1 /***************************************************************************
2 * Copyright (C) 2005 by Dominic Rath *
3 * Dominic.Rath@gmx.de *
5 * Copyright (C) 2007,2008 Øyvind Harboe *
6 * oyvind.harboe@zylin.com *
8 * This program is free software; you can redistribute it and/or modify *
9 * it under the terms of the GNU General Public License as published by *
10 * the Free Software Foundation; either version 2 of the License, or *
11 * (at your option) any later version. *
13 * This program is distributed in the hope that it will be useful, *
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
16 * GNU General Public License for more details. *
18 * You should have received a copy of the GNU General Public License *
19 * along with this program; if not, write to the *
20 * Free Software Foundation, Inc., *
21 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
22 ***************************************************************************/
26 #include "binarybuffer.h"
30 #ifdef _DEBUG_JTAG_IO_
31 #define DEBUG_JTAG_IO(expr ...) LOG_DEBUG(expr)
33 #define DEBUG_JTAG_IO(expr ...)
36 #ifndef DEBUG_JTAG_IOZ
37 #define DEBUG_JTAG_IOZ 64
40 /*-----<Macros>--------------------------------------------------*/
42 /** When given an array, compute its DIMension, i.e. number of elements in the array */
43 #define DIM(x) (sizeof(x)/sizeof((x)[0]))
45 /** Calculate the number of bytes required to hold @a n TAP scan bits */
46 #define TAP_SCAN_BYTES(n) CEIL(n, 8)
48 /*-----</Macros>-------------------------------------------------*/
53 * Tap states from ARM7TDMI-S Technical reference manual.
54 * Also, validated against several other ARM core technical manuals.
56 * N.B. tap_get_tms_path() was changed to reflect this corrected
57 * numbering and ordering of the TAP states.
59 * DANGER!!!! some interfaces care about the actual numbers used
60 * as they are handed off directly to hardware implementations.
63 typedef enum tap_state
66 /* These are the old numbers. Leave as-is for now... */
67 TAP_RESET = 0, TAP_IDLE = 8,
68 TAP_DRSELECT = 1, TAP_DRCAPTURE = 2, TAP_DRSHIFT = 3, TAP_DREXIT1 = 4,
69 TAP_DRPAUSE = 5, TAP_DREXIT2 = 6, TAP_DRUPDATE = 7,
70 TAP_IRSELECT = 9, TAP_IRCAPTURE = 10, TAP_IRSHIFT = 11, TAP_IREXIT1 = 12,
71 TAP_IRPAUSE = 13, TAP_IREXIT2 = 14, TAP_IRUPDATE = 15,
73 TAP_NUM_STATES = 16, TAP_INVALID = -1,
75 /* Proper ARM recommended numbers */
93 TAP_NUM_STATES = 0x10,
100 * Function tap_state_name
101 * Returns a string suitable for display representing the JTAG tap_state
103 const char* tap_state_name(tap_state_t state);
106 extern tap_state_t cmd_queue_end_state; /* finish DR scans in dr_end_state */
107 extern tap_state_t cmd_queue_cur_state; /* current TAP state */
109 typedef struct scan_field_s
111 jtag_tap_t* tap; /* tap pointer this instruction refers to */
112 int num_bits; /* number of bits this field specifies (up to 32) */
113 u8* out_value; /* value to be scanned into the device */
114 u8* in_value; /* pointer to a 32-bit memory location to take data scanned out */
116 u8* check_value; /* Used together with jtag_add_dr_scan_check() to check data clocked
118 u8* check_mask; /* mask to go with check_value */
120 /* internal work space */
121 int allocated; /* in_value has been allocated for the queue */
122 int modified; /* did we modify the in_value? */
123 u8 intmp[4]; /* temporary storage for checking synchronously */
126 #ifdef INCLUDE_JTAG_INTERFACE_H
129 /* IN: from device to host, OUT: from host to device */
130 SCAN_IN = 1, SCAN_OUT = 2, SCAN_IO = 3
133 typedef struct scan_command_s
135 bool ir_scan; /* instruction/not data scan */
136 int num_fields; /* number of fields in *fields array */
137 scan_field_t* fields; /* pointer to an array of data scan fields */
138 tap_state_t end_state; /* TAP state in which JTAG commands should finish */
141 typedef struct statemove_command_s
143 tap_state_t end_state; /* TAP state in which JTAG commands should finish */
144 } statemove_command_t;
146 typedef struct pathmove_command_s
148 int num_states; /* number of states in *path */
149 tap_state_t* path; /* states that have to be passed */
150 } pathmove_command_t;
152 typedef struct runtest_command_s
154 int num_cycles; /* number of cycles that should be spent in Run-Test/Idle */
155 tap_state_t end_state; /* TAP state in which JTAG commands should finish */
159 typedef struct stableclocks_command_s
161 int num_cycles; /* number of clock cycles that should be sent */
162 } stableclocks_command_t;
165 typedef struct reset_command_s
167 int trst; /* trst/srst 0: deassert, 1: assert, -1: don't change */
171 typedef struct end_state_command_s
173 tap_state_t end_state; /* TAP state in which JTAG commands should finish */
174 } end_state_command_t;
176 typedef struct sleep_command_s
178 u32 us; /* number of microseconds to sleep */
181 typedef union jtag_command_container_u
183 scan_command_t* scan;
184 statemove_command_t* statemove;
185 pathmove_command_t* pathmove;
186 runtest_command_t* runtest;
187 stableclocks_command_t* stableclocks;
188 reset_command_t* reset;
189 end_state_command_t* end_state;
190 sleep_command_t* sleep;
191 } jtag_command_container_t;
193 enum jtag_command_type {
200 JTAG_STABLECLOCKS = 8
203 typedef struct jtag_command_s
205 jtag_command_container_t cmd;
206 enum jtag_command_type type;
207 struct jtag_command_s* next;
210 extern jtag_command_t* jtag_command_queue;
212 extern void* cmd_queue_alloc(size_t size);
213 extern void cmd_queue_free(void);
215 extern void jtag_queue_command(jtag_command_t *cmd);
216 extern void jtag_command_queue_reset(void);
218 #endif // INCLUDE_JTAG_INTERFACE_H
220 /* forward declaration */
221 typedef struct jtag_tap_event_action_s jtag_tap_event_action_t;
223 /* this is really: typedef jtag_tap_t */
224 /* But - the typedef is done in "types.h" */
225 /* due to "forward decloration reasons" */
230 const char* dotted_name;
231 int abs_chain_position;
233 int ir_length; /* size of instruction register */
234 u32 ir_capture_value;
235 u8* expected; /* Capture-IR expected value */
237 u8* expected_mask; /* Capture-IR expected mask */
238 u32 idcode; /* device identification code */
239 u32* expected_ids; /* Array of expected identification codes */
240 u8 expected_ids_cnt; /* Number of expected identification codes */
241 u8* cur_instr; /* current instruction */
242 int bypass; /* bypass register selected */
244 jtag_tap_event_action_t* event_action;
246 jtag_tap_t* next_tap;
248 extern jtag_tap_t* jtag_AllTaps(void);
249 extern jtag_tap_t* jtag_TapByPosition(int n);
250 extern jtag_tap_t* jtag_TapByString(const char* dotted_name);
251 extern jtag_tap_t* jtag_TapByJimObj(Jim_Interp* interp, Jim_Obj* obj);
252 extern jtag_tap_t* jtag_TapByAbsPosition(int abs_position);
253 extern int jtag_NumEnabledTaps(void);
254 extern int jtag_NumTotalTaps(void);
256 static __inline__ jtag_tap_t* jtag_NextEnabledTap(jtag_tap_t* p)
260 /* start at the head of list */
265 /* start *after* this one */
284 enum reset_line_mode {
285 LINE_OPEN_DRAIN = 0x0,
286 LINE_PUSH_PULL = 0x1,
293 extern char* jtag_event_strings[];
295 enum jtag_tap_event {
296 JTAG_TAP_EVENT_ENABLE,
297 JTAG_TAP_EVENT_DISABLE
300 extern const Jim_Nvp nvp_jtag_tap_event[];
302 struct jtag_tap_event_action_s
304 enum jtag_tap_event event;
306 jtag_tap_event_action_t* next;
309 extern int jtag_trst;
310 extern int jtag_srst;
312 typedef struct jtag_event_callback_s
314 int (*callback)(enum jtag_event event, void* priv);
316 struct jtag_event_callback_s* next;
317 } jtag_event_callback_t;
319 extern jtag_event_callback_t* jtag_event_callbacks;
321 extern int jtag_speed;
322 extern int jtag_speed_post_reset;
326 RESET_HAS_TRST = 0x1,
327 RESET_HAS_SRST = 0x2,
328 RESET_TRST_AND_SRST = 0x3,
329 RESET_SRST_PULLS_TRST = 0x4,
330 RESET_TRST_PULLS_SRST = 0x8,
331 RESET_TRST_OPEN_DRAIN = 0x10,
332 RESET_SRST_PUSH_PULL = 0x20,
335 extern enum reset_types jtag_reset_config;
337 /* initialize interface upon startup. A successful no-op
338 * upon subsequent invocations
340 extern int jtag_interface_init(struct command_context_s* cmd_ctx);
342 /// Shutdown the JTAG interface upon program exit.
343 extern int jtag_interface_quit(void);
345 /* initialize JTAG chain using only a RESET reset. If init fails,
348 extern int jtag_init(struct command_context_s* cmd_ctx);
350 /* reset, then initialize JTAG chain */
351 extern int jtag_init_reset(struct command_context_s* cmd_ctx);
352 extern int jtag_register_commands(struct command_context_s* cmd_ctx);
354 /* JTAG interface, can be implemented with a software or hardware fifo
356 * TAP_DRSHIFT and TAP_IRSHIFT are illegal end states. TAP_DRSHIFT/IRSHIFT as end states
357 * can be emulated by using a larger scan.
359 * Code that is relatively insensitive to the path(as long
360 * as it is JTAG compliant) taken through state machine can use
361 * endstate for jtag_add_xxx_scan(). Otherwise the pause state must be
362 * specified as end state and a subsequent jtag_add_pathmove() must
366 extern void jtag_add_ir_scan(int num_fields, scan_field_t* fields, tap_state_t endstate);
367 /* same as jtag_add_ir_scan except no verify is performed */
368 extern void jtag_add_ir_scan_noverify(int num_fields, const scan_field_t *fields, tap_state_t state);
369 extern void jtag_add_dr_scan(int num_fields, const scan_field_t* fields, tap_state_t endstate);
371 /* set in_value to point to 32 bits of memory to scan into. This function
372 * is a way to handle the case of synchronous and asynchronous
375 * In the event of an asynchronous queue execution the queue buffer
376 * allocation method is used, for the synchronous case the temporary 32 bits come
377 * from the input field itself.
379 extern void jtag_alloc_in_value32(scan_field_t *field);
381 /* This version of jtag_add_dr_scan() uses the check_value/mask fields */
382 extern void jtag_add_dr_scan_check(int num_fields, scan_field_t* fields, tap_state_t endstate);
383 extern void jtag_add_plain_ir_scan(int num_fields, const scan_field_t* fields, tap_state_t endstate);
384 extern void jtag_add_plain_dr_scan(int num_fields, const scan_field_t* fields, tap_state_t endstate);
387 /* Simplest/typical callback - do some conversion on the data clocked in.
388 * This callback is for such conversion that can not fail.
389 * For conversion types or checks that can
390 * fail, use the jtag_callback_t variant */
391 typedef void (*jtag_callback1_t)(u8 *in);
393 /* A simpler version of jtag_add_callback4 */
394 extern void jtag_add_callback(jtag_callback1_t, u8 *in);
397 /* This type can store an integer safely by a normal cast on 64 and
399 typedef intptr_t jtag_callback_data_t;
401 /* The generic callback mechanism.
403 * The callback is invoked with three arguments. The first argument is
404 * the pointer to the data clocked in.
406 typedef int (*jtag_callback_t)(u8 *in, jtag_callback_data_t data1, jtag_callback_data_t data2, jtag_callback_data_t data3);
409 /* This callback can be executed immediately the queue has been flushed. Note that
410 * the JTAG queue can either be executed synchronously or asynchronously. Typically
411 * for USB the queue is executed asynchronously. For low latency interfaces, the
412 * queue may be executed synchronously.
414 * These callbacks are typically executed *after* the *entire* JTAG queue has been
415 * executed for e.g. USB interfaces.
417 * The callbacks are guaranteeed to be invoked in the order that they were queued.
419 * The strange name is due to C's lack of overloading using function arguments
421 * The callback mechansim is very general and does not really make any assumptions
422 * about what the callback does and what the arguments are.
424 * in - typically used to point to the data to operate on. More often than not
425 * this will be the data clocked in during a shift operation
427 * data1 - an integer that is big enough to be used either as an 'int' or
428 * cast to/from a pointer
430 * data2 - an integer that is big enough to be used either as an 'int' or
431 * cast to/from a pointer
433 * Why stop at 'data2' for arguments? Somewhat historical reasons. This is
434 * sufficient to implement the jtag_check_value_mask(), besides the
435 * line is best drawn somewhere...
437 * If the execution of the queue fails before the callbacks, then the
438 * callbacks may or may not be invoked depending on driver implementation.
440 extern void jtag_add_callback4(jtag_callback_t, u8 *in,
441 jtag_callback_data_t data1, jtag_callback_data_t data2,
442 jtag_callback_data_t data3);
445 /* run a TAP_RESET reset. End state is TAP_RESET, regardless
448 extern void jtag_add_tlr(void);
450 /* Application code *must* assume that interfaces will
451 * implement transitions between states with different
452 * paths and path lengths through the state diagram. The
453 * path will vary across interface and also across versions
454 * of the same interface over time. Even if the OpenOCD code
455 * is unchanged, the actual path taken may vary over time
456 * and versions of interface firmware or PCB revisions.
458 * Use jtag_add_pathmove() when specific transition sequences
461 * Do not use jtag_add_pathmove() unless you need to, but do use it
464 * DANGER! If the target is dependent upon a particular sequence
465 * of transitions for things to work correctly(e.g. as a workaround
466 * for an errata that contradicts the JTAG standard), then pathmove
467 * must be used, even if some jtag interfaces happen to use the
468 * desired path. Worse, the jtag interface used for testing a
469 * particular implementation, could happen to use the "desired"
470 * path when transitioning to/from end
473 * A list of unambigious single clock state transitions, not
474 * all drivers can support this, but it is required for e.g.
475 * XScale and Xilinx support
477 * Note! TAP_RESET must not be used in the path!
479 * Note that the first on the list must be reachable
480 * via a single transition from the current state.
482 * All drivers are required to implement jtag_add_pathmove().
483 * However, if the pathmove sequence can not be precisely
484 * executed, an interface_jtag_add_pathmove() or jtag_execute_queue()
485 * must return an error. It is legal, but not recommended, that
486 * a driver returns an error in all cases for a pathmove if it
487 * can only implement a few transitions and therefore
488 * a partial implementation of pathmove would have little practical
491 extern void jtag_add_pathmove(int num_states, const tap_state_t* path);
493 /* go to TAP_IDLE, if we're not already there and cycle
494 * precisely num_cycles in the TAP_IDLE after which move
495 * to the end state, if it is != TAP_IDLE
497 * nb! num_cycles can be 0, in which case the fn will navigate
498 * to endstate via TAP_IDLE
500 extern void jtag_add_runtest(int num_cycles, tap_state_t endstate);
502 /* A reset of the TAP state machine can be requested.
504 * Whether tms or trst reset is used depends on the capabilities of
505 * the target and jtag interface(reset_config command configures this).
507 * srst can driver a reset of the TAP state machine and vice
510 * Application code may need to examine value of jtag_reset_config
511 * to determine the proper codepath
513 * DANGER! Even though srst drives trst, trst might not be connected to
514 * the interface, and it might actually be *harmful* to assert trst in this case.
516 * This is why combinations such as "reset_config srst_only srst_pulls_trst"
519 * only req_tlr_or_trst and srst can have a transition for a
520 * call as the effects of transitioning both at the "same time"
521 * are undefined, but when srst_pulls_trst or vice versa,
522 * then trst & srst *must* be asserted together.
524 extern void jtag_add_reset(int req_tlr_or_trst, int srst);
526 extern void jtag_add_end_state(tap_state_t endstate);
527 extern void jtag_add_sleep(u32 us);
531 * Function jtag_add_stable_clocks
532 * first checks that the state in which the clocks are to be issued is
533 * stable, then queues up clock_count clocks for transmission.
535 void jtag_add_clocks(int num_cycles);
539 * For software FIFO implementations, the queued commands can be executed
540 * during this call or earlier. A sw queue might decide to push out
541 * some of the jtag_add_xxx() operations once the queue is "big enough".
543 * This fn will return an error code if any of the prior jtag_add_xxx()
544 * calls caused a failure, e.g. check failure. Note that it does not
545 * matter if the operation was executed *before* jtag_execute_queue(),
546 * jtag_execute_queue() will still return an error code.
548 * All jtag_add_xxx() calls that have in_handler!=NULL will have been
549 * executed when this fn returns, but if what has been queued only
550 * clocks data out, without reading anything back, then JTAG could
551 * be running *after* jtag_execute_queue() returns. The API does
552 * not define a way to flush a hw FIFO that runs *after*
553 * jtag_execute_queue() returns.
555 * jtag_add_xxx() commands can either be executed immediately or
556 * at some time between the jtag_add_xxx() fn call and jtag_execute_queue().
558 extern int jtag_execute_queue(void);
560 /* same as jtag_execute_queue() but does not clear the error flag */
561 extern void jtag_execute_queue_noclear(void);
563 /* this flag is set when an error occurs while executing the queue. cleared
564 * by jtag_execute_queue()
566 * this flag can also be set from application code if some error happens
567 * during processing that should be reported during jtag_execute_queue().
569 extern int jtag_error;
571 static __inline__ void jtag_set_error(int error)
573 if ((error==ERROR_OK)||(jtag_error!=ERROR_OK))
575 /* keep first error */
583 /* can be implemented by hw+sw */
584 extern int jtag_power_dropout(int* dropout);
585 extern int jtag_srst_asserted(int* srst_asserted);
587 /* JTAG support functions */
589 /* execute jtag queue and check value and use mask if mask is != NULL. invokes
590 * jtag_set_error() with any error. */
591 extern void jtag_check_value_mask(scan_field_t *field, u8 *value, u8 *mask);
593 #ifdef INCLUDE_JTAG_INTERFACE_H
594 extern enum scan_type jtag_scan_type(const scan_command_t* cmd);
595 extern int jtag_scan_size(const scan_command_t* cmd);
596 extern int jtag_read_buffer(u8* buffer, const scan_command_t* cmd);
597 extern int jtag_build_buffer(const scan_command_t* cmd, u8** buffer);
598 #endif // INCLUDE_JTAG_INTERFACE_H
600 extern void jtag_sleep(u32 us);
601 extern int jtag_call_event_callbacks(enum jtag_event event);
602 extern int jtag_register_event_callback(int (* callback)(enum jtag_event event, void* priv), void* priv);
604 extern int jtag_verify_capture_ir;
606 void jtag_tap_handle_event(jtag_tap_t* tap, enum jtag_tap_event e);
609 * JTAG subsystem uses codes between -100 and -199 */
611 #define ERROR_JTAG_INIT_FAILED (-100)
612 #define ERROR_JTAG_INVALID_INTERFACE (-101)
613 #define ERROR_JTAG_NOT_IMPLEMENTED (-102)
614 #define ERROR_JTAG_TRST_ASSERTED (-103)
615 #define ERROR_JTAG_QUEUE_FAILED (-104)
616 #define ERROR_JTAG_NOT_STABLE_STATE (-105)
617 #define ERROR_JTAG_DEVICE_ERROR (-107)
619 /* jtag_add_dr_out() is a version of jtag_add_dr_scan() which
620 * only scans data out. It operates on 32 bit integers instead
621 * of 8 bit, which makes it a better impedance match with
622 * the calling code which often operate on 32 bit integers.
624 * Current or end_state can not be TAP_RESET. end_state can be TAP_INVALID
626 * num_bits[i] is the number of bits to clock out from value[i] LSB first.
628 * If the device is in bypass, then that is an error condition in
629 * the caller code that is not detected by this fn, whereas jtag_add_dr_scan()
630 * does detect it. Similarly if the device is not in bypass, data must
633 * If anything fails, then jtag_error will be set and jtag_execute() will
634 * return an error. There is no way to determine if there was a failure
635 * during this function call.
637 * This is an inline fn to speed up embedded hosts. Also note that
638 * interface_jtag_add_dr_out() can be a *small* inline function for
641 * There is no jtag_add_dr_outin() version of this fn that also allows
642 * clocking data back in. Patches gladly accepted!
644 extern void jtag_add_dr_out(jtag_tap_t* tap,
645 int num_fields, const int* num_bits, const u32* value,
646 tap_state_t end_state);
650 * Function jtag_add_statemove
651 * moves from the current state to the goal \a state. This needs
652 * to be handled according to the xsvf spec, see the XSTATE command
655 extern int jtag_add_statemove(tap_state_t goal_state);