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

   1 /***************************************************************************
   2  *   Copyright (C) 2005 by Dominic Rath                                    *
   3  *   Dominic.Rath@gmx.de                                                   *
   4  *                                                                         *
   5  *   Copyright (C) 2007-2010 Øyvind Harboe                                 *
   6  *   oyvind.harboe@zylin.com                                               *
   7  *                                                                         *
   8  *   Copyright (C) 2009 SoftPLC Corporation                                *
   9  *       http://softplc.com                                                *
  10  *   dick@softplc.com                                                      *
  11  *                                                                         *
  12  *   Copyright (C) 2009 Zachary T Welch                                    *
  13  *   zw@superlucidity.net                                                  *
  14  *                                                                         *
  15  *   This program is free software; you can redistribute it and/or modify  *
  16  *   it under the terms of the GNU General Public License as published by  *
  17  *   the Free Software Foundation; either version 2 of the License, or     *
  18  *   (at your option) any later version.                                   *
  19  *                                                                         *
  20  *   This program is distributed in the hope that it will be useful,       *
  21  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  22  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  23  *   GNU General Public License for more details.                          *
  24  *                                                                         *
  25  *   You should have received a copy of the GNU General Public License     *
  26  *   along with this program; if not, write to the                         *
  27  *   Free Software Foundation, Inc.,                                       *
  28  *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
  29  ***************************************************************************/
  30
  31 #ifdef HAVE_CONFIG_H
  32 #include "config.h"
  33 #endif
  34
  35 #include "jtag.h"
  36 #include "swd.h"
  37 #include "minidriver.h"
  38 #include "interface.h"
  39 #include "interfaces.h"
  40 #include "tcl.h"
  41
  42 #ifdef HAVE_STRINGS_H
  43 #include <strings.h>
  44 #endif
  45
  46 #include <helper/time_support.h>
  47
  48 /**
  49  * @file
  50  * Holds support for accessing JTAG-specific mechanisms from TCl scripts.
  51  */
  52
  53 static const Jim_Nvp nvp_jtag_tap_event[] = {
  54         { .value = JTAG_TRST_ASSERTED,          .name = "post-reset" },
  55         { .value = JTAG_TAP_EVENT_SETUP,        .name = "setup" },
  56         { .value = JTAG_TAP_EVENT_ENABLE,       .name = "tap-enable" },
  57         { .value = JTAG_TAP_EVENT_DISABLE,      .name = "tap-disable" },
  58
  59         { .name = NULL, .value = -1 }
  60 };
  61
  62 extern struct jtag_interface *jtag_interface;
  63
  64 struct jtag_tap *jtag_tap_by_jim_obj(Jim_Interp *interp, Jim_Obj *o)
  65 {
  66         const char *cp = Jim_GetString(o, NULL);
  67         struct jtag_tap *t = cp ? jtag_tap_by_string(cp) : NULL;
  68         if (NULL == cp)
  69                 cp = "(unknown)";
  70         if (NULL == t)
  71                 Jim_SetResultFormatted(interp, "Tap '%s' could not be found", cp);
  72         return t;
  73 }
  74
  75 static bool scan_is_safe(tap_state_t state)
  76 {
  77         switch (state) {
  78             case TAP_RESET:
  79             case TAP_IDLE:
  80             case TAP_DRPAUSE:
  81             case TAP_IRPAUSE:
  82                     return true;
  83             default:
  84                     return false;
  85         }
  86 }
  87
  88 static int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *args)
  89 {
  90         int retval;
  91         struct scan_field *fields;
  92         int num_fields;
  93         int field_count = 0;
  94         int i, e;
  95         struct jtag_tap *tap;
  96         tap_state_t endstate;
  97
  98         /* args[1] = device
  99          * args[2] = num_bits
 100          * args[3] = hex string
 101          * ... repeat num bits and hex string ...
 102          *
 103          * .. optionally:
 104         *     args[N-2] = "-endstate"
 105          *     args[N-1] = statename
 106          */
 107         if ((argc < 4) || ((argc % 2) != 0)) {
 108                 Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
 109                 return JIM_ERR;
 110         }
 111
 112         endstate = TAP_IDLE;
 113
 114         script_debug(interp, "drscan", argc, args);
 115
 116         /* validate arguments as numbers */
 117         e = JIM_OK;
 118         for (i = 2; i < argc; i += 2) {
 119                 long bits;
 120                 const char *cp;
 121
 122                 e = Jim_GetLong(interp, args[i], &bits);
 123                 /* If valid - try next arg */
 124                 if (e == JIM_OK)
 125                         continue;
 126
 127                 /* Not valid.. are we at the end? */
 128                 if (((i + 2) != argc)) {
 129                         /* nope, then error */
 130                         return e;
 131                 }
 132
 133                 /* it could be: "-endstate FOO"
 134                  * e.g. DRPAUSE so we can issue more instructions
 135                  * before entering RUN/IDLE and executing them.
 136                  */
 137
 138                 /* get arg as a string. */
 139                 cp = Jim_GetString(args[i], NULL);
 140                 /* is it the magic? */
 141                 if (0 == strcmp("-endstate", cp)) {
 142                         /* is the statename valid? */
 143                         cp = Jim_GetString(args[i + 1], NULL);
 144
 145                         /* see if it is a valid state name */
 146                         endstate = tap_state_by_name(cp);
 147                         if (endstate < 0) {
 148                                 /* update the error message */
 149                                 Jim_SetResultFormatted(interp, "endstate: %s invalid", cp);
 150                         } else {
 151                                 if (!scan_is_safe(endstate))
 152                                         LOG_WARNING("drscan with unsafe "
 153                                                 "endstate \"%s\"", cp);
 154
 155                                 /* valid - so clear the error */
 156                                 e = JIM_OK;
 157                                 /* and remove the last 2 args */
 158                                 argc -= 2;
 159                         }
 160                 }
 161
 162                 /* Still an error? */
 163                 if (e != JIM_OK)
 164                         return e;       /* too bad */
 165         }       /* validate args */
 166
 167         assert(e == JIM_OK);
 168
 169         tap = jtag_tap_by_jim_obj(interp, args[1]);
 170         if (tap == NULL)
 171                 return JIM_ERR;
 172
 173         num_fields = (argc-2)/2;
 174         assert(num_fields > 0);
 175         fields = malloc(sizeof(struct scan_field) * num_fields);
 176         for (i = 2; i < argc; i += 2) {
 177                 long bits;
 178                 int len;
 179                 const char *str;
 180
 181                 Jim_GetLong(interp, args[i], &bits);
 182                 str = Jim_GetString(args[i + 1], &len);
 183
 184                 fields[field_count].num_bits = bits;
 185                 void *t = malloc(DIV_ROUND_UP(bits, 8));
 186                 fields[field_count].out_value = t;
 187                 str_to_buf(str, len, t, bits, 0);
 188                 fields[field_count].in_value = t;
 189                 field_count++;
 190         }
 191
 192         jtag_add_dr_scan(tap, num_fields, fields, endstate);
 193
 194         retval = jtag_execute_queue();
 195         if (retval != ERROR_OK) {
 196                 Jim_SetResultString(interp, "drscan: jtag execute failed", -1);
 197                 return JIM_ERR;
 198         }
 199
 200         field_count = 0;
 201         Jim_Obj *list = Jim_NewListObj(interp, NULL, 0);
 202         for (i = 2; i < argc; i += 2) {
 203                 long bits;
 204                 char *str;
 205
 206                 Jim_GetLong(interp, args[i], &bits);
 207                 str = buf_to_str(fields[field_count].in_value, bits, 16);
 208                 free((void *)fields[field_count].out_value);
 209
 210                 Jim_ListAppendElement(interp, list, Jim_NewStringObj(interp, str, strlen(str)));
 211                 free(str);
 212                 field_count++;
 213         }
 214
 215         Jim_SetResult(interp, list);
 216
 217         free(fields);
 218
 219         return JIM_OK;
 220 }
 221
 222
 223 static int Jim_Command_pathmove(Jim_Interp *interp, int argc, Jim_Obj *const *args)
 224 {
 225         tap_state_t states[8];
 226
 227         if ((argc < 2) || ((size_t)argc > (ARRAY_SIZE(states) + 1))) {
 228                 Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
 229                 return JIM_ERR;
 230         }
 231
 232         script_debug(interp, "pathmove", argc, args);
 233
 234         int i;
 235         for (i = 0; i < argc-1; i++) {
 236                 const char *cp;
 237                 cp = Jim_GetString(args[i + 1], NULL);
 238                 states[i] = tap_state_by_name(cp);
 239                 if (states[i] < 0) {
 240                         /* update the error message */
 241                         Jim_SetResultFormatted(interp, "endstate: %s invalid", cp);
 242                         return JIM_ERR;
 243                 }
 244         }
 245
 246         if ((jtag_add_statemove(states[0]) != ERROR_OK) || (jtag_execute_queue() != ERROR_OK)) {
 247                 Jim_SetResultString(interp, "pathmove: jtag execute failed", -1);
 248                 return JIM_ERR;
 249         }
 250
 251         jtag_add_pathmove(argc - 2, states + 1);
 252
 253         if (jtag_execute_queue() != ERROR_OK) {
 254                 Jim_SetResultString(interp, "pathmove: failed", -1);
 255                 return JIM_ERR;
 256         }
 257
 258         return JIM_OK;
 259 }
 260
 261
 262 static int Jim_Command_flush_count(Jim_Interp *interp, int argc, Jim_Obj *const *args)
 263 {
 264         script_debug(interp, "flush_count", argc, args);
 265
 266         Jim_SetResult(interp, Jim_NewIntObj(interp, jtag_get_flush_queue_count()));
 267
 268         return JIM_OK;
 269 }
 270
 271 /* REVISIT Just what about these should "move" ... ?
 272  * These registrations, into the main JTAG table?
 273  *
 274  * There's a minor compatibility issue, these all show up twice;
 275  * that's not desirable:
 276  *  - jtag drscan ... NOT DOCUMENTED!
 277  *  - drscan ...
 278  *
 279  * The "irscan" command (for example) doesn't show twice.
 280  */
 281 static const struct command_registration jtag_command_handlers_to_move[] = {
 282         {
 283                 .name = "drscan",
 284                 .mode = COMMAND_EXEC,
 285                 .jim_handler = Jim_Command_drscan,
 286                 .help = "Execute Data Register (DR) scan for one TAP.  "
 287                         "Other TAPs must be in BYPASS mode.",
 288                 .usage = "tap_name [num_bits value]* ['-endstate' state_name]",
 289         },
 290         {
 291                 .name = "flush_count",
 292                 .mode = COMMAND_EXEC,
 293                 .jim_handler = Jim_Command_flush_count,
 294                 .help = "Returns the number of times the JTAG queue "
 295                         "has been flushed.",
 296         },
 297         {
 298                 .name = "pathmove",
 299                 .mode = COMMAND_EXEC,
 300                 .jim_handler = Jim_Command_pathmove,
 301                 .usage = "start_state state1 [state2 [state3 ...]]",
 302                 .help = "Move JTAG state machine from current state "
 303                         "(start_state) to state1, then state2, state3, etc.",
 304         },
 305         COMMAND_REGISTRATION_DONE
 306 };
 307
 308
 309 enum jtag_tap_cfg_param {
 310         JCFG_EVENT
 311 };
 312
 313 static Jim_Nvp nvp_config_opts[] = {
 314         { .name = "-event",      .value = JCFG_EVENT },
 315
 316         { .name = NULL,          .value = -1 }
 317 };
 318
 319 static int jtag_tap_configure_event(Jim_GetOptInfo *goi, struct jtag_tap *tap)
 320 {
 321         if (goi->argc == 0) {
 322                 Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event <event-name> ...");
 323                 return JIM_ERR;
 324         }
 325
 326         Jim_Nvp *n;
 327         int e = Jim_GetOpt_Nvp(goi, nvp_jtag_tap_event, &n);
 328         if (e != JIM_OK) {
 329                 Jim_GetOpt_NvpUnknown(goi, nvp_jtag_tap_event, 1);
 330                 return e;
 331         }
 332
 333         if (goi->isconfigure) {
 334                 if (goi->argc != 1) {
 335                         Jim_WrongNumArgs(goi->interp,
 336                                 goi->argc,
 337                                 goi->argv,
 338                                 "-event <event-name> <event-body>");
 339                         return JIM_ERR;
 340                 }
 341         } else {
 342                 if (goi->argc != 0) {
 343                         Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event <event-name>");
 344                         return JIM_ERR;
 345                 }
 346         }
 347
 348         struct jtag_tap_event_action *jteap  = tap->event_action;
 349         /* replace existing event body */
 350         bool found = false;
 351         while (jteap) {
 352                 if (jteap->event == (enum jtag_event)n->value) {
 353                         found = true;
 354                         break;
 355                 }
 356                 jteap = jteap->next;
 357         }
 358
 359         Jim_SetEmptyResult(goi->interp);
 360
 361         if (goi->isconfigure) {
 362                 if (!found)
 363                         jteap = calloc(1, sizeof(*jteap));
 364                 else if (NULL != jteap->body)
 365                         Jim_DecrRefCount(goi->interp, jteap->body);
 366
 367                 jteap->interp = goi->interp;
 368                 jteap->event = n->value;
 369
 370                 Jim_Obj *o;
 371                 Jim_GetOpt_Obj(goi, &o);
 372                 jteap->body = Jim_DuplicateObj(goi->interp, o);
 373                 Jim_IncrRefCount(jteap->body);
 374
 375                 if (!found) {
 376                         /* add to head of event list */
 377                         jteap->next = tap->event_action;
 378                         tap->event_action = jteap;
 379                 }
 380         } else if (found) {
 381                 jteap->interp = goi->interp;
 382                 Jim_SetResult(goi->interp,
 383                         Jim_DuplicateObj(goi->interp, jteap->body));
 384         }
 385         return JIM_OK;
 386 }
 387
 388 static int jtag_tap_configure_cmd(Jim_GetOptInfo *goi, struct jtag_tap *tap)
 389 {
 390         /* parse config or cget options */
 391         while (goi->argc > 0) {
 392                 Jim_SetEmptyResult(goi->interp);
 393
 394                 Jim_Nvp *n;
 395                 int e = Jim_GetOpt_Nvp(goi, nvp_config_opts, &n);
 396                 if (e != JIM_OK) {
 397                         Jim_GetOpt_NvpUnknown(goi, nvp_config_opts, 0);
 398                         return e;
 399                 }
 400
 401                 switch (n->value) {
 402                         case JCFG_EVENT:
 403                                 e = jtag_tap_configure_event(goi, tap);
 404                                 if (e != JIM_OK)
 405                                         return e;
 406                                 break;
 407                         default:
 408                                 Jim_SetResultFormatted(goi->interp, "unknown event: %s", n->name);
 409                                 return JIM_ERR;
 410                 }
 411         }
 412
 413         return JIM_OK;
 414 }
 415
 416 static int is_bad_irval(int ir_length, jim_wide w)
 417 {
 418         jim_wide v = 1;
 419
 420         v <<= ir_length;
 421         v -= 1;
 422         v = ~v;
 423         return (w & v) != 0;
 424 }
 425
 426 static int jim_newtap_expected_id(Jim_Nvp *n, Jim_GetOptInfo *goi,
 427         struct jtag_tap *pTap)
 428 {
 429         jim_wide w;
 430         int e = Jim_GetOpt_Wide(goi, &w);
 431         if (e != JIM_OK) {
 432                 Jim_SetResultFormatted(goi->interp, "option: %s bad parameter", n->name);
 433                 return e;
 434         }
 435
 436         unsigned expected_len = sizeof(uint32_t) * pTap->expected_ids_cnt;
 437         uint32_t *new_expected_ids = malloc(expected_len + sizeof(uint32_t));
 438         if (new_expected_ids == NULL) {
 439                 Jim_SetResultFormatted(goi->interp, "no memory");
 440                 return JIM_ERR;
 441         }
 442
 443         memcpy(new_expected_ids, pTap->expected_ids, expected_len);
 444
 445         new_expected_ids[pTap->expected_ids_cnt] = w;
 446
 447         free(pTap->expected_ids);
 448         pTap->expected_ids = new_expected_ids;
 449         pTap->expected_ids_cnt++;
 450
 451         return JIM_OK;
 452 }
 453
 454 #define NTAP_OPT_IRLEN     0
 455 #define NTAP_OPT_IRMASK    1
 456 #define NTAP_OPT_IRCAPTURE 2
 457 #define NTAP_OPT_ENABLED   3
 458 #define NTAP_OPT_DISABLED  4
 459 #define NTAP_OPT_EXPECTED_ID 5
 460 #define NTAP_OPT_VERSION   6
 461
 462 static int jim_newtap_ir_param(Jim_Nvp *n, Jim_GetOptInfo *goi,
 463         struct jtag_tap *pTap)
 464 {
 465         jim_wide w;
 466         int e = Jim_GetOpt_Wide(goi, &w);
 467         if (e != JIM_OK) {
 468                 Jim_SetResultFormatted(goi->interp,
 469                         "option: %s bad parameter", n->name);
 470                 return e;
 471         }
 472         switch (n->value) {
 473             case NTAP_OPT_IRLEN:
 474                     if (w > (jim_wide) (8 * sizeof(pTap->ir_capture_value))) {
 475                             LOG_WARNING("%s: huge IR length %d",
 476                                     pTap->dotted_name, (int) w);
 477                     }
 478                     pTap->ir_length = w;
 479                     break;
 480             case NTAP_OPT_IRMASK:
 481                     if (is_bad_irval(pTap->ir_length, w)) {
 482                             LOG_ERROR("%s: IR mask %x too big",
 483                                     pTap->dotted_name,
 484                                     (int) w);
 485                             return JIM_ERR;
 486                     }
 487                     if ((w & 3) != 3)
 488                             LOG_WARNING("%s: nonstandard IR mask", pTap->dotted_name);
 489                     pTap->ir_capture_mask = w;
 490                     break;
 491             case NTAP_OPT_IRCAPTURE:
 492                     if (is_bad_irval(pTap->ir_length, w)) {
 493                             LOG_ERROR("%s: IR capture %x too big",
 494                                     pTap->dotted_name, (int) w);
 495                             return JIM_ERR;
 496                     }
 497                     if ((w & 3) != 1)
 498                             LOG_WARNING("%s: nonstandard IR value",
 499                                     pTap->dotted_name);
 500                     pTap->ir_capture_value = w;
 501                     break;
 502             default:
 503                     return JIM_ERR;
 504         }
 505         return JIM_OK;
 506 }
 507
 508 static int jim_newtap_cmd(Jim_GetOptInfo *goi)
 509 {
 510         struct jtag_tap *pTap;
 511         int x;
 512         int e;
 513         Jim_Nvp *n;
 514         char *cp;
 515         const Jim_Nvp opts[] = {
 516                 { .name = "-irlen",       .value = NTAP_OPT_IRLEN },
 517                 { .name = "-irmask",       .value = NTAP_OPT_IRMASK },
 518                 { .name = "-ircapture",       .value = NTAP_OPT_IRCAPTURE },
 519                 { .name = "-enable",       .value = NTAP_OPT_ENABLED },
 520                 { .name = "-disable",       .value = NTAP_OPT_DISABLED },
 521                 { .name = "-expected-id",       .value = NTAP_OPT_EXPECTED_ID },
 522                 { .name = "-ignore-version",       .value = NTAP_OPT_VERSION },
 523                 { .name = NULL,       .value = -1 },
 524         };
 525
 526         pTap = calloc(1, sizeof(struct jtag_tap));
 527         if (!pTap) {
 528                 Jim_SetResultFormatted(goi->interp, "no memory");
 529                 return JIM_ERR;
 530         }
 531
 532         /*
 533          * we expect CHIP + TAP + OPTIONS
 534          * */
 535         if (goi->argc < 3) {
 536                 Jim_SetResultFormatted(goi->interp, "Missing CHIP TAP OPTIONS ....");
 537                 free(pTap);
 538                 return JIM_ERR;
 539         }
 540         Jim_GetOpt_String(goi, &cp, NULL);
 541         pTap->chip = strdup(cp);
 542
 543         Jim_GetOpt_String(goi, &cp, NULL);
 544         pTap->tapname = strdup(cp);
 545
 546         /* name + dot + name + null */
 547         x = strlen(pTap->chip) + 1 + strlen(pTap->tapname) + 1;
 548         cp = malloc(x);
 549         sprintf(cp, "%s.%s", pTap->chip, pTap->tapname);
 550         pTap->dotted_name = cp;
 551
 552         LOG_DEBUG("Creating New Tap, Chip: %s, Tap: %s, Dotted: %s, %d params",
 553                 pTap->chip, pTap->tapname, pTap->dotted_name, goi->argc);
 554
 555         /* IEEE specifies that the two LSBs of an IR scan are 01, so make
 556          * that the default.  The "-irlen" and "-irmask" options are only
 557          * needed to cope with nonstandard TAPs, or to specify more bits.
 558          */
 559         pTap->ir_capture_mask = 0x03;
 560         pTap->ir_capture_value = 0x01;
 561
 562         while (goi->argc) {
 563                 e = Jim_GetOpt_Nvp(goi, opts, &n);
 564                 if (e != JIM_OK) {
 565                         Jim_GetOpt_NvpUnknown(goi, opts, 0);
 566                         free((void *)pTap->dotted_name);
 567                         free(pTap);
 568                         return e;
 569                 }
 570                 LOG_DEBUG("Processing option: %s", n->name);
 571                 switch (n->value) {
 572                     case NTAP_OPT_ENABLED:
 573                             pTap->disabled_after_reset = false;
 574                             break;
 575                     case NTAP_OPT_DISABLED:
 576                             pTap->disabled_after_reset = true;
 577                             break;
 578                     case NTAP_OPT_EXPECTED_ID:
 579                             e = jim_newtap_expected_id(n, goi, pTap);
 580                             if (JIM_OK != e) {
 581                                     free((void *)pTap->dotted_name);
 582                                     free(pTap);
 583                                     return e;
 584                             }
 585                             break;
 586                     case NTAP_OPT_IRLEN:
 587                     case NTAP_OPT_IRMASK:
 588                     case NTAP_OPT_IRCAPTURE:
 589                             e = jim_newtap_ir_param(n, goi, pTap);
 590                             if (JIM_OK != e) {
 591                                     free((void *)pTap->dotted_name);
 592                                     free(pTap);
 593                                     return e;
 594                             }
 595                             break;
 596                     case NTAP_OPT_VERSION:
 597                             pTap->ignore_version = true;
 598                             break;
 599                 }       /* switch (n->value) */
 600         }       /* while (goi->argc) */
 601
 602         /* default is enabled-after-reset */
 603         pTap->enabled = !pTap->disabled_after_reset;
 604
 605         /* Did all the required option bits get cleared? */
 606         if (pTap->ir_length != 0) {
 607                 jtag_tap_init(pTap);
 608                 return JIM_OK;
 609         }
 610
 611         Jim_SetResultFormatted(goi->interp,
 612                 "newtap: %s missing IR length",
 613                 pTap->dotted_name);
 614         jtag_tap_free(pTap);
 615         return JIM_ERR;
 616 }
 617
 618 static void jtag_tap_handle_event(struct jtag_tap *tap, enum jtag_event e)
 619 {
 620         struct jtag_tap_event_action *jteap;
 621
 622         for (jteap = tap->event_action; jteap != NULL; jteap = jteap->next) {
 623                 if (jteap->event != e)
 624                         continue;
 625
 626                 Jim_Nvp *nvp = Jim_Nvp_value2name_simple(nvp_jtag_tap_event, e);
 627                 LOG_DEBUG("JTAG tap: %s event: %d (%s)\n\taction: %s",
 628                         tap->dotted_name, e, nvp->name,
 629                         Jim_GetString(jteap->body, NULL));
 630
 631                 if (Jim_EvalObj(jteap->interp, jteap->body) != JIM_OK) {
 632                         Jim_MakeErrorMessage(jteap->interp);
 633                         LOG_USER("%s", Jim_GetString(Jim_GetResult(jteap->interp), NULL));
 634                         continue;
 635                 }
 636
 637                 switch (e) {
 638                     case JTAG_TAP_EVENT_ENABLE:
 639                     case JTAG_TAP_EVENT_DISABLE:
 640                                 /* NOTE:  we currently assume the handlers
 641                                  * can't fail.  Right here is where we should
 642                                  * really be verifying the scan chains ...
 643                                  */
 644                             tap->enabled = (e == JTAG_TAP_EVENT_ENABLE);
 645                             LOG_INFO("JTAG tap: %s %s", tap->dotted_name,
 646                                 tap->enabled ? "enabled" : "disabled");
 647                             break;
 648                     default:
 649                             break;
 650                 }
 651         }
 652 }
 653
 654 static int jim_jtag_arp_init(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 655 {
 656         Jim_GetOptInfo goi;
 657         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 658         if (goi.argc != 0) {
 659                 Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
 660                 return JIM_ERR;
 661         }
 662         struct command_context *context = current_command_context(interp);
 663         int e = jtag_init_inner(context);
 664         if (e != ERROR_OK) {
 665                 Jim_Obj *eObj = Jim_NewIntObj(goi.interp, e);
 666                 Jim_SetResultFormatted(goi.interp, "error: %#s", eObj);
 667                 Jim_FreeNewObj(goi.interp, eObj);
 668                 return JIM_ERR;
 669         }
 670         return JIM_OK;
 671 }
 672
 673 static int jim_jtag_arp_init_reset(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 674 {
 675         int e = ERROR_OK;
 676         Jim_GetOptInfo goi;
 677         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 678         if (goi.argc != 0) {
 679                 Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
 680                 return JIM_ERR;
 681         }
 682         struct command_context *context = current_command_context(interp);
 683         if (transport_is_jtag())
 684                 e = jtag_init_reset(context);
 685         else if (transport_is_swd())
 686                 e = swd_init_reset(context);
 687
 688         if (e != ERROR_OK) {
 689                 Jim_Obj *eObj = Jim_NewIntObj(goi.interp, e);
 690                 Jim_SetResultFormatted(goi.interp, "error: %#s", eObj);
 691                 Jim_FreeNewObj(goi.interp, eObj);
 692                 return JIM_ERR;
 693         }
 694         return JIM_OK;
 695 }
 696
 697 int jim_jtag_newtap(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 698 {
 699         Jim_GetOptInfo goi;
 700         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 701         return jim_newtap_cmd(&goi);
 702 }
 703
 704 static bool jtag_tap_enable(struct jtag_tap *t)
 705 {
 706         if (t->enabled)
 707                 return false;
 708         jtag_tap_handle_event(t, JTAG_TAP_EVENT_ENABLE);
 709         if (!t->enabled)
 710                 return false;
 711
 712         /* FIXME add JTAG sanity checks, w/o TLR
 713          *  - scan chain length grew by one (this)
 714          *  - IDs and IR lengths are as expected
 715          */
 716         jtag_call_event_callbacks(JTAG_TAP_EVENT_ENABLE);
 717         return true;
 718 }
 719 static bool jtag_tap_disable(struct jtag_tap *t)
 720 {
 721         if (!t->enabled)
 722                 return false;
 723         jtag_tap_handle_event(t, JTAG_TAP_EVENT_DISABLE);
 724         if (t->enabled)
 725                 return false;
 726
 727         /* FIXME add JTAG sanity checks, w/o TLR
 728          *  - scan chain length shrank by one (this)
 729          *  - IDs and IR lengths are as expected
 730          */
 731         jtag_call_event_callbacks(JTAG_TAP_EVENT_DISABLE);
 732         return true;
 733 }
 734
 735 int jim_jtag_tap_enabler(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 736 {
 737         const char *cmd_name = Jim_GetString(argv[0], NULL);
 738         Jim_GetOptInfo goi;
 739         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 740         if (goi.argc != 1) {
 741                 Jim_SetResultFormatted(goi.interp, "usage: %s <name>", cmd_name);
 742                 return JIM_ERR;
 743         }
 744
 745         struct jtag_tap *t;
 746
 747         t = jtag_tap_by_jim_obj(goi.interp, goi.argv[0]);
 748         if (t == NULL)
 749                 return JIM_ERR;
 750
 751         if (strcasecmp(cmd_name, "tapisenabled") == 0) {
 752                 /* do nothing, just return the value */
 753         } else if (strcasecmp(cmd_name, "tapenable") == 0) {
 754                 if (!jtag_tap_enable(t)) {
 755                         LOG_WARNING("failed to enable tap %s", t->dotted_name);
 756                         return JIM_ERR;
 757                 }
 758         } else if (strcasecmp(cmd_name, "tapdisable") == 0) {
 759                 if (!jtag_tap_disable(t)) {
 760                         LOG_WARNING("failed to disable tap %s", t->dotted_name);
 761                         return JIM_ERR;
 762                 }
 763         } else {
 764                 LOG_ERROR("command '%s' unknown", cmd_name);
 765                 return JIM_ERR;
 766         }
 767         bool e = t->enabled;
 768         Jim_SetResult(goi.interp, Jim_NewIntObj(goi.interp, e));
 769         return JIM_OK;
 770 }
 771
 772 int jim_jtag_configure(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 773 {
 774         const char *cmd_name = Jim_GetString(argv[0], NULL);
 775         Jim_GetOptInfo goi;
 776         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 777         goi.isconfigure = !strcmp(cmd_name, "configure");
 778         if (goi.argc < 2 + goi.isconfigure) {
 779                 Jim_WrongNumArgs(goi.interp, 0, NULL,
 780                         "<tap_name> <attribute> ...");
 781                 return JIM_ERR;
 782         }
 783
 784         struct jtag_tap *t;
 785
 786         Jim_Obj *o;
 787         Jim_GetOpt_Obj(&goi, &o);
 788         t = jtag_tap_by_jim_obj(goi.interp, o);
 789         if (t == NULL)
 790                 return JIM_ERR;
 791
 792         return jtag_tap_configure_cmd(&goi, t);
 793 }
 794
 795 static int jim_jtag_names(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 796 {
 797         Jim_GetOptInfo goi;
 798         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 799         if (goi.argc != 0) {
 800                 Jim_WrongNumArgs(goi.interp, 1, goi.argv, "Too many parameters");
 801                 return JIM_ERR;
 802         }
 803         Jim_SetResult(goi.interp, Jim_NewListObj(goi.interp, NULL, 0));
 804         struct jtag_tap *tap;
 805
 806         for (tap = jtag_all_taps(); tap; tap = tap->next_tap) {
 807                 Jim_ListAppendElement(goi.interp,
 808                         Jim_GetResult(goi.interp),
 809                         Jim_NewStringObj(goi.interp,
 810                                 tap->dotted_name, -1));
 811         }
 812         return JIM_OK;
 813 }
 814
 815 COMMAND_HANDLER(handle_jtag_init_command)
 816 {
 817         if (CMD_ARGC != 0)
 818                 return ERROR_COMMAND_SYNTAX_ERROR;
 819
 820         static bool jtag_initialized;
 821         if (jtag_initialized) {
 822                 LOG_INFO("'jtag init' has already been called");
 823                 return ERROR_OK;
 824         }
 825         jtag_initialized = true;
 826
 827         LOG_DEBUG("Initializing jtag devices...");
 828         return jtag_init(CMD_CTX);
 829 }
 830
 831 static const struct command_registration jtag_subcommand_handlers[] = {
 832         {
 833                 .name = "init",
 834                 .mode = COMMAND_ANY,
 835                 .handler = handle_jtag_init_command,
 836                 .help = "initialize jtag scan chain",
 837                 .usage = ""
 838         },
 839         {
 840                 .name = "arp_init",
 841                 .mode = COMMAND_ANY,
 842                 .jim_handler = jim_jtag_arp_init,
 843                 .help = "Validates JTAG scan chain against the list of "
 844                         "declared TAPs using just the four standard JTAG "
 845                         "signals.",
 846         },
 847         {
 848                 .name = "arp_init-reset",
 849                 .mode = COMMAND_ANY,
 850                 .jim_handler = jim_jtag_arp_init_reset,
 851                 .help = "Uses TRST and SRST to try resetting everything on "
 852                         "the JTAG scan chain, then performs 'jtag arp_init'."
 853         },
 854         {
 855                 .name = "newtap",
 856                 .mode = COMMAND_CONFIG,
 857                 .jim_handler = jim_jtag_newtap,
 858                 .help = "Create a new TAP instance named basename.tap_type, "
 859                         "and appends it to the scan chain.",
 860                 .usage = "basename tap_type '-irlen' count "
 861                         "['-enable'|'-disable'] "
 862                         "['-expected_id' number] "
 863                         "['-ignore-version'] "
 864                         "['-ircapture' number] "
 865                         "['-mask' number] ",
 866         },
 867         {
 868                 .name = "tapisenabled",
 869                 .mode = COMMAND_EXEC,
 870                 .jim_handler = jim_jtag_tap_enabler,
 871                 .help = "Returns a Tcl boolean (0/1) indicating whether "
 872                         "the TAP is enabled (1) or not (0).",
 873                 .usage = "tap_name",
 874         },
 875         {
 876                 .name = "tapenable",
 877                 .mode = COMMAND_EXEC,
 878                 .jim_handler = jim_jtag_tap_enabler,
 879                 .help = "Try to enable the specified TAP using the "
 880                         "'tap-enable' TAP event.",
 881                 .usage = "tap_name",
 882         },
 883         {
 884                 .name = "tapdisable",
 885                 .mode = COMMAND_EXEC,
 886                 .jim_handler = jim_jtag_tap_enabler,
 887                 .help = "Try to disable the specified TAP using the "
 888                         "'tap-disable' TAP event.",
 889                 .usage = "tap_name",
 890         },
 891         {
 892                 .name = "configure",
 893                 .mode = COMMAND_EXEC,
 894                 .jim_handler = jim_jtag_configure,
 895                 .help = "Provide a Tcl handler for the specified "
 896                         "TAP event.",
 897                 .usage = "tap_name '-event' event_name handler",
 898         },
 899         {
 900                 .name = "cget",
 901                 .mode = COMMAND_EXEC,
 902                 .jim_handler = jim_jtag_configure,
 903                 .help = "Return any Tcl handler for the specified "
 904                         "TAP event.",
 905                 .usage = "tap_name '-event' event_name",
 906         },
 907         {
 908                 .name = "names",
 909                 .mode = COMMAND_ANY,
 910                 .jim_handler = jim_jtag_names,
 911                 .help = "Returns list of all JTAG tap names.",
 912         },
 913         {
 914                 .chain = jtag_command_handlers_to_move,
 915         },
 916         COMMAND_REGISTRATION_DONE
 917 };
 918
 919 void jtag_notify_event(enum jtag_event event)
 920 {
 921         struct jtag_tap *tap;
 922
 923         for (tap = jtag_all_taps(); tap; tap = tap->next_tap)
 924                 jtag_tap_handle_event(tap, event);
 925 }
 926
 927
 928 COMMAND_HANDLER(handle_scan_chain_command)
 929 {
 930         struct jtag_tap *tap;
 931         char expected_id[12];
 932
 933         tap = jtag_all_taps();
 934         command_print(CMD_CTX,
 935                 "   TapName             Enabled  IdCode     Expected   IrLen IrCap IrMask");
 936         command_print(CMD_CTX,
 937                 "-- ------------------- -------- ---------- ---------- ----- ----- ------");
 938
 939         while (tap) {
 940                 uint32_t expected, expected_mask, ii;
 941
 942                 snprintf(expected_id, sizeof expected_id, "0x%08x",
 943                         (unsigned)((tap->expected_ids_cnt > 0)
 944                                    ? tap->expected_ids[0]
 945                                    : 0));
 946                 if (tap->ignore_version)
 947                         expected_id[2] = '*';
 948
 949                 expected = buf_get_u32(tap->expected, 0, tap->ir_length);
 950                 expected_mask = buf_get_u32(tap->expected_mask, 0, tap->ir_length);
 951
 952                 command_print(CMD_CTX,
 953                         "%2d %-18s     %c     0x%08x %s %5d 0x%02x  0x%02x",
 954                         tap->abs_chain_position,
 955                         tap->dotted_name,
 956                         tap->enabled ? 'Y' : 'n',
 957                         (unsigned int)(tap->idcode),
 958                         expected_id,
 959                         (unsigned int)(tap->ir_length),
 960                         (unsigned int)(expected),
 961                         (unsigned int)(expected_mask));
 962
 963                 for (ii = 1; ii < tap->expected_ids_cnt; ii++) {
 964                         snprintf(expected_id, sizeof expected_id, "0x%08x",
 965                                 (unsigned) tap->expected_ids[ii]);
 966                         if (tap->ignore_version)
 967                                 expected_id[2] = '*';
 968
 969                         command_print(CMD_CTX,
 970                                 "                                           %s",
 971                                 expected_id);
 972                 }
 973
 974                 tap = tap->next_tap;
 975         }
 976
 977         return ERROR_OK;
 978 }
 979
 980 COMMAND_HANDLER(handle_jtag_ntrst_delay_command)
 981 {
 982         if (CMD_ARGC > 1)
 983                 return ERROR_COMMAND_SYNTAX_ERROR;
 984         if (CMD_ARGC == 1) {
 985                 unsigned delay;
 986                 COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
 987
 988                 jtag_set_ntrst_delay(delay);
 989         }
 990         command_print(CMD_CTX, "jtag_ntrst_delay: %u", jtag_get_ntrst_delay());
 991         return ERROR_OK;
 992 }
 993
 994 COMMAND_HANDLER(handle_jtag_ntrst_assert_width_command)
 995 {
 996         if (CMD_ARGC > 1)
 997                 return ERROR_COMMAND_SYNTAX_ERROR;
 998         if (CMD_ARGC == 1) {
 999                 unsigned delay;
1000                 COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
1001
1002                 jtag_set_ntrst_assert_width(delay);
1003         }
1004         command_print(CMD_CTX, "jtag_ntrst_assert_width: %u", jtag_get_ntrst_assert_width());
1005         return ERROR_OK;
1006 }
1007
1008 COMMAND_HANDLER(handle_jtag_rclk_command)
1009 {
1010         if (CMD_ARGC > 1)
1011                 return ERROR_COMMAND_SYNTAX_ERROR;
1012
1013         int retval = ERROR_OK;
1014         if (CMD_ARGC == 1) {
1015                 unsigned khz = 0;
1016                 COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], khz);
1017
1018                 retval = jtag_config_rclk(khz);
1019                 if (ERROR_OK != retval)
1020                         return retval;
1021         }
1022
1023         int cur_khz = jtag_get_speed_khz();
1024         retval = jtag_get_speed_readable(&cur_khz);
1025         if (ERROR_OK != retval)
1026                 return retval;
1027
1028         if (cur_khz)
1029                 command_print(CMD_CTX, "RCLK not supported - fallback to %d kHz", cur_khz);
1030         else
1031                 command_print(CMD_CTX, "RCLK - adaptive");
1032
1033         return retval;
1034 }
1035
1036 COMMAND_HANDLER(handle_jtag_reset_command)
1037 {
1038         if (CMD_ARGC != 2)
1039                 return ERROR_COMMAND_SYNTAX_ERROR;
1040
1041         int trst = -1;
1042         if (CMD_ARGV[0][0] == '1')
1043                 trst = 1;
1044         else if (CMD_ARGV[0][0] == '0')
1045                 trst = 0;
1046         else
1047                 return ERROR_COMMAND_SYNTAX_ERROR;
1048
1049         int srst = -1;
1050         if (CMD_ARGV[1][0] == '1')
1051                 srst = 1;
1052         else if (CMD_ARGV[1][0] == '0')
1053                 srst = 0;
1054         else
1055                 return ERROR_COMMAND_SYNTAX_ERROR;
1056
1057         if (adapter_init(CMD_CTX) != ERROR_OK)
1058                 return ERROR_JTAG_INIT_FAILED;
1059
1060         jtag_add_reset(trst, srst);
1061         return jtag_execute_queue();
1062 }
1063
1064 COMMAND_HANDLER(handle_runtest_command)
1065 {
1066         if (CMD_ARGC != 1)
1067                 return ERROR_COMMAND_SYNTAX_ERROR;
1068
1069         unsigned num_clocks;
1070         COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], num_clocks);
1071
1072         jtag_add_runtest(num_clocks, TAP_IDLE);
1073         return jtag_execute_queue();
1074 }
1075
1076 /*
1077  * For "irscan" or "drscan" commands, the "end" (really, "next") state
1078  * should be stable ... and *NOT* a shift state, otherwise free-running
1079  * jtag clocks could change the values latched by the update state.
1080  * Not surprisingly, this is the same constraint as SVF; the "irscan"
1081  * and "drscan" commands are a write-only subset of what SVF provides.
1082  */
1083
1084 COMMAND_HANDLER(handle_irscan_command)
1085 {
1086         int i;
1087         struct scan_field *fields;
1088         struct jtag_tap *tap = NULL;
1089         tap_state_t endstate;
1090
1091         if ((CMD_ARGC < 2) || (CMD_ARGC % 2))
1092                 return ERROR_COMMAND_SYNTAX_ERROR;
1093
1094         /* optional "-endstate" "statename" at the end of the arguments,
1095          * so that e.g. IRPAUSE can let us load the data register before
1096          * entering RUN/IDLE to execute the instruction we load here.
1097          */
1098         endstate = TAP_IDLE;
1099
1100         if (CMD_ARGC >= 4) {
1101                 /* have at least one pair of numbers.
1102                  * is last pair the magic text? */
1103                 if (strcmp("-endstate", CMD_ARGV[CMD_ARGC - 2]) == 0) {
1104                         endstate = tap_state_by_name(CMD_ARGV[CMD_ARGC - 1]);
1105                         if (endstate == TAP_INVALID)
1106                                 return ERROR_COMMAND_SYNTAX_ERROR;
1107                         if (!scan_is_safe(endstate))
1108                                 LOG_WARNING("unstable irscan endstate \"%s\"",
1109                                         CMD_ARGV[CMD_ARGC - 1]);
1110                         CMD_ARGC -= 2;
1111                 }
1112         }
1113
1114         int num_fields = CMD_ARGC / 2;
1115         if (num_fields > 1) {
1116                 /* we really should be looking at plain_ir_scan if we want
1117                  * anything more fancy.
1118                  */
1119                 LOG_ERROR("Specify a single value for tap");
1120                 return ERROR_COMMAND_SYNTAX_ERROR;
1121         }
1122
1123         size_t fields_len = sizeof(struct scan_field) * num_fields;
1124         fields = malloc(fields_len);
1125         memset(fields, 0, fields_len);
1126
1127         int retval;
1128         for (i = 0; i < num_fields; i++) {
1129                 tap = jtag_tap_by_string(CMD_ARGV[i*2]);
1130                 if (tap == NULL) {
1131                         int j;
1132                         for (j = 0; j < i; j++)
1133                                 free((void *)fields[j].out_value);
1134                         free(fields);
1135                         command_print(CMD_CTX, "Tap: %s unknown", CMD_ARGV[i*2]);
1136
1137                         return ERROR_FAIL;
1138                 }
1139                 int field_size = tap->ir_length;
1140                 fields[i].num_bits = field_size;
1141                 fields[i].out_value = malloc(DIV_ROUND_UP(field_size, 8));
1142
1143                 uint64_t value;
1144                 retval = parse_u64(CMD_ARGV[i * 2 + 1], &value);
1145                 if (ERROR_OK != retval)
1146                         goto error_return;
1147                 void *v = (void *)fields[i].out_value;
1148                 buf_set_u64(v, 0, field_size, value);
1149                 fields[i].in_value = NULL;
1150         }
1151
1152         /* did we have an endstate? */
1153         jtag_add_ir_scan(tap, fields, endstate);
1154
1155         retval = jtag_execute_queue();
1156
1157 error_return:
1158         for (i = 0; i < num_fields; i++) {
1159                 if (NULL != fields[i].out_value)
1160                         free((void *)fields[i].out_value);
1161         }
1162
1163         free(fields);
1164
1165         return retval;
1166 }
1167
1168 COMMAND_HANDLER(handle_verify_ircapture_command)
1169 {
1170         if (CMD_ARGC > 1)
1171                 return ERROR_COMMAND_SYNTAX_ERROR;
1172
1173         if (CMD_ARGC == 1) {
1174                 bool enable;
1175                 COMMAND_PARSE_ENABLE(CMD_ARGV[0], enable);
1176                 jtag_set_verify_capture_ir(enable);
1177         }
1178
1179         const char *status = jtag_will_verify_capture_ir() ? "enabled" : "disabled";
1180         command_print(CMD_CTX, "verify Capture-IR is %s", status);
1181
1182         return ERROR_OK;
1183 }
1184
1185 COMMAND_HANDLER(handle_verify_jtag_command)
1186 {
1187         if (CMD_ARGC > 1)
1188                 return ERROR_COMMAND_SYNTAX_ERROR;
1189
1190         if (CMD_ARGC == 1) {
1191                 bool enable;
1192                 COMMAND_PARSE_ENABLE(CMD_ARGV[0], enable);
1193                 jtag_set_verify(enable);
1194         }
1195
1196         const char *status = jtag_will_verify() ? "enabled" : "disabled";
1197         command_print(CMD_CTX, "verify jtag capture is %s", status);
1198
1199         return ERROR_OK;
1200 }
1201
1202 COMMAND_HANDLER(handle_tms_sequence_command)
1203 {
1204         if (CMD_ARGC > 1)
1205                 return ERROR_COMMAND_SYNTAX_ERROR;
1206
1207         if (CMD_ARGC == 1) {
1208                 bool use_new_table;
1209                 if (strcmp(CMD_ARGV[0], "short") == 0)
1210                         use_new_table = true;
1211                 else if (strcmp(CMD_ARGV[0], "long") == 0)
1212                         use_new_table = false;
1213                 else
1214                         return ERROR_COMMAND_SYNTAX_ERROR;
1215
1216                 tap_use_new_tms_table(use_new_table);
1217         }
1218
1219         command_print(CMD_CTX, "tms sequence is  %s",
1220                 tap_uses_new_tms_table() ? "short" : "long");
1221
1222         return ERROR_OK;
1223 }
1224
1225 COMMAND_HANDLER(handle_jtag_flush_queue_sleep)
1226 {
1227         if (CMD_ARGC != 1)
1228                 return ERROR_COMMAND_SYNTAX_ERROR;
1229
1230         int sleep_ms;
1231         COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], sleep_ms);
1232
1233         jtag_set_flush_queue_sleep(sleep_ms);
1234
1235         return ERROR_OK;
1236 }
1237
1238 COMMAND_HANDLER(handle_wait_srst_deassert)
1239 {
1240         if (CMD_ARGC != 1)
1241                 return ERROR_COMMAND_SYNTAX_ERROR;
1242
1243         int timeout_ms;
1244         COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], timeout_ms);
1245         if ((timeout_ms <= 0) || (timeout_ms > 100000)) {
1246                 LOG_ERROR("Timeout must be an integer between 0 and 100000");
1247                 return ERROR_FAIL;
1248         }
1249
1250         LOG_USER("Waiting for srst assert + deassert for at most %dms", timeout_ms);
1251         int asserted_yet;
1252         long long then = timeval_ms();
1253         while (jtag_srst_asserted(&asserted_yet) == ERROR_OK) {
1254                 if ((timeval_ms() - then) > timeout_ms) {
1255                         LOG_ERROR("Timed out");
1256                         return ERROR_FAIL;
1257                 }
1258                 if (asserted_yet)
1259                         break;
1260         }
1261         while (jtag_srst_asserted(&asserted_yet) == ERROR_OK) {
1262                 if ((timeval_ms() - then) > timeout_ms) {
1263                         LOG_ERROR("Timed out");
1264                         return ERROR_FAIL;
1265                 }
1266                 if (!asserted_yet)
1267                         break;
1268         }
1269
1270         return ERROR_OK;
1271 }
1272
1273 static const struct command_registration jtag_command_handlers[] = {
1274
1275         {
1276                 .name = "jtag_flush_queue_sleep",
1277                 .handler = handle_jtag_flush_queue_sleep,
1278                 .mode = COMMAND_ANY,
1279                 .help = "For debug purposes(simulate long delays of interface) "
1280                         "to test performance or change in behavior. Default 0ms.",
1281                 .usage = "[sleep in ms]",
1282         },
1283         {
1284                 .name = "jtag_rclk",
1285                 .handler = handle_jtag_rclk_command,
1286                 .mode = COMMAND_ANY,
1287                 .help = "With an argument, change to to use adaptive clocking "
1288                         "if possible; else to use the fallback speed.  "
1289                         "With or without argument, display current setting.",
1290                 .usage = "[fallback_speed_khz]",
1291         },
1292         {
1293                 .name = "jtag_ntrst_delay",
1294                 .handler = handle_jtag_ntrst_delay_command,
1295                 .mode = COMMAND_ANY,
1296                 .help = "delay after deasserting trst in ms",
1297                 .usage = "[milliseconds]",
1298         },
1299         {
1300                 .name = "jtag_ntrst_assert_width",
1301                 .handler = handle_jtag_ntrst_assert_width_command,
1302                 .mode = COMMAND_ANY,
1303                 .help = "delay after asserting trst in ms",
1304                 .usage = "[milliseconds]",
1305         },
1306         {
1307                 .name = "scan_chain",
1308                 .handler = handle_scan_chain_command,
1309                 .mode = COMMAND_ANY,
1310                 .help = "print current scan chain configuration",
1311                 .usage = ""
1312         },
1313         {
1314                 .name = "jtag_reset",
1315                 .handler = handle_jtag_reset_command,
1316                 .mode = COMMAND_EXEC,
1317                 .help = "Set reset line values.  Value '1' is active, "
1318                         "value '0' is inactive.",
1319                 .usage = "trst_active srst_active",
1320         },
1321         {
1322                 .name = "runtest",
1323                 .handler = handle_runtest_command,
1324                 .mode = COMMAND_EXEC,
1325                 .help = "Move to Run-Test/Idle, and issue TCK for num_cycles.",
1326                 .usage = "num_cycles"
1327         },
1328         {
1329                 .name = "irscan",
1330                 .handler = handle_irscan_command,
1331                 .mode = COMMAND_EXEC,
1332                 .help = "Execute Instruction Register (DR) scan.  The "
1333                         "specified opcodes are put into each TAP's IR, "
1334                         "and other TAPs are put in BYPASS.",
1335                 .usage = "[tap_name instruction]* ['-endstate' state_name]",
1336         },
1337         {
1338                 .name = "verify_ircapture",
1339                 .handler = handle_verify_ircapture_command,
1340                 .mode = COMMAND_ANY,
1341                 .help = "Display or assign flag controlling whether to "
1342                         "verify values captured during Capture-IR.",
1343                 .usage = "['enable'|'disable']",
1344         },
1345         {
1346                 .name = "verify_jtag",
1347                 .handler = handle_verify_jtag_command,
1348                 .mode = COMMAND_ANY,
1349                 .help = "Display or assign flag controlling whether to "
1350                         "verify values captured during IR and DR scans.",
1351                 .usage = "['enable'|'disable']",
1352         },
1353         {
1354                 .name = "tms_sequence",
1355                 .handler = handle_tms_sequence_command,
1356                 .mode = COMMAND_ANY,
1357                 .help = "Display or change what style TMS sequences to use "
1358                         "for JTAG state transitions:  short (default) or "
1359                         "long.  Only for working around JTAG bugs.",
1360                 /* Specifically for working around DRIVER bugs... */
1361                 .usage = "['short'|'long']",
1362         },
1363         {
1364                 .name = "wait_srst_deassert",
1365                 .handler = handle_wait_srst_deassert,
1366                 .mode = COMMAND_ANY,
1367                 .help = "Wait for an SRST deassert. "
1368                         "Useful for cases where you need something to happen within ms "
1369                         "of an srst deassert. Timeout in ms ",
1370                 .usage = "ms",
1371         },
1372         {
1373                 .name = "jtag",
1374                 .mode = COMMAND_ANY,
1375                 .help = "perform jtag tap actions",
1376                 .usage = "",
1377
1378                 .chain = jtag_subcommand_handlers,
1379         },
1380         {
1381                 .chain = jtag_command_handlers_to_move,
1382         },
1383         COMMAND_REGISTRATION_DONE
1384 };
1385
1386 int jtag_register_commands(struct command_context *cmd_ctx)
1387 {
1388         return register_commands(cmd_ctx, NULL, jtag_command_handlers);
1389 }