan->fields[field_count].in_check_value = buf_cpy(fields[j].in_check_value, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 595                                 (*last_cmd)->cmd.scan->fields[field_count].in_check_mask = buf_cpy(fields[j].in_check_mask, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 596                                 (*last_cmd)->cmd.scan->fields[field_count].in_handler = fields[j].in_handler;
 597                                 (*last_cmd)->cmd.scan->fields[field_count++].in_handler_priv = fields[j].in_handler_priv;
 598                         }
 599                 }
 600                 if (!found)
 601                 {
 602                         /* if a device isn't listed, the BYPASS register should be selected */
 603                         if (!jtag_get_device(i)->bypass)
 604                         {
 605                                 ERROR("BUG: no scan data for a device not in BYPASS");
 606                                 exit(-1);
 607                         }
 608
 609                         /* program the scan field to 1 bit length, and ignore it's value */
 610                         (*last_cmd)->cmd.scan->fields[field_count].num_bits = 1;
 611                         (*last_cmd)->cmd.scan->fields[field_count].out_value = NULL;
 612                         (*last_cmd)->cmd.scan->fields[field_count].out_mask = NULL;
 613                         (*last_cmd)->cmd.scan->fields[field_count].in_value = NULL;
 614                         (*last_cmd)->cmd.scan->fields[field_count].in_check_value = NULL;
 615                         (*last_cmd)->cmd.scan->fields[field_count].in_check_mask = NULL;
 616                         (*last_cmd)->cmd.scan->fields[field_count].in_handler = NULL;
 617                         (*last_cmd)->cmd.scan->fields[field_count++].in_handler_priv = NULL;
 618                 }
 619                 else
 620                 {
 621                         /* if a device is listed, the BYPASS register must not be selected */
 622                         if (jtag_get_device(i)->bypass)
 623                         {
 624                                 WARNING("scan data for a device in BYPASS");
 625                         }
 626                 }
 627         }
 628         return ERROR_OK;
 629 }
 630
 631 int jtag_add_plain_dr_scan(int num_fields, scan_field_t *fields, enum tap_state state)
 632 {
 633         int i;
 634         jtag_command_t **last_cmd = jtag_get_last_command_p();
 635
 636         if (jtag_trst == 1)
 637         {
 638                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 639                 return ERROR_JTAG_TRST_ASSERTED;
 640         }
 641
 642         /* allocate memory for a new list member */
 643         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 644         last_comand_pointer = &((*last_cmd)->next);
 645         (*last_cmd)->next = NULL;
 646         (*last_cmd)->type = JTAG_SCAN;
 647
 648         /* allocate memory for scan command */
 649         (*last_cmd)->cmd.scan = cmd_queue_alloc(sizeof(scan_command_t));
 650         (*last_cmd)->cmd.scan->ir_scan = 0;
 651         (*last_cmd)->cmd.scan->num_fields = num_fields;
 652         (*last_cmd)->cmd.scan->fields = cmd_queue_alloc(num_fields * sizeof(scan_field_t));
 653         (*last_cmd)->cmd.scan->end_state = state;
 654
 655         if (state != -1)
 656                 cmd_queue_end_state = state;
 657
 658         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 659                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 660
 661         if (cmd_queue_end_state == TAP_TLR)
 662                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 663
 664         cmd_queue_cur_state = cmd_queue_end_state;
 665
 666         for (i = 0; i < num_fields; i++)
 667         {
 668                 int num_bits = fields[i].num_bits;
 669                 int num_bytes = CEIL(fields[i].num_bits, 8);
 670                 (*last_cmd)->cmd.scan->fields[i].device = fields[i].device;
 671                 (*last_cmd)->cmd.scan->fields[i].num_bits = num_bits;
 672                 (*last_cmd)->cmd.scan->fields[i].out_value = buf_cpy(fields[i].out_value, cmd_queue_alloc(num_bytes), num_bits);
 673                 (*last_cmd)->cmd.scan->fields[i].out_mask = buf_cpy(fields[i].out_mask, cmd_queue_alloc(num_bytes), num_bits);
 674                 (*last_cmd)->cmd.scan->fields[i].in_value = fields[i].in_value;
 675                 (*last_cmd)->cmd.scan->fields[i].in_check_value = buf_cpy(fields[i].in_check_value, cmd_queue_alloc(num_bytes), num_bits);
 676                 (*last_cmd)->cmd.scan->fields[i].in_check_mask = buf_cpy(fields[i].in_check_mask, cmd_queue_alloc(num_bytes), num_bits);
 677                 (*last_cmd)->cmd.scan->fields[i].in_handler = fields[i].in_handler;
 678                 (*last_cmd)->cmd.scan->fields[i].in_handler_priv = fields[i].in_handler_priv;
 679         }
 680
 681         return ERROR_OK;
 682 }
 683 int jtag_add_statemove(enum tap_state state)
 684 {
 685         jtag_command_t **last_cmd = jtag_get_last_command_p();
 686
 687         if (jtag_trst == 1)
 688         {
 689                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 690                 return ERROR_JTAG_TRST_ASSERTED;
 691         }
 692
 693         /* allocate memory for a new list member */
 694         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 695         last_comand_pointer = &((*last_cmd)->next);
 696         (*last_cmd)->next = NULL;
 697         (*last_cmd)->type = JTAG_STATEMOVE;
 698
 699         (*last_cmd)->cmd.statemove = cmd_queue_alloc(sizeof(statemove_command_t));
 700         (*last_cmd)->cmd.statemove->end_state = state;
 701
 702         if (state != -1)
 703                 cmd_queue_end_state = state;
 704
 705         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 706                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 707
 708         if (cmd_queue_end_state == TAP_TLR)
 709                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 710
 711         cmd_queue_cur_state = cmd_queue_end_state;
 712
 713         return ERROR_OK;
 714 }
 715
 716 int jtag_add_pathmove(int num_states, enum tap_state *path)
 717 {
 718         jtag_command_t **last_cmd = jtag_get_last_command_p();
 719         int i;
 720
 721         if (jtag_trst == 1)
 722         {
 723                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 724                 return ERROR_JTAG_TRST_ASSERTED;
 725         }
 726
 727         /* the last state has to be a stable state */
 728         if (tap_move_map[path[num_states - 1]] == -1)
 729         {
 730                 ERROR("TAP path doesn't finish in a stable state");
 731                 return ERROR_JTAG_NOT_IMPLEMENTED;
 732         }
 733
 734         if (jtag->support_pathmove)
 735         {
 736                 /* allocate memory for a new list member */
 737                 *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 738                 last_comand_pointer = &((*last_cmd)->next);
 739                 (*last_cmd)->next = NULL;
 740                 (*last_cmd)->type = JTAG_PATHMOVE;
 741
 742                 (*last_cmd)->cmd.pathmove = cmd_queue_alloc(sizeof(pathmove_command_t));
 743                 (*last_cmd)->cmd.pathmove->num_states = num_states;
 744                 (*last_cmd)->cmd.pathmove->path = cmd_queue_alloc(sizeof(enum tap_state) * num_states);
 745
 746                 for (i = 0; i < num_states; i++)
 747                         (*last_cmd)->cmd.pathmove->path[i] = path[i];
 748         }
 749         else
 750         {
 751                 /* validate the desired path, and see if it fits a default path */
 752                 int begin = 0;
 753                 int end = 0;
 754                 int j;
 755
 756                 for (i = 0; i < num_states; i++)
 757                 {
 758                         for (j = i; j < num_states; j++)
 759                         {
 760                                 if (tap_move_map[path[j]] != -1)
 761                                 {
 762                                         end = j;
 763                                         break;
 764                                 }
 765                         }
 766
 767                         if (begin - end <= 7)   /* a default path spans no more than 7 states */
 768                         {
 769                                 jtag_add_statemove(path[end]);
 770                         }
 771                         else
 772                         {
 773                                 ERROR("encountered a TAP path that can't be fulfilled by default paths");
 774                                 return ERROR_JTAG_NOT_IMPLEMENTED;
 775                         }
 776
 777                         i = end;
 778                 }
 779         }
 780
 781         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 782                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 783
 784         if (cmd_queue_end_state == TAP_TLR)
 785                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 786
 787         cmd_queue_cur_state = path[num_states - 1];
 788
 789         return ERROR_OK;
 790 }
 791
 792 int jtag_add_runtest(int num_cycles, enum tap_state state)
 793 {
 794         jtag_command_t **last_cmd = jtag_get_last_command_p();
 795
 796         if (jtag_trst == 1)
 797         {
 798                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 799                 return ERROR_JTAG_TRST_ASSERTED;
 800         }
 801
 802         /* allocate memory for a new list member */
 803         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 804         (*last_cmd)->next = NULL;
 805         last_comand_pointer = &((*last_cmd)->next);
 806         (*last_cmd)->type = JTAG_RUNTEST;
 807
 808         (*last_cmd)->cmd.runtest = cmd_queue_alloc(sizeof(runtest_command_t));
 809         (*last_cmd)->cmd.runtest->num_cycles = num_cycles;
 810         (*last_cmd)->cmd.runtest->end_state = state;
 811
 812         if (state != -1)
 813                 cmd_queue_end_state = state;
 814
 815         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 816                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 817
 818         if (cmd_queue_end_state == TAP_TLR)
 819                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 820
 821         cmd_queue_cur_state = cmd_queue_end_state;
 822
 823         return ERROR_OK;
 824 }
 825
 826 int jtag_add_reset(int req_trst, int req_srst)
 827 {
 828         int trst_with_tms = 0;
 829
 830         jtag_command_t **last_cmd = jtag_get_last_command_p();
 831
 832         if (req_trst == -1)
 833                 req_trst = jtag_trst;
 834
 835         if (req_srst == -1)
 836                 req_srst = jtag_srst;
 837
 838         /* Make sure that jtag_reset_config allows the requested reset */
 839         /* if SRST pulls TRST, we can't fulfill srst == 1 with trst == 0 */
 840         if (((jtag_reset_config & RESET_SRST_PULLS_TRST) && (req_srst == 1)) && (req_trst == 0))
 841                 return ERROR_JTAG_RESET_WOULD_ASSERT_TRST;
 842
 843         /* if TRST pulls SRST, we reset with TAP T-L-R */
 844         if (((jtag_reset_config & RESET_TRST_PULLS_SRST) && (req_trst == 1)) && (req_srst == 0))
 845         {
 846                 req_trst = 0;
 847                 trst_with_tms = 1;
 848         }
 849
 850         if (req_srst && !(jtag_reset_config & RESET_HAS_SRST))
 851         {
 852                 ERROR("requested nSRST assertion, but the current configuration doesn't support this");
 853                 return ERROR_JTAG_RESET_CANT_SRST;
 854         }
 855
 856         if (req_trst && !(jtag_reset_config & RESET_HAS_TRST))
 857         {
 858                 req_trst = 0;
 859                 trst_with_tms = 1;
 860         }
 861
 862         /* allocate memory for a new list member */
 863         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 864         (*last_cmd)->next = NULL;
 865         last_comand_pointer = &((*last_cmd)->next);
 866         (*last_cmd)->type = JTAG_RESET;
 867
 868         (*last_cmd)->cmd.reset = cmd_queue_alloc(sizeof(reset_command_t));
 869         (*last_cmd)->cmd.reset->trst = req_trst;
 870         (*last_cmd)->cmd.reset->srst = req_srst;
 871
 872         jtag_trst = req_trst;
 873         jtag_srst = req_srst;
 874
 875         if (jtag_srst)
 876         {
 877                 jtag_call_event_callbacks(JTAG_SRST_ASSERTED);
 878         }
 879         else
 880         {
 881                 jtag_call_event_callbacks(JTAG_SRST_RELEASED);
 882                 if (jtag_nsrst_delay)
 883                         jtag_add_sleep(jtag_nsrst_delay * 1000);
 884         }
 885
 886         if (trst_with_tms)
 887         {
 888                 last_cmd = &((*last_cmd)->next);
 889
 890                 /* allocate memory for a new list member */
 891                 *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 892                 (*last_cmd)->next = NULL;
 893                 last_comand_pointer = &((*last_cmd)->next);
 894                 (*last_cmd)->type = JTAG_STATEMOVE;
 895
 896                 (*last_cmd)->cmd.statemove = cmd_queue_alloc(sizeof(statemove_command_t));
 897                 (*last_cmd)->cmd.statemove->end_state = TAP_TLR;
 898
 899                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 900                 cmd_queue_cur_state = TAP_TLR;
 901                 cmd_queue_end_state = TAP_TLR;
 902
 903                 return ERROR_OK;
 904         }
 905         else
 906         {
 907                 if (jtag_trst)
 908                 {
 909                         /* we just asserted nTRST, so we're now in Test-Logic-Reset,
 910                          * and inform possible listeners about this
 911                          */
 912                         cmd_queue_cur_state = TAP_TLR;
 913                         jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 914                 }
 915                 else
 916                 {
 917                         /* the nTRST line got deasserted, so we're still in Test-Logic-Reset,
 918                          * but we might want to add a delay to give the TAP time to settle
 919                          */
 920                         if (jtag_ntrst_delay)
 921                                 jtag_add_sleep(jtag_ntrst_delay * 1000);
 922                 }
 923         }
 924
 925         return ERROR_OK;
 926 }
 927
 928 int jtag_add_end_state(enum tap_state state)
 929 {
 930         jtag_command_t **last_cmd = jtag_get_last_command_p();
 931
 932         /* allocate memory for a new list member */
 933         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 934         (*last_cmd)->next = NULL;
 935         last_comand_pointer = &((*last_cmd)->next);
 936         (*last_cmd)->type = JTAG_END_STATE;
 937
 938         (*last_cmd)->cmd.end_state = cmd_queue_alloc(sizeof(end_state_command_t));
 939         (*last_cmd)->cmd.end_state->end_state = state;
 940
 941         if (state != -1)
 942                 cmd_queue_end_state = state;
 943
 944         return ERROR_OK;
 945 }
 946
 947 int jtag_add_sleep(u32 us)
 948 {
 949         jtag_command_t **last_cmd = jtag_get_last_command_p();
 950
 951         /* allocate memory for a new list member */
 952         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 953         (*last_cmd)->next = NULL;
 954         last_comand_pointer = &((*last_cmd)->next);
 955         (*last_cmd)->type = JTAG_SLEEP;
 956
 957         (*last_cmd)->cmd.sleep = cmd_queue_alloc(sizeof(sleep_command_t));
 958         (*last_cmd)->cmd.sleep->us = us;
 959
 960         return ERROR_OK;
 961 }
 962
 963 int jtag_scan_size(scan_command_t *cmd)
 964 {
 965         int bit_count = 0;
 966         int i;
 967
 968         /* count bits in scan command */
 969         for (i=0; i<cmd->num_fields; i++)
 970         {
 971                 bit_count += cmd->fields[i].num_bits;
 972         }
 973
 974         return bit_count;
 975 }
 976
 977 int jtag_build_buffer(scan_command_t *cmd, u8 **buffer)
 978 {
 979         int bit_count = 0;
 980         int i;
 981
 982         bit_count = jtag_scan_size(cmd);
 983         *buffer = malloc(CEIL(bit_count, 8));
 984
 985         bit_count = 0;
 986
 987         for (i = 0; i < cmd->num_fields; i++)
 988         {
 989                 if (cmd->fields[i].out_value)
 990                 {
 991 #ifdef _DEBUG_JTAG_IO_
 992                         char* char_buf = buf_to_str(cmd->fields[i].out_value, (cmd->fields[i].num_bits > 64) ? 64 : cmd->fields[i].num_bits, 16);
 993 #endif
 994                         buf_set_buf(cmd->fields[i].out_value, 0, *buffer, bit_count, cmd->fields[i].num_bits);
 995 #ifdef _DEBUG_JTAG_IO_
 996                         DEBUG("fields[%i].out_value: 0x%s", i, char_buf);
 997                         free(char_buf);
 998 #endif
 999                 }
1000
1001                 bit_count += cmd->fields[i].num_bits;
1002         }
1003
1004         return bit_count;
1005
1006 }
1007
1008 int jtag_read_buffer(u8 *buffer, scan_command_t *cmd)
1009 {
1010         int i;
1011         int bit_count = 0;
1012         int retval = ERROR_OK;
1013
1014         for (i=0; i < cmd->num_fields; i++)
1015         {
1016                 /* if neither in_value, in_check_value nor in_handler
1017                  * are specified we don't have to examine this field
1018                  */
1019                 if (cmd->fields[i].in_value || cmd->fields[i].in_check_value || cmd->fields[i].in_handler)
1020                 {
1021                         int num_bits = cmd->fields[i].num_bits;
1022                         u8 *captured = buf_set_buf(buffer, bit_count, malloc(CEIL(num_bits, 8)), 0, num_bits);
1023                         #ifdef _DEBUG_JTAG_IO_
1024                                 char *char_buf;
1025
1026                                 char_buf = buf_to_str(captured, (num_bits > 64) ? 64 : num_bits, 16);
1027                                 DEBUG("fields[%i].in_value: 0x%s", i, char_buf);
1028                                 free(char_buf);
1029                         #endif
1030
1031
1032                         if (cmd->fields[i].in_value)
1033                         {
1034                                 buf_cpy(captured, cmd->fields[i].in_value, num_bits);
1035
1036                                 if (cmd->fields[i].in_handler)
1037                                 {
1038                                         if (cmd->fields[i].in_handler(cmd->fields[i].in_value, cmd->fields[i].in_handler_priv) != ERROR_OK)
1039                                         {
1040                                                 /* TODO: error reporting */
1041                                                 WARNING("in_handler reported a failed check");
1042                                                 retval = ERROR_JTAG_QUEUE_FAILED;
1043                                         }
1044                                 }
1045                         }
1046
1047                         /* no in_value specified, but a handler takes care of the scanned data */
1048                         if (cmd->fields[i].in_handler && (!cmd->fields[i].in_value))
1049                         {
1050                                 if (cmd->fields[i].in_handler(captured, cmd->fields[i].in_handler_priv) != ERROR_OK)
1051                                 {
1052                                         /* TODO: error reporting */
1053                                         WARNING("in_handler reported a failed check");
1054                                         retval = ERROR_JTAG_QUEUE_FAILED;
1055                                 }
1056
1057                         }
1058
1059                         if (cmd->fields[i].in_check_value)
1060                         {
1061                                 if ((cmd->fields[i].in_check_mask && buf_cmp_mask(captured, cmd->fields[i].in_check_value, cmd->fields[i].in_check_mask, num_bits))
1062                                         || (!cmd->fields[i].in_check_mask && buf_cmp(captured, cmd->fields[i].in_check_mask, num_bits)))
1063                                 {
1064                                         char *captured_char = buf_to_str(captured, (num_bits > 64) ? 64 : num_bits, 16);
1065                                         char *in_check_value_char = buf_to_str(cmd->fields[i].in_check_value, (num_bits > 64) ? 64 : num_bits, 16);
1066                                         char *in_check_mask_char = buf_to_str(cmd->fields[i].in_check_mask, (num_bits > 64) ? 64 : num_bits, 16);
1067                                         /* TODO: error reporting */
1068                                         WARNING("value captured during scan didn't pass the requested check: captured: 0x%s check_value: 0x%s check_mask: 0x%s", captured_char, in_check_value_char, in_check_mask_char);
1069                                         retval = ERROR_JTAG_QUEUE_FAILED;
1070                                         free(captured_char);
1071                                         free(in_check_value_char);
1072                                         free(in_check_mask_char);
1073                                 }
1074                         }
1075                         free(captured);
1076                 }
1077                 bit_count += cmd->fields[i].num_bits;
1078         }
1079
1080         return retval;
1081 }
1082
1083 enum scan_type jtag_scan_type(scan_command_t *cmd)
1084 {
1085         int i;
1086         int type = 0;
1087
1088         for (i=0; i < cmd->num_fields; i++)
1089         {
1090                 if (cmd->fields[i].in_check_value || cmd->fields[i].in_value || cmd->fields[i].in_handler)
1091                         type |= SCAN_IN;
1092                 if (cmd->fields[i].out_value)
1093                         type |= SCAN_OUT;
1094         }
1095
1096         return type;
1097 }
1098
1099 int jtag_execute_queue(void)
1100 {
1101         int retval;
1102
1103         retval = jtag->execute_queue();
1104
1105         cmd_queue_free();
1106
1107         jtag_command_queue = NULL;
1108         last_comand_pointer = &jtag_command_queue;
1109
1110         return retval;
1111 }
1112
1113 int jtag_cancel_queue(void)
1114 {
1115         cmd_queue_free();
1116         jtag_command_queue = NULL;
1117         last_comand_pointer = &jtag_command_queue;
1118
1119         return ERROR_OK;
1120 }
1121
1122 int jtag_reset_callback(enum jtag_event event, void *priv)
1123 {
1124         jtag_device_t *device = priv;
1125
1126         DEBUG("");
1127
1128         if (event == JTAG_TRST_ASSERTED)
1129         {
1130                 buf_set_ones(device->cur_instr, device->ir_length);
1131                 device->bypass = 1;
1132         }
1133
1134         return ERROR_OK;
1135 }
1136
1137 void jtag_sleep(u32 us)
1138 {
1139         usleep(us);
1140 }
1141
1142 /* Try to examine chain layout according to IEEE 1149.1 §12
1143  */
1144 int jtag_examine_chain()
1145 {
1146         scan_field_t field;
1147         u8 idcode_buffer[JTAG_MAX_CHAIN_SIZE * 4];
1148         int i;
1149         int bit_count;
1150         int device_count = 0;
1151         u8 zero_check = 0x0;
1152         u8 one_check = 0xff;
1153
1154         field.device = 0;
1155         field.num_bits = sizeof(idcode_buffer) * 8;
1156         field.out_value = idcode_buffer;
1157         field.out_mask = NULL;
1158         field.in_value = idcode_buffer;
1159         field.in_check_value = NULL;
1160         field.in_check_mask = NULL;
1161         field.in_handler = NULL;
1162         field.in_handler_priv = NULL;
1163
1164         for (i = 0; i < JTAG_MAX_CHAIN_SIZE; i++)
1165         {
1166                 buf_set_u32(idcode_buffer, 0, 32, 0x000000FF);
1167         }
1168
1169         jtag_add_plain_dr_scan(1, &field, TAP_TLR);
1170         jtag_execute_queue();
1171
1172         for (i = 0; i < JTAG_MAX_CHAIN_SIZE * 4; i++)
1173         {
1174                 zero_check |= idcode_buffer[i];
1175                 one_check &= idcode_buffer[i];
1176         }
1177
1178         /* if there wasn't a single non-zero bit or if all bits were one, the scan isn't valid */
1179         if ((zero_check == 0x00) || (one_check == 0xff))
1180         {
1181                 ERROR("JTAG communication failure, check connection, JTAG interface, target power etc.");
1182                 exit(-1);
1183         }
1184
1185         for (bit_count = 0; bit_count < (JTAG_MAX_CHAIN_SIZE * 32) - 31;)
1186         {
1187                 u32 idcode = buf_get_u32(idcode_buffer, bit_count, 32);
1188                 if ((idcode & 1) == 0)
1189                 {
1190                         /* LSB must not be 0, this indicates a device in bypass */
1191                         device_count++;
1192
1193                         bit_count += 1;
1194                 }
1195                 else
1196                 {
1197                         u32 manufacturer;
1198                         u32 part;
1199                         u32 version;
1200
1201                         if (idcode == 0x000000FF)
1202                         {
1203                                 /* End of chain (invalid manufacturer ID) */
1204                                 break;
1205                         }
1206
1207                         device_count++;
1208
1209                         manufacturer = (idcode & 0xffe) >> 1;
1210                         part = (idcode & 0xffff000) >> 12;
1211                         version = (idcode & 0xf0000000) >> 28;
1212
1213                         DEBUG("JTAG device found: 0x%8.8x (Manufacturer: 0x%3.3x, Part: 0x%4.4x, Version: 0x%1.1x",
1214                                 idcode, manufacturer, part, version);
1215
1216                         bit_count += 32;
1217                 }
1218         }
1219
1220         /* see if number of discovered devices matches configuration */
1221         if (device_count != jtag_num_devices)
1222         {
1223                 ERROR("number of discovered devices in JTAG chain (%i) doesn't match configuration (%i)",
1224                         device_count, jtag_num_devices);
1225                 exit(-1);
1226         }
1227
1228         return ERROR_OK;
1229 }
1230
1231 int jtag_validate_chain()
1232 {
1233         jtag_device_t *device = jtag_devices;
1234         int total_ir_length = 0;
1235         u8 *ir_test = NULL;
1236         scan_field_t field;
1237         int chain_pos = 0;
1238
1239         while (device)
1240         {
1241                 total_ir_length += device->ir_length;
1242                 device = device->next;
1243         }
1244
1245         total_ir_length += 2;
1246         ir_test = malloc(CEIL(total_ir_length, 8));
1247         buf_set_ones(ir_test, total_ir_length);
1248
1249         field.device = 0;
1250         field.num_bits = total_ir_length;
1251         field.out_value = ir_test;
1252         field.out_mask = NULL;
1253         field.in_value = ir_test;
1254         field.in_check_value = NULL;
1255         field.in_check_mask = NULL;
1256         field.in_handler = NULL;
1257         field.in_handler_priv = NULL;
1258
1259         jtag_add_plain_ir_scan(1, &field, TAP_TLR);
1260         jtag_execute_queue();
1261
1262         device = jtag_devices;
1263         while (device)
1264         {
1265                 if (buf_get_u32(ir_test, chain_pos, 2) != 0x1)
1266                 {
1267                         char *cbuf = buf_to_str(ir_test, total_ir_length, 16);
1268                         ERROR("Error validating JTAG scan chain, IR mismatch, scan returned 0x%s", cbuf);
1269                         free(cbuf);
1270                         exit(-1);
1271                 }
1272                 chain_pos += device->ir_length;
1273                 device = device->next;
1274         }
1275
1276         if (buf_get_u32(ir_test, chain_pos, 2) != 0x3)
1277         {
1278                 char *cbuf = buf_to_str(ir_test, total_ir_length, 16);
1279                 ERROR("Error validating JTAG scan chain, IR mismatch, scan returned 0x%s", cbuf);
1280                 free(cbuf);
1281                 exit(-1);
1282         }
1283
1284         free(ir_test);
1285
1286         return ERROR_OK;
1287 }
1288
1289 int jtag_register_commands(struct command_context_s *cmd_ctx)
1290 {
1291         register_command(cmd_ctx, NULL, "interface", handle_interface_command,
1292                 COMMAND_CONFIG, NULL);
1293         register_command(cmd_ctx, NULL, "jtag_speed", handle_jtag_speed_command,
1294                 COMMAND_ANY, "set jtag speed (if supported) <speed>");
1295         register_command(cmd_ctx, NULL, "jtag_device", handle_jtag_device_command,
1296                 COMMAND_CONFIG, NULL);
1297         register_command(cmd_ctx, NULL, "reset_config", handle_reset_config_command,
1298                 COMMAND_CONFIG, NULL);
1299         register_command(cmd_ctx, NULL, "jtag_nsrst_delay", handle_jtag_nsrst_delay_command,
1300                 COMMAND_CONFIG, NULL);
1301         register_command(cmd_ctx, NULL, "jtag_ntrst_delay", handle_jtag_ntrst_delay_command,
1302                 COMMAND_CONFIG, NULL);
1303
1304         register_command(cmd_ctx, NULL, "scan_chain", handle_scan_chain_command,
1305                 COMMAND_EXEC, "print current scan chain configuration");
1306
1307         register_command(cmd_ctx, NULL, "endstate", handle_endstate_command,
1308                 COMMAND_EXEC, "finish JTAG operations in <tap_state>");
1309         register_command(cmd_ctx, NULL, "jtag_reset", handle_jtag_reset_command,
1310                 COMMAND_EXEC, "toggle reset lines <trst> <srst>");
1311         register_command(cmd_ctx, NULL, "runtest", handle_runtest_command,
1312                 COMMAND_EXEC, "move to Run-Test/Idle, and execute <num_cycles>");
1313         register_command(cmd_ctx, NULL, "statemove", handle_statemove_command,
1314                 COMMAND_EXEC, "move to current endstate or [tap_state]");
1315         register_command(cmd_ctx, NULL, "irscan", handle_irscan_command,
1316                 COMMAND_EXEC, "execute IR scan <device> <instr> [dev2] [instr2] ...");
1317         register_command(cmd_ctx, NULL, "drscan", handle_drscan_command,
1318                 COMMAND_EXEC, "execute DR scan <device> <var> [dev2] [var2] ...");
1319
1320         register_command(cmd_ctx, NULL, "verify_ircapture", handle_verify_ircapture_command,
1321                 COMMAND_ANY, "verify value captured during Capture-IR <enable|disable>");
1322         return ERROR_OK;
1323 }
1324
1325 int jtag_init(struct command_context_s *cmd_ctx)
1326 {
1327         int i;
1328
1329         DEBUG("");
1330
1331         if (jtag_speed == -1)
1332                 jtag_speed = 0;
1333
1334         if (jtag_interface && (jtag_interface[0] != 0))
1335                 /* configuration var 'jtag_interface' is set, and not empty */
1336                 for (i = 0; jtag_interfaces[i]; i++)
1337                 {
1338                         if (strcmp(jtag_interface, jtag_interfaces[i]->name) == 0)
1339                         {
1340                                 jtag_device_t *device;
1341                                 device = jtag_devices;
1342
1343                                 if (jtag_interfaces[i]->init() != ERROR_OK)
1344                                         return ERROR_JTAG_INIT_FAILED;
1345                                 jtag = jtag_interfaces[i];
1346
1347                                 jtag_ir_scan_size = 0;
1348                                 jtag_num_devices = 0;
1349                                 while (device != NULL)
1350                                 {
1351                                         jtag_ir_scan_size += device->ir_length;
1352                                         jtag_num_devices++;
1353                                         device = device->next;
1354                                 }
1355
1356                                 jtag_add_statemove(TAP_TLR);
1357                                 jtag_execute_queue();
1358
1359                                 jtag_examine_chain();
1360
1361                                 jtag_validate_chain();
1362
1363                                 return ERROR_OK;
1364                         }
1365                 }
1366
1367         /* no valid interface was found (i.e. the configuration option,
1368          * didn't match one of the compiled-in interfaces
1369          */
1370         ERROR("No valid jtag interface found (%s)", jtag_interface);
1371         ERROR("compiled-in jtag interfaces:");
1372         for (i = 0; jtag_interfaces[i]; i++)
1373         {
1374                 ERROR("%i: %s", i, jtag_interfaces[i]->name);
1375         }
1376
1377         jtag = NULL;
1378         return ERROR_JTAG_INVALID_INTERFACE;
1379 }
1380
1381 int handle_interface_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1382 {
1383         int i;
1384
1385         /* only if the configuration var isn't overwritten from cmdline */
1386         if (!jtag_interface)
1387         {
1388                 if (args[0] && (args[0][0] != 0))
1389                 {
1390                         for (i=0; jtag_interfaces[i]; i++)
1391                         {
1392                                 if (strcmp(args[0], jtag_interfaces[i]->name) == 0)
1393                                 {
1394                                         if (jtag_interfaces[i]->register_commands(cmd_ctx) != ERROR_OK)
1395                                                 exit(-1);
1396
1397                                         jtag_interface = jtag_interfaces[i]->name;
1398
1399                                         return ERROR_OK;
1400                                 }
1401                         }
1402                 }
1403
1404                 /* remember the requested interface name, so we can complain about it later */
1405                 jtag_interface = strdup(args[0]);
1406                 DEBUG("'interface' command didn't specify a valid interface");
1407         }
1408
1409         return ERROR_OK;
1410 }
1411
1412 int handle_jtag_device_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1413 {
1414         jtag_device_t **last_device_p = &jtag_devices;
1415
1416         if (*last_device_p)
1417         {
1418                 while ((*last_device_p)->next)
1419                         last_device_p = &((*last_device_p)->next);
1420                 last_device_p = &((*last_device_p)->next);
1421         }
1422
1423         if (argc < 3)
1424                 return ERROR_OK;
1425
1426         *last_device_p = malloc(sizeof(jtag_device_t));
1427         (*last_device_p)->ir_length = strtoul(args[0], NULL, 0);
1428
1429         (*last_device_p)->expected = malloc((*last_device_p)->ir_length);
1430         buf_set_u32((*last_device_p)->expected, 0, (*last_device_p)->ir_length, strtoul(args[1], NULL, 0));
1431         (*last_device_p)->expected_mask = malloc((*last_device_p)->ir_length);
1432         buf_set_u32((*last_device_p)->expected_mask, 0, (*last_device_p)->ir_length, strtoul(args[2], NULL, 0));
1433
1434         (*last_device_p)->cur_instr = malloc((*last_device_p)->ir_length);
1435         (*last_device_p)->bypass = 1;
1436         buf_set_ones((*last_device_p)->cur_instr, (*last_device_p)->ir_length);
1437
1438         (*last_device_p)->next = NULL;
1439
1440         jtag_register_event_callback(jtag_reset_callback, (*last_device_p));
1441
1442         jtag_num_devices++;
1443
1444         return ERROR_OK;
1445 }
1446
1447 int handle_scan_chain_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1448 {
1449         jtag_device_t *device = jtag_devices;
1450         int device_count = 0;
1451
1452         while (device)
1453         {
1454                 u32 expected, expected_mask, cur_instr;
1455                 expected = buf_get_u32(device->expected, 0, device->ir_length);
1456                 expected_mask = buf_get_u32(device->expected_mask, 0, device->ir_length);
1457                 cur_instr = buf_get_u32(device->cur_instr, 0, device->ir_length);
1458                 command_print(cmd_ctx, "%i: idcode: 0x%8.8x ir length %i, ir capture 0x%x, ir mask 0x%x, current instruction 0x%x", device_count, device->idcode, device->ir_length, expected, expected_mask, cur_instr);
1459                 device = device->next;
1460                 device_count++;
1461         }
1462
1463         return ERROR_OK;
1464 }
1465
1466 int handle_reset_config_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1467 {
1468         if (argc >= 1)
1469         {
1470                 if (strcmp(args[0], "none") == 0)
1471                         jtag_reset_config = RESET_NONE;
1472                 else if (strcmp(args[0], "trst_only") == 0)
1473                         jtag_reset_config = RESET_HAS_TRST;
1474                 else if (strcmp(args[0], "srst_only") == 0)
1475                         jtag_reset_config = RESET_HAS_SRST;
1476                 else if (strcmp(args[0], "trst_and_srst") == 0)
1477                         jtag_reset_config = RESET_TRST_AND_SRST;
1478                 else
1479                 {
1480                         ERROR("invalid reset_config argument");
1481                         exit(-1);
1482                 }
1483         }
1484
1485         if (argc >= 2)
1486         {
1487                 if (strcmp(args[1], "srst_pulls_trst") == 0)
1488                         jtag_reset_config |= RESET_SRST_PULLS_TRST;
1489                 else if (strcmp(args[1], "trst_pulls_srst") == 0)
1490                         jtag_reset_config |= RESET_TRST_PULLS_SRST;
1491                 else if (strcmp(args[1], "combined") == 0)
1492                         jtag_reset_config |= RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST;
1493                 else if (strcmp(args[1], "separate") == 0)
1494                         jtag_reset_config &= ~(RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST);
1495                 else
1496                 {
1497                         ERROR("invalid reset_config argument");
1498                         exit(-1);
1499                 }
1500         }
1501
1502         if (argc >= 3)
1503         {
1504                 if (strcmp(args[2], "trst_open_drain") == 0)
1505                         jtag_reset_config |= RESET_TRST_OPEN_DRAIN;
1506                 else if (strcmp(args[2], "trst_push_pull") == 0)
1507                         jtag_reset_config &= ~RESET_TRST_OPEN_DRAIN;
1508                 else
1509                 {
1510                         ERROR("invalid reset_config argument");
1511                         exit(-1);
1512                 }
1513         }
1514
1515         if (argc >= 4)
1516         {
1517                 if (strcmp(args[3], "srst_push_pull") == 0)
1518                         jtag_reset_config |= RESET_SRST_PUSH_PULL;
1519                 else if (strcmp(args[3], "srst_open_drain") == 0)
1520                         jtag_reset_config &= ~RESET_SRST_PUSH_PULL;
1521                 else
1522                 {
1523                         ERROR("invalid reset_config argument");
1524                         exit(-1);
1525                 }
1526         }
1527
1528         return ERROR_OK;
1529 }
1530
1531 int handle_jtag_nsrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1532 {
1533         if (argc < 1)
1534         {
1535                 ERROR("jtag_nsrst_delay <ms> command takes one required argument");
1536                 exit(-1);
1537         }
1538         else
1539         {
1540                 jtag_nsrst_delay = strtoul(args[0], NULL, 0);
1541         }
1542
1543         return ERROR_OK;
1544 }
1545
1546 int handle_jtag_ntrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1547 {
1548         if (argc < 1)
1549         {
1550                 ERROR("jtag_ntrst_delay <ms> command takes one required argument");
1551                 exit(-1);
1552         }
1553         else
1554         {
1555                 jtag_ntrst_delay = strtoul(args[0], NULL, 0);
1556         }
1557
1558         return ERROR_OK;
1559 }
1560
1561 int handle_jtag_speed_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1562 {
1563         if (argc == 0)
1564                 command_print(cmd_ctx, "jtag_speed: %i", jtag_speed);
1565
1566         if (argc > 0)
1567         {
1568                 /* this command can be called during CONFIG,
1569                  * in which case jtag isn't initialized */
1570                 if (jtag)
1571                         jtag->speed(strtoul(args[0], NULL, 0));
1572                 else
1573                         jtag_speed = strtoul(args[0], NULL, 0);
1574         }
1575
1576         return ERROR_OK;
1577 }
1578
1579 int handle_endstate_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1580 {
1581         enum tap_state state;
1582
1583         if (argc < 1)
1584         {
1585                 command_print(cmd_ctx, "usage: endstate <tap_state>");
1586                 return ERROR_OK;
1587         }
1588
1589         for (state = 0; state < 16; state++)
1590         {
1591                 if (strcmp(args[0], tap_state_strings[state]) == 0)
1592                 {
1593                         jtag_add_end_state(state);
1594                         jtag_execute_queue();
1595                 }
1596         }
1597
1598         return ERROR_OK;
1599 }
1600
1601 int handle_jtag_reset_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1602 {
1603         int trst = -1;
1604         int srst = -1;
1605         char *usage = "usage: jtag_reset <trst> <srst>";
1606         int retval;
1607
1608         if (argc < 1)
1609         {
1610                 command_print(cmd_ctx, usage);
1611                 return ERROR_OK;
1612         }
1613
1614         if (args[0][0] == '1')
1615                 trst = 1;
1616         else if (args[0][0] == '0')
1617                 trst = 0;
1618         else
1619         {
1620                 command_print(cmd_ctx, usage);
1621                 return ERROR_OK;
1622         }
1623
1624         if (args[1][0] == '1')
1625                 srst = 1;
1626         else if (args[1][0] == '0')
1627                 srst = 0;
1628         else
1629         {
1630                 command_print(cmd_ctx, usage);
1631                 return ERROR_OK;
1632         }
1633
1634         if ((retval = jtag_add_reset(trst, srst)) != ERROR_OK)
1635         {
1636                 switch (retval)
1637                 {
1638                         case ERROR_JTAG_RESET_WOULD_ASSERT_TRST:
1639                                 command_print(cmd_ctx, "requested reset would assert trst\nif this is acceptable, use jtag_reset 1 %c", args[1][0]);
1640                                 break;
1641                         case ERROR_JTAG_RESET_CANT_SRST:
1642                                 command_print(cmd_ctx, "can't assert srst because the current reset_config doesn't support it");
1643                                 break;
1644                         default:
1645                                 command_print(cmd_ctx, "unknown error");
1646                 }
1647         }
1648         jtag_execute_queue();
1649
1650         return ERROR_OK;
1651 }
1652
1653 int handle_runtest_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1654 {
1655         if (argc < 1)
1656         {
1657                 command_print(cmd_ctx, "usage: runtest <num_cycles>");
1658                 return ERROR_OK;
1659         }
1660
1661         jtag_add_runtest(strtol(args[0], NULL, 0), -1);
1662         jtag_execute_queue();
1663
1664         return ERROR_OK;
1665
1666 }
1667
1668 int handle_statemove_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1669 {
1670         enum tap_state state;
1671
1672         state = -1;
1673         if (argc == 1)
1674         {
1675                 for (state = 0; state < 16; state++)
1676                 {
1677                         if (strcmp(args[0], tap_state_strings[state]) == 0)
1678                         {
1679                                 break;
1680                         }
1681                 }
1682         }
1683
1684         jtag_add_statemove(state);
1685         jtag_execute_queue();
1686
1687         return ERROR_OK;
1688
1689 }
1690
1691 int handle_irscan_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1692 {
1693         int i;
1694         scan_field_t *fields;
1695
1696         if ((argc < 2) || (argc % 2))
1697         {
1698                 command_print(cmd_ctx, "usage: irscan <device> <instr> [dev2] [instr2] ...");
1699                 return ERROR_OK;
1700         }
1701
1702         fields = malloc(sizeof(scan_field_t) * argc / 2);
1703
1704         for (i = 0; i < argc / 2; i++)
1705         {
1706                 int device = strtoul(args[i*2], NULL, 0);
1707                 int field_size = jtag_get_device(device)->ir_length;
1708                 fields[i].device = device;
1709                 fields[i].out_value = malloc(CEIL(field_size, 8));
1710                 buf_set_u32(fields[i].out_value, 0, field_size, strtoul(args[i*2+1], NULL, 0));
1711                 fields[i].out_mask = NULL;
1712                 fields[i].in_value = NULL;
1713                 fields[i].in_check_mask = NULL;
1714                 fields[i].in_handler = NULL;
1715                 fields[i].in_handler_priv = NULL;
1716         }
1717
1718         jtag_add_ir_scan(argc / 2, fields, -1);
1719         jtag_execute_queue();
1720
1721         for (i = 0; i < argc / 2; i++)
1722                 free(fields[i].out_value);
1723
1724         free (fields);
1725
1726         return ERROR_OK;
1727 }
1728
1729 int handle_drscan_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1730 {
1731         scan_field_t *fields;
1732         int num_fields = 0;
1733         int field_count = 0;
1734         var_t *var;
1735         int i, j;
1736
1737         if ((argc < 2) || (argc % 2))
1738         {
1739                 command_print(cmd_ctx, "usage: drscan <device> <var> [dev2] [var2]");
1740                 return ERROR_OK;
1741         }
1742
1743         for (i = 0; i < argc; i+=2)
1744         {
1745                 var = get_var_by_namenum(args[i+1]);
1746                 if (var)
1747                 {
1748                         num_fields += var->num_fields;
1749                 }
1750                 else
1751                 {
1752                         command_print(cmd_ctx, "variable %s doesn't exist", args[i+1]);
1753                         return ERROR_OK;
1754                 }
1755         }
1756
1757         fields = malloc(sizeof(scan_field_t) * num_fields);
1758
1759         for (i = 0; i < argc; i+=2)
1760         {
1761                 var = get_var_by_namenum(args[i+1]);
1762
1763                 for (j = 0; j < var->num_fields; j++)
1764                 {
1765                         fields[field_count].device = strtol(args[i], NULL, 0);
1766                         fields[field_count].num_bits = var->fields[j].num_bits;
1767                         fields[field_count].out_value = malloc(CEIL(var->fields[j].num_bits, 8));
1768                         buf_set_u32(fields[field_count].out_value, 0, var->fields[j].num_bits, var->fields[j].value);
1769                         fields[field_count].out_mask = NULL;
1770                         fields[field_count].in_value = fields[field_count].out_value;
1771                         fields[field_count].in_check_mask = NULL;
1772                         fields[field_count].in_check_value = NULL;
1773                         fields[field_count].in_handler = field_le_to_host;
1774                         fields[field_count++].in_handler_priv = &(var->fields[j]);
1775                 }
1776         }
1777
1778         jtag_add_dr_scan(num_fields, fields, -1);
1779         jtag_execute_queue();
1780
1781         for (i = 0; i < argc / 2; i++)
1782                 free(fields[i].out_value);
1783
1784         free(fields);
1785
1786         return ERROR_OK;
1787 }
1788
1789 int handle_verify_ircapture_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1790 {
1791         if (argc == 0)
1792         {
1793                 command_print(cmd_ctx, "verify Capture-IR is %s", (jtag_verify_capture_ir) ? "enabled": "disabled");
1794                 return ERROR_OK;
1795         }
1796
1797         if (strcmp(args[0], "enable") == 0)
1798         {
1799                 jtag_verify_capture_ir = 1;
1800         }
1801         else if (strcmp(args[0], "disable") == 0)
1802         {
1803                 jtag_verify_capture_ir = 0;
1804         }
1805
1806         return ERROR_OK;
1807 }