1 /***************************************************************************
2 * Copyright (C) 2009 Zachary T Welch *
3 * zw@superlucidity.net *
5 * Copyright (C) 2007,2008,2009 Øyvind Harboe *
6 * oyvind.harboe@zylin.com *
8 * Copyright (C) 2009 SoftPLC Corporation *
12 * Copyright (C) 2005 by Dominic Rath *
13 * Dominic.Rath@gmx.de *
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. *
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. *
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 ***************************************************************************/
35 #include "minidriver.h"
36 #include "interface.h"
43 /// The number of JTAG queue flushes (for profiling and debugging purposes).
44 static int jtag_flush_queue_count;
46 static void jtag_add_scan_check(void (*jtag_add_scan)(int in_num_fields, const scan_field_t *in_fields, tap_state_t state),
47 int in_num_fields, scan_field_t *in_fields, tap_state_t state);
50 * The jtag_error variable is set when an error occurs while executing
51 * the queue. Application code may set this using jtag_set_error(),
52 * when an error occurs during processing that should be reported during
53 * jtag_execute_queue().
55 * Tts value may be checked with jtag_get_error() and cleared with
56 * jtag_error_clear(). This value is returned (and cleared) by
57 * jtag_execute_queue().
59 static int jtag_error = ERROR_OK;
61 static const char *jtag_event_strings[] =
63 [JTAG_TRST_ASSERTED] = "TAP reset",
64 [JTAG_TAP_EVENT_SETUP] = "TAP setup",
65 [JTAG_TAP_EVENT_ENABLE] = "TAP enabled",
66 [JTAG_TAP_EVENT_DISABLE] = "TAP disabled",
70 * JTAG adapters must initialize with TRST and SRST de-asserted
71 * (they're negative logic, so that means *high*). But some
72 * hardware doesn't necessarily work that way ... so set things
73 * up so that jtag_init() always forces that state.
75 static int jtag_trst = -1;
76 static int jtag_srst = -1;
79 * List all TAPs that have been created.
81 static jtag_tap_t *__jtag_all_taps = NULL;
83 * The number of TAPs in the __jtag_all_taps list, used to track the
84 * assigned chain position to new TAPs
86 static unsigned jtag_num_taps = 0;
88 static enum reset_types jtag_reset_config = RESET_NONE;
89 static tap_state_t cmd_queue_end_state = TAP_RESET;
90 tap_state_t cmd_queue_cur_state = TAP_RESET;
92 static bool jtag_verify_capture_ir = true;
93 static int jtag_verify = 1;
95 /* how long the OpenOCD should wait before attempting JTAG communication after reset lines deasserted (in ms) */
96 static int jtag_nsrst_delay = 0; /* default to no nSRST delay */
97 static int jtag_ntrst_delay = 0; /* default to no nTRST delay */
98 static int jtag_nsrst_assert_width = 0; /* width of assertion */
99 static int jtag_ntrst_assert_width = 0; /* width of assertion */
101 typedef struct jtag_event_callback_s
103 jtag_event_handler_t callback;
105 struct jtag_event_callback_s* next;
106 } jtag_event_callback_t;
108 /* callbacks to inform high-level handlers about JTAG state changes */
109 static jtag_event_callback_t *jtag_event_callbacks;
112 static int speed_khz = 0;
113 /* speed to fallback to when RCLK is requested but not supported */
114 static int rclk_fallback_speed_khz = 0;
115 static enum {CLOCK_MODE_SPEED, CLOCK_MODE_KHZ, CLOCK_MODE_RCLK} clock_mode;
116 static int jtag_speed = 0;
118 static struct jtag_interface_s *jtag = NULL;
121 jtag_interface_t *jtag_interface = NULL;
123 void jtag_set_error(int error)
125 if ((error == ERROR_OK) || (jtag_error != ERROR_OK))
129 int jtag_get_error(void)
133 int jtag_error_clear(void)
135 int temp = jtag_error;
136 jtag_error = ERROR_OK;
141 jtag_tap_t *jtag_all_taps(void)
143 return __jtag_all_taps;
146 unsigned jtag_tap_count(void)
148 return jtag_num_taps;
151 unsigned jtag_tap_count_enabled(void)
153 jtag_tap_t *t = jtag_all_taps();
164 /// Append a new TAP to the chain of all taps.
165 void jtag_tap_add(struct jtag_tap_s *t)
167 t->abs_chain_position = jtag_num_taps++;
169 jtag_tap_t **tap = &__jtag_all_taps;
171 tap = &(*tap)->next_tap;
175 /* returns a pointer to the n-th device in the scan chain */
176 static inline jtag_tap_t *jtag_tap_by_position(unsigned n)
178 jtag_tap_t *t = jtag_all_taps();
186 jtag_tap_t *jtag_tap_by_string(const char *s)
188 /* try by name first */
189 jtag_tap_t *t = jtag_all_taps();
193 if (0 == strcmp(t->dotted_name, s))
198 /* no tap found by name, so try to parse the name as a number */
200 if (parse_uint(s, &n) != ERROR_OK)
203 /* FIXME remove this numeric fallback code late June 2010, along
204 * with all info in the User's Guide that TAPs have numeric IDs.
205 * Also update "scan_chain" output to not display the numbers.
207 t = jtag_tap_by_position(n);
209 LOG_WARNING("Specify TAP '%s' by name, not number %u",
215 jtag_tap_t *jtag_tap_by_jim_obj(Jim_Interp *interp, Jim_Obj *o)
217 const char *cp = Jim_GetString(o, NULL);
218 jtag_tap_t *t = cp ? jtag_tap_by_string(cp) : NULL;
222 Jim_SetResult_sprintf(interp, "Tap '%s' could not be found", cp);
226 jtag_tap_t* jtag_tap_next_enabled(jtag_tap_t* p)
228 p = p ? p->next_tap : jtag_all_taps();
238 const char *jtag_tap_name(const jtag_tap_t *tap)
240 return (tap == NULL) ? "(unknown)" : tap->dotted_name;
244 int jtag_register_event_callback(jtag_event_handler_t callback, void *priv)
246 jtag_event_callback_t **callbacks_p = &jtag_event_callbacks;
248 if (callback == NULL)
250 return ERROR_INVALID_ARGUMENTS;
255 while ((*callbacks_p)->next)
256 callbacks_p = &((*callbacks_p)->next);
257 callbacks_p = &((*callbacks_p)->next);
260 (*callbacks_p) = malloc(sizeof(jtag_event_callback_t));
261 (*callbacks_p)->callback = callback;
262 (*callbacks_p)->priv = priv;
263 (*callbacks_p)->next = NULL;
268 int jtag_unregister_event_callback(jtag_event_handler_t callback, void *priv)
270 jtag_event_callback_t **callbacks_p;
271 jtag_event_callback_t **next;
273 if (callback == NULL)
275 return ERROR_INVALID_ARGUMENTS;
278 for (callbacks_p = &jtag_event_callbacks;
279 *callbacks_p != NULL;
282 next = &((*callbacks_p)->next);
284 if ((*callbacks_p)->priv != priv)
287 if ((*callbacks_p)->callback == callback)
290 *callbacks_p = *next;
297 int jtag_call_event_callbacks(enum jtag_event event)
299 jtag_event_callback_t *callback = jtag_event_callbacks;
301 LOG_DEBUG("jtag event: %s", jtag_event_strings[event]);
305 jtag_event_callback_t *next;
307 /* callback may remove itself */
308 next = callback->next;
309 callback->callback(event, callback->priv);
316 static void jtag_checks(void)
318 assert(jtag_trst == 0);
321 static void jtag_prelude(tap_state_t state)
325 assert(state != TAP_INVALID);
327 cmd_queue_cur_state = state;
330 void jtag_alloc_in_value32(scan_field_t *field)
332 interface_jtag_alloc_in_value32(field);
335 void jtag_add_ir_scan_noverify(int in_count, const scan_field_t *in_fields,
340 int retval = interface_jtag_add_ir_scan(in_count, in_fields, state);
341 jtag_set_error(retval);
345 void jtag_add_ir_scan(int in_num_fields, scan_field_t *in_fields, tap_state_t state)
347 assert(state != TAP_RESET);
349 if (jtag_verify && jtag_verify_capture_ir)
351 /* 8 x 32 bit id's is enough for all invocations */
353 for (int j = 0; j < in_num_fields; j++)
355 /* if we are to run a verification of the ir scan, we need to get the input back.
356 * We may have to allocate space if the caller didn't ask for the input back.
358 in_fields[j].check_value = in_fields[j].tap->expected;
359 in_fields[j].check_mask = in_fields[j].tap->expected_mask;
361 jtag_add_scan_check(jtag_add_ir_scan_noverify, in_num_fields, in_fields, state);
364 jtag_add_ir_scan_noverify(in_num_fields, in_fields, state);
368 void jtag_add_plain_ir_scan(int in_num_fields, const scan_field_t *in_fields,
371 assert(state != TAP_RESET);
375 int retval = interface_jtag_add_plain_ir_scan(
376 in_num_fields, in_fields, state);
377 jtag_set_error(retval);
380 void jtag_add_callback(jtag_callback1_t f, jtag_callback_data_t data0)
382 interface_jtag_add_callback(f, data0);
385 void jtag_add_callback4(jtag_callback_t f, jtag_callback_data_t data0,
386 jtag_callback_data_t data1, jtag_callback_data_t data2,
387 jtag_callback_data_t data3)
389 interface_jtag_add_callback4(f, data0, data1, data2, data3);
392 static int jtag_check_value_inner(uint8_t *captured, uint8_t *in_check_value,
393 uint8_t *in_check_mask, int num_bits);
395 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)
397 return jtag_check_value_inner((uint8_t *)data0, (uint8_t *)data1, (uint8_t *)data2, (int)data3);
400 static void jtag_add_scan_check(void (*jtag_add_scan)(int in_num_fields, const scan_field_t *in_fields, tap_state_t state),
401 int in_num_fields, scan_field_t *in_fields, tap_state_t state)
403 for (int i = 0; i < in_num_fields; i++)
405 struct scan_field_s *field = &in_fields[i];
406 field->allocated = 0;
408 if (field->check_value || field->in_value)
410 interface_jtag_add_scan_check_alloc(field);
414 jtag_add_scan(in_num_fields, in_fields, state);
416 for (int i = 0; i < in_num_fields; i++)
418 if ((in_fields[i].check_value != NULL) && (in_fields[i].in_value != NULL))
420 /* this is synchronous for a minidriver */
421 jtag_add_callback4(jtag_check_value_mask_callback, (jtag_callback_data_t)in_fields[i].in_value,
422 (jtag_callback_data_t)in_fields[i].check_value,
423 (jtag_callback_data_t)in_fields[i].check_mask,
424 (jtag_callback_data_t)in_fields[i].num_bits);
426 if (in_fields[i].allocated)
428 free(in_fields[i].in_value);
430 if (in_fields[i].modified)
432 in_fields[i].in_value = NULL;
437 void jtag_add_dr_scan_check(int in_num_fields, scan_field_t *in_fields, tap_state_t state)
441 jtag_add_scan_check(jtag_add_dr_scan, in_num_fields, in_fields, state);
444 jtag_add_dr_scan(in_num_fields, in_fields, state);
449 void jtag_add_dr_scan(int in_num_fields, const scan_field_t *in_fields,
452 assert(state != TAP_RESET);
457 retval = interface_jtag_add_dr_scan(in_num_fields, in_fields, state);
458 jtag_set_error(retval);
461 void jtag_add_plain_dr_scan(int in_num_fields, const scan_field_t *in_fields,
464 assert(state != TAP_RESET);
469 retval = interface_jtag_add_plain_dr_scan(in_num_fields, in_fields, state);
470 jtag_set_error(retval);
473 void jtag_add_dr_out(jtag_tap_t* tap,
474 int num_fields, const int* num_bits, const uint32_t* value,
475 tap_state_t end_state)
477 assert(end_state != TAP_RESET);
478 assert(end_state != TAP_INVALID);
480 cmd_queue_cur_state = end_state;
482 interface_jtag_add_dr_out(tap,
483 num_fields, num_bits, value,
487 void jtag_add_tlr(void)
489 jtag_prelude(TAP_RESET);
490 jtag_set_error(interface_jtag_add_tlr());
492 /* NOTE: order here matches TRST path in jtag_add_reset() */
493 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
494 jtag_notify_event(JTAG_TRST_ASSERTED);
497 void jtag_add_pathmove(int num_states, const tap_state_t *path)
499 tap_state_t cur_state = cmd_queue_cur_state;
501 /* the last state has to be a stable state */
502 if (!tap_is_state_stable(path[num_states - 1]))
504 LOG_ERROR("BUG: TAP path doesn't finish in a stable state");
505 jtag_set_error(ERROR_JTAG_NOT_STABLE_STATE);
509 for (int i = 0; i < num_states; i++)
511 if (path[i] == TAP_RESET)
513 LOG_ERROR("BUG: TAP_RESET is not a valid state for pathmove sequences");
514 jtag_set_error(ERROR_JTAG_STATE_INVALID);
518 if (tap_state_transition(cur_state, true) != path[i]
519 && tap_state_transition(cur_state, false) != path[i])
521 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
522 tap_state_name(cur_state), tap_state_name(path[i]));
523 jtag_set_error(ERROR_JTAG_TRANSITION_INVALID);
531 jtag_set_error(interface_jtag_add_pathmove(num_states, path));
532 cmd_queue_cur_state = path[num_states - 1];
535 int jtag_add_statemove(tap_state_t goal_state)
537 tap_state_t cur_state = cmd_queue_cur_state;
539 LOG_DEBUG("cur_state=%s goal_state=%s",
540 tap_state_name(cur_state),
541 tap_state_name(goal_state));
544 if (goal_state == cur_state)
545 ; /* nothing to do */
546 else if (goal_state == TAP_RESET)
550 else if (tap_is_state_stable(cur_state) && tap_is_state_stable(goal_state))
552 unsigned tms_bits = tap_get_tms_path(cur_state, goal_state);
553 unsigned tms_count = tap_get_tms_path_len(cur_state, goal_state);
554 tap_state_t moves[8];
555 assert(tms_count < DIM(moves));
557 for (unsigned i = 0; i < tms_count; i++, tms_bits >>= 1)
559 bool bit = tms_bits & 1;
561 cur_state = tap_state_transition(cur_state, bit);
562 moves[i] = cur_state;
565 jtag_add_pathmove(tms_count, moves);
567 else if (tap_state_transition(cur_state, true) == goal_state
568 || tap_state_transition(cur_state, false) == goal_state)
570 jtag_add_pathmove(1, &goal_state);
579 void jtag_add_runtest(int num_cycles, tap_state_t state)
582 jtag_set_error(interface_jtag_add_runtest(num_cycles, state));
586 void jtag_add_clocks(int num_cycles)
588 if (!tap_is_state_stable(cmd_queue_cur_state))
590 LOG_ERROR("jtag_add_clocks() called with TAP in unstable state \"%s\"",
591 tap_state_name(cmd_queue_cur_state));
592 jtag_set_error(ERROR_JTAG_NOT_STABLE_STATE);
599 jtag_set_error(interface_jtag_add_clocks(num_cycles));
603 void jtag_add_reset(int req_tlr_or_trst, int req_srst)
605 int trst_with_tlr = 0;
609 /* Without SRST, we must use target-specific JTAG operations
610 * on each target; callers should not be requesting SRST when
611 * that signal doesn't exist.
613 * RESET_SRST_PULLS_TRST is a board or chip level quirk, which
614 * can kick in even if the JTAG adapter can't drive TRST.
617 if (!(jtag_reset_config & RESET_HAS_SRST)) {
618 LOG_ERROR("BUG: can't assert SRST");
619 jtag_set_error(ERROR_FAIL);
622 if ((jtag_reset_config & RESET_SRST_PULLS_TRST) != 0
623 && !req_tlr_or_trst) {
624 LOG_ERROR("BUG: can't assert only SRST");
625 jtag_set_error(ERROR_FAIL);
631 /* JTAG reset (entry to TAP_RESET state) can always be achieved
632 * using TCK and TMS; that may go through a TAP_{IR,DR}UPDATE
633 * state first. TRST accelerates it, and bypasses those states.
635 * RESET_TRST_PULLS_SRST is a board or chip level quirk, which
636 * can kick in even if the JTAG adapter can't drive SRST.
638 if (req_tlr_or_trst) {
639 if (!(jtag_reset_config & RESET_HAS_TRST))
641 else if ((jtag_reset_config & RESET_TRST_PULLS_SRST) != 0
648 /* Maybe change TRST and/or SRST signal state */
649 if (jtag_srst != new_srst || jtag_trst != new_trst) {
652 retval = interface_jtag_add_reset(new_trst, new_srst);
653 if (retval != ERROR_OK)
654 jtag_set_error(retval);
656 retval = jtag_execute_queue();
658 if (retval != ERROR_OK) {
659 LOG_ERROR("TRST/SRST error %d", retval);
664 /* SRST resets everything hooked up to that signal */
665 if (jtag_srst != new_srst) {
666 jtag_srst = new_srst;
669 LOG_DEBUG("SRST line asserted");
670 if (jtag_nsrst_assert_width)
671 jtag_add_sleep(jtag_nsrst_assert_width * 1000);
674 LOG_DEBUG("SRST line released");
675 if (jtag_nsrst_delay)
676 jtag_add_sleep(jtag_nsrst_delay * 1000);
680 /* Maybe enter the JTAG TAP_RESET state ...
681 * - using only TMS, TCK, and the JTAG state machine
682 * - or else more directly, using TRST
684 * TAP_RESET should be invisible to non-debug parts of the system.
687 LOG_DEBUG("JTAG reset with TLR instead of TRST");
688 jtag_set_end_state(TAP_RESET);
691 } else if (jtag_trst != new_trst) {
692 jtag_trst = new_trst;
694 LOG_DEBUG("TRST line asserted");
695 tap_set_state(TAP_RESET);
696 if (jtag_ntrst_assert_width)
697 jtag_add_sleep(jtag_ntrst_assert_width * 1000);
699 LOG_DEBUG("TRST line released");
700 if (jtag_ntrst_delay)
701 jtag_add_sleep(jtag_ntrst_delay * 1000);
703 /* We just asserted nTRST, so we're now in TAP_RESET.
704 * Inform possible listeners about this, now that
705 * JTAG instructions and data can be shifted. This
706 * sequence must match jtag_add_tlr().
708 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
709 jtag_notify_event(JTAG_TRST_ASSERTED);
714 tap_state_t jtag_set_end_state(tap_state_t state)
716 if ((state == TAP_DRSHIFT)||(state == TAP_IRSHIFT))
718 LOG_ERROR("BUG: TAP_DRSHIFT/IRSHIFT can't be end state. Calling code should use a larger scan field");
721 if (state != TAP_INVALID)
722 cmd_queue_end_state = state;
723 return cmd_queue_end_state;
726 tap_state_t jtag_get_end_state(void)
728 return cmd_queue_end_state;
731 void jtag_add_sleep(uint32_t us)
733 /// @todo Here, keep_alive() appears to be a layering violation!!!
735 jtag_set_error(interface_jtag_add_sleep(us));
738 static int jtag_check_value_inner(uint8_t *captured, uint8_t *in_check_value,
739 uint8_t *in_check_mask, int num_bits)
741 int retval = ERROR_OK;
743 int compare_failed = 0;
746 compare_failed = buf_cmp_mask(captured, in_check_value, in_check_mask, num_bits);
748 compare_failed = buf_cmp(captured, in_check_value, num_bits);
750 if (compare_failed) {
751 char *captured_str, *in_check_value_str;
752 int bits = (num_bits > DEBUG_JTAG_IOZ)
756 /* NOTE: we've lost diagnostic context here -- 'which tap' */
758 captured_str = buf_to_str(captured, bits, 16);
759 in_check_value_str = buf_to_str(in_check_value, bits, 16);
761 LOG_WARNING("Bad value '%s' captured during DR or IR scan:",
763 LOG_WARNING(" check_value: 0x%s", in_check_value_str);
766 free(in_check_value_str);
769 char *in_check_mask_str;
771 in_check_mask_str = buf_to_str(in_check_mask, bits, 16);
772 LOG_WARNING(" check_mask: 0x%s", in_check_mask_str);
773 free(in_check_mask_str);
776 retval = ERROR_JTAG_QUEUE_FAILED;
781 void jtag_check_value_mask(scan_field_t *field, uint8_t *value, uint8_t *mask)
783 assert(field->in_value != NULL);
787 /* no checking to do */
791 jtag_execute_queue_noclear();
793 int retval = jtag_check_value_inner(field->in_value, value, mask, field->num_bits);
794 jtag_set_error(retval);
799 int default_interface_jtag_execute_queue(void)
803 LOG_ERROR("No JTAG interface configured yet. "
804 "Issue 'init' command in startup scripts "
805 "before communicating with targets.");
809 return jtag->execute_queue();
812 void jtag_execute_queue_noclear(void)
814 jtag_flush_queue_count++;
815 jtag_set_error(interface_jtag_execute_queue());
818 int jtag_get_flush_queue_count(void)
820 return jtag_flush_queue_count;
823 int jtag_execute_queue(void)
825 jtag_execute_queue_noclear();
826 return jtag_error_clear();
829 static int jtag_reset_callback(enum jtag_event event, void *priv)
831 jtag_tap_t *tap = priv;
833 if (event == JTAG_TRST_ASSERTED)
835 tap->enabled = !tap->disabled_after_reset;
837 /* current instruction is either BYPASS or IDCODE */
838 buf_set_ones(tap->cur_instr, tap->ir_length);
845 void jtag_sleep(uint32_t us)
847 alive_sleep(us/1000);
850 /* Maximum number of enabled JTAG devices we expect in the scan chain,
851 * plus one (to detect garbage at the end). Devices that don't support
852 * IDCODE take up fewer bits, possibly allowing a few more devices.
854 #define JTAG_MAX_CHAIN_SIZE 20
856 #define EXTRACT_MFG(X) (((X) & 0xffe) >> 1)
857 #define EXTRACT_PART(X) (((X) & 0xffff000) >> 12)
858 #define EXTRACT_VER(X) (((X) & 0xf0000000) >> 28)
860 /* A reserved manufacturer ID is used in END_OF_CHAIN_FLAG, so we
861 * know that no valid TAP will have it as an IDCODE value.
863 #define END_OF_CHAIN_FLAG 0x000000ff
865 static int jtag_examine_chain_execute(uint8_t *idcode_buffer, unsigned num_idcode)
867 scan_field_t field = {
869 .num_bits = num_idcode * 32,
870 .out_value = idcode_buffer,
871 .in_value = idcode_buffer,
874 // initialize to the end of chain ID value
875 for (unsigned i = 0; i < JTAG_MAX_CHAIN_SIZE; i++)
876 buf_set_u32(idcode_buffer, i * 32, 32, END_OF_CHAIN_FLAG);
878 jtag_add_plain_dr_scan(1, &field, TAP_DRPAUSE);
880 return jtag_execute_queue();
883 static bool jtag_examine_chain_check(uint8_t *idcodes, unsigned count)
885 uint8_t zero_check = 0x0;
886 uint8_t one_check = 0xff;
888 for (unsigned i = 0; i < count * 4; i++)
890 zero_check |= idcodes[i];
891 one_check &= idcodes[i];
894 /* if there wasn't a single non-zero bit or if all bits were one,
895 * the scan is not valid. We wrote a mix of both values; either
897 * - There's a hardware issue (almost certainly):
898 * + all-zeroes can mean a target stuck in JTAG reset
899 * + all-ones tends to mean no target
900 * - The scan chain is WAY longer than we can handle, *AND* either
901 * + there are several hundreds of TAPs in bypass, or
902 * + at least a few dozen TAPs all have an all-ones IDCODE
904 if (zero_check == 0x00 || one_check == 0xff)
906 LOG_ERROR("JTAG scan chain interrogation failed: all %s",
907 (zero_check == 0x00) ? "zeroes" : "ones");
908 LOG_ERROR("Check JTAG interface, timings, target power, etc.");
914 static void jtag_examine_chain_display(enum log_levels level, const char *msg,
915 const char *name, uint32_t idcode)
917 log_printf_lf(level, __FILE__, __LINE__, __FUNCTION__,
918 "JTAG tap: %s %16.16s: 0x%08x "
919 "(mfg: 0x%3.3x, part: 0x%4.4x, ver: 0x%1.1x)",
921 (unsigned int)idcode,
922 (unsigned int)EXTRACT_MFG(idcode),
923 (unsigned int)EXTRACT_PART(idcode),
924 (unsigned int)EXTRACT_VER(idcode));
927 static bool jtag_idcode_is_final(uint32_t idcode)
930 * Some devices, such as AVR8, will output all 1's instead
931 * of TDI input value at end of chain. Allow those values
932 * instead of failing.
934 return idcode == END_OF_CHAIN_FLAG || idcode == 0xFFFFFFFF;
938 * This helper checks that remaining bits in the examined chain data are
939 * all as expected, but a single JTAG device requires only 64 bits to be
940 * read back correctly. This can help identify and diagnose problems
941 * with the JTAG chain earlier, gives more helpful/explicit error messages.
942 * Returns TRUE iff garbage was found.
944 static bool jtag_examine_chain_end(uint8_t *idcodes, unsigned count, unsigned max)
946 bool triggered = false;
947 for (; count < max - 31; count += 32)
949 uint32_t idcode = buf_get_u32(idcodes, count, 32);
950 // do not trigger the warning if the data looks good
951 if (!triggered && jtag_idcode_is_final(idcode))
953 LOG_WARNING("Unexpected idcode after end of chain: %d 0x%08x",
954 count, (unsigned int)idcode);
960 static bool jtag_examine_chain_match_tap(const struct jtag_tap_s *tap)
962 /* ignore expected BYPASS codes; warn otherwise */
963 if (0 == tap->expected_ids_cnt && !tap->idcode)
966 /* Loop over the expected identification codes and test for a match */
968 for (ii = 0; ii < tap->expected_ids_cnt; ii++)
970 if (tap->idcode == tap->expected_ids[ii])
973 /* treat "-expected-id 0" as a "don't-warn" wildcard */
974 if (0 == tap->expected_ids[ii])
978 /* If none of the expected ids matched, warn */
979 jtag_examine_chain_display(LOG_LVL_WARNING, "UNEXPECTED",
980 tap->dotted_name, tap->idcode);
981 for (ii = 0; ii < tap->expected_ids_cnt; ii++)
984 snprintf(msg, sizeof(msg), "expected %hhu of %hhu",
985 ii + 1, tap->expected_ids_cnt);
986 jtag_examine_chain_display(LOG_LVL_ERROR, msg,
987 tap->dotted_name, tap->expected_ids[ii]);
992 /* Try to examine chain layout according to IEEE 1149.1 §12
993 * This is called a "blind interrogation" of the scan chain.
995 static int jtag_examine_chain(void)
997 uint8_t idcode_buffer[JTAG_MAX_CHAIN_SIZE * 4];
1001 /* DR scan to collect BYPASS or IDCODE register contents.
1002 * Then make sure the scan data has both ones and zeroes.
1004 retval = jtag_examine_chain_execute(idcode_buffer, JTAG_MAX_CHAIN_SIZE);
1005 if (retval != ERROR_OK)
1007 if (!jtag_examine_chain_check(idcode_buffer, JTAG_MAX_CHAIN_SIZE))
1008 return ERROR_JTAG_INIT_FAILED;
1010 /* point at the 1st tap */
1011 jtag_tap_t *tap = jtag_tap_next_enabled(NULL);
1014 LOG_ERROR("JTAG: No taps enabled?");
1015 return ERROR_JTAG_INIT_FAILED;
1019 tap && bit_count < (JTAG_MAX_CHAIN_SIZE * 32) - 31;
1020 tap = jtag_tap_next_enabled(tap))
1022 uint32_t idcode = buf_get_u32(idcode_buffer, bit_count, 32);
1024 if ((idcode & 1) == 0)
1026 /* Zero for LSB indicates a device in bypass */
1027 LOG_WARNING("TAP %s does not have IDCODE",
1030 tap->hasidcode = false;
1036 /* Friendly devices support IDCODE */
1037 tap->hasidcode = true;
1038 jtag_examine_chain_display(LOG_LVL_INFO,
1040 tap->dotted_name, idcode);
1044 tap->idcode = idcode;
1046 /* ensure the TAP ID matches what was expected */
1047 if (!jtag_examine_chain_match_tap(tap))
1048 retval = ERROR_JTAG_INIT_SOFT_FAIL;
1051 /* Fail if too many TAPs were enabled for us to verify them all. */
1053 LOG_ERROR("Too many TAPs enabled; '%s' ignored.",
1055 return ERROR_JTAG_INIT_FAILED;
1058 /* After those IDCODE or BYPASS register values should be
1059 * only the data we fed into the scan chain.
1061 if (jtag_examine_chain_end(idcode_buffer, bit_count,
1062 8 * sizeof(idcode_buffer))) {
1063 LOG_ERROR("double-check your JTAG setup (interface, "
1064 "speed, missing TAPs, ...)");
1065 return ERROR_JTAG_INIT_FAILED;
1068 /* Return success or, for backwards compatibility if only
1069 * some IDCODE values mismatched, a soft/continuable fault.
1075 * Validate the date loaded by entry to the Capture-IR state, to help
1076 * find errors related to scan chain configuration (wrong IR lengths)
1079 * Entry state can be anything. On non-error exit, all TAPs are in
1080 * bypass mode. On error exits, the scan chain is reset.
1082 static int jtag_validate_ircapture(void)
1085 int total_ir_length = 0;
1086 uint8_t *ir_test = NULL;
1092 for (tap = NULL, total_ir_length = 0;
1093 (tap = jtag_tap_next_enabled(tap)) != NULL;
1094 total_ir_length += tap->ir_length)
1097 /* increase length to add 2 bit sentinel after scan */
1098 total_ir_length += 2;
1100 ir_test = malloc(CEIL(total_ir_length, 8));
1101 if (ir_test == NULL)
1104 /* after this scan, all TAPs will capture BYPASS instructions */
1105 buf_set_ones(ir_test, total_ir_length);
1108 field.num_bits = total_ir_length;
1109 field.out_value = ir_test;
1110 field.in_value = ir_test;
1112 jtag_add_plain_ir_scan(1, &field, TAP_IDLE);
1114 LOG_DEBUG("IR capture validation scan");
1115 retval = jtag_execute_queue();
1116 if (retval != ERROR_OK)
1123 tap = jtag_tap_next_enabled(tap);
1128 /* Validate the two LSBs, which must be 01 per JTAG spec.
1130 * Or ... more bits could be provided by TAP declaration.
1131 * Plus, some taps (notably in i.MX series chips) violate
1132 * this part of the JTAG spec, so their capture mask/value
1133 * attributes might disable this test.
1135 val = buf_get_u32(ir_test, chain_pos, tap->ir_length);
1136 if ((val & tap->ir_capture_mask) != tap->ir_capture_value) {
1137 LOG_ERROR("%s: IR capture error; saw 0x%0*x not 0x%0*x",
1139 (tap->ir_length + 7) / tap->ir_length,
1141 (tap->ir_length + 7) / tap->ir_length,
1142 tap->ir_capture_value);
1144 retval = ERROR_JTAG_INIT_FAILED;
1147 LOG_DEBUG("%s: IR capture 0x%0*x", jtag_tap_name(tap),
1148 (tap->ir_length + 7) / tap->ir_length, val);
1149 chain_pos += tap->ir_length;
1152 /* verify the '11' sentinel we wrote is returned at the end */
1153 val = buf_get_u32(ir_test, chain_pos, 2);
1156 char *cbuf = buf_to_str(ir_test, total_ir_length, 16);
1158 LOG_ERROR("IR capture error at bit %d, saw 0x%s not 0x...3",
1161 retval = ERROR_JTAG_INIT_FAILED;
1166 if (retval != ERROR_OK) {
1168 jtag_execute_queue();
1174 void jtag_tap_init(jtag_tap_t *tap)
1176 assert(0 != tap->ir_length);
1178 /// @todo fix, this allocates one byte per bit for all three fields!
1179 tap->expected = malloc(tap->ir_length);
1180 tap->expected_mask = malloc(tap->ir_length);
1181 tap->cur_instr = malloc(tap->ir_length);
1183 /// @todo cope sanely with ir_length bigger than 32 bits
1184 buf_set_u32(tap->expected, 0, tap->ir_length, tap->ir_capture_value);
1185 buf_set_u32(tap->expected_mask, 0, tap->ir_length, tap->ir_capture_mask);
1186 buf_set_ones(tap->cur_instr, tap->ir_length);
1188 // place TAP in bypass mode
1190 // register the reset callback for the TAP
1191 jtag_register_event_callback(&jtag_reset_callback, tap);
1193 LOG_DEBUG("Created Tap: %s @ abs position %d, "
1194 "irlen %d, capture: 0x%x mask: 0x%x", tap->dotted_name,
1195 tap->abs_chain_position, tap->ir_length,
1196 (unsigned) tap->ir_capture_value,
1197 (unsigned) tap->ir_capture_mask);
1201 void jtag_tap_free(jtag_tap_t *tap)
1203 jtag_unregister_event_callback(&jtag_reset_callback, tap);
1205 /// @todo is anything missing? no memory leaks please
1206 free((void *)tap->expected);
1207 free((void *)tap->expected_ids);
1208 free((void *)tap->chip);
1209 free((void *)tap->tapname);
1210 free((void *)tap->dotted_name);
1214 int jtag_interface_init(struct command_context_s *cmd_ctx)
1219 if (!jtag_interface)
1221 /* nothing was previously specified by "interface" command */
1222 LOG_ERROR("JTAG interface has to be specified, see \"interface\" command");
1223 return ERROR_JTAG_INVALID_INTERFACE;
1226 jtag = jtag_interface;
1227 if (jtag_interface->init() != ERROR_OK)
1230 return ERROR_JTAG_INIT_FAILED;
1233 int requested_khz = jtag_get_speed_khz();
1234 int actual_khz = requested_khz;
1235 int retval = jtag_get_speed_readable(&actual_khz);
1236 if (ERROR_OK != retval)
1237 LOG_INFO("interface specific clock speed value %d", jtag_get_speed());
1238 else if (actual_khz)
1240 if ((CLOCK_MODE_RCLK == clock_mode)
1241 || ((CLOCK_MODE_KHZ == clock_mode) && !requested_khz))
1243 LOG_INFO("RCLK (adaptive clock speed) not supported - fallback to %d kHz"
1247 LOG_INFO("clock speed %d kHz", actual_khz);
1250 LOG_INFO("RCLK (adaptive clock speed)");
1255 int jtag_init_inner(struct command_context_s *cmd_ctx)
1259 bool issue_setup = true;
1261 LOG_DEBUG("Init JTAG chain");
1263 tap = jtag_tap_next_enabled(NULL);
1265 LOG_ERROR("There are no enabled taps?");
1266 return ERROR_JTAG_INIT_FAILED;
1270 if ((retval = jtag_execute_queue()) != ERROR_OK)
1273 /* Examine DR values first. This discovers problems which will
1274 * prevent communication ... hardware issues like TDO stuck, or
1275 * configuring the wrong number of (enabled) TAPs.
1277 retval = jtag_examine_chain();
1280 /* complete success */
1282 case ERROR_JTAG_INIT_SOFT_FAIL:
1283 /* For backward compatibility reasons, try coping with
1284 * configuration errors involving only ID mismatches.
1285 * We might be able to talk to the devices.
1287 LOG_ERROR("Trying to use configured scan chain anyway...");
1288 issue_setup = false;
1291 /* some hard error; already issued diagnostics */
1295 /* Now look at IR values. Problems here will prevent real
1296 * communication. They mostly mean that the IR length is
1297 * wrong ... or that the IR capture value is wrong. (The
1298 * latter is uncommon, but easily worked around: provide
1299 * ircapture/irmask values during TAP setup.)
1301 retval = jtag_validate_ircapture();
1302 if (retval != ERROR_OK)
1306 jtag_notify_event(JTAG_TAP_EVENT_SETUP);
1308 LOG_WARNING("Bypassing JTAG setup events due to errors");
1314 int jtag_interface_quit(void)
1316 if (!jtag || !jtag->quit)
1319 // close the JTAG interface
1320 int result = jtag->quit();
1321 if (ERROR_OK != result)
1322 LOG_ERROR("failed: %d", result);
1328 int jtag_init_reset(struct command_context_s *cmd_ctx)
1332 if ((retval = jtag_interface_init(cmd_ctx)) != ERROR_OK)
1335 LOG_DEBUG("Trying to bring the JTAG controller to life by asserting TRST / TLR");
1337 /* Reset can happen after a power cycle.
1339 * Ideally we would only assert TRST or run TLR before the target reset.
1341 * However w/srst_pulls_trst, trst is asserted together with the target
1342 * reset whether we want it or not.
1344 * NB! Some targets have JTAG circuitry disabled until a
1345 * trst & srst has been asserted.
1347 * NB! here we assume nsrst/ntrst delay are sufficient!
1349 * NB! order matters!!!! srst *can* disconnect JTAG circuitry
1352 jtag_add_reset(1, 0); /* TAP_RESET, using TMS+TCK or TRST */
1353 if (jtag_reset_config & RESET_HAS_SRST)
1355 jtag_add_reset(1, 1);
1356 if ((jtag_reset_config & RESET_SRST_PULLS_TRST) == 0)
1357 jtag_add_reset(0, 1);
1359 jtag_add_reset(0, 0);
1360 if ((retval = jtag_execute_queue()) != ERROR_OK)
1363 /* Check that we can communication on the JTAG chain + eventually we want to
1364 * be able to perform enumeration only after OpenOCD has started
1365 * telnet and GDB server
1367 * That would allow users to more easily perform any magic they need to before
1370 return jtag_init_inner(cmd_ctx);
1373 int jtag_init(struct command_context_s *cmd_ctx)
1377 if ((retval = jtag_interface_init(cmd_ctx)) != ERROR_OK)
1380 /* guard against oddball hardware: force resets to be inactive */
1381 jtag_add_reset(0, 0);
1382 if ((retval = jtag_execute_queue()) != ERROR_OK)
1385 if (Jim_Eval_Named(interp, "jtag_init", __FILE__, __LINE__) != JIM_OK)
1391 unsigned jtag_get_speed_khz(void)
1396 static int jtag_khz_to_speed(unsigned khz, int* speed)
1398 LOG_DEBUG("convert khz to interface specific speed value");
1402 LOG_DEBUG("have interface set up");
1404 int retval = jtag->khz(jtag_get_speed_khz(), &speed_div1);
1405 if (ERROR_OK != retval)
1409 *speed = speed_div1;
1414 static int jtag_rclk_to_speed(unsigned fallback_speed_khz, int* speed)
1416 int retval = jtag_khz_to_speed(0, speed);
1417 if ((ERROR_OK != retval) && fallback_speed_khz)
1419 LOG_DEBUG("trying fallback speed...");
1420 retval = jtag_khz_to_speed(fallback_speed_khz, speed);
1425 static int jtag_set_speed(int speed)
1428 /* this command can be called during CONFIG,
1429 * in which case jtag isn't initialized */
1430 return jtag ? jtag->speed(speed) : ERROR_OK;
1433 int jtag_config_speed(int speed)
1435 LOG_DEBUG("handle jtag speed");
1436 clock_mode = CLOCK_MODE_SPEED;
1437 return jtag_set_speed(speed);
1440 int jtag_config_khz(unsigned khz)
1442 LOG_DEBUG("handle jtag khz");
1443 clock_mode = CLOCK_MODE_KHZ;
1445 int retval = jtag_khz_to_speed(khz, &speed);
1446 return (ERROR_OK != retval) ? retval : jtag_set_speed(speed);
1449 int jtag_config_rclk(unsigned fallback_speed_khz)
1451 LOG_DEBUG("handle jtag rclk");
1452 clock_mode = CLOCK_MODE_RCLK;
1453 rclk_fallback_speed_khz = fallback_speed_khz;
1455 int retval = jtag_rclk_to_speed(fallback_speed_khz, &speed);
1456 return (ERROR_OK != retval) ? retval : jtag_set_speed(speed);
1459 int jtag_get_speed(void)
1464 case CLOCK_MODE_SPEED:
1467 case CLOCK_MODE_KHZ:
1468 jtag_khz_to_speed(jtag_get_speed_khz(), &speed);
1470 case CLOCK_MODE_RCLK:
1471 jtag_rclk_to_speed(rclk_fallback_speed_khz, &speed);
1474 LOG_ERROR("BUG: unknown jtag clock mode");
1481 int jtag_get_speed_readable(int *khz)
1483 return jtag ? jtag->speed_div(jtag_get_speed(), khz) : ERROR_OK;
1486 void jtag_set_verify(bool enable)
1488 jtag_verify = enable;
1491 bool jtag_will_verify()
1496 void jtag_set_verify_capture_ir(bool enable)
1498 jtag_verify_capture_ir = enable;
1501 bool jtag_will_verify_capture_ir()
1503 return jtag_verify_capture_ir;
1506 int jtag_power_dropout(int *dropout)
1508 return jtag->power_dropout(dropout);
1511 int jtag_srst_asserted(int *srst_asserted)
1513 return jtag->srst_asserted(srst_asserted);
1516 enum reset_types jtag_get_reset_config(void)
1518 return jtag_reset_config;
1520 void jtag_set_reset_config(enum reset_types type)
1522 jtag_reset_config = type;
1525 int jtag_get_trst(void)
1529 int jtag_get_srst(void)
1534 void jtag_set_nsrst_delay(unsigned delay)
1536 jtag_nsrst_delay = delay;
1538 unsigned jtag_get_nsrst_delay(void)
1540 return jtag_nsrst_delay;
1542 void jtag_set_ntrst_delay(unsigned delay)
1544 jtag_ntrst_delay = delay;
1546 unsigned jtag_get_ntrst_delay(void)
1548 return jtag_ntrst_delay;
1552 void jtag_set_nsrst_assert_width(unsigned delay)
1554 jtag_nsrst_assert_width = delay;
1556 unsigned jtag_get_nsrst_assert_width(void)
1558 return jtag_nsrst_assert_width;
1560 void jtag_set_ntrst_assert_width(unsigned delay)
1562 jtag_ntrst_assert_width = delay;
1564 unsigned jtag_get_ntrst_assert_width(void)
1566 return jtag_ntrst_assert_width;