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   1 /*
   2  * JTAG to VPI driver
   3  *
   4  * Copyright (C) 2013 Franck Jullien, <elec4fun@gmail.com>
   5  *
   6  * See file CREDITS for list of people who contributed to this
   7  * project.
   8  *
   9  * This program is free software; you can redistribute it and/or
  10  * modify it under the terms of the GNU General Public License as
  11  * published by the Free Software Foundation; either version 2 of
  12  * the License, or (at your option) any later version.
  13  *
  14  * This program is distributed in the hope that it will be useful,
  15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  17  * GNU General Public License for more details.
  18  *
  19  * You should have received a copy of the GNU General Public License
  20  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  21  */
  22
  23 #ifdef HAVE_CONFIG_H
  24 #include "config.h"
  25 #endif
  26
  27 #include <jtag/interface.h>
  28 #ifdef HAVE_ARPA_INET_H
  29 #include <arpa/inet.h>
  30 #endif
  31
  32 #ifndef _WIN32
  33 #include <netinet/tcp.h>
  34 #endif
  35
  36 #include <string.h>
  37
  38 #define NO_TAP_SHIFT    0
  39 #define TAP_SHIFT       1
  40
  41 #define SERVER_ADDRESS  "127.0.0.1"
  42 #define SERVER_PORT     5555
  43
  44 #define XFERT_MAX_SIZE          512
  45
  46 #define CMD_RESET               0
  47 #define CMD_TMS_SEQ             1
  48 #define CMD_SCAN_CHAIN          2
  49 #define CMD_SCAN_CHAIN_FLIP_TMS 3
  50 #define CMD_STOP_SIMU           4
  51
  52 int server_port = SERVER_PORT;
  53 char *server_address;
  54
  55 int sockfd;
  56 struct sockaddr_in serv_addr;
  57
  58 /* One jtag_vpi "packet" as sent over a TCP channel. */
  59 struct vpi_cmd {
  60         union {
  61                 uint32_t cmd;
  62                 unsigned char cmd_buf[4];
  63         };
  64         unsigned char buffer_out[XFERT_MAX_SIZE];
  65         unsigned char buffer_in[XFERT_MAX_SIZE];
  66         union {
  67                 uint32_t length;
  68                 unsigned char length_buf[4];
  69         };
  70         union {
  71                 uint32_t nb_bits;
  72                 unsigned char nb_bits_buf[4];
  73         };
  74 };
  75
  76 static char *jtag_vpi_cmd_to_str(int cmd_num)
  77 {
  78         switch (cmd_num) {
  79         case CMD_RESET:
  80                 return "CMD_RESET";
  81         case CMD_TMS_SEQ:
  82                 return "CMD_TMS_SEQ";
  83         case CMD_SCAN_CHAIN:
  84                 return "CMD_SCAN_CHAIN";
  85         case CMD_SCAN_CHAIN_FLIP_TMS:
  86                 return "CMD_SCAN_CHAIN_FLIP_TMS";
  87         case CMD_STOP_SIMU:
  88                 return "CMD_STOP_SIMU";
  89         default:
  90                 return "<unknown>";
  91         }
  92 }
  93
  94 static int jtag_vpi_send_cmd(struct vpi_cmd *vpi)
  95 {
  96         int retval;
  97
  98         /* Optional low-level JTAG debug */
  99         if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO)) {
 100                 if (vpi->nb_bits > 0) {
 101                         /* command with a non-empty data payload */
 102                         char *char_buf = buf_to_str(vpi->buffer_out,
 103                                         (vpi->nb_bits > DEBUG_JTAG_IOZ)
 104                                                 ? DEBUG_JTAG_IOZ
 105                                                 : vpi->nb_bits,
 106                                         16);
 107                         LOG_DEBUG_IO("sending JTAG VPI cmd: cmd=%s, "
 108                                         "length=%" PRIu32 ", "
 109                                         "nb_bits=%" PRIu32 ", "
 110                                         "buf_out=0x%s%s",
 111                                         jtag_vpi_cmd_to_str(vpi->cmd),
 112                                         vpi->length,
 113                                         vpi->nb_bits,
 114                                         char_buf,
 115                                         (vpi->nb_bits > DEBUG_JTAG_IOZ) ? "(...)" : "");
 116                         free(char_buf);
 117                 } else {
 118                         /* command without data payload */
 119                         LOG_DEBUG_IO("sending JTAG VPI cmd: cmd=%s, "
 120                                         "length=%" PRIu32 ", "
 121                                         "nb_bits=%" PRIu32,
 122                                         jtag_vpi_cmd_to_str(vpi->cmd),
 123                                         vpi->length,
 124                                         vpi->nb_bits);
 125                 }
 126         }
 127
 128         /* Use little endian when transmitting/receiving jtag_vpi cmds.
 129            The choice of little endian goes against usual networking conventions
 130            but is intentional to remain compatible with most older OpenOCD builds
 131            (i.e. builds on little-endian platforms). */
 132         h_u32_to_le(vpi->cmd_buf, vpi->cmd);
 133         h_u32_to_le(vpi->length_buf, vpi->length);
 134         h_u32_to_le(vpi->nb_bits_buf, vpi->nb_bits);
 135
 136 retry_write:
 137         retval = write_socket(sockfd, vpi, sizeof(struct vpi_cmd));
 138
 139         if (retval < 0) {
 140                 /* Account for the case when socket write is interrupted. */
 141 #ifdef _WIN32
 142                 int wsa_err = WSAGetLastError();
 143                 if (wsa_err == WSAEINTR)
 144                         goto retry_write;
 145 #else
 146                 if (errno == EINTR)
 147                         goto retry_write;
 148 #endif
 149                 /* Otherwise this is an error using the socket, most likely fatal
 150                    for the connection. B*/
 151                 log_socket_error("jtag_vpi xmit");
 152                 /* TODO: Clean way how adapter drivers can report fatal errors
 153                    to upper layers of OpenOCD and let it perform an orderly shutdown? */
 154                 exit(-1);
 155         } else if (retval < (int)sizeof(struct vpi_cmd)) {
 156                 /* This means we could not send all data, which is most likely fatal
 157                    for the jtag_vpi connection (the underlying TCP connection likely not
 158                    usable anymore) */
 159                 LOG_ERROR("Could not send all data through jtag_vpi connection.");
 160                 exit(-1);
 161         }
 162
 163         /* Otherwise the packet has been sent successfully. */
 164         return ERROR_OK;
 165 }
 166
 167 static int jtag_vpi_receive_cmd(struct vpi_cmd *vpi)
 168 {
 169         unsigned bytes_buffered = 0;
 170         while (bytes_buffered < sizeof(struct vpi_cmd)) {
 171                 int bytes_to_receive = sizeof(struct vpi_cmd) - bytes_buffered;
 172                 int retval = read_socket(sockfd, ((char *)vpi) + bytes_buffered, bytes_to_receive);
 173                 if (retval < 0) {
 174 #ifdef _WIN32
 175                         int wsa_err = WSAGetLastError();
 176                         if (wsa_err == WSAEINTR) {
 177                                 /* socket read interrupted by WSACancelBlockingCall() */
 178                                 continue;
 179                         }
 180 #else
 181                         if (errno == EINTR) {
 182                                 /* socket read interrupted by a signal */
 183                                 continue;
 184                         }
 185 #endif
 186                         /* Otherwise, this is an error when accessing the socket. */
 187                         log_socket_error("jtag_vpi recv");
 188                         exit(-1);
 189                 } else if (retval == 0) {
 190                         /* Connection closed by the other side */
 191                         LOG_ERROR("Connection prematurely closed by jtag_vpi server.");
 192                         exit(-1);
 193                 }
 194                 /* Otherwise, we have successfully received some data */
 195                 bytes_buffered += retval;
 196         }
 197
 198         /* Use little endian when transmitting/receiving jtag_vpi cmds. */
 199         vpi->cmd = le_to_h_u32(vpi->cmd_buf);
 200         vpi->length = le_to_h_u32(vpi->length_buf);
 201         vpi->nb_bits = le_to_h_u32(vpi->nb_bits_buf);
 202
 203         return ERROR_OK;
 204 }
 205
 206 /**
 207  * jtag_vpi_reset - ask to reset the JTAG device
 208  * @trst: 1 if TRST is to be asserted
 209  * @srst: 1 if SRST is to be asserted
 210  */
 211 static int jtag_vpi_reset(int trst, int srst)
 212 {
 213         struct vpi_cmd vpi;
 214         memset(&vpi, 0, sizeof(struct vpi_cmd));
 215
 216         vpi.cmd = CMD_RESET;
 217         vpi.length = 0;
 218         return jtag_vpi_send_cmd(&vpi);
 219 }
 220
 221 /**
 222  * jtag_vpi_tms_seq - ask a TMS sequence transition to JTAG
 223  * @bits: TMS bits to be written (bit0, bit1 .. bitN)
 224  * @nb_bits: number of TMS bits (between 1 and 8)
 225  *
 226  * Write a serie of TMS transitions, where each transition consists in :
 227  *  - writing out TCK=0, TMS=<new_state>, TDI=<???>
 228  *  - writing out TCK=1, TMS=<new_state>, TDI=<???> which triggers the transition
 229  * The function ensures that at the end of the sequence, the clock (TCK) is put
 230  * low.
 231  */
 232 static int jtag_vpi_tms_seq(const uint8_t *bits, int nb_bits)
 233 {
 234         struct vpi_cmd vpi;
 235         int nb_bytes;
 236
 237         memset(&vpi, 0, sizeof(struct vpi_cmd));
 238         nb_bytes = DIV_ROUND_UP(nb_bits, 8);
 239
 240         vpi.cmd = CMD_TMS_SEQ;
 241         memcpy(vpi.buffer_out, bits, nb_bytes);
 242         vpi.length = nb_bytes;
 243         vpi.nb_bits = nb_bits;
 244
 245         return jtag_vpi_send_cmd(&vpi);
 246 }
 247
 248 /**
 249  * jtag_vpi_path_move - ask a TMS sequence transition to JTAG
 250  * @cmd: path transition
 251  *
 252  * Write a serie of TMS transitions, where each transition consists in :
 253  *  - writing out TCK=0, TMS=<new_state>, TDI=<???>
 254  *  - writing out TCK=1, TMS=<new_state>, TDI=<???> which triggers the transition
 255  * The function ensures that at the end of the sequence, the clock (TCK) is put
 256  * low.
 257  */
 258
 259 static int jtag_vpi_path_move(struct pathmove_command *cmd)
 260 {
 261         uint8_t trans[DIV_ROUND_UP(cmd->num_states, 8)];
 262
 263         memset(trans, 0, DIV_ROUND_UP(cmd->num_states, 8));
 264
 265         for (int i = 0; i < cmd->num_states; i++) {
 266                 if (tap_state_transition(tap_get_state(), true) == cmd->path[i])
 267                         buf_set_u32(trans, i, 1, 1);
 268                 tap_set_state(cmd->path[i]);
 269         }
 270
 271         return jtag_vpi_tms_seq(trans, cmd->num_states);
 272 }
 273
 274 /**
 275  * jtag_vpi_tms - ask a tms command
 276  * @cmd: tms command
 277  */
 278 static int jtag_vpi_tms(struct tms_command *cmd)
 279 {
 280         return jtag_vpi_tms_seq(cmd->bits, cmd->num_bits);
 281 }
 282
 283 static int jtag_vpi_state_move(tap_state_t state)
 284 {
 285         if (tap_get_state() == state)
 286                 return ERROR_OK;
 287
 288         uint8_t tms_scan = tap_get_tms_path(tap_get_state(), state);
 289         int tms_len = tap_get_tms_path_len(tap_get_state(), state);
 290
 291         int retval = jtag_vpi_tms_seq(&tms_scan, tms_len);
 292         if (retval != ERROR_OK)
 293                 return retval;
 294
 295         tap_set_state(state);
 296
 297         return ERROR_OK;
 298 }
 299
 300 static int jtag_vpi_queue_tdi_xfer(uint8_t *bits, int nb_bits, int tap_shift)
 301 {
 302         struct vpi_cmd vpi;
 303         int nb_bytes = DIV_ROUND_UP(nb_bits, 8);
 304
 305         memset(&vpi, 0, sizeof(struct vpi_cmd));
 306
 307         vpi.cmd = tap_shift ? CMD_SCAN_CHAIN_FLIP_TMS : CMD_SCAN_CHAIN;
 308
 309         if (bits)
 310                 memcpy(vpi.buffer_out, bits, nb_bytes);
 311         else
 312                 memset(vpi.buffer_out, 0xff, nb_bytes);
 313
 314         vpi.length = nb_bytes;
 315         vpi.nb_bits = nb_bits;
 316
 317         int retval = jtag_vpi_send_cmd(&vpi);
 318         if (retval != ERROR_OK)
 319                 return retval;
 320
 321         retval = jtag_vpi_receive_cmd(&vpi);
 322         if (retval != ERROR_OK)
 323                 return retval;
 324
 325         /* Optional low-level JTAG debug */
 326         if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO)) {
 327                 char *char_buf = buf_to_str(vpi.buffer_in,
 328                                 (nb_bits > DEBUG_JTAG_IOZ) ? DEBUG_JTAG_IOZ : nb_bits,
 329                                 16);
 330                 LOG_DEBUG_IO("recvd JTAG VPI data: nb_bits=%d, buf_in=0x%s%s",
 331                         nb_bits, char_buf, (nb_bits > DEBUG_JTAG_IOZ) ? "(...)" : "");
 332                 free(char_buf);
 333         }
 334
 335         if (bits)
 336                 memcpy(bits, vpi.buffer_in, nb_bytes);
 337
 338         return ERROR_OK;
 339 }
 340
 341 /**
 342  * jtag_vpi_queue_tdi - short description
 343  * @bits: bits to be queued on TDI (or NULL if 0 are to be queued)
 344  * @nb_bits: number of bits
 345  */
 346 static int jtag_vpi_queue_tdi(uint8_t *bits, int nb_bits, int tap_shift)
 347 {
 348         int nb_xfer = DIV_ROUND_UP(nb_bits, XFERT_MAX_SIZE * 8);
 349         int retval;
 350
 351         while (nb_xfer) {
 352                 if (nb_xfer ==  1) {
 353                         retval = jtag_vpi_queue_tdi_xfer(bits, nb_bits, tap_shift);
 354                         if (retval != ERROR_OK)
 355                                 return retval;
 356                 } else {
 357                         retval = jtag_vpi_queue_tdi_xfer(bits, XFERT_MAX_SIZE * 8, NO_TAP_SHIFT);
 358                         if (retval != ERROR_OK)
 359                                 return retval;
 360                         nb_bits -= XFERT_MAX_SIZE * 8;
 361                         if (bits)
 362                                 bits += XFERT_MAX_SIZE;
 363                 }
 364
 365                 nb_xfer--;
 366         }
 367
 368         return ERROR_OK;
 369 }
 370
 371 /**
 372  * jtag_vpi_clock_tms - clock a TMS transition
 373  * @tms: the TMS to be sent
 374  *
 375  * Triggers a TMS transition (ie. one JTAG TAP state move).
 376  */
 377 static int jtag_vpi_clock_tms(int tms)
 378 {
 379         const uint8_t tms_0 = 0;
 380         const uint8_t tms_1 = 1;
 381
 382         return jtag_vpi_tms_seq(tms ? &tms_1 : &tms_0, 1);
 383 }
 384
 385 /**
 386  * jtag_vpi_scan - launches a DR-scan or IR-scan
 387  * @cmd: the command to launch
 388  *
 389  * Launch a JTAG IR-scan or DR-scan
 390  *
 391  * Returns ERROR_OK if OK, ERROR_xxx if a read/write error occured.
 392  */
 393 static int jtag_vpi_scan(struct scan_command *cmd)
 394 {
 395         int scan_bits;
 396         uint8_t *buf = NULL;
 397         int retval = ERROR_OK;
 398
 399         scan_bits = jtag_build_buffer(cmd, &buf);
 400
 401         if (cmd->ir_scan) {
 402                 retval = jtag_vpi_state_move(TAP_IRSHIFT);
 403                 if (retval != ERROR_OK)
 404                         return retval;
 405         } else {
 406                 retval = jtag_vpi_state_move(TAP_DRSHIFT);
 407                 if (retval != ERROR_OK)
 408                         return retval;
 409         }
 410
 411         if (cmd->end_state == TAP_DRSHIFT) {
 412                 retval = jtag_vpi_queue_tdi(buf, scan_bits, NO_TAP_SHIFT);
 413                 if (retval != ERROR_OK)
 414                         return retval;
 415         } else {
 416                 retval = jtag_vpi_queue_tdi(buf, scan_bits, TAP_SHIFT);
 417                 if (retval != ERROR_OK)
 418                         return retval;
 419         }
 420
 421         if (cmd->end_state != TAP_DRSHIFT) {
 422                 /*
 423                  * As our JTAG is in an unstable state (IREXIT1 or DREXIT1), move it
 424                  * forward to a stable IRPAUSE or DRPAUSE.
 425                  */
 426                 retval = jtag_vpi_clock_tms(0);
 427                 if (retval != ERROR_OK)
 428                         return retval;
 429
 430                 if (cmd->ir_scan)
 431                         tap_set_state(TAP_IRPAUSE);
 432                 else
 433                         tap_set_state(TAP_DRPAUSE);
 434         }
 435
 436         retval = jtag_read_buffer(buf, cmd);
 437         if (retval != ERROR_OK)
 438                 return retval;
 439
 440         if (buf)
 441                 free(buf);
 442
 443         if (cmd->end_state != TAP_DRSHIFT) {
 444                 retval = jtag_vpi_state_move(cmd->end_state);
 445                 if (retval != ERROR_OK)
 446                         return retval;
 447         }
 448
 449         return ERROR_OK;
 450 }
 451
 452 static int jtag_vpi_runtest(int cycles, tap_state_t state)
 453 {
 454         int retval;
 455
 456         retval = jtag_vpi_state_move(TAP_IDLE);
 457         if (retval != ERROR_OK)
 458                 return retval;
 459
 460         retval = jtag_vpi_queue_tdi(NULL, cycles, NO_TAP_SHIFT);
 461         if (retval != ERROR_OK)
 462                 return retval;
 463
 464         return jtag_vpi_state_move(state);
 465 }
 466
 467 static int jtag_vpi_stableclocks(int cycles)
 468 {
 469         uint8_t tms_bits[4];
 470         int cycles_remain = cycles;
 471         int nb_bits;
 472         int retval;
 473         const int CYCLES_ONE_BATCH = sizeof(tms_bits) * 8;
 474
 475         assert(cycles >= 0);
 476
 477         /* use TMS=1 in TAP RESET state, TMS=0 in all other stable states */
 478         memset(&tms_bits, (tap_get_state() == TAP_RESET) ? 0xff : 0x00, sizeof(tms_bits));
 479
 480         /* send the TMS bits */
 481         while (cycles_remain > 0) {
 482                 nb_bits = (cycles_remain < CYCLES_ONE_BATCH) ? cycles_remain : CYCLES_ONE_BATCH;
 483                 retval = jtag_vpi_tms_seq(tms_bits, nb_bits);
 484                 if (retval != ERROR_OK)
 485                         return retval;
 486                 cycles_remain -= nb_bits;
 487         }
 488
 489         return ERROR_OK;
 490 }
 491
 492 static int jtag_vpi_execute_queue(void)
 493 {
 494         struct jtag_command *cmd;
 495         int retval = ERROR_OK;
 496
 497         for (cmd = jtag_command_queue; retval == ERROR_OK && cmd != NULL;
 498              cmd = cmd->next) {
 499                 switch (cmd->type) {
 500                 case JTAG_RESET:
 501                         retval = jtag_vpi_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 502                         break;
 503                 case JTAG_RUNTEST:
 504                         retval = jtag_vpi_runtest(cmd->cmd.runtest->num_cycles,
 505                                                   cmd->cmd.runtest->end_state);
 506                         break;
 507                 case JTAG_STABLECLOCKS:
 508                         retval = jtag_vpi_stableclocks(cmd->cmd.stableclocks->num_cycles);
 509                         break;
 510                 case JTAG_TLR_RESET:
 511                         retval = jtag_vpi_state_move(cmd->cmd.statemove->end_state);
 512                         break;
 513                 case JTAG_PATHMOVE:
 514                         retval = jtag_vpi_path_move(cmd->cmd.pathmove);
 515                         break;
 516                 case JTAG_TMS:
 517                         retval = jtag_vpi_tms(cmd->cmd.tms);
 518                         break;
 519                 case JTAG_SLEEP:
 520                         jtag_sleep(cmd->cmd.sleep->us);
 521                         break;
 522                 case JTAG_SCAN:
 523                         retval = jtag_vpi_scan(cmd->cmd.scan);
 524                         break;
 525                 default:
 526                         LOG_ERROR("BUG: unknown JTAG command type 0x%X",
 527                                   cmd->type);
 528                         retval = ERROR_FAIL;
 529                         break;
 530                 }
 531         }
 532
 533         return retval;
 534 }
 535
 536 static int jtag_vpi_init(void)
 537 {
 538         int flag = 1;
 539
 540         sockfd = socket(AF_INET, SOCK_STREAM, 0);
 541         if (sockfd < 0) {
 542                 LOG_ERROR("Could not create socket");
 543                 return ERROR_FAIL;
 544         }
 545
 546         memset(&serv_addr, 0, sizeof(serv_addr));
 547
 548         serv_addr.sin_family = AF_INET;
 549         serv_addr.sin_port = htons(server_port);
 550
 551         if (!server_address)
 552                 server_address = strdup(SERVER_ADDRESS);
 553
 554         serv_addr.sin_addr.s_addr = inet_addr(server_address);
 555
 556         if (serv_addr.sin_addr.s_addr == INADDR_NONE) {
 557                 LOG_ERROR("inet_addr error occured");
 558                 return ERROR_FAIL;
 559         }
 560
 561         if (connect(sockfd, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) < 0) {
 562                 close(sockfd);
 563                 LOG_ERROR("Can't connect to %s : %u", server_address, server_port);
 564                 return ERROR_COMMAND_CLOSE_CONNECTION;
 565         }
 566
 567         if (serv_addr.sin_addr.s_addr == htonl(INADDR_LOOPBACK)) {
 568                 /* This increases performance drematically for local
 569                  * connections, which is the most likely arrangement
 570                  * for a VPI connection. */
 571                 setsockopt(sockfd, IPPROTO_TCP, TCP_NODELAY, (char *)&flag, sizeof(int));
 572         }
 573
 574         LOG_INFO("Connection to %s : %u succeed", server_address, server_port);
 575
 576         return ERROR_OK;
 577 }
 578
 579 static int jtag_vpi_quit(void)
 580 {
 581         free(server_address);
 582         return close_socket(sockfd);
 583 }
 584
 585 COMMAND_HANDLER(jtag_vpi_set_port)
 586 {
 587         if (CMD_ARGC == 0)
 588                 LOG_WARNING("You need to set a port number");
 589         else
 590                 COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], server_port);
 591
 592         LOG_INFO("Set server port to %u", server_port);
 593
 594         return ERROR_OK;
 595 }
 596
 597 COMMAND_HANDLER(jtag_vpi_set_address)
 598 {
 599         free(server_address);
 600
 601         if (CMD_ARGC == 0) {
 602                 LOG_WARNING("You need to set an address");
 603                 server_address = strdup(SERVER_ADDRESS);
 604         } else
 605                 server_address = strdup(CMD_ARGV[0]);
 606
 607         LOG_INFO("Set server address to %s", server_address);
 608
 609         return ERROR_OK;
 610 }
 611
 612 static const struct command_registration jtag_vpi_command_handlers[] = {
 613         {
 614                 .name = "jtag_vpi_set_port",
 615                 .handler = &jtag_vpi_set_port,
 616                 .mode = COMMAND_CONFIG,
 617                 .help = "set the port of the VPI server",
 618                 .usage = "tcp_port_num",
 619         },
 620         {
 621                 .name = "jtag_vpi_set_address",
 622                 .handler = &jtag_vpi_set_address,
 623                 .mode = COMMAND_CONFIG,
 624                 .help = "set the address of the VPI server",
 625                 .usage = "ipv4_addr",
 626         },
 627         COMMAND_REGISTRATION_DONE
 628 };
 629
 630 struct jtag_interface jtag_vpi_interface = {
 631         .name = "jtag_vpi",
 632         .supported = DEBUG_CAP_TMS_SEQ,
 633         .commands = jtag_vpi_command_handlers,
 634         .transports = jtag_only,
 635
 636         .init = jtag_vpi_init,
 637         .quit = jtag_vpi_quit,
 638         .execute_queue = jtag_vpi_execute_queue,
 639 };