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

   1 /***************************************************************************
   2  *   Copyright (C) 2009 Zachary T Welch                                    *
   3  *   zw@superlucidity.net                                                  *
   4  *                                                                         *
   5  *   Copyright (C) 2007,2008,2009 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) 2005 by Dominic Rath                                    *
  13  *   Dominic.Rath@gmx.de                                                   *
  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  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  29  ***************************************************************************/
  30 #ifdef HAVE_CONFIG_H
  31 #include "config.h"
  32 #endif
  33
  34 #include "jtag.h"
  35 #include "interface.h"
  36
  37 #ifdef HAVE_STRINGS_H
  38 #include <strings.h>
  39 #endif
  40
  41
  42 /// The number of JTAG queue flushes (for profiling and debugging purposes).
  43 static int jtag_flush_queue_count;
  44
  45 static void jtag_add_scan_check(void (*jtag_add_scan)(int in_num_fields, const struct scan_field *in_fields, tap_state_t state),
  46                 int in_num_fields, struct scan_field *in_fields, tap_state_t state);
  47
  48 /**
  49  * The jtag_error variable is set when an error occurs while executing
  50  * the queue.  Application code may set this using jtag_set_error(),
  51  * when an error occurs during processing that should be reported during
  52  * jtag_execute_queue().
  53  *
  54  * Tts value may be checked with jtag_get_error() and cleared with
  55  * jtag_error_clear().  This value is returned (and cleared) by
  56  * jtag_execute_queue().
  57  */
  58 static int jtag_error = ERROR_OK;
  59
  60 static const char *jtag_event_strings[] =
  61 {
  62         [JTAG_TRST_ASSERTED] = "TAP reset",
  63         [JTAG_TAP_EVENT_SETUP] = "TAP setup",
  64         [JTAG_TAP_EVENT_ENABLE] = "TAP enabled",
  65         [JTAG_TAP_EVENT_DISABLE] = "TAP disabled",
  66 };
  67
  68 /*
  69  * JTAG adapters must initialize with TRST and SRST de-asserted
  70  * (they're negative logic, so that means *high*).  But some
  71  * hardware doesn't necessarily work that way ... so set things
  72  * up so that jtag_init() always forces that state.
  73  */
  74 static int jtag_trst = -1;
  75 static int jtag_srst = -1;
  76
  77 /**
  78  * List all TAPs that have been created.
  79  */
  80 static struct jtag_tap *__jtag_all_taps = NULL;
  81 /**
  82  * The number of TAPs in the __jtag_all_taps list, used to track the
  83  * assigned chain position to new TAPs
  84  */
  85 static unsigned jtag_num_taps = 0;
  86
  87 static enum reset_types jtag_reset_config = RESET_NONE;
  88 static tap_state_t cmd_queue_end_state = TAP_RESET;
  89 tap_state_t cmd_queue_cur_state = TAP_RESET;
  90
  91 static bool jtag_verify_capture_ir = true;
  92 static int jtag_verify = 1;
  93
  94 /* how long the OpenOCD should wait before attempting JTAG communication after reset lines deasserted (in ms) */
  95 static int jtag_nsrst_delay = 0; /* default to no nSRST delay */
  96 static int jtag_ntrst_delay = 0; /* default to no nTRST delay */
  97 static int jtag_nsrst_assert_width = 0; /* width of assertion */
  98 static int jtag_ntrst_assert_width = 0; /* width of assertion */
  99
 100 /**
 101  * Contains a single callback along with a pointer that will be passed
 102  * when an event occurs.
 103  */
 104 struct jtag_event_callback {
 105         /// a event callback
 106         jtag_event_handler_t callback;
 107         /// the private data to pass to the callback
 108         void* priv;
 109         /// the next callback
 110         struct jtag_event_callback* next;
 111 };
 112
 113 /* callbacks to inform high-level handlers about JTAG state changes */
 114 static struct jtag_event_callback *jtag_event_callbacks;
 115
 116 /* speed in kHz*/
 117 static int speed_khz = 0;
 118 /* speed to fallback to when RCLK is requested but not supported */
 119 static int rclk_fallback_speed_khz = 0;
 120 static enum {CLOCK_MODE_SPEED, CLOCK_MODE_KHZ, CLOCK_MODE_RCLK} clock_mode;
 121 static int jtag_speed = 0;
 122
 123 static struct jtag_interface *jtag = NULL;
 124
 125 /* configuration */
 126 struct jtag_interface *jtag_interface = NULL;
 127
 128 void jtag_set_error(int error)
 129 {
 130         if ((error == ERROR_OK) || (jtag_error != ERROR_OK))
 131                 return;
 132         jtag_error = error;
 133 }
 134 int jtag_get_error(void)
 135 {
 136         return jtag_error;
 137 }
 138 int jtag_error_clear(void)
 139 {
 140         int temp = jtag_error;
 141         jtag_error = ERROR_OK;
 142         return temp;
 143 }
 144
 145 /************/
 146
 147 static bool jtag_poll = 1;
 148
 149 bool is_jtag_poll_safe(void)
 150 {
 151         /* Polling can be disabled explicitly with set_enabled(false).
 152          * It is also implicitly disabled while TRST is active and
 153          * while SRST is gating the JTAG clock.
 154          */
 155         if (!jtag_poll || jtag_trst != 0)
 156                 return false;
 157         return jtag_srst == 0 || (jtag_reset_config & RESET_SRST_NO_GATING);
 158 }
 159
 160 bool jtag_poll_get_enabled(void)
 161 {
 162         return jtag_poll;
 163 }
 164
 165 void jtag_poll_set_enabled(bool value)
 166 {
 167         jtag_poll = value;
 168 }
 169
 170 /************/
 171
 172 struct jtag_tap *jtag_all_taps(void)
 173 {
 174         return __jtag_all_taps;
 175 };
 176
 177 unsigned jtag_tap_count(void)
 178 {
 179         return jtag_num_taps;
 180 }
 181
 182 unsigned jtag_tap_count_enabled(void)
 183 {
 184         struct jtag_tap *t = jtag_all_taps();
 185         unsigned n = 0;
 186         while (t)
 187         {
 188                 if (t->enabled)
 189                         n++;
 190                 t = t->next_tap;
 191         }
 192         return n;
 193 }
 194
 195 /// Append a new TAP to the chain of all taps.
 196 void jtag_tap_add(struct jtag_tap *t)
 197 {
 198         t->abs_chain_position = jtag_num_taps++;
 199
 200         struct jtag_tap **tap = &__jtag_all_taps;
 201         while (*tap != NULL)
 202                 tap = &(*tap)->next_tap;
 203         *tap = t;
 204 }
 205
 206 /* returns a pointer to the n-th device in the scan chain */
 207 static inline struct jtag_tap *jtag_tap_by_position(unsigned n)
 208 {
 209         struct jtag_tap *t = jtag_all_taps();
 210
 211         while (t && n-- > 0)
 212                 t = t->next_tap;
 213
 214         return t;
 215 }
 216
 217 struct jtag_tap *jtag_tap_by_string(const char *s)
 218 {
 219         /* try by name first */
 220         struct jtag_tap *t = jtag_all_taps();
 221
 222         while (t)
 223         {
 224                 if (0 == strcmp(t->dotted_name, s))
 225                         return t;
 226                 t = t->next_tap;
 227         }
 228
 229         /* no tap found by name, so try to parse the name as a number */
 230         unsigned n;
 231         if (parse_uint(s, &n) != ERROR_OK)
 232                 return NULL;
 233
 234         /* FIXME remove this numeric fallback code late June 2010, along
 235          * with all info in the User's Guide that TAPs have numeric IDs.
 236          * Also update "scan_chain" output to not display the numbers.
 237          */
 238         t = jtag_tap_by_position(n);
 239         if (t)
 240                 LOG_WARNING("Specify TAP '%s' by name, not number %u",
 241                         t->dotted_name, n);
 242
 243         return t;
 244 }
 245
 246 struct jtag_tap* jtag_tap_next_enabled(struct jtag_tap* p)
 247 {
 248         p = p ? p->next_tap : jtag_all_taps();
 249         while (p)
 250         {
 251                 if (p->enabled)
 252                         return p;
 253                 p = p->next_tap;
 254         }
 255         return NULL;
 256 }
 257
 258 const char *jtag_tap_name(const struct jtag_tap *tap)
 259 {
 260         return (tap == NULL) ? "(unknown)" : tap->dotted_name;
 261 }
 262
 263
 264 int jtag_register_event_callback(jtag_event_handler_t callback, void *priv)
 265 {
 266         struct jtag_event_callback **callbacks_p = &jtag_event_callbacks;
 267
 268         if (callback == NULL)
 269         {
 270                 return ERROR_INVALID_ARGUMENTS;
 271         }
 272
 273         if (*callbacks_p)
 274         {
 275                 while ((*callbacks_p)->next)
 276                         callbacks_p = &((*callbacks_p)->next);
 277                 callbacks_p = &((*callbacks_p)->next);
 278         }
 279
 280         (*callbacks_p) = malloc(sizeof(struct jtag_event_callback));
 281         (*callbacks_p)->callback = callback;
 282         (*callbacks_p)->priv = priv;
 283         (*callbacks_p)->next = NULL;
 284
 285         return ERROR_OK;
 286 }
 287
 288 int jtag_unregister_event_callback(jtag_event_handler_t callback, void *priv)
 289 {
 290         struct jtag_event_callback **callbacks_p;
 291         struct jtag_event_callback **next;
 292
 293         if (callback == NULL)
 294         {
 295                 return ERROR_INVALID_ARGUMENTS;
 296         }
 297
 298         for (callbacks_p = &jtag_event_callbacks;
 299                         *callbacks_p != NULL;
 300                         callbacks_p = next)
 301         {
 302                 next = &((*callbacks_p)->next);
 303
 304                 if ((*callbacks_p)->priv != priv)
 305                         continue;
 306
 307                 if ((*callbacks_p)->callback == callback)
 308                 {
 309                         free(*callbacks_p);
 310                         *callbacks_p = *next;
 311                 }
 312         }
 313
 314         return ERROR_OK;
 315 }
 316
 317 int jtag_call_event_callbacks(enum jtag_event event)
 318 {
 319         struct jtag_event_callback *callback = jtag_event_callbacks;
 320
 321         LOG_DEBUG("jtag event: %s", jtag_event_strings[event]);
 322
 323         while (callback)
 324         {
 325                 struct jtag_event_callback *next;
 326
 327                 /* callback may remove itself */
 328                 next = callback->next;
 329                 callback->callback(event, callback->priv);
 330                 callback = next;
 331         }
 332
 333         return ERROR_OK;
 334 }
 335
 336 static void jtag_checks(void)
 337 {
 338         assert(jtag_trst == 0);
 339 }
 340
 341 static void jtag_prelude(tap_state_t state)
 342 {
 343         jtag_checks();
 344
 345         assert(state != TAP_INVALID);
 346
 347         cmd_queue_cur_state = state;
 348 }
 349
 350 void jtag_alloc_in_value32(struct scan_field *field)
 351 {
 352         interface_jtag_alloc_in_value32(field);
 353 }
 354
 355 void jtag_add_ir_scan_noverify(int in_count, const struct scan_field *in_fields,
 356                 tap_state_t state)
 357 {
 358         jtag_prelude(state);
 359
 360         int retval = interface_jtag_add_ir_scan(in_count, in_fields, state);
 361         jtag_set_error(retval);
 362 }
 363
 364
 365 void jtag_add_ir_scan(int in_num_fields, struct scan_field *in_fields, tap_state_t state)
 366 {
 367         assert(state != TAP_RESET);
 368
 369         if (jtag_verify && jtag_verify_capture_ir)
 370         {
 371                 /* 8 x 32 bit id's is enough for all invocations */
 372
 373                 for (int j = 0; j < in_num_fields; j++)
 374                 {
 375                         /* if we are to run a verification of the ir scan, we need to get the input back.
 376                          * We may have to allocate space if the caller didn't ask for the input back.
 377                          */
 378                         in_fields[j].check_value = in_fields[j].tap->expected;
 379                         in_fields[j].check_mask = in_fields[j].tap->expected_mask;
 380                 }
 381                 jtag_add_scan_check(jtag_add_ir_scan_noverify, in_num_fields, in_fields, state);
 382         } else
 383         {
 384                 jtag_add_ir_scan_noverify(in_num_fields, in_fields, state);
 385         }
 386 }
 387
 388 void jtag_add_plain_ir_scan(int in_num_fields, const struct scan_field *in_fields,
 389                 tap_state_t state)
 390 {
 391         assert(state != TAP_RESET);
 392
 393         jtag_prelude(state);
 394
 395         int retval = interface_jtag_add_plain_ir_scan(
 396                         in_num_fields, in_fields, state);
 397         jtag_set_error(retval);
 398 }
 399
 400 static int jtag_check_value_inner(uint8_t *captured, uint8_t *in_check_value,
 401                 uint8_t *in_check_mask, int num_bits);
 402
 403 static int jtag_check_value_mask_callback(jtag_callback_data_t data0, jtag_callback_data_t data1, jtag_callback_data_t data2, jtag_callback_data_t data3)
 404 {
 405         return jtag_check_value_inner((uint8_t *)data0, (uint8_t *)data1, (uint8_t *)data2, (int)data3);
 406 }
 407
 408 static void jtag_add_scan_check(void (*jtag_add_scan)(int in_num_fields, const struct scan_field *in_fields, tap_state_t state),
 409                 int in_num_fields, struct scan_field *in_fields, tap_state_t state)
 410 {
 411         for (int i = 0; i < in_num_fields; i++)
 412         {
 413                 struct scan_field *field = &in_fields[i];
 414                 field->allocated = 0;
 415                 field->modified = 0;
 416                 if (field->check_value || field->in_value)
 417                         continue;
 418                 interface_jtag_add_scan_check_alloc(field);
 419                 field->modified = 1;
 420         }
 421
 422         jtag_add_scan(in_num_fields, in_fields, state);
 423
 424         for (int i = 0; i < in_num_fields; i++)
 425         {
 426                 if ((in_fields[i].check_value != NULL) && (in_fields[i].in_value != NULL))
 427                 {
 428                         /* this is synchronous for a minidriver */
 429                         jtag_add_callback4(jtag_check_value_mask_callback, (jtag_callback_data_t)in_fields[i].in_value,
 430                                 (jtag_callback_data_t)in_fields[i].check_value,
 431                                 (jtag_callback_data_t)in_fields[i].check_mask,
 432                                 (jtag_callback_data_t)in_fields[i].num_bits);
 433                 }
 434                 if (in_fields[i].allocated)
 435                 {
 436                         free(in_fields[i].in_value);
 437                 }
 438                 if (in_fields[i].modified)
 439                 {
 440                         in_fields[i].in_value = NULL;
 441                 }
 442         }
 443 }
 444
 445 void jtag_add_dr_scan_check(int in_num_fields, struct scan_field *in_fields, tap_state_t state)
 446 {
 447         if (jtag_verify)
 448         {
 449                 jtag_add_scan_check(jtag_add_dr_scan, in_num_fields, in_fields, state);
 450         } else
 451         {
 452                 jtag_add_dr_scan(in_num_fields, in_fields, state);
 453         }
 454 }
 455
 456
 457 void jtag_add_dr_scan(int in_num_fields, const struct scan_field *in_fields,
 458                 tap_state_t state)
 459 {
 460         assert(state != TAP_RESET);
 461
 462         jtag_prelude(state);
 463
 464         int retval;
 465         retval = interface_jtag_add_dr_scan(in_num_fields, in_fields, state);
 466         jtag_set_error(retval);
 467 }
 468
 469 void jtag_add_plain_dr_scan(int in_num_fields, const struct scan_field *in_fields,
 470                 tap_state_t state)
 471 {
 472         assert(state != TAP_RESET);
 473
 474         jtag_prelude(state);
 475
 476         int retval;
 477         retval = interface_jtag_add_plain_dr_scan(in_num_fields, in_fields, state);
 478         jtag_set_error(retval);
 479 }
 480
 481 void jtag_add_tlr(void)
 482 {
 483         jtag_prelude(TAP_RESET);
 484         jtag_set_error(interface_jtag_add_tlr());
 485
 486         /* NOTE: order here matches TRST path in jtag_add_reset() */
 487         jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 488         jtag_notify_event(JTAG_TRST_ASSERTED);
 489 }
 490
 491 void jtag_add_pathmove(int num_states, const tap_state_t *path)
 492 {
 493         tap_state_t cur_state = cmd_queue_cur_state;
 494
 495         /* the last state has to be a stable state */
 496         if (!tap_is_state_stable(path[num_states - 1]))
 497         {
 498                 LOG_ERROR("BUG: TAP path doesn't finish in a stable state");
 499                 jtag_set_error(ERROR_JTAG_NOT_STABLE_STATE);
 500                 return;
 501         }
 502
 503         for (int i = 0; i < num_states; i++)
 504         {
 505                 if (path[i] == TAP_RESET)
 506                 {
 507                         LOG_ERROR("BUG: TAP_RESET is not a valid state for pathmove sequences");
 508                         jtag_set_error(ERROR_JTAG_STATE_INVALID);
 509                         return;
 510                 }
 511
 512                 if (tap_state_transition(cur_state, true)  != path[i]
 513                   && tap_state_transition(cur_state, false) != path[i])
 514                 {
 515                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
 516                                         tap_state_name(cur_state), tap_state_name(path[i]));
 517                         jtag_set_error(ERROR_JTAG_TRANSITION_INVALID);
 518                         return;
 519                 }
 520                 cur_state = path[i];
 521         }
 522
 523         jtag_checks();
 524
 525         jtag_set_error(interface_jtag_add_pathmove(num_states, path));
 526         cmd_queue_cur_state = path[num_states - 1];
 527 }
 528
 529 int jtag_add_statemove(tap_state_t goal_state)
 530 {
 531         tap_state_t cur_state = cmd_queue_cur_state;
 532
 533         LOG_DEBUG("cur_state=%s goal_state=%s",
 534                 tap_state_name(cur_state),
 535                 tap_state_name(goal_state));
 536
 537
 538         /* If goal is RESET, be paranoid and force that that transition
 539          * (e.g. five TCK cycles, TMS high).  Else trust "cur_state".
 540          */
 541         if (goal_state == TAP_RESET)
 542                 jtag_add_tlr();
 543         else if (goal_state == cur_state)
 544                 /* nothing to do */ ;
 545
 546         else if (tap_is_state_stable(cur_state) && tap_is_state_stable(goal_state))
 547         {
 548                 unsigned tms_bits  = tap_get_tms_path(cur_state, goal_state);
 549                 unsigned tms_count = tap_get_tms_path_len(cur_state, goal_state);
 550                 tap_state_t moves[8];
 551                 assert(tms_count < ARRAY_SIZE(moves));
 552
 553                 for (unsigned i = 0; i < tms_count; i++, tms_bits >>= 1)
 554                 {
 555                         bool bit = tms_bits & 1;
 556
 557                         cur_state = tap_state_transition(cur_state, bit);
 558                         moves[i] = cur_state;
 559                 }
 560
 561                 jtag_add_pathmove(tms_count, moves);
 562         }
 563         else if (tap_state_transition(cur_state, true)  == goal_state
 564                 ||   tap_state_transition(cur_state, false) == goal_state)
 565         {
 566                 jtag_add_pathmove(1, &goal_state);
 567         }
 568
 569         else
 570                 return ERROR_FAIL;
 571
 572         return ERROR_OK;
 573 }
 574
 575 void jtag_add_runtest(int num_cycles, tap_state_t state)
 576 {
 577         jtag_prelude(state);
 578         jtag_set_error(interface_jtag_add_runtest(num_cycles, state));
 579 }
 580
 581
 582 void jtag_add_clocks(int num_cycles)
 583 {
 584         if (!tap_is_state_stable(cmd_queue_cur_state))
 585         {
 586                  LOG_ERROR("jtag_add_clocks() called with TAP in unstable state \"%s\"",
 587                                  tap_state_name(cmd_queue_cur_state));
 588                  jtag_set_error(ERROR_JTAG_NOT_STABLE_STATE);
 589                  return;
 590         }
 591
 592         if (num_cycles > 0)
 593         {
 594                 jtag_checks();
 595                 jtag_set_error(interface_jtag_add_clocks(num_cycles));
 596         }
 597 }
 598
 599 void jtag_add_reset(int req_tlr_or_trst, int req_srst)
 600 {
 601         int trst_with_tlr = 0;
 602         int new_srst = 0;
 603         int new_trst = 0;
 604
 605         /* Without SRST, we must use target-specific JTAG operations
 606          * on each target; callers should not be requesting SRST when
 607          * that signal doesn't exist.
 608          *
 609          * RESET_SRST_PULLS_TRST is a board or chip level quirk, which
 610          * can kick in even if the JTAG adapter can't drive TRST.
 611          */
 612         if (req_srst) {
 613                 if (!(jtag_reset_config & RESET_HAS_SRST)) {
 614                         LOG_ERROR("BUG: can't assert SRST");
 615                         jtag_set_error(ERROR_FAIL);
 616                         return;
 617                 }
 618                 if ((jtag_reset_config & RESET_SRST_PULLS_TRST) != 0
 619                                 && !req_tlr_or_trst) {
 620                         LOG_ERROR("BUG: can't assert only SRST");
 621                         jtag_set_error(ERROR_FAIL);
 622                         return;
 623                 }
 624                 new_srst = 1;
 625         }
 626
 627         /* JTAG reset (entry to TAP_RESET state) can always be achieved
 628          * using TCK and TMS; that may go through a TAP_{IR,DR}UPDATE
 629          * state first.  TRST accelerates it, and bypasses those states.
 630          *
 631          * RESET_TRST_PULLS_SRST is a board or chip level quirk, which
 632          * can kick in even if the JTAG adapter can't drive SRST.
 633          */
 634         if (req_tlr_or_trst) {
 635                 if (!(jtag_reset_config & RESET_HAS_TRST))
 636                         trst_with_tlr = 1;
 637                 else if ((jtag_reset_config & RESET_TRST_PULLS_SRST) != 0
 638                                 && !req_srst)
 639                         trst_with_tlr = 1;
 640                 else
 641                         new_trst = 1;
 642         }
 643
 644         /* Maybe change TRST and/or SRST signal state */
 645         if (jtag_srst != new_srst || jtag_trst != new_trst) {
 646                 int retval;
 647
 648                 retval = interface_jtag_add_reset(new_trst, new_srst);
 649                 if (retval != ERROR_OK)
 650                         jtag_set_error(retval);
 651                 else
 652                         retval = jtag_execute_queue();
 653
 654                 if (retval != ERROR_OK) {
 655                         LOG_ERROR("TRST/SRST error %d", retval);
 656                         return;
 657                 }
 658         }
 659
 660         /* SRST resets everything hooked up to that signal */
 661         if (jtag_srst != new_srst) {
 662                 jtag_srst = new_srst;
 663                 if (jtag_srst)
 664                 {
 665                         LOG_DEBUG("SRST line asserted");
 666                         if (jtag_nsrst_assert_width)
 667                                 jtag_add_sleep(jtag_nsrst_assert_width * 1000);
 668                 }
 669                 else {
 670                         LOG_DEBUG("SRST line released");
 671                         if (jtag_nsrst_delay)
 672                                 jtag_add_sleep(jtag_nsrst_delay * 1000);
 673                 }
 674         }
 675
 676         /* Maybe enter the JTAG TAP_RESET state ...
 677          *  - using only TMS, TCK, and the JTAG state machine
 678          *  - or else more directly, using TRST
 679          *
 680          * TAP_RESET should be invisible to non-debug parts of the system.
 681          */
 682         if (trst_with_tlr) {
 683                 LOG_DEBUG("JTAG reset with TLR instead of TRST");
 684                 jtag_set_end_state(TAP_RESET);
 685                 jtag_add_tlr();
 686
 687         } else if (jtag_trst != new_trst) {
 688                 jtag_trst = new_trst;
 689                 if (jtag_trst) {
 690                         LOG_DEBUG("TRST line asserted");
 691                         tap_set_state(TAP_RESET);
 692                         if (jtag_ntrst_assert_width)
 693                                 jtag_add_sleep(jtag_ntrst_assert_width * 1000);
 694                 } else {
 695                         LOG_DEBUG("TRST line released");
 696                         if (jtag_ntrst_delay)
 697                                 jtag_add_sleep(jtag_ntrst_delay * 1000);
 698
 699                         /* We just asserted nTRST, so we're now in TAP_RESET.
 700                          * Inform possible listeners about this, now that
 701                          * JTAG instructions and data can be shifted.  This
 702                          * sequence must match jtag_add_tlr().
 703                          */
 704                         jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 705                         jtag_notify_event(JTAG_TRST_ASSERTED);
 706                 }
 707         }
 708 }
 709
 710 tap_state_t jtag_set_end_state(tap_state_t state)
 711 {
 712         if ((state == TAP_DRSHIFT)||(state == TAP_IRSHIFT))
 713         {
 714                 LOG_ERROR("BUG: TAP_DRSHIFT/IRSHIFT can't be end state. Calling code should use a larger scan field");
 715         }
 716
 717         if (state != TAP_INVALID)
 718                 cmd_queue_end_state = state;
 719         return cmd_queue_end_state;
 720 }
 721
 722 tap_state_t jtag_get_end_state(void)
 723 {
 724         return cmd_queue_end_state;
 725 }
 726
 727 void jtag_add_sleep(uint32_t us)
 728 {
 729         /// @todo Here, keep_alive() appears to be a layering violation!!!
 730         keep_alive();
 731         jtag_set_error(interface_jtag_add_sleep(us));
 732 }
 733
 734 static int jtag_check_value_inner(uint8_t *captured, uint8_t *in_check_value,
 735                 uint8_t *in_check_mask, int num_bits)
 736 {
 737         int retval = ERROR_OK;
 738         int compare_failed;
 739
 740         if (in_check_mask)
 741                 compare_failed = buf_cmp_mask(captured, in_check_value, in_check_mask, num_bits);
 742         else
 743                 compare_failed = buf_cmp(captured, in_check_value, num_bits);
 744
 745         if (compare_failed) {
 746                 char *captured_str, *in_check_value_str;
 747                 int bits = (num_bits > DEBUG_JTAG_IOZ)
 748                                 ? DEBUG_JTAG_IOZ
 749                                 : num_bits;
 750
 751                 /* NOTE:  we've lost diagnostic context here -- 'which tap' */
 752
 753                 captured_str = buf_to_str(captured, bits, 16);
 754                 in_check_value_str = buf_to_str(in_check_value, bits, 16);
 755
 756                 LOG_WARNING("Bad value '%s' captured during DR or IR scan:",
 757                                 captured_str);
 758                 LOG_WARNING(" check_value: 0x%s", in_check_value_str);
 759
 760                 free(captured_str);
 761                 free(in_check_value_str);
 762
 763                 if (in_check_mask) {
 764                         char *in_check_mask_str;
 765
 766                         in_check_mask_str = buf_to_str(in_check_mask, bits, 16);
 767                         LOG_WARNING(" check_mask: 0x%s", in_check_mask_str);
 768                         free(in_check_mask_str);
 769                 }
 770
 771                 retval = ERROR_JTAG_QUEUE_FAILED;
 772         }
 773         return retval;
 774 }
 775
 776 void jtag_check_value_mask(struct scan_field *field, uint8_t *value, uint8_t *mask)
 777 {
 778         assert(field->in_value != NULL);
 779
 780         if (value == NULL)
 781         {
 782                 /* no checking to do */
 783                 return;
 784         }
 785
 786         jtag_execute_queue_noclear();
 787
 788         int retval = jtag_check_value_inner(field->in_value, value, mask, field->num_bits);
 789         jtag_set_error(retval);
 790 }
 791
 792
 793
 794 int default_interface_jtag_execute_queue(void)
 795 {
 796         if (NULL == jtag)
 797         {
 798                 LOG_ERROR("No JTAG interface configured yet.  "
 799                         "Issue 'init' command in startup scripts "
 800                         "before communicating with targets.");
 801                 return ERROR_FAIL;
 802         }
 803
 804         return jtag->execute_queue();
 805 }
 806
 807 void jtag_execute_queue_noclear(void)
 808 {
 809         jtag_flush_queue_count++;
 810         jtag_set_error(interface_jtag_execute_queue());
 811 }
 812
 813 int jtag_get_flush_queue_count(void)
 814 {
 815         return jtag_flush_queue_count;
 816 }
 817
 818 int jtag_execute_queue(void)
 819 {
 820         jtag_execute_queue_noclear();
 821         return jtag_error_clear();
 822 }
 823
 824 static int jtag_reset_callback(enum jtag_event event, void *priv)
 825 {
 826         struct jtag_tap *tap = priv;
 827
 828         if (event == JTAG_TRST_ASSERTED)
 829         {
 830                 tap->enabled = !tap->disabled_after_reset;
 831
 832                 /* current instruction is either BYPASS or IDCODE */
 833                 buf_set_ones(tap->cur_instr, tap->ir_length);
 834                 tap->bypass = 1;
 835         }
 836
 837         return ERROR_OK;
 838 }
 839
 840 void jtag_sleep(uint32_t us)
 841 {
 842         alive_sleep(us/1000);
 843 }
 844
 845 /* Maximum number of enabled JTAG devices we expect in the scan chain,
 846  * plus one (to detect garbage at the end).  Devices that don't support
 847  * IDCODE take up fewer bits, possibly allowing a few more devices.
 848  */
 849 #define JTAG_MAX_CHAIN_SIZE 20
 850
 851 #define EXTRACT_MFG(X)  (((X) & 0xffe) >> 1)
 852 #define EXTRACT_PART(X) (((X) & 0xffff000) >> 12)
 853 #define EXTRACT_VER(X)  (((X) & 0xf0000000) >> 28)
 854
 855 /* A reserved manufacturer ID is used in END_OF_CHAIN_FLAG, so we
 856  * know that no valid TAP will have it as an IDCODE value.
 857  */
 858 #define END_OF_CHAIN_FLAG       0x000000ff
 859
 860 /* a larger IR length than we ever expect to autoprobe */
 861 #define JTAG_IRLEN_MAX          60
 862
 863 static int jtag_examine_chain_execute(uint8_t *idcode_buffer, unsigned num_idcode)
 864 {
 865         struct scan_field field = {
 866                         .tap = NULL,
 867                         .num_bits = num_idcode * 32,
 868                         .out_value = idcode_buffer,
 869                         .in_value = idcode_buffer,
 870                 };
 871
 872         // initialize to the end of chain ID value
 873         for (unsigned i = 0; i < JTAG_MAX_CHAIN_SIZE; i++)
 874                 buf_set_u32(idcode_buffer, i * 32, 32, END_OF_CHAIN_FLAG);
 875
 876         jtag_add_plain_dr_scan(1, &field, TAP_DRPAUSE);
 877         jtag_add_tlr();
 878         return jtag_execute_queue();
 879 }
 880
 881 static bool jtag_examine_chain_check(uint8_t *idcodes, unsigned count)
 882 {
 883         uint8_t zero_check = 0x0;
 884         uint8_t one_check = 0xff;
 885
 886         for (unsigned i = 0; i < count * 4; i++)
 887         {
 888                 zero_check |= idcodes[i];
 889                 one_check &= idcodes[i];
 890         }
 891
 892         /* if there wasn't a single non-zero bit or if all bits were one,
 893          * the scan is not valid.  We wrote a mix of both values; either
 894          *
 895          *  - There's a hardware issue (almost certainly):
 896          *     + all-zeroes can mean a target stuck in JTAG reset
 897          *     + all-ones tends to mean no target
 898          *  - The scan chain is WAY longer than we can handle, *AND* either
 899          *     + there are several hundreds of TAPs in bypass, or
 900          *     + at least a few dozen TAPs all have an all-ones IDCODE
 901          */
 902         if (zero_check == 0x00 || one_check == 0xff)
 903         {
 904                 LOG_ERROR("JTAG scan chain interrogation failed: all %s",
 905                                 (zero_check == 0x00) ? "zeroes" : "ones");
 906                 LOG_ERROR("Check JTAG interface, timings, target power, etc.");
 907                 return false;
 908         }
 909         return true;
 910 }
 911
 912 static void jtag_examine_chain_display(enum log_levels level, const char *msg,
 913                 const char *name, uint32_t idcode)
 914 {
 915         log_printf_lf(level, __FILE__, __LINE__, __FUNCTION__,
 916                                   "JTAG tap: %s %16.16s: 0x%08x "
 917                                   "(mfg: 0x%3.3x, part: 0x%4.4x, ver: 0x%1.1x)",
 918                                   name, msg,
 919                                   (unsigned int)idcode,
 920                                   (unsigned int)EXTRACT_MFG(idcode),
 921                                   (unsigned int)EXTRACT_PART(idcode),
 922                                   (unsigned int)EXTRACT_VER(idcode));
 923 }
 924
 925 static bool jtag_idcode_is_final(uint32_t idcode)
 926 {
 927         /*
 928          * Some devices, such as AVR8, will output all 1's instead
 929          * of TDI input value at end of chain.  Allow those values
 930          * instead of failing.
 931          */
 932         return idcode == END_OF_CHAIN_FLAG || idcode == 0xFFFFFFFF;
 933 }
 934
 935 /**
 936  * This helper checks that remaining bits in the examined chain data are
 937  * all as expected, but a single JTAG device requires only 64 bits to be
 938  * read back correctly.  This can help identify and diagnose problems
 939  * with the JTAG chain earlier, gives more helpful/explicit error messages.
 940  * Returns TRUE iff garbage was found.
 941  */
 942 static bool jtag_examine_chain_end(uint8_t *idcodes, unsigned count, unsigned max)
 943 {
 944         bool triggered = false;
 945         for (; count < max - 31; count += 32)
 946         {
 947                 uint32_t idcode = buf_get_u32(idcodes, count, 32);
 948
 949                 /* do not trigger the warning if the data looks good */
 950                 if (jtag_idcode_is_final(idcode))
 951                         continue;
 952                 LOG_WARNING("Unexpected idcode after end of chain: %d 0x%08x",
 953                                         count, (unsigned int)idcode);
 954                 triggered = true;
 955         }
 956         return triggered;
 957 }
 958
 959 static bool jtag_examine_chain_match_tap(const struct jtag_tap *tap)
 960 {
 961         uint32_t idcode = tap->idcode;
 962
 963         /* ignore expected BYPASS codes; warn otherwise */
 964         if (0 == tap->expected_ids_cnt && !idcode)
 965                 return true;
 966
 967         /* optionally ignore the JTAG version field */
 968         uint32_t mask = tap->ignore_version ? ~(0xff << 24) : ~0;
 969
 970         idcode &= mask;
 971
 972         /* Loop over the expected identification codes and test for a match */
 973         unsigned ii, limit = tap->expected_ids_cnt;
 974
 975         for (ii = 0; ii < limit; ii++)
 976         {
 977                 uint32_t expected = tap->expected_ids[ii] & mask;
 978
 979                 if (idcode == expected)
 980                         return true;
 981
 982                 /* treat "-expected-id 0" as a "don't-warn" wildcard */
 983                 if (0 == tap->expected_ids[ii])
 984                         return true;
 985         }
 986
 987         /* If none of the expected ids matched, warn */
 988         jtag_examine_chain_display(LOG_LVL_WARNING, "UNEXPECTED",
 989                         tap->dotted_name, tap->idcode);
 990         for (ii = 0; ii < limit; ii++)
 991         {
 992                 char msg[32];
 993
 994                 snprintf(msg, sizeof(msg), "expected %u of %u", ii + 1, limit);
 995                 jtag_examine_chain_display(LOG_LVL_ERROR, msg,
 996                                 tap->dotted_name, tap->expected_ids[ii]);
 997         }
 998         return false;
 999 }
1000
1001 /* Try to examine chain layout according to IEEE 1149.1 §12
1002  * This is called a "blind interrogation" of the scan chain.
1003  */
1004 static int jtag_examine_chain(void)
1005 {
1006         uint8_t idcode_buffer[JTAG_MAX_CHAIN_SIZE * 4];
1007         unsigned bit_count;
1008         int retval;
1009         int tapcount = 0;
1010         bool autoprobe = false;
1011
1012         /* DR scan to collect BYPASS or IDCODE register contents.
1013          * Then make sure the scan data has both ones and zeroes.
1014          */
1015         LOG_DEBUG("DR scan interrogation for IDCODE/BYPASS");
1016         retval = jtag_examine_chain_execute(idcode_buffer, JTAG_MAX_CHAIN_SIZE);
1017         if (retval != ERROR_OK)
1018                 return retval;
1019         if (!jtag_examine_chain_check(idcode_buffer, JTAG_MAX_CHAIN_SIZE))
1020                 return ERROR_JTAG_INIT_FAILED;
1021
1022         /* point at the 1st tap */
1023         struct jtag_tap *tap = jtag_tap_next_enabled(NULL);
1024
1025         if (!tap)
1026                 autoprobe = true;
1027
1028         for (bit_count = 0;
1029                         tap && bit_count < (JTAG_MAX_CHAIN_SIZE * 32) - 31;
1030                         tap = jtag_tap_next_enabled(tap))
1031         {
1032                 uint32_t idcode = buf_get_u32(idcode_buffer, bit_count, 32);
1033
1034                 if ((idcode & 1) == 0)
1035                 {
1036                         /* Zero for LSB indicates a device in bypass */
1037                         LOG_INFO("TAP %s does not have IDCODE",
1038                                         tap->dotted_name);
1039                         idcode = 0;
1040                         tap->hasidcode = false;
1041
1042                         bit_count += 1;
1043                 }
1044                 else
1045                 {
1046                         /* Friendly devices support IDCODE */
1047                         tap->hasidcode = true;
1048                         jtag_examine_chain_display(LOG_LVL_INFO,
1049                                         "tap/device found",
1050                                         tap->dotted_name, idcode);
1051
1052                         bit_count += 32;
1053                 }
1054                 tap->idcode = idcode;
1055
1056                 /* ensure the TAP ID matches what was expected */
1057                 if (!jtag_examine_chain_match_tap(tap))
1058                         retval = ERROR_JTAG_INIT_SOFT_FAIL;
1059         }
1060
1061         /* Fail if too many TAPs were enabled for us to verify them all. */
1062         if (tap) {
1063                 LOG_ERROR("Too many TAPs enabled; '%s' ignored.",
1064                                 tap->dotted_name);
1065                 return ERROR_JTAG_INIT_FAILED;
1066         }
1067
1068         /* if autoprobing, the tap list is still empty ... populate it! */
1069         while (autoprobe && bit_count < (JTAG_MAX_CHAIN_SIZE * 32) - 31) {
1070                 uint32_t idcode;
1071                 char buf[12];
1072
1073                 /* Is there another TAP? */
1074                 idcode = buf_get_u32(idcode_buffer, bit_count, 32);
1075                 if (jtag_idcode_is_final(idcode))
1076                         break;
1077
1078                 /* Default everything in this TAP except IR length.
1079                  *
1080                  * REVISIT create a jtag_alloc(chip, tap) routine, and
1081                  * share it with jim_newtap_cmd().
1082                  */
1083                 tap = calloc(1, sizeof *tap);
1084                 if (!tap)
1085                         return ERROR_FAIL;
1086
1087                 sprintf(buf, "auto%d", tapcount++);
1088                 tap->chip = strdup(buf);
1089                 tap->tapname = strdup("tap");
1090
1091                 sprintf(buf, "%s.%s", tap->chip, tap->tapname);
1092                 tap->dotted_name = strdup(buf);
1093
1094                 /* tap->ir_length == 0 ... signifying irlen autoprobe */
1095                 tap->ir_capture_mask = 0x03;
1096                 tap->ir_capture_value = 0x01;
1097
1098                 tap->enabled = true;
1099
1100                 if ((idcode & 1) == 0) {
1101                         bit_count += 1;
1102                         tap->hasidcode = false;
1103                 } else {
1104                         bit_count += 32;
1105                         tap->hasidcode = true;
1106                         tap->idcode = idcode;
1107
1108                         tap->expected_ids_cnt = 1;
1109                         tap->expected_ids = malloc(sizeof(uint32_t));
1110                         tap->expected_ids[0] = idcode;
1111                 }
1112
1113                 LOG_WARNING("AUTO %s - use \"jtag newtap "
1114                                 "%s %s -expected-id 0x%8.8" PRIx32 " ...\"",
1115                                 tap->dotted_name, tap->chip, tap->tapname,
1116                                 tap->idcode);
1117
1118                 jtag_tap_init(tap);
1119         }
1120
1121         /* After those IDCODE or BYPASS register values should be
1122          * only the data we fed into the scan chain.
1123          */
1124         if (jtag_examine_chain_end(idcode_buffer, bit_count,
1125                         8 * sizeof(idcode_buffer))) {
1126                 LOG_ERROR("double-check your JTAG setup (interface, "
1127                                 "speed, missing TAPs, ...)");
1128                 return ERROR_JTAG_INIT_FAILED;
1129         }
1130
1131         /* Return success or, for backwards compatibility if only
1132          * some IDCODE values mismatched, a soft/continuable fault.
1133          */
1134         return retval;
1135 }
1136
1137 /*
1138  * Validate the date loaded by entry to the Capture-IR state, to help
1139  * find errors related to scan chain configuration (wrong IR lengths)
1140  * or communication.
1141  *
1142  * Entry state can be anything.  On non-error exit, all TAPs are in
1143  * bypass mode.  On error exits, the scan chain is reset.
1144  */
1145 static int jtag_validate_ircapture(void)
1146 {
1147         struct jtag_tap *tap;
1148         int total_ir_length = 0;
1149         uint8_t *ir_test = NULL;
1150         struct scan_field field;
1151         int val;
1152         int chain_pos = 0;
1153         int retval;
1154
1155         /* when autoprobing, accomodate huge IR lengths */
1156         for (tap = NULL, total_ir_length = 0;
1157                         (tap = jtag_tap_next_enabled(tap)) != NULL;
1158                         total_ir_length += tap->ir_length) {
1159                 if (tap->ir_length == 0)
1160                         total_ir_length += JTAG_IRLEN_MAX;
1161         }
1162
1163         /* increase length to add 2 bit sentinel after scan */
1164         total_ir_length += 2;
1165
1166         ir_test = malloc(DIV_ROUND_UP(total_ir_length, 8));
1167         if (ir_test == NULL)
1168                 return ERROR_FAIL;
1169
1170         /* after this scan, all TAPs will capture BYPASS instructions */
1171         buf_set_ones(ir_test, total_ir_length);
1172
1173         field.tap = NULL;
1174         field.num_bits = total_ir_length;
1175         field.out_value = ir_test;
1176         field.in_value = ir_test;
1177
1178         jtag_add_plain_ir_scan(1, &field, TAP_IDLE);
1179
1180         LOG_DEBUG("IR capture validation scan");
1181         retval = jtag_execute_queue();
1182         if (retval != ERROR_OK)
1183                 goto done;
1184
1185         tap = NULL;
1186         chain_pos = 0;
1187
1188         for (;;) {
1189                 tap = jtag_tap_next_enabled(tap);
1190                 if (tap == NULL) {
1191                         break;
1192                 }
1193
1194                 /* If we're autoprobing, guess IR lengths.  They must be at
1195                  * least two bits.  Guessing will fail if (a) any TAP does
1196                  * not conform to the JTAG spec; or (b) when the upper bits
1197                  * captured from some conforming TAP are nonzero.  Or if
1198                  * (c) an IR length is longer than 32 bits -- which is only
1199                  * an implementation limit, which could someday be raised.
1200                  *
1201                  * REVISIT optimization:  if there's a *single* TAP we can
1202                  * lift restrictions (a) and (b) by scanning a recognizable
1203                  * pattern before the all-ones BYPASS.  Check for where the
1204                  * pattern starts in the result, instead of an 0...01 value.
1205                  *
1206                  * REVISIT alternative approach: escape to some tcl code
1207                  * which could provide more knowledge, based on IDCODE; and
1208                  * only guess when that has no success.
1209                  */
1210                 if (tap->ir_length == 0) {
1211                         tap->ir_length = 2;
1212                         while ((val = buf_get_u32(ir_test, chain_pos,
1213                                                 tap->ir_length + 1)) == 1
1214                                         && tap->ir_length <= 32) {
1215                                 tap->ir_length++;
1216                         }
1217                         LOG_WARNING("AUTO %s - use \"... -irlen %d\"",
1218                                         jtag_tap_name(tap), tap->ir_length);
1219                 }
1220
1221                 /* Validate the two LSBs, which must be 01 per JTAG spec.
1222                  *
1223                  * Or ... more bits could be provided by TAP declaration.
1224                  * Plus, some taps (notably in i.MX series chips) violate
1225                  * this part of the JTAG spec, so their capture mask/value
1226                  * attributes might disable this test.
1227                  */
1228                 val = buf_get_u32(ir_test, chain_pos, tap->ir_length);
1229                 if ((val & tap->ir_capture_mask) != tap->ir_capture_value) {
1230                         LOG_ERROR("%s: IR capture error; saw 0x%0*x not 0x%0*x",
1231                                         jtag_tap_name(tap),
1232                                         (tap->ir_length + 7) / tap->ir_length,
1233                                         val,
1234                                         (tap->ir_length + 7) / tap->ir_length,
1235                                         (unsigned) tap->ir_capture_value);
1236
1237                         retval = ERROR_JTAG_INIT_FAILED;
1238                         goto done;
1239                 }
1240                 LOG_DEBUG("%s: IR capture 0x%0*x", jtag_tap_name(tap),
1241                                 (tap->ir_length + 7) / tap->ir_length, val);
1242                 chain_pos += tap->ir_length;
1243         }
1244
1245         /* verify the '11' sentinel we wrote is returned at the end */
1246         val = buf_get_u32(ir_test, chain_pos, 2);
1247         if (val != 0x3)
1248         {
1249                 char *cbuf = buf_to_str(ir_test, total_ir_length, 16);
1250
1251                 LOG_ERROR("IR capture error at bit %d, saw 0x%s not 0x...3",
1252                                 chain_pos, cbuf);
1253                 free(cbuf);
1254                 retval = ERROR_JTAG_INIT_FAILED;
1255         }
1256
1257 done:
1258         free(ir_test);
1259         if (retval != ERROR_OK) {
1260                 jtag_add_tlr();
1261                 jtag_execute_queue();
1262         }
1263         return retval;
1264 }
1265
1266
1267 void jtag_tap_init(struct jtag_tap *tap)
1268 {
1269         unsigned ir_len_bits;
1270         unsigned ir_len_bytes;
1271
1272         /* if we're autoprobing, cope with potentially huge ir_length */
1273         ir_len_bits = tap->ir_length ? : JTAG_IRLEN_MAX;
1274         ir_len_bytes = DIV_ROUND_UP(ir_len_bits, 8);
1275
1276         tap->expected = calloc(1, ir_len_bytes);
1277         tap->expected_mask = calloc(1, ir_len_bytes);
1278         tap->cur_instr = malloc(ir_len_bytes);
1279
1280         /// @todo cope better with ir_length bigger than 32 bits
1281         if (ir_len_bits > 32)
1282                 ir_len_bits = 32;
1283
1284         buf_set_u32(tap->expected, 0, ir_len_bits, tap->ir_capture_value);
1285         buf_set_u32(tap->expected_mask, 0, ir_len_bits, tap->ir_capture_mask);
1286
1287         // TAP will be in bypass mode after jtag_validate_ircapture()
1288         tap->bypass = 1;
1289         buf_set_ones(tap->cur_instr, tap->ir_length);
1290
1291         // register the reset callback for the TAP
1292         jtag_register_event_callback(&jtag_reset_callback, tap);
1293
1294         LOG_DEBUG("Created Tap: %s @ abs position %d, "
1295                         "irlen %d, capture: 0x%x mask: 0x%x", tap->dotted_name,
1296                                 tap->abs_chain_position, tap->ir_length,
1297                                 (unsigned) tap->ir_capture_value,
1298                                 (unsigned) tap->ir_capture_mask);
1299         jtag_tap_add(tap);
1300 }
1301
1302 void jtag_tap_free(struct jtag_tap *tap)
1303 {
1304         jtag_unregister_event_callback(&jtag_reset_callback, tap);
1305
1306         /// @todo is anything missing? no memory leaks please
1307         free((void *)tap->expected);
1308         free((void *)tap->expected_ids);
1309         free((void *)tap->chip);
1310         free((void *)tap->tapname);
1311         free((void *)tap->dotted_name);
1312         free(tap);
1313 }
1314
1315 int jtag_interface_init(struct command_context *cmd_ctx)
1316 {
1317         if (jtag)
1318                 return ERROR_OK;
1319
1320         if (!jtag_interface)
1321         {
1322                 /* nothing was previously specified by "interface" command */
1323                 LOG_ERROR("JTAG interface has to be specified, see \"interface\" command");
1324                 return ERROR_JTAG_INVALID_INTERFACE;
1325         }
1326
1327         jtag = jtag_interface;
1328         if (jtag_interface->init() != ERROR_OK)
1329         {
1330                 jtag = NULL;
1331                 return ERROR_JTAG_INIT_FAILED;
1332         }
1333
1334         int requested_khz = jtag_get_speed_khz();
1335         int actual_khz = requested_khz;
1336         int retval = jtag_get_speed_readable(&actual_khz);
1337         if (ERROR_OK != retval)
1338                 LOG_INFO("interface specific clock speed value %d", jtag_get_speed());
1339         else if (actual_khz)
1340         {
1341                 if ((CLOCK_MODE_RCLK == clock_mode)
1342                         || ((CLOCK_MODE_KHZ == clock_mode) && !requested_khz))
1343                 {
1344                         LOG_INFO("RCLK (adaptive clock speed) not supported - fallback to %d kHz"
1345                                 , actual_khz);
1346                 }
1347                 else
1348                         LOG_INFO("clock speed %d kHz", actual_khz);
1349         }
1350         else
1351                 LOG_INFO("RCLK (adaptive clock speed)");
1352
1353         return ERROR_OK;
1354 }
1355
1356 int jtag_init_inner(struct command_context *cmd_ctx)
1357 {
1358         struct jtag_tap *tap;
1359         int retval;
1360         bool issue_setup = true;
1361
1362         LOG_DEBUG("Init JTAG chain");
1363
1364         tap = jtag_tap_next_enabled(NULL);
1365         if (tap == NULL) {
1366                 /* Once JTAG itself is properly set up, and the scan chain
1367                  * isn't absurdly large, IDCODE autoprobe should work fine.
1368                  *
1369                  * But ... IRLEN autoprobe can fail even on systems which
1370                  * are fully conformant to JTAG.  Also, JTAG setup can be
1371                  * quite finicky on some systems.
1372                  *
1373                  * REVISIT: if TAP autoprobe works OK, then in many cases
1374                  * we could escape to tcl code and set up targets based on
1375                  * the TAP's IDCODE values.
1376                  */
1377                 LOG_WARNING("There are no enabled taps.  "
1378                                 "AUTO PROBING MIGHT NOT WORK!!");
1379
1380                 /* REVISIT default clock will often be too fast ... */
1381         }
1382
1383         jtag_add_tlr();
1384         if ((retval = jtag_execute_queue()) != ERROR_OK)
1385                 return retval;
1386
1387         /* Examine DR values first.  This discovers problems which will
1388          * prevent communication ... hardware issues like TDO stuck, or
1389          * configuring the wrong number of (enabled) TAPs.
1390          */
1391         retval = jtag_examine_chain();
1392         switch (retval) {
1393         case ERROR_OK:
1394                 /* complete success */
1395                 break;
1396         case ERROR_JTAG_INIT_SOFT_FAIL:
1397                 /* For backward compatibility reasons, try coping with
1398                  * configuration errors involving only ID mismatches.
1399                  * We might be able to talk to the devices.
1400                  */
1401                 LOG_ERROR("Trying to use configured scan chain anyway...");
1402                 issue_setup = false;
1403                 break;
1404         default:
1405                 /* some hard error; already issued diagnostics */
1406                 return retval;
1407         }
1408
1409         /* Now look at IR values.  Problems here will prevent real
1410          * communication.  They mostly mean that the IR length is
1411          * wrong ... or that the IR capture value is wrong.  (The
1412          * latter is uncommon, but easily worked around:  provide
1413          * ircapture/irmask values during TAP setup.)
1414          */
1415         retval = jtag_validate_ircapture();
1416         if (retval != ERROR_OK)
1417                 return retval;
1418
1419         if (issue_setup)
1420                 jtag_notify_event(JTAG_TAP_EVENT_SETUP);
1421         else
1422                 LOG_WARNING("Bypassing JTAG setup events due to errors");
1423
1424
1425         return ERROR_OK;
1426 }
1427
1428 int jtag_interface_quit(void)
1429 {
1430         if (!jtag || !jtag->quit)
1431                 return ERROR_OK;
1432
1433         // close the JTAG interface
1434         int result = jtag->quit();
1435         if (ERROR_OK != result)
1436                 LOG_ERROR("failed: %d", result);
1437
1438         return ERROR_OK;
1439 }
1440
1441
1442 int jtag_init_reset(struct command_context *cmd_ctx)
1443 {
1444         int retval;
1445
1446         if ((retval = jtag_interface_init(cmd_ctx)) != ERROR_OK)
1447                 return retval;
1448
1449         LOG_DEBUG("Initializing with hard TRST+SRST reset");
1450
1451         /*
1452          * This procedure is used by default when OpenOCD triggers a reset.
1453          * It's now done through an overridable Tcl "init_reset" wrapper.
1454          *
1455          * This started out as a more powerful "get JTAG working" reset than
1456          * jtag_init_inner(), applying TRST because some chips won't activate
1457          * JTAG without a TRST cycle (presumed to be async, though some of
1458          * those chips synchronize JTAG activation using TCK).
1459          *
1460          * But some chips only activate JTAG as part of an SRST cycle; SRST
1461          * got mixed in.  So it became a hard reset routine, which got used
1462          * in more places, and which coped with JTAG reset being forced as
1463          * part of SRST (srst_pulls_trst).
1464          *
1465          * And even more corner cases started to surface:  TRST and/or SRST
1466          * assertion timings matter; some chips need other JTAG operations;
1467          * TRST/SRST sequences can need to be different from these, etc.
1468          *
1469          * Systems should override that wrapper to support system-specific
1470          * requirements that this not-fully-generic code doesn't handle.
1471          *
1472          * REVISIT once Tcl code can read the reset_config modes, this won't
1473          * need to be a C routine at all...
1474          */
1475         jtag_add_reset(1, 0); /* TAP_RESET, using TMS+TCK or TRST */
1476         if (jtag_reset_config & RESET_HAS_SRST)
1477         {
1478                 jtag_add_reset(1, 1);
1479                 if ((jtag_reset_config & RESET_SRST_PULLS_TRST) == 0)
1480                         jtag_add_reset(0, 1);
1481         }
1482         jtag_add_reset(0, 0);
1483         if ((retval = jtag_execute_queue()) != ERROR_OK)
1484                 return retval;
1485
1486         /* Check that we can communication on the JTAG chain + eventually we want to
1487          * be able to perform enumeration only after OpenOCD has started
1488          * telnet and GDB server
1489          *
1490          * That would allow users to more easily perform any magic they need to before
1491          * reset happens.
1492          */
1493         return jtag_init_inner(cmd_ctx);
1494 }
1495
1496 int jtag_init(struct command_context *cmd_ctx)
1497 {
1498         int retval;
1499
1500         if ((retval = jtag_interface_init(cmd_ctx)) != ERROR_OK)
1501                 return retval;
1502
1503         /* guard against oddball hardware: force resets to be inactive */
1504         jtag_add_reset(0, 0);
1505         if ((retval = jtag_execute_queue()) != ERROR_OK)
1506                 return retval;
1507
1508         if (Jim_Eval_Named(cmd_ctx->interp, "jtag_init", __FILE__, __LINE__) != JIM_OK)
1509                 return ERROR_FAIL;
1510
1511         return ERROR_OK;
1512 }
1513
1514 unsigned jtag_get_speed_khz(void)
1515 {
1516         return speed_khz;
1517 }
1518
1519 static int jtag_khz_to_speed(unsigned khz, int* speed)
1520 {
1521         LOG_DEBUG("convert khz to interface specific speed value");
1522         speed_khz = khz;
1523         if (jtag != NULL)
1524         {
1525                 LOG_DEBUG("have interface set up");
1526                 int speed_div1;
1527                 int retval = jtag->khz(jtag_get_speed_khz(), &speed_div1);
1528                 if (ERROR_OK != retval)
1529                 {
1530                         return retval;
1531                 }
1532                 *speed = speed_div1;
1533         }
1534         return ERROR_OK;
1535 }
1536
1537 static int jtag_rclk_to_speed(unsigned fallback_speed_khz, int* speed)
1538 {
1539         int retval = jtag_khz_to_speed(0, speed);
1540         if ((ERROR_OK != retval) && fallback_speed_khz)
1541         {
1542                 LOG_DEBUG("trying fallback speed...");
1543                 retval = jtag_khz_to_speed(fallback_speed_khz, speed);
1544         }
1545         return retval;
1546 }
1547
1548 static int jtag_set_speed(int speed)
1549 {
1550         jtag_speed = speed;
1551         /* this command can be called during CONFIG,
1552          * in which case jtag isn't initialized */
1553         return jtag ? jtag->speed(speed) : ERROR_OK;
1554 }
1555
1556 int jtag_config_khz(unsigned khz)
1557 {
1558         LOG_DEBUG("handle jtag khz");
1559         clock_mode = CLOCK_MODE_KHZ;
1560         int speed = 0;
1561         int retval = jtag_khz_to_speed(khz, &speed);
1562         return (ERROR_OK != retval) ? retval : jtag_set_speed(speed);
1563 }
1564
1565 int jtag_config_rclk(unsigned fallback_speed_khz)
1566 {
1567         LOG_DEBUG("handle jtag rclk");
1568         clock_mode = CLOCK_MODE_RCLK;
1569         rclk_fallback_speed_khz = fallback_speed_khz;
1570         int speed = 0;
1571         int retval = jtag_rclk_to_speed(fallback_speed_khz, &speed);
1572         return (ERROR_OK != retval) ? retval : jtag_set_speed(speed);
1573 }
1574
1575 int jtag_get_speed(void)
1576 {
1577         int speed;
1578         switch(clock_mode)
1579         {
1580                 case CLOCK_MODE_SPEED:
1581                         speed = jtag_speed;
1582                         break;
1583                 case CLOCK_MODE_KHZ:
1584                         jtag_khz_to_speed(jtag_get_speed_khz(), &speed);
1585                         break;
1586                 case CLOCK_MODE_RCLK:
1587                         jtag_rclk_to_speed(rclk_fallback_speed_khz, &speed);
1588                         break;
1589                 default:
1590                         LOG_ERROR("BUG: unknown jtag clock mode");
1591                         speed = 0;
1592                         break;
1593         }
1594         return speed;
1595 }
1596
1597 int jtag_get_speed_readable(int *khz)
1598 {
1599         return jtag ? jtag->speed_div(jtag_get_speed(), khz) : ERROR_OK;
1600 }
1601
1602 void jtag_set_verify(bool enable)
1603 {
1604         jtag_verify = enable;
1605 }
1606
1607 bool jtag_will_verify()
1608 {
1609         return jtag_verify;
1610 }
1611
1612 void jtag_set_verify_capture_ir(bool enable)
1613 {
1614         jtag_verify_capture_ir = enable;
1615 }
1616
1617 bool jtag_will_verify_capture_ir()
1618 {
1619         return jtag_verify_capture_ir;
1620 }
1621
1622 int jtag_power_dropout(int *dropout)
1623 {
1624         return jtag->power_dropout(dropout);
1625 }
1626
1627 int jtag_srst_asserted(int *srst_asserted)
1628 {
1629         return jtag->srst_asserted(srst_asserted);
1630 }
1631
1632 enum reset_types jtag_get_reset_config(void)
1633 {
1634         return jtag_reset_config;
1635 }
1636 void jtag_set_reset_config(enum reset_types type)
1637 {
1638         jtag_reset_config = type;
1639 }
1640
1641 int jtag_get_trst(void)
1642 {
1643         return jtag_trst;
1644 }
1645 int jtag_get_srst(void)
1646 {
1647         return jtag_srst;
1648 }
1649
1650 void jtag_set_nsrst_delay(unsigned delay)
1651 {
1652         jtag_nsrst_delay = delay;
1653 }
1654 unsigned jtag_get_nsrst_delay(void)
1655 {
1656         return jtag_nsrst_delay;
1657 }
1658 void jtag_set_ntrst_delay(unsigned delay)
1659 {
1660         jtag_ntrst_delay = delay;
1661 }
1662 unsigned jtag_get_ntrst_delay(void)
1663 {
1664         return jtag_ntrst_delay;
1665 }
1666
1667
1668 void jtag_set_nsrst_assert_width(unsigned delay)
1669 {
1670         jtag_nsrst_assert_width = delay;
1671 }
1672 unsigned jtag_get_nsrst_assert_width(void)
1673 {
1674         return jtag_nsrst_assert_width;
1675 }
1676 void jtag_set_ntrst_assert_width(unsigned delay)
1677 {
1678         jtag_ntrst_assert_width = delay;
1679 }
1680 unsigned jtag_get_ntrst_assert_width(void)
1681 {
1682         return jtag_ntrst_assert_width;
1683 }