[fw/openocd] / src / jtag / jtag.c

/***************************************************************************
 *   Copyright (C) 2005 by Dominic Rath                                    *
 *   Dominic.Rath@gmx.de                                                   *
 *                                                                         *
 *   Copyright (C) 2007,2008 Øyvind Harboe                                 *
 *   oyvind.harboe@zylin.com                                               *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include "replacements.h"

#include "jtag.h"

#include "command.h"
#include "log.h"

#include "stdlib.h"
#include "string.h"
#include <unistd.h>

/* note that this is not marked as static as it must be available from outside jtag.c for those
   that implement the jtag_xxx() minidriver layer
*/
int jtag_error=ERROR_OK;


char* tap_state_strings[16] =
{
        "tlr",
        "sds", "cd", "sd", "e1d", "pd", "e2d", "ud",
        "rti",
        "sis", "ci", "si", "e1i", "pi", "e2i", "ui"
};

typedef struct cmd_queue_page_s
{
        void *address;
        size_t used;
        struct cmd_queue_page_s *next;
} cmd_queue_page_t;

#define CMD_QUEUE_PAGE_SIZE (1024 * 1024)
static cmd_queue_page_t *cmd_queue_pages = NULL;

/* tap_move[i][j]: tap movement command to go from state i to state j
 * 0: Test-Logic-Reset
 * 1: Run-Test/Idle
 * 2: Shift-DR
 * 3: Pause-DR
 * 4: Shift-IR
 * 5: Pause-IR
 *
 * SD->SD and SI->SI have to be caught in interface specific code
 */
u8 tap_move[6][6] =
{
/*        TLR   RTI   SD    PD    SI    PI             */
        {0x7f, 0x00, 0x17, 0x0a, 0x1b, 0x16},   /* TLR */
        {0x7f, 0x00, 0x25, 0x05, 0x2b, 0x0b},   /* RTI */
        {0x7f, 0x31, 0x00, 0x01, 0x0f, 0x2f},   /* SD  */
        {0x7f, 0x30, 0x20, 0x17, 0x1e, 0x2f},   /* PD  */
        {0x7f, 0x31, 0x07, 0x17, 0x00, 0x01},   /* SI  */
        {0x7f, 0x30, 0x1c, 0x17, 0x20, 0x2f}    /* PI  */
};

int tap_move_map[16] = {
        0, -1, -1,  2, -1,  3, -1, -1,
        1, -1, -1,  4, -1,  5, -1, -1
};

tap_transition_t tap_transitions[16] =
{
        {TAP_TLR, TAP_RTI},             /* TLR */
        {TAP_SIS, TAP_CD},              /* SDS */
        {TAP_E1D, TAP_SD},              /* CD  */
        {TAP_E1D, TAP_SD},              /* SD  */
        {TAP_UD,  TAP_PD},              /* E1D */
        {TAP_E2D, TAP_PD},              /* PD  */
        {TAP_UD,  TAP_SD},              /* E2D */
        {TAP_SDS, TAP_RTI},             /* UD  */
        {TAP_SDS, TAP_RTI},             /* RTI */
        {TAP_TLR, TAP_CI},              /* SIS */
        {TAP_E1I, TAP_SI},              /* CI  */
        {TAP_E1I, TAP_SI},              /* SI  */
        {TAP_UI,  TAP_PI},              /* E1I */
        {TAP_E2I, TAP_PI},              /* PI  */
        {TAP_UI,  TAP_SI},              /* E2I */
        {TAP_SDS, TAP_RTI}              /* UI  */
};

char* jtag_event_strings[] =
{
        "JTAG controller reset (TLR or TRST)"
};

/* kludge!!!! these are just global variables that the
 * interface use internally. They really belong
 * inside the drivers, but we don't want to break
 * linking the drivers!!!!
 */
enum tap_state end_state = TAP_TLR;
enum tap_state cur_state = TAP_TLR;
int jtag_trst = 0;
int jtag_srst = 0;

jtag_command_t *jtag_command_queue = NULL;
jtag_command_t **last_comand_pointer = &jtag_command_queue;
static jtag_tap_t *jtag_all_taps = NULL;

enum reset_types jtag_reset_config = RESET_NONE;
enum tap_state cmd_queue_end_state = TAP_TLR;
enum tap_state cmd_queue_cur_state = TAP_TLR;

int jtag_verify_capture_ir = 1;

/* how long the OpenOCD should wait before attempting JTAG communication after reset lines deasserted (in ms) */
int jtag_nsrst_delay = 0; /* default to no nSRST delay */
int jtag_ntrst_delay = 0; /* default to no nTRST delay */

/* maximum number of JTAG devices expected in the chain
 */
#define JTAG_MAX_CHAIN_SIZE 20

/* callbacks to inform high-level handlers about JTAG state changes */
jtag_event_callback_t *jtag_event_callbacks;

/* speed in kHz*/
static int speed_khz = 0;
/* flag if the kHz speed was defined */
static int hasKHz = 0;

/* jtag interfaces (parport, FTDI-USB, TI-USB, ...)
 */

#if BUILD_ECOSBOARD == 1
        extern jtag_interface_t zy1000_interface;
#endif

#if BUILD_PARPORT == 1
        extern jtag_interface_t parport_interface;
#endif

#if BUILD_DUMMY == 1
        extern jtag_interface_t dummy_interface;
#endif

#if BUILD_FT2232_FTD2XX == 1
        extern jtag_interface_t ft2232_interface;
#endif

#if BUILD_FT2232_LIBFTDI == 1
        extern jtag_interface_t ft2232_interface;
#endif

#if BUILD_AMTJTAGACCEL == 1
        extern jtag_interface_t amt_jtagaccel_interface;
#endif

#if BUILD_EP93XX == 1
        extern jtag_interface_t ep93xx_interface;
#endif

#if BUILD_AT91RM9200 == 1
        extern jtag_interface_t at91rm9200_interface;
#endif

#if BUILD_GW16012 == 1
        extern jtag_interface_t gw16012_interface;
#endif

#if BUILD_PRESTO_LIBFTDI == 1 || BUILD_PRESTO_FTD2XX == 1
        extern jtag_interface_t presto_interface;
#endif

#if BUILD_USBPROG == 1
        extern jtag_interface_t usbprog_interface;
#endif

#if BUILD_JLINK == 1
        extern jtag_interface_t jlink_interface;
#endif

jtag_interface_t *jtag_interfaces[] = {
#if BUILD_ECOSBOARD == 1
        &zy1000_interface,
#endif
#if BUILD_PARPORT == 1
        &parport_interface,
#endif
#if BUILD_DUMMY == 1
        &dummy_interface,
#endif
#if BUILD_FT2232_FTD2XX == 1
        &ft2232_interface,
#endif
#if BUILD_FT2232_LIBFTDI == 1
        &ft2232_interface,
#endif
#if BUILD_AMTJTAGACCEL == 1
        &amt_jtagaccel_interface,
#endif
#if BUILD_EP93XX == 1
        &ep93xx_interface,
#endif
#if BUILD_AT91RM9200 == 1
        &at91rm9200_interface,
#endif
#if BUILD_GW16012 == 1
        &gw16012_interface,
#endif
#if BUILD_PRESTO_LIBFTDI == 1 || BUILD_PRESTO_FTD2XX == 1
        &presto_interface,
#endif
#if BUILD_USBPROG == 1
        &usbprog_interface,
#endif
#if BUILD_JLINK == 1
        &jlink_interface,
#endif
        NULL,
};

jtag_interface_t *jtag = NULL;

/* configuration */
jtag_interface_t *jtag_interface = NULL;
int jtag_speed = 0;



/* forward declarations */
void jtag_add_pathmove(int num_states, enum tap_state *path);
void jtag_add_runtest(int num_cycles, enum tap_state endstate);
void jtag_add_end_state(enum tap_state endstate);
void jtag_add_sleep(u32 us);
int jtag_execute_queue(void);


/* jtag commands */
int handle_interface_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
int handle_jtag_speed_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
int handle_jtag_khz_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
int handle_jtag_device_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
int handle_reset_config_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
int handle_jtag_nsrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
int handle_jtag_ntrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);

int handle_scan_chain_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);

int handle_endstate_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
int handle_jtag_reset_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
int handle_runtest_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
int handle_irscan_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *argv);

int handle_verify_ircapture_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);


jtag_tap_t *jtag_AllTaps(void)
{
  return jtag_all_taps;
};

int
jtag_NumTotalTaps(void)
{
        jtag_tap_t *t;
        int n;

        n = 0;
        t = jtag_AllTaps();
        while(t){
                n++;
                t = t->next_tap;
        }
        return n;
}

int
jtag_NumEnabledTaps(void)
{
        jtag_tap_t *t;
        int n;

        n = 0;
        t = jtag_AllTaps();
        while(t){
                if( t->enabled ){
                        n++;
                }
                t = t->next_tap;
        }
        return n;
}


jtag_tap_t *jtag_TapByString( const char *s )
{
        jtag_tap_t *t;
        char *cp;

        t = jtag_AllTaps();
        // try name first
        while(t){
                if( 0 == strcmp( t->dotted_name, s ) ){
                        break;
                } else {
                        t = t->next_tap;
                }
        }
        // backup plan is by number
        if( t == NULL ){
                /* ok - is "s" a number? */
                int n;
                n = strtol( s, &cp, 0 );
                if( (s != cp) && (*cp == 0) ){
                        /* Then it is... */
                        t = jtag_TapByAbsPosition(n);
                }
        }
        return t;
}

jtag_tap_t *
jtag_TapByJimObj( Jim_Interp *interp, Jim_Obj *o )
{
        jtag_tap_t *t;
        const char *cp;

        cp = Jim_GetString( o, NULL );
        if(cp == NULL){
                cp = "(unknown)";
                t = NULL;
        }  else {
                t = jtag_TapByString( cp );
        }
        if( t == NULL ){
                Jim_SetResult_sprintf(interp,"Tap: %s is unknown", cp );
        }
        return t;
}

/* returns a pointer to the n-th device in the scan chain */
jtag_tap_t *
jtag_TapByAbsPosition( int n )
{
        int orig_n;
        jtag_tap_t *t;

        orig_n = n;
        t = jtag_AllTaps();

        while( t && (n > 0)) {
                n--;
                t = t->next_tap;
    }
        return t;
}


int jtag_register_event_callback(int (*callback)(enum jtag_event event, void *priv), void *priv)
{
        jtag_event_callback_t **callbacks_p = &jtag_event_callbacks;

        if (callback == NULL)
        {
                return ERROR_INVALID_ARGUMENTS;
        }

        if (*callbacks_p)
        {
                while ((*callbacks_p)->next)
                        callbacks_p = &((*callbacks_p)->next);
                callbacks_p = &((*callbacks_p)->next);
        }

        (*callbacks_p) = malloc(sizeof(jtag_event_callback_t));
        (*callbacks_p)->callback = callback;
        (*callbacks_p)->priv = priv;
        (*callbacks_p)->next = NULL;

        return ERROR_OK;
}

int jtag_unregister_event_callback(int (*callback)(enum jtag_event event, void *priv))
{
        jtag_event_callback_t **callbacks_p = &jtag_event_callbacks;

        if (callback == NULL)
        {
                return ERROR_INVALID_ARGUMENTS;
        }

        while (*callbacks_p)
        {
                jtag_event_callback_t **next = &((*callbacks_p)->next);
                if ((*callbacks_p)->callback == callback)
                {
                        free(*callbacks_p);
                        *callbacks_p = *next;
                }
                callbacks_p = next;
        }

        return ERROR_OK;
}

int jtag_call_event_callbacks(enum jtag_event event)
{
        jtag_event_callback_t *callback = jtag_event_callbacks;

        LOG_DEBUG("jtag event: %s", jtag_event_strings[event]);

        while (callback)
        {
                callback->callback(event, callback->priv);
                callback = callback->next;
        }

        return ERROR_OK;
}

/* returns a pointer to the pointer of the last command in queue
 * this may be a pointer to the root pointer (jtag_command_queue)
 * or to the next member of the last but one command
 */
jtag_command_t** jtag_get_last_command_p(void)
{
/*      jtag_command_t *cmd = jtag_command_queue;

        if (cmd)
                while (cmd->next)
                        cmd = cmd->next;
        else
                return &jtag_command_queue;

        return &cmd->next;*/

        return last_comand_pointer;
}


void* cmd_queue_alloc(size_t size)
{
        cmd_queue_page_t **p_page = &cmd_queue_pages;
        int offset;
        u8 *t;

        if (*p_page)
        {
                while ((*p_page)->next)
                        p_page = &((*p_page)->next);
                if (CMD_QUEUE_PAGE_SIZE - (*p_page)->used < size)
                        p_page = &((*p_page)->next);
        }

        if (!*p_page)
        {
                *p_page = malloc(sizeof(cmd_queue_page_t));
                (*p_page)->used = 0;
                (*p_page)->address = malloc(CMD_QUEUE_PAGE_SIZE);
                (*p_page)->next = NULL;
        }

        offset = (*p_page)->used;
        (*p_page)->used += size;

        t=(u8 *)((*p_page)->address);
        return t + offset;
}

void cmd_queue_free(void)
{
        cmd_queue_page_t *page = cmd_queue_pages;

        while (page)
        {
                cmd_queue_page_t *last = page;
                free(page->address);
                page = page->next;
                free(last);
        }

        cmd_queue_pages = NULL;
}

static void jtag_prelude1(void)
{
        if (jtag_trst == 1)
        {
                LOG_WARNING("JTAG command queued, while TRST is low (TAP in reset)");
                jtag_error=ERROR_JTAG_TRST_ASSERTED;
                return;
        }

        if (cmd_queue_end_state == TAP_TLR)
                jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
}

static void jtag_prelude(enum tap_state state)
{
        jtag_prelude1();

        if (state != -1)
                jtag_add_end_state(state);

        cmd_queue_cur_state = cmd_queue_end_state;
}

void jtag_add_ir_scan(int num_fields, scan_field_t *fields, enum tap_state state)
{
        int retval;

        jtag_prelude(state);

        retval=interface_jtag_add_ir_scan(num_fields, fields, cmd_queue_end_state);
        if (retval!=ERROR_OK)
                jtag_error=retval;
}

int MINIDRIVER(interface_jtag_add_ir_scan)(int num_fields, scan_field_t *fields, enum tap_state state)
{
        jtag_command_t **last_cmd;
        jtag_tap_t *tap;
        int j;
        int x;
        int nth_tap;
        int scan_size = 0;


        last_cmd = jtag_get_last_command_p();

        /* allocate memory for a new list member */
        *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
        (*last_cmd)->next = NULL;
        last_comand_pointer = &((*last_cmd)->next);
        (*last_cmd)->type = JTAG_SCAN;

        /* allocate memory for ir scan command */
        (*last_cmd)->cmd.scan = cmd_queue_alloc(sizeof(scan_command_t));
        (*last_cmd)->cmd.scan->ir_scan = 1;
        x = jtag_NumEnabledTaps();
        (*last_cmd)->cmd.scan->num_fields = x;  /* one field per device */
        (*last_cmd)->cmd.scan->fields = cmd_queue_alloc(x  * sizeof(scan_field_t));
        (*last_cmd)->cmd.scan->end_state = state;

        nth_tap = -1;
        tap = NULL;
        for(;;){
                int found = 0;

                // do this here so it is not forgotten
                tap = jtag_NextEnabledTap(tap);
                if( tap == NULL ){
                        break;
                }
                nth_tap++;
                scan_size = tap->ir_length;
                (*last_cmd)->cmd.scan->fields[nth_tap].tap = tap;
                (*last_cmd)->cmd.scan->fields[nth_tap].num_bits = scan_size;
                (*last_cmd)->cmd.scan->fields[nth_tap].in_value = NULL;
                (*last_cmd)->cmd.scan->fields[nth_tap].in_handler = NULL;       /* disable verification by default */

                /* search the list */
                for (j = 0; j < num_fields; j++)
                {
                        if (tap == fields[j].tap)
                        {
                                found = 1;
                                (*last_cmd)->cmd.scan->fields[nth_tap].out_value = buf_cpy(fields[j].out_value, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
                                (*last_cmd)->cmd.scan->fields[nth_tap].out_mask = buf_cpy(fields[j].out_mask, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);

                                if (jtag_verify_capture_ir)
                                {
                                        if (fields[j].in_handler==NULL)
                                        {
                                                jtag_set_check_value((*last_cmd)->cmd.scan->fields+nth_tap, tap->expected, tap->expected_mask, NULL);
                                        } else
                                        {
                                                (*last_cmd)->cmd.scan->fields[nth_tap].in_handler = fields[j].in_handler;
                                                (*last_cmd)->cmd.scan->fields[nth_tap].in_handler_priv = fields[j].in_handler_priv;
                                                (*last_cmd)->cmd.scan->fields[nth_tap].in_check_value = tap->expected;
                                                (*last_cmd)->cmd.scan->fields[nth_tap].in_check_mask = tap->expected_mask;
                                        }
                                }

                                tap->bypass = 0;
                                break;
                        }
                }

                if (!found)
                {
                        /* if a tap isn't listed, set it to BYPASS */
                        (*last_cmd)->cmd.scan->fields[nth_tap].out_value = buf_set_ones(cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
                        (*last_cmd)->cmd.scan->fields[nth_tap].out_mask = NULL;
                        tap->bypass = 1;

                }

                /* update device information */
                buf_cpy((*last_cmd)->cmd.scan->fields[nth_tap].out_value, tap->cur_instr, scan_size);
        }

        return ERROR_OK;
}

void jtag_add_plain_ir_scan(int num_fields, scan_field_t *fields, enum tap_state state)
{
        int retval;

        jtag_prelude(state);

        retval=interface_jtag_add_plain_ir_scan(num_fields, fields, cmd_queue_end_state);
        if (retval!=ERROR_OK)
                jtag_error=retval;
}

int MINIDRIVER(interface_jtag_add_plain_ir_scan)(int num_fields, scan_field_t *fields, enum tap_state state)
{
        int i;
        jtag_command_t **last_cmd;

        last_cmd = jtag_get_last_command_p();

        /* allocate memory for a new list member */
        *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
        (*last_cmd)->next = NULL;
        last_comand_pointer = &((*last_cmd)->next);
        (*last_cmd)->type = JTAG_SCAN;

        /* allocate memory for ir scan command */
        (*last_cmd)->cmd.scan = cmd_queue_alloc(sizeof(scan_command_t));
        (*last_cmd)->cmd.scan->ir_scan = 1;
        (*last_cmd)->cmd.scan->num_fields = num_fields;
        (*last_cmd)->cmd.scan->fields = cmd_queue_alloc(num_fields * sizeof(scan_field_t));
        (*last_cmd)->cmd.scan->end_state = state;

        for( i = 0 ; i < num_fields ; i++ ){
                int num_bits = fields[i].num_bits;
                int num_bytes = CEIL(fields[i].num_bits, 8);
                (*last_cmd)->cmd.scan->fields[i].tap = fields[i].tap;
                (*last_cmd)->cmd.scan->fields[i].num_bits = num_bits;
                (*last_cmd)->cmd.scan->fields[i].out_value = buf_cpy(fields[i].out_value, cmd_queue_alloc(num_bytes), num_bits);
                (*last_cmd)->cmd.scan->fields[i].out_mask = buf_cpy(fields[i].out_mask, cmd_queue_alloc(num_bytes), num_bits);
                (*last_cmd)->cmd.scan->fields[i].in_value = fields[i].in_value;
                (*last_cmd)->cmd.scan->fields[i].in_check_value = fields[i].in_check_value;
                (*last_cmd)->cmd.scan->fields[i].in_check_mask = fields[i].in_check_mask;
                (*last_cmd)->cmd.scan->fields[i].in_handler = NULL;
                (*last_cmd)->cmd.scan->fields[i].in_handler_priv = NULL;
        }
        return ERROR_OK;
}

void jtag_add_dr_scan(int num_fields, scan_field_t *fields, enum tap_state state)
{
        int retval;

        jtag_prelude(state);

        retval=interface_jtag_add_dr_scan(num_fields, fields, cmd_queue_end_state);
        if (retval!=ERROR_OK)
                jtag_error=retval;
}

int MINIDRIVER(interface_jtag_add_dr_scan)(int num_fields, scan_field_t *fields, enum tap_state state)
{
        int j;
        int nth_tap;
        int bypass_devices = 0;
        int field_count = 0;
        int scan_size;

        jtag_command_t **last_cmd = jtag_get_last_command_p();
        jtag_tap_t *tap;

        /* count devices in bypass */
        tap = NULL;
        bypass_devices = 0;
        for(;;){
                tap = jtag_NextEnabledTap(tap);
                if( tap == NULL ){
                        break;
                }
                if( tap->bypass ){
                        bypass_devices++;
                }
        }

        /* allocate memory for a new list member */
        *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
        last_comand_pointer = &((*last_cmd)->next);
        (*last_cmd)->next = NULL;
        (*last_cmd)->type = JTAG_SCAN;

        /* allocate memory for dr scan command */
        (*last_cmd)->cmd.scan = cmd_queue_alloc(sizeof(scan_command_t));
        (*last_cmd)->cmd.scan->ir_scan = 0;
        (*last_cmd)->cmd.scan->num_fields = num_fields + bypass_devices;
        (*last_cmd)->cmd.scan->fields = cmd_queue_alloc((num_fields + bypass_devices) * sizeof(scan_field_t));
        (*last_cmd)->cmd.scan->end_state = state;

        tap = NULL;
        nth_tap = -1;
        for(;;){
                nth_tap++;
                tap = jtag_NextEnabledTap(tap);
                if( tap == NULL ){
                        break;
                }
                int found = 0;
                (*last_cmd)->cmd.scan->fields[field_count].tap = tap;

                for (j = 0; j < num_fields; j++)
                {
                        if (tap == fields[j].tap)
                        {
                                found = 1;
                                scan_size = fields[j].num_bits;
                                (*last_cmd)->cmd.scan->fields[field_count].num_bits = scan_size;
                                (*last_cmd)->cmd.scan->fields[field_count].out_value = buf_cpy(fields[j].out_value, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
                                (*last_cmd)->cmd.scan->fields[field_count].out_mask = buf_cpy(fields[j].out_mask, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
                                (*last_cmd)->cmd.scan->fields[field_count].in_value = fields[j].in_value;
                                (*last_cmd)->cmd.scan->fields[field_count].in_check_value = fields[j].in_check_value;
                                (*last_cmd)->cmd.scan->fields[field_count].in_check_mask = fields[j].in_check_mask;
                                (*last_cmd)->cmd.scan->fields[field_count].in_handler = fields[j].in_handler;
                                (*last_cmd)->cmd.scan->fields[field_count++].in_handler_priv = fields[j].in_handler_priv;
                        }
                }
                if (!found)
                {
#ifdef _DEBUG_JTAG_IO_
                        /* if a device isn't listed, the BYPASS register should be selected */
                        if (! tap->bypass)
                        {
                                LOG_ERROR("BUG: no scan data for a device not in BYPASS");
                                exit(-1);
                        }
#endif
                        /* program the scan field to 1 bit length, and ignore it's value */
                        (*last_cmd)->cmd.scan->fields[field_count].num_bits = 1;
                        (*last_cmd)->cmd.scan->fields[field_count].out_value = NULL;
                        (*last_cmd)->cmd.scan->fields[field_count].out_mask = NULL;
                        (*last_cmd)->cmd.scan->fields[field_count].in_value = NULL;
                        (*last_cmd)->cmd.scan->fields[field_count].in_check_value = NULL;
                        (*last_cmd)->cmd.scan->fields[field_count].in_check_mask = NULL;
                        (*last_cmd)->cmd.scan->fields[field_count].in_handler = NULL;
                        (*last_cmd)->cmd.scan->fields[field_count++].in_handler_priv = NULL;
                }
                else
                {
#ifdef _DEBUG_JTAG_IO_
                        /* if a device is listed, the BYPASS register must not be selected */
                        if (tap->bypass)
                        {
                                LOG_ERROR("BUG: scan data for a device in BYPASS");
                                exit(-1);
                        }
#endif
                }
        }
        return ERROR_OK;
}

void MINIDRIVER(interface_jtag_add_dr_out)(jtag_tap_t *target_tap,
                int num_fields,
                const int *num_bits,
                const u32 *value,
                enum tap_state end_state)
{
        int nth_tap;
        int field_count = 0;
        int scan_size;
        int bypass_devices = 0;

        jtag_command_t **last_cmd = jtag_get_last_command_p();
        jtag_tap_t *tap;

        /* count devices in bypass */
        tap = NULL;
        bypass_devices = 0;
        for(;;){
                tap = jtag_NextEnabledTap(tap);
                if( tap == NULL ){
                        break;
                }
                if( tap->bypass ){
                        bypass_devices++;
                }
        }

        /* allocate memory for a new list member */
        *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
        last_comand_pointer = &((*last_cmd)->next);
        (*last_cmd)->next = NULL;
        (*last_cmd)->type = JTAG_SCAN;

        /* allocate memory for dr scan command */
        (*last_cmd)->cmd.scan = cmd_queue_alloc(sizeof(scan_command_t));
        (*last_cmd)->cmd.scan->ir_scan = 0;
        (*last_cmd)->cmd.scan->num_fields = num_fields + bypass_devices;
        (*last_cmd)->cmd.scan->fields = cmd_queue_alloc((num_fields + bypass_devices) * sizeof(scan_field_t));
        (*last_cmd)->cmd.scan->end_state = end_state;

        tap = NULL;
        nth_tap = -1;
        for(;;){
                tap = jtag_NextEnabledTap(tap);
                if( tap == NULL ){
                        break;
                }
                nth_tap++;
                (*last_cmd)->cmd.scan->fields[field_count].tap = tap;

                if (tap == target_tap)
                {
                        int j;
#ifdef _DEBUG_JTAG_IO_
                        /* if a device is listed, the BYPASS register must not be selected */
                        if (tap->bypass)
                        {
                                LOG_ERROR("BUG: scan data for a device in BYPASS");
                                exit(-1);
                        }
#endif
                        for (j = 0; j < num_fields; j++)
                        {
                                u8 out_value[4];
                                scan_size = num_bits[j];
                                buf_set_u32(out_value, 0, scan_size, value[j]);
                                (*last_cmd)->cmd.scan->fields[field_count].num_bits = scan_size;
                                (*last_cmd)->cmd.scan->fields[field_count].out_value = buf_cpy(out_value, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
                                (*last_cmd)->cmd.scan->fields[field_count].out_mask = NULL;
                                (*last_cmd)->cmd.scan->fields[field_count].in_value = NULL;
                                (*last_cmd)->cmd.scan->fields[field_count].in_check_value = NULL;
                                (*last_cmd)->cmd.scan->fields[field_count].in_check_mask = NULL;
                                (*last_cmd)->cmd.scan->fields[field_count].in_handler = NULL;
                                (*last_cmd)->cmd.scan->fields[field_count++].in_handler_priv = NULL;
                        }
                } else
                {
#ifdef _DEBUG_JTAG_IO_
                        /* if a device isn't listed, the BYPASS register should be selected */
                        if (! tap->bypass)
                        {
                                LOG_ERROR("BUG: no scan data for a device not in BYPASS");
                                exit(-1);
                        }
#endif
                        /* program the scan field to 1 bit length, and ignore it's value */
                        (*last_cmd)->cmd.scan->fields[field_count].num_bits = 1;
                        (*last_cmd)->cmd.scan->fields[field_count].out_value = NULL;
                        (*last_cmd)->cmd.scan->fields[field_count].out_mask = NULL;
                        (*last_cmd)->cmd.scan->fields[field_count].in_value = NULL;
                        (*last_cmd)->cmd.scan->fields[field_count].in_check_value = NULL;
                        (*last_cmd)->cmd.scan->fields[field_count].in_check_mask = NULL;
                        (*last_cmd)->cmd.scan->fields[field_count].in_handler = NULL;
                        (*last_cmd)->cmd.scan->fields[field_count++].in_handler_priv = NULL;
                }
        }
}

void jtag_add_plain_dr_scan(int num_fields, scan_field_t *fields, enum tap_state state)
{
        int retval;

        jtag_prelude(state);

        retval=interface_jtag_add_plain_dr_scan(num_fields, fields, cmd_queue_end_state);
        if (retval!=ERROR_OK)
                jtag_error=retval;
}

int MINIDRIVER(interface_jtag_add_plain_dr_scan)(int num_fields, scan_field_t *fields, enum tap_state state)
{
        int i;
        jtag_command_t **last_cmd = jtag_get_last_command_p();

        /* allocate memory for a new list member */
        *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
        last_comand_pointer = &((*last_cmd)->next);
        (*last_cmd)->next = NULL;
        (*last_cmd)->type = JTAG_SCAN;

        /* allocate memory for scan command */
        (*last_cmd)->cmd.scan = cmd_queue_alloc(sizeof(scan_command_t));
        (*last_cmd)->cmd.scan->ir_scan = 0;
        (*last_cmd)->cmd.scan->num_fields = num_fields;
        (*last_cmd)->cmd.scan->fields = cmd_queue_alloc(num_fields * sizeof(scan_field_t));
        (*last_cmd)->cmd.scan->end_state = state;

        for (i = 0; i < num_fields; i++)
        {
                int num_bits = fields[i].num_bits;
                int num_bytes = CEIL(fields[i].num_bits, 8);
                (*last_cmd)->cmd.scan->fields[i].tap = fields[i].tap;
                (*last_cmd)->cmd.scan->fields[i].num_bits = num_bits;
                (*last_cmd)->cmd.scan->fields[i].out_value = buf_cpy(fields[i].out_value, cmd_queue_alloc(num_bytes), num_bits);
                (*last_cmd)->cmd.scan->fields[i].out_mask = buf_cpy(fields[i].out_mask, cmd_queue_alloc(num_bytes), num_bits);
                (*last_cmd)->cmd.scan->fields[i].in_value = fields[i].in_value;
                (*last_cmd)->cmd.scan->fields[i].in_check_value = fields[i].in_check_value;
                (*last_cmd)->cmd.scan->fields[i].in_check_mask = fields[i].in_check_mask;
                (*last_cmd)->cmd.scan->fields[i].in_handler = fields[i].in_handler;
                (*last_cmd)->cmd.scan->fields[i].in_handler_priv = fields[i].in_handler_priv;
        }

        return ERROR_OK;
}

void jtag_add_tlr(void)
{
        jtag_prelude(TAP_TLR);

        int retval;
        retval=interface_jtag_add_tlr();
        if (retval!=ERROR_OK)
                jtag_error=retval;
}

int MINIDRIVER(interface_jtag_add_tlr)()
{
        enum tap_state state = TAP_TLR;
        jtag_command_t **last_cmd = jtag_get_last_command_p();

        /* allocate memory for a new list member */
        *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
        last_comand_pointer = &((*last_cmd)->next);
        (*last_cmd)->next = NULL;
        (*last_cmd)->type = JTAG_STATEMOVE;

        (*last_cmd)->cmd.statemove = cmd_queue_alloc(sizeof(statemove_command_t));
        (*last_cmd)->cmd.statemove->end_state = state;


        return ERROR_OK;
}

void jtag_add_pathmove(int num_states, enum tap_state *path)
{
        enum tap_state cur_state=cmd_queue_cur_state;
        int i;
        int retval;

        /* the last state has to be a stable state */
        if (tap_move_map[path[num_states - 1]] == -1)
        {
                LOG_ERROR("BUG: TAP path doesn't finish in a stable state");
                exit(-1);
        }

        for (i=0; i<num_states; i++)
        {
                if (path[i] == TAP_TLR)
                {
                        LOG_ERROR("BUG: TAP_TLR is not a valid state for pathmove sequences");
                        exit(-1);
                }
                if ((tap_transitions[cur_state].low != path[i])&&
                                (tap_transitions[cur_state].high != path[i]))
                {
                        LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_strings[cur_state], tap_state_strings[path[i]]);
                        exit(-1);
                }
                cur_state = path[i];
        }

        jtag_prelude1();


        retval=interface_jtag_add_pathmove(num_states, path);
        cmd_queue_cur_state = path[num_states - 1];
        if (retval!=ERROR_OK)
                jtag_error=retval;
}

int MINIDRIVER(interface_jtag_add_pathmove)(int num_states, enum tap_state *path)
{
        jtag_command_t **last_cmd = jtag_get_last_command_p();
        int i;

        /* allocate memory for a new list member */
        *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
        last_comand_pointer = &((*last_cmd)->next);
        (*last_cmd)->next = NULL;
        (*last_cmd)->type = JTAG_PATHMOVE;

        (*last_cmd)->cmd.pathmove = cmd_queue_alloc(sizeof(pathmove_command_t));
        (*last_cmd)->cmd.pathmove->num_states = num_states;
        (*last_cmd)->cmd.pathmove->path = cmd_queue_alloc(sizeof(enum tap_state) * num_states);

        for (i = 0; i < num_states; i++)
                (*last_cmd)->cmd.pathmove->path[i] = path[i];

        return ERROR_OK;
}

int MINIDRIVER(interface_jtag_add_runtest)(int num_cycles, enum tap_state state)
{
        jtag_command_t **last_cmd = jtag_get_last_command_p();

        /* allocate memory for a new list member */
        *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
        (*last_cmd)->next = NULL;
        last_comand_pointer = &((*last_cmd)->next);
        (*last_cmd)->type = JTAG_RUNTEST;

        (*last_cmd)->cmd.runtest = cmd_queue_alloc(sizeof(runtest_command_t));
        (*last_cmd)->cmd.runtest->num_cycles = num_cycles;
        (*last_cmd)->cmd.runtest->end_state = state;

        return ERROR_OK;
}

void jtag_add_runtest(int num_cycles, enum tap_state state)
{
        int retval;

        jtag_prelude(state);

        /* executed by sw or hw fifo */
        retval=interface_jtag_add_runtest(num_cycles, cmd_queue_end_state);
        if (retval!=ERROR_OK)
                jtag_error=retval;
}

void jtag_add_reset(int req_tlr_or_trst, int req_srst)
{
        int trst_with_tlr = 0;
        int retval;

        /* FIX!!! there are *many* different cases here. A better
         * approach is needed for legal combinations of transitions...
         */
        if ((jtag_reset_config & RESET_HAS_SRST)&&
                        (jtag_reset_config & RESET_HAS_TRST)&&
                        ((jtag_reset_config & RESET_SRST_PULLS_TRST)==0))
        {
                if (((req_tlr_or_trst&&!jtag_trst)||
                                (!req_tlr_or_trst&&jtag_trst))&&
                                ((req_srst&&!jtag_srst)||
                                                (!req_srst&&jtag_srst)))
                {
                        /* FIX!!! srst_pulls_trst allows 1,1 => 0,0 transition.... */
                        //LOG_ERROR("BUG: transition of req_tlr_or_trst and req_srst in the same jtag_add_reset() call is undefined");
                }
        }

        /* Make sure that jtag_reset_config allows the requested reset */
        /* if SRST pulls TRST, we can't fulfill srst == 1 with trst == 0 */
        if (((jtag_reset_config & RESET_SRST_PULLS_TRST) && (req_srst == 1)) && (!req_tlr_or_trst))
        {
                LOG_ERROR("BUG: requested reset would assert trst");
                jtag_error=ERROR_FAIL;
                return;
        }

        /* if TRST pulls SRST, we reset with TAP T-L-R */
        if (((jtag_reset_config & RESET_TRST_PULLS_SRST) && (req_tlr_or_trst)) && (req_srst == 0))
        {
                trst_with_tlr = 1;
        }

        if (req_srst && !(jtag_reset_config & RESET_HAS_SRST))
        {
                LOG_ERROR("BUG: requested SRST assertion, but the current configuration doesn't support this");
                jtag_error=ERROR_FAIL;
                return;
        }

        if (req_tlr_or_trst)
        {
                if (!trst_with_tlr && (jtag_reset_config & RESET_HAS_TRST))
                {
                        jtag_trst = 1;
                } else
                {
                        trst_with_tlr = 1;
                }
        } else
        {
                jtag_trst = 0;
        }

        jtag_srst = req_srst;

        retval = interface_jtag_add_reset(jtag_trst, jtag_srst);
        if (retval!=ERROR_OK)
        {
                jtag_error=retval;
                return;
        }

        if (jtag_srst)
        {
                LOG_DEBUG("SRST line asserted");
        }
        else
        {
                LOG_DEBUG("SRST line released");
                if (jtag_nsrst_delay)
                        jtag_add_sleep(jtag_nsrst_delay * 1000);
        }

        if (trst_with_tlr)
        {
                LOG_DEBUG("JTAG reset with TLR instead of TRST");
                jtag_add_end_state(TAP_TLR);
                jtag_add_tlr();
                jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
                return;
        }

        if (jtag_trst)
        {
                /* we just asserted nTRST, so we're now in Test-Logic-Reset,
                 * and inform possible listeners about this
                 */
                LOG_DEBUG("TRST line asserted");
                cmd_queue_cur_state = TAP_TLR;
                jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
        }
        else
        {
                if (jtag_ntrst_delay)
                        jtag_add_sleep(jtag_ntrst_delay * 1000);
        }
}

int MINIDRIVER(interface_jtag_add_reset)(int req_trst, int req_srst)
{
        jtag_command_t **last_cmd = jtag_get_last_command_p();

        /* allocate memory for a new list member */
        *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
        (*last_cmd)->next = NULL;
        last_comand_pointer = &((*last_cmd)->next);
        (*last_cmd)->type = JTAG_RESET;

        (*last_cmd)->cmd.reset = cmd_queue_alloc(sizeof(reset_command_t));
        (*last_cmd)->cmd.reset->trst = req_trst;
        (*last_cmd)->cmd.reset->srst = req_srst;

        return ERROR_OK;
}

void jtag_add_end_state(enum tap_state state)
{
        cmd_queue_end_state = state;
        if ((cmd_queue_end_state == TAP_SD)||(cmd_queue_end_state == TAP_SI))
        {
                LOG_ERROR("BUG: TAP_SD/SI can't be end state. Calling code should use a larger scan field");
        }
}

int MINIDRIVER(interface_jtag_add_sleep)(u32 us)
{
        jtag_command_t **last_cmd = jtag_get_last_command_p();

        /* allocate memory for a new list member */
        *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
        (*last_cmd)->next = NULL;
        last_comand_pointer = &((*last_cmd)->next);
        (*last_cmd)->type = JTAG_SLEEP;

        (*last_cmd)->cmd.sleep = cmd_queue_alloc(sizeof(sleep_command_t));
        (*last_cmd)->cmd.sleep->us = us;

        return ERROR_OK;
}

void jtag_add_sleep(u32 us)
{
        keep_alive(); /* we might be running on a very slow JTAG clk */
        int retval=interface_jtag_add_sleep(us);
        if (retval!=ERROR_OK)
                jtag_error=retval;
        return;
}

int jtag_scan_size(scan_command_t *cmd)
{
        int bit_count = 0;
        int i;

        /* count bits in scan command */
        for (i = 0; i < cmd->num_fields; i++)
        {
                bit_count += cmd->fields[i].num_bits;
        }

        return bit_count;
}

int jtag_build_buffer(scan_command_t *cmd, u8 **buffer)
{
        int bit_count = 0;
        int i;

        bit_count = jtag_scan_size(cmd);
        *buffer = malloc(CEIL(bit_count, 8));

        bit_count = 0;

        for (i = 0; i < cmd->num_fields; i++)
        {
                if (cmd->fields[i].out_value)
                {
#ifdef _DEBUG_JTAG_IO_
                        char* char_buf = buf_to_str(cmd->fields[i].out_value, (cmd->fields[i].num_bits > 64) ? 64 : cmd->fields[i].num_bits, 16);
#endif
                        buf_set_buf(cmd->fields[i].out_value, 0, *buffer, bit_count, cmd->fields[i].num_bits);
#ifdef _DEBUG_JTAG_IO_
                        LOG_DEBUG("fields[%i].out_value: 0x%s", i, char_buf);
                        free(char_buf);
#endif
                }

                bit_count += cmd->fields[i].num_bits;
        }

        return bit_count;
}

int jtag_read_buffer(u8 *buffer, scan_command_t *cmd)
{
        int i;
        int bit_count = 0;
        int retval;

        /* we return ERROR_OK, unless a check fails, or a handler reports a problem */
        retval = ERROR_OK;

        for (i = 0; i < cmd->num_fields; i++)
        {
                /* if neither in_value nor in_handler
                 * are specified we don't have to examine this field
                 */
                if (cmd->fields[i].in_value || cmd->fields[i].in_handler)
                {
                        int num_bits = cmd->fields[i].num_bits;
                        u8 *captured = buf_set_buf(buffer, bit_count, malloc(CEIL(num_bits, 8)), 0, num_bits);

#ifdef _DEBUG_JTAG_IO_
                        char *char_buf;

                        char_buf = buf_to_str(captured, (num_bits > 64) ? 64 : num_bits, 16);
                        LOG_DEBUG("fields[%i].in_value: 0x%s", i, char_buf);
                        free(char_buf);
#endif

                        if (cmd->fields[i].in_value)
                        {
                                buf_cpy(captured, cmd->fields[i].in_value, num_bits);

                                if (cmd->fields[i].in_handler)
                                {
                                        if (cmd->fields[i].in_handler(cmd->fields[i].in_value, cmd->fields[i].in_handler_priv, cmd->fields+i) != ERROR_OK)
                                        {
                                                LOG_WARNING("in_handler reported a failed check");
                                                retval = ERROR_JTAG_QUEUE_FAILED;
                                        }
                                }
                        }

                        /* no in_value specified, but a handler takes care of the scanned data */
                        if (cmd->fields[i].in_handler && (!cmd->fields[i].in_value))
                        {
                                if (cmd->fields[i].in_handler(captured, cmd->fields[i].in_handler_priv, cmd->fields+i) != ERROR_OK)
                                {
                                        /* We're going to call the error:handler later, but if the in_handler
                                         * reported an error we report this failure upstream
                                         */
                                        LOG_WARNING("in_handler reported a failed check");
                                        retval = ERROR_JTAG_QUEUE_FAILED;
                                }
                        }

                        free(captured);
                }
                bit_count += cmd->fields[i].num_bits;
        }

        return retval;
}

int jtag_check_value(u8 *captured, void *priv, scan_field_t *field)
{
        int retval = ERROR_OK;
        int num_bits = field->num_bits;

        int compare_failed = 0;

        if (field->in_check_mask)
                compare_failed = buf_cmp_mask(captured, field->in_check_value, field->in_check_mask, num_bits);
        else
                compare_failed = buf_cmp(captured, field->in_check_value, num_bits);

        if (compare_failed){
                /* An error handler could have caught the failing check
                 * only report a problem when there wasn't a handler, or if the handler
                 * acknowledged the error
                 */
                LOG_WARNING("TAP %s:",
                                        (field->tap == NULL) ? "(unknown)" : field->tap->dotted_name );
                if (compare_failed)
                {
                        char *captured_char = buf_to_str(captured, (num_bits > 64) ? 64 : num_bits, 16);
                        char *in_check_value_char = buf_to_str(field->in_check_value, (num_bits > 64) ? 64 : num_bits, 16);

                        if (field->in_check_mask)
                        {
                                char *in_check_mask_char;
                                in_check_mask_char = buf_to_str(field->in_check_mask, (num_bits > 64) ? 64 : num_bits, 16);
                                LOG_WARNING("value captured during scan didn't pass the requested check:");
                                LOG_WARNING("captured: 0x%s check_value: 0x%s check_mask: 0x%s",
                                                        captured_char, in_check_value_char, in_check_mask_char);
                                free(in_check_mask_char);
                        }
                        else
                        {
                                LOG_WARNING("value captured during scan didn't pass the requested check: captured: 0x%s check_value: 0x%s", captured_char, in_check_value_char);
                        }

                        free(captured_char);
                        free(in_check_value_char);

                        retval = ERROR_JTAG_QUEUE_FAILED;
                }

        }
        return retval;
}

/*
  set up checking of this field using the in_handler. The values passed in must be valid until
  after jtag_execute() has completed.
 */
void jtag_set_check_value(scan_field_t *field, u8 *value, u8 *mask, error_handler_t *in_error_handler)
{
        if (value)
                field->in_handler = jtag_check_value;
        else
                field->in_handler = NULL;       /* No check, e.g. embeddedice uses value==NULL to indicate no check */
        field->in_handler_priv = NULL;
        field->in_check_value = value;
        field->in_check_mask = mask;
}

enum scan_type jtag_scan_type(scan_command_t *cmd)
{
        int i;
        int type = 0;

        for (i = 0; i < cmd->num_fields; i++)
        {
                if (cmd->fields[i].in_value || cmd->fields[i].in_handler)
                        type |= SCAN_IN;
                if (cmd->fields[i].out_value)
                        type |= SCAN_OUT;
        }

        return type;
}

int MINIDRIVER(interface_jtag_execute_queue)(void)
{
        int retval;

        if (jtag==NULL)
        {
                LOG_ERROR("No JTAG interface configured yet. Issue 'init' command in startup scripts before communicating with targets.");
                return ERROR_FAIL;
        }

        retval = jtag->execute_queue();

        cmd_queue_free();

        jtag_command_queue = NULL;
        last_comand_pointer = &jtag_command_queue;

        return retval;
}

int jtag_execute_queue(void)
{
        int retval=interface_jtag_execute_queue();
        if (retval==ERROR_OK)
        {
                retval=jtag_error;
        }
        jtag_error=ERROR_OK;
        return retval;
}

int jtag_reset_callback(enum jtag_event event, void *priv)
{
        jtag_tap_t *tap = priv;

        LOG_DEBUG("-");

        if (event == JTAG_TRST_ASSERTED)
        {
                buf_set_ones(tap->cur_instr, tap->ir_length);
                tap->bypass = 1;
        }

        return ERROR_OK;
}

void jtag_sleep(u32 us)
{
        alive_sleep(us/1000);
}

/* Try to examine chain layout according to IEEE 1149.1 §12
 */
int jtag_examine_chain(void)
{
        jtag_tap_t *tap;
        scan_field_t field;
        u8 idcode_buffer[JTAG_MAX_CHAIN_SIZE * 4];
        int i;
        int bit_count;
        int device_count = 0;
        u8 zero_check = 0x0;
        u8 one_check = 0xff;

        field.tap = NULL;
        field.num_bits = sizeof(idcode_buffer) * 8;
        field.out_value = idcode_buffer;
        field.out_mask = NULL;
        field.in_value = idcode_buffer;
        field.in_check_value = NULL;
        field.in_check_mask = NULL;
        field.in_handler = NULL;
        field.in_handler_priv = NULL;

        for (i = 0; i < JTAG_MAX_CHAIN_SIZE; i++)
        {
                buf_set_u32(idcode_buffer, i * 32, 32, 0x000000FF);
        }

        jtag_add_plain_dr_scan(1, &field, TAP_TLR);
        jtag_execute_queue();

        for (i = 0; i < JTAG_MAX_CHAIN_SIZE * 4; i++)
        {
                zero_check |= idcode_buffer[i];
                one_check &= idcode_buffer[i];
        }

        /* if there wasn't a single non-zero bit or if all bits were one, the scan isn't valid */
        if ((zero_check == 0x00) || (one_check == 0xff))
        {
                LOG_ERROR("JTAG communication failure, check connection, JTAG interface, target power etc.");
                return ERROR_JTAG_INIT_FAILED;
        }

        // point at the 1st tap
        tap = jtag_NextEnabledTap(NULL);
        if( tap == NULL ){
                LOG_ERROR("JTAG: No taps enabled?");
                return ERROR_JTAG_INIT_FAILED;
        }

        for (bit_count = 0; bit_count < (JTAG_MAX_CHAIN_SIZE * 32) - 31;)
        {
                u32 idcode = buf_get_u32(idcode_buffer, bit_count, 32);
                if ((idcode & 1) == 0)
                {
                        /* LSB must not be 0, this indicates a device in bypass */
                        LOG_WARNING("Tap/Device does not have IDCODE");
                        idcode=0;

                        bit_count += 1;
                }
                else
                {
                        u32 manufacturer;
                        u32 part;
                        u32 version;

                        if (idcode == 0x000000FF)
                        {
                                int unexpected=0;
                                /* End of chain (invalid manufacturer ID)
                                 *
                                 * The JTAG examine is the very first thing that happens
                                 *
                                 * A single JTAG device requires only 64 bits to be read back correctly.
                                 *
                                 * The code below adds a check that the rest of the data scanned (640 bits)
                                 * are all as expected. This helps diagnose/catch problems with the JTAG chain
                                 *
                                 * earlier and gives more helpful/explicit error messages.
                                 */
                                for (bit_count += 32; bit_count < (JTAG_MAX_CHAIN_SIZE * 32) - 31;bit_count += 32)
                                {
                                        idcode = buf_get_u32(idcode_buffer, bit_count, 32);
                                        if (unexpected||(idcode != 0x000000FF))
                                        {
                                                LOG_WARNING("Unexpected idcode after end of chain! %d 0x%08x", bit_count, idcode);
                                                unexpected = 1;
                                        }
                                }

                                break;
                        }

#define EXTRACT_MFG(X)  (((X) & 0xffe) >> 1)
                        manufacturer = EXTRACT_MFG(idcode);
#define EXTRACT_PART(X) (((X) & 0xffff000) >> 12)
                        part = EXTRACT_PART(idcode);
#define EXTRACT_VER(X)  (((X) & 0xf0000000) >> 28)
                        version = EXTRACT_VER(idcode);

                        LOG_INFO("JTAG tap: %s tap/device found: 0x%8.8x (Manufacturer: 0x%3.3x, Part: 0x%4.4x, Version: 0x%1.1x)",
                                         ((tap != NULL) ? (tap->dotted_name) : "(not-named)"),
                                idcode, manufacturer, part, version);

                        bit_count += 32;
                }
                if (tap)
                {
                        tap->idcode = idcode;
                        if( tap->expected_id ){
                                if( tap->idcode != tap->expected_id ){
                                        LOG_ERROR("ERROR: Tap: %s - Expected id: 0x%08x, Got: 0x%08x",
                                                          tap->dotted_name,
                                                          tap->expected_id,
                                                          idcode );
                                        LOG_ERROR("ERROR: expected: mfg: 0x%3.3x, part: 0x%4.4x, ver: 0x%1.1x",
                                                          EXTRACT_MFG( tap->expected_id ),
                                                          EXTRACT_PART( tap->expected_id ),
                                                          EXTRACT_VER( tap->expected_id ) );
                                        LOG_ERROR("ERROR:      got: mfg: 0x%3.3x, part: 0x%4.4x, ver: 0x%1.1x",
                                                          EXTRACT_MFG( tap->idcode ),
                                                          EXTRACT_PART( tap->idcode ),
                                                          EXTRACT_VER( tap->idcode ) );
                                } else {
                                        LOG_INFO("JTAG Tap/device matched");
                                }
                        } else {
#if 0
                                LOG_INFO("JTAG TAP ID: 0x%08x - Unknown - please report (A) chipname and (B) idcode to the openocd project",
                                                 tap->idcode);
#endif
                        }
                        tap = jtag_NextEnabledTap(tap);
                }
                device_count++;
        }

        /* see if number of discovered devices matches configuration */
        if (device_count != jtag_NumEnabledTaps())
        {
                LOG_ERROR("number of discovered devices in JTAG chain (%i) doesn't match (enabled) configuration (%i), total taps: %d",
                                  device_count, jtag_NumEnabledTaps(), jtag_NumTotalTaps());
                LOG_ERROR("check the config file and ensure proper JTAG communication (connections, speed, ...)");
                return ERROR_JTAG_INIT_FAILED;
        }

        return ERROR_OK;
}

int jtag_validate_chain(void)
{
        jtag_tap_t *tap;
        int total_ir_length = 0;
        u8 *ir_test = NULL;
        scan_field_t field;
        int chain_pos = 0;

        tap = NULL;
        total_ir_length = 0;
        for(;;){
                tap = jtag_NextEnabledTap(tap);
                if( tap == NULL ){
                        break;
                }
                total_ir_length += tap->ir_length;
        }

        total_ir_length += 2;
        ir_test = malloc(CEIL(total_ir_length, 8));
        buf_set_ones(ir_test, total_ir_length);

        field.tap = NULL;
        field.num_bits = total_ir_length;
        field.out_value = ir_test;
        field.out_mask = NULL;
        field.in_value = ir_test;
        field.in_check_value = NULL;
        field.in_check_mask = NULL;
        field.in_handler = NULL;
        field.in_handler_priv = NULL;

        jtag_add_plain_ir_scan(1, &field, TAP_TLR);
        jtag_execute_queue();

        tap = NULL;
        chain_pos = 0;
        for(;;){
                tap = jtag_NextEnabledTap(tap);
                if( tap == NULL ){
                        break;
                }


                if (buf_get_u32(ir_test, chain_pos, 2) != 0x1)
                {
                        char *cbuf = buf_to_str(ir_test, total_ir_length, 16);
                        LOG_ERROR("Error validating JTAG scan chain, IR mismatch, scan returned 0x%s", cbuf);
                        free(cbuf);
                        free(ir_test);
                        return ERROR_JTAG_INIT_FAILED;
                }
                chain_pos += tap->ir_length;
        }

        if (buf_get_u32(ir_test, chain_pos, 2) != 0x3)
        {
                char *cbuf = buf_to_str(ir_test, total_ir_length, 16);
                LOG_ERROR("Error validating JTAG scan chain, IR mismatch, scan returned 0x%s", cbuf);
                free(cbuf);
                free(ir_test);
                return ERROR_JTAG_INIT_FAILED;
        }

        free(ir_test);

        return ERROR_OK;
}


static int
jim_newtap_cmd( Jim_GetOptInfo *goi )
{
        jtag_tap_t *pTap;
        jtag_tap_t **ppTap;
        jim_wide w;
        int x;
        int e;
        int reqbits;
        Jim_Nvp *n;
        char *cp;
        const Jim_Nvp opts[] = {
#define NTAP_OPT_IRLEN     0
                { .name = "-irlen"                      ,       .value = NTAP_OPT_IRLEN },
#define NTAP_OPT_IRMASK    1
                { .name = "-irmask"                     ,       .value = NTAP_OPT_IRMASK },
#define NTAP_OPT_IRCAPTURE 2
                { .name = "-ircapture"          ,       .value = NTAP_OPT_IRCAPTURE },
#define NTAP_OPT_ENABLED   3
                { .name = "-enable"                     ,   .value = NTAP_OPT_ENABLED },
#define NTAP_OPT_DISABLED  4
                { .name = "-disable"            ,   .value = NTAP_OPT_DISABLED },
#define NTAP_OPT_EXPECTED_ID 5
                { .name = "-expected-id"        ,   .value = NTAP_OPT_EXPECTED_ID },
                { .name = NULL                          ,   .value = -1 },
        };


        pTap = malloc( sizeof(jtag_tap_t) );
        memset( pTap, 0, sizeof(*pTap) );
        if( !pTap ){
                Jim_SetResult_sprintf( goi->interp, "no memory");
                return JIM_ERR;
        }
        //
        // we expect CHIP + TAP + OPTIONS
        //
        if( goi->argc < 3 ){
                Jim_SetResult_sprintf(goi->interp, "Missing CHIP TAP OPTIONS ....");
                return JIM_ERR;
        }
        Jim_GetOpt_String( goi, &cp, NULL );
        pTap->chip = strdup(cp);

        Jim_GetOpt_String( goi, &cp, NULL );
        pTap->tapname = strdup(cp);

        // name + dot + name + null
        x = strlen(pTap->chip) + 1 + strlen(pTap->tapname) + 1;
        cp = malloc( x );
        sprintf( cp, "%s.%s", pTap->chip, pTap->tapname );
        pTap->dotted_name = cp;

        LOG_DEBUG("Creating New Tap, Chip: %s, Tap: %s, Dotted: %s, %d params",
                          pTap->chip, pTap->tapname, pTap->dotted_name, goi->argc);


        // default is enabled
        pTap->enabled = 1;

        // deal with options
#define NTREQ_IRLEN      1
#define NTREQ_IRCAPTURE  2
#define NTREQ_IRMASK     4

        // clear them as we find them
        reqbits = (NTREQ_IRLEN | NTREQ_IRCAPTURE | NTREQ_IRMASK);

        while( goi->argc ){
                e = Jim_GetOpt_Nvp( goi, opts, &n );
                if( e != JIM_OK ){
                        Jim_GetOpt_NvpUnknown( goi, opts, 0 );
                        return e;
                }
                LOG_DEBUG("Processing option: %s", n->name );
                switch( n->value ){
                case NTAP_OPT_ENABLED:
                        pTap->enabled = 1;
                        break;
                case NTAP_OPT_DISABLED:
                        pTap->enabled = 0;
                        break;
                case NTAP_OPT_EXPECTED_ID:
                        e = Jim_GetOpt_Wide( goi, &w );
                        pTap->expected_id = w;
                        break;
                case NTAP_OPT_IRLEN:
                case NTAP_OPT_IRMASK:
                case NTAP_OPT_IRCAPTURE:
                        e = Jim_GetOpt_Wide( goi, &w );
                        if( e != JIM_OK ){
                                Jim_SetResult_sprintf( goi->interp, "option: %s bad parameter", n->name );
                                return e;
                        }
                        if( (w < 0) || (w > 0xffff) ){
                                // wacky value
                                Jim_SetResult_sprintf( goi->interp, "option: %s - wacky value: %d (0x%x)",
                                                                           n->name, (int)(w), (int)(w));
                                return JIM_ERR;
                        }
                        switch(n->value){
                        case NTAP_OPT_IRLEN:
                                pTap->ir_length = w;
                                reqbits &= (~(NTREQ_IRLEN));
                                break;
                        case NTAP_OPT_IRMASK:
                                pTap->ir_capture_mask = w;
                                reqbits &= (~(NTREQ_IRMASK));
                                break;
                        case NTAP_OPT_IRCAPTURE:
                                pTap->ir_capture_value = w;
                                reqbits &= (~(NTREQ_IRCAPTURE));
                                break;
                        }
                } // switch(n->value)
        } // while( goi->argc )

        // Did we get all the options?
        if( reqbits ){
                // no
                Jim_SetResult_sprintf( goi->interp,
                                                           "newtap: %s missing required parameters",
                                                           pTap->dotted_name);
                // fixme: Tell user what is missing :-(
                // no memory leaks pelase
                free(((void *)(pTap->chip)));
                free(((void *)(pTap->tapname)));
                free(((void *)(pTap->dotted_name)));
                free(((void *)(pTap)));
                return JIM_ERR;
        }

        pTap->expected      = malloc( pTap->ir_length );
        pTap->expected_mask = malloc( pTap->ir_length );
        pTap->cur_instr     = malloc( pTap->ir_length );

        buf_set_u32( pTap->expected,
                                 0,
                                 pTap->ir_length,
                                 pTap->ir_capture_value );
        buf_set_u32( pTap->expected_mask,
                                 0,
                                 pTap->ir_length,
                                 pTap->ir_capture_mask );
        buf_set_ones( pTap->cur_instr,
                                  pTap->ir_length );

        pTap->bypass = 1;


        jtag_register_event_callback(jtag_reset_callback, pTap );

        ppTap = &(jtag_all_taps);
        while( (*ppTap) != NULL ){
                ppTap = &((*ppTap)->next_tap);
        }
        *ppTap = pTap;
        {
                static int n_taps = 0;
                pTap->abs_chain_position = n_taps++;
        }
        LOG_DEBUG( "Created Tap: %s @ abs position %d, irlen %d, capture: 0x%x mask: 0x%x",
                           (*ppTap)->dotted_name,
                           (*ppTap)->abs_chain_position,
                           (*ppTap)->ir_length,
                           (*ppTap)->ir_capture_value,
                           (*ppTap)->ir_capture_mask );


        return ERROR_OK;
}


static int
jim_jtag_command( Jim_Interp *interp, int argc, Jim_Obj *const *argv )
{
        Jim_GetOptInfo goi;
        int e;
        Jim_Nvp *n;
        struct command_context_s *context;

        enum {
                JTAG_CMD_INTERFACE,
                JTAG_CMD_INIT_RESET,
                JTAG_CMD_NEWTAP,
                JTAG_CMD_TAPENABLE,
                JTAG_CMD_TAPDISABLE,
                JTAG_CMD_TAPISENABLED
        };

        const Jim_Nvp jtag_cmds[] = {
                { .name = "interface"     , .value = JTAG_CMD_INTERFACE },
                { .name = "arp_init-reset", .value = JTAG_CMD_INIT_RESET },
                { .name = "newtap"        , .value = JTAG_CMD_NEWTAP },
                { .name = "tapisenabled"     , .value = JTAG_CMD_TAPISENABLED },
                { .name = "tapenable"     , .value = JTAG_CMD_TAPENABLE },
                { .name = "tapdisable"    , .value = JTAG_CMD_TAPDISABLE },

                { .name = NULL, .value = -1 },
        };

        context = Jim_GetAssocData(interp, "context");
        // go past the command
        Jim_GetOpt_Setup( &goi, interp, argc-1, argv+1 );

        e = Jim_GetOpt_Nvp( &goi, jtag_cmds, &n );
        if( e != JIM_OK ){
                Jim_GetOpt_NvpUnknown( &goi, jtag_cmds, 0 );
                return e;
        }
                Jim_SetEmptyResult( goi.interp );
        switch( n->value ){
        case JTAG_CMD_INTERFACE:
                // return the name of the interface
                // TCL code might need to know the exact type...
                // FUTURE: we allow this as a means to "set" the interface.
                if( goi.argc != 0 ){
                        Jim_WrongNumArgs( goi.interp, 1, goi.argv-1, "(no params)");
                        return JIM_ERR;
                }
                Jim_SetResultString( goi.interp, jtag_interface->name, -1 );
                return JIM_OK;
        case JTAG_CMD_INIT_RESET:
                if( goi.argc != 0 ){
                        Jim_WrongNumArgs( goi.interp, 1, goi.argv-1, "(no params)");
                        return JIM_ERR;
                }
                e = jtag_init_reset(context);
                if( e != ERROR_OK ){
                        Jim_SetResult_sprintf( goi.interp, "error: %d", e);
                        return JIM_ERR;
                }
                return JIM_OK;
        case JTAG_CMD_NEWTAP:
                return jim_newtap_cmd( &goi );
                break;
        case JTAG_CMD_TAPISENABLED:
        case JTAG_CMD_TAPENABLE:
        case JTAG_CMD_TAPDISABLE:
                if( goi.argc != 1 ){
                        Jim_SetResultString( goi.interp, "Too many parameters",-1 );
                        return JIM_ERR;
                }

                {
                        jtag_tap_t *t;
                        t = jtag_TapByJimObj( goi.interp, goi.argv[0] );
                        if( t == NULL ){
                                return JIM_ERR;
                        }
                        switch( n->value ){
                        case JTAG_CMD_TAPISENABLED:
                                // below
                                break;
                        case JTAG_CMD_TAPENABLE:
                                e = 1;
                                t->enabled = e;
                                break;
                        case JTAG_CMD_TAPDISABLE:
                                e = 0;
                                t->enabled = e;
                                break;
                        }
                        Jim_SetResult( goi.interp, Jim_NewIntObj( goi.interp, e ) );
                        return JIM_OK;
                }
        }


        return JIM_ERR;
}

int jtag_register_commands(struct command_context_s *cmd_ctx)
{
        register_jim( cmd_ctx, "jtag", jim_jtag_command, "perform jtag tap actions");

        register_command(cmd_ctx, NULL, "interface", handle_interface_command,
                COMMAND_CONFIG, "try to configure interface");
        register_command(cmd_ctx, NULL, "jtag_speed", handle_jtag_speed_command,
                COMMAND_ANY, "set jtag speed (if supported)");
        register_command(cmd_ctx, NULL, "jtag_khz", handle_jtag_khz_command,
                COMMAND_ANY, "same as jtag_speed, except it takes maximum khz as arguments. 0 KHz = RTCK.");
        register_command(cmd_ctx, NULL, "jtag_device", handle_jtag_device_command,
                COMMAND_CONFIG, "jtag_device <ir_length> <ir_expected> <ir_mask>");
        register_command(cmd_ctx, NULL, "reset_config", handle_reset_config_command,
                COMMAND_CONFIG, NULL);
        register_command(cmd_ctx, NULL, "jtag_nsrst_delay", handle_jtag_nsrst_delay_command,
                COMMAND_ANY, "jtag_nsrst_delay <ms> - delay after deasserting srst in ms");
        register_command(cmd_ctx, NULL, "jtag_ntrst_delay", handle_jtag_ntrst_delay_command,
                COMMAND_ANY, "jtag_ntrst_delay <ms> - delay after deasserting trst in ms");

        register_command(cmd_ctx, NULL, "scan_chain", handle_scan_chain_command,
                COMMAND_EXEC, "print current scan chain configuration");

        register_command(cmd_ctx, NULL, "endstate", handle_endstate_command,
                COMMAND_EXEC, "finish JTAG operations in <tap_state>");
        register_command(cmd_ctx, NULL, "jtag_reset", handle_jtag_reset_command,
                COMMAND_EXEC, "toggle reset lines <trst> <srst>");
        register_command(cmd_ctx, NULL, "runtest", handle_runtest_command,
                COMMAND_EXEC, "move to Run-Test/Idle, and execute <num_cycles>");
        register_command(cmd_ctx, NULL, "irscan", handle_irscan_command,
                COMMAND_EXEC, "execute IR scan <device> <instr> [dev2] [instr2] ...");
        register_jim(cmd_ctx, "drscan", Jim_Command_drscan, "execute DR scan <device> <num_bits> <value> <num_bits1> <value2> ...");

        register_command(cmd_ctx, NULL, "verify_ircapture", handle_verify_ircapture_command,
                COMMAND_ANY, "verify value captured during Capture-IR <enable|disable>");
        return ERROR_OK;
}

int jtag_interface_init(struct command_context_s *cmd_ctx)
{
        if (jtag)
                return ERROR_OK;

        if (!jtag_interface)
        {
                /* nothing was previously specified by "interface" command */
                LOG_ERROR("JTAG interface has to be specified, see \"interface\" command");
                return ERROR_JTAG_INVALID_INTERFACE;
        }
        if(hasKHz)
        {
                jtag_interface->khz(speed_khz, &jtag_speed);
                hasKHz = 0;
        }

        if (jtag_interface->init() != ERROR_OK)
                return ERROR_JTAG_INIT_FAILED;



        jtag = jtag_interface;
        return ERROR_OK;
}

static int jtag_init_inner(struct command_context_s *cmd_ctx)
{
        jtag_tap_t *tap;
        int retval;

        LOG_DEBUG("Init JTAG chain");


        tap = jtag_NextEnabledTap(NULL);
        if( tap == NULL ){
                LOG_ERROR("There are no enabled taps?");
                return ERROR_JTAG_INIT_FAILED;
        }

        jtag_add_tlr();
        if ((retval=jtag_execute_queue())!=ERROR_OK)
                return retval;

        /* examine chain first, as this could discover the real chain layout */
        if (jtag_examine_chain() != ERROR_OK)
        {
                LOG_ERROR("trying to validate configured JTAG chain anyway...");
        }

        if (jtag_validate_chain() != ERROR_OK)
        {
                LOG_ERROR("Could not validate JTAG chain, continuing anyway...");
        }

        return ERROR_OK;
}

int jtag_init_reset(struct command_context_s *cmd_ctx)
{
        int retval;

        if ((retval=jtag_interface_init(cmd_ctx)) != ERROR_OK)
                return retval;

        LOG_DEBUG("Trying to bring the JTAG controller to life by asserting TRST / TLR");

        /* Reset can happen after a power cycle.
         *
         * Ideally we would only assert TRST or run TLR before the target reset.
         *
         * However w/srst_pulls_trst, trst is asserted together with the target
         * reset whether we want it or not.
         *
         * NB! Some targets have JTAG circuitry disabled until a
         * trst & srst has been asserted.
         *
         * NB! here we assume nsrst/ntrst delay are sufficient!
         *
         * NB! order matters!!!! srst *can* disconnect JTAG circuitry
         *
         */
        jtag_add_reset(1, 0); /* TLR or TRST */
        if (jtag_reset_config & RESET_HAS_SRST)
        {
                jtag_add_reset(1, 1);
                if ((jtag_reset_config & RESET_SRST_PULLS_TRST)==0)
                        jtag_add_reset(0, 1);
        }
        jtag_add_reset(0, 0);
        if ((retval = jtag_execute_queue()) != ERROR_OK)
                return retval;

        /* Check that we can communication on the JTAG chain + eventually we want to
         * be able to perform enumeration only after OpenOCD has started
         * telnet and GDB server
         *
         * That would allow users to more easily perform any magic they need to before
         * reset happens.
         */
        return jtag_init_inner(cmd_ctx);
}

int jtag_init(struct command_context_s *cmd_ctx)
{
        int retval;
        if ((retval=jtag_interface_init(cmd_ctx)) != ERROR_OK)
                return retval;
        if (jtag_init_inner(cmd_ctx)==ERROR_OK)
        {
                return ERROR_OK;
        }
        return jtag_init_reset(cmd_ctx);
}

static int default_khz(int khz, int *jtag_speed)
{
        LOG_ERROR("Translation from khz to jtag_speed not implemented");
        return ERROR_FAIL;
}

static int default_speed_div(int speed, int *khz)
{
        LOG_ERROR("Translation from jtag_speed to khz not implemented");
        return ERROR_FAIL;
}

static int default_power_dropout(int *dropout)
{
        *dropout=0; /* by default we can't detect power dropout */
        return ERROR_OK;
}

static int default_srst_asserted(int *srst_asserted)
{
        *srst_asserted=0; /* by default we can't detect srst asserted */
        return ERROR_OK;
}

int handle_interface_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
        int i;
        int retval;

        /* check whether the interface is already configured */
        if (jtag_interface)
        {
                LOG_WARNING("Interface already configured, ignoring");
                return ERROR_OK;
        }

        /* interface name is a mandatory argument */
        if (argc < 1 || args[0][0] == '\0')
        {
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        for (i=0; jtag_interfaces[i]; i++)
        {
                if (strcmp(args[0], jtag_interfaces[i]->name) == 0)
                {
                        if ((retval = jtag_interfaces[i]->register_commands(cmd_ctx)) != ERROR_OK)
                        {
                                return retval;
                        }

                        jtag_interface = jtag_interfaces[i];

                        if (jtag_interface->khz == NULL)
                        {
                                jtag_interface->khz = default_khz;
                        }
                        if (jtag_interface->speed_div == NULL)
                        {
                                jtag_interface->speed_div = default_speed_div;
                        }
                        if (jtag_interface->power_dropout == NULL)
                        {
                                jtag_interface->power_dropout = default_power_dropout;
                        }
                        if (jtag_interface->srst_asserted == NULL)
                        {
                                jtag_interface->srst_asserted = default_srst_asserted;
                        }

                        return ERROR_OK;
                }
        }

        /* no valid interface was found (i.e. the configuration option,
         * didn't match one of the compiled-in interfaces
         */
        LOG_ERROR("No valid jtag interface found (%s)", args[0]);
        LOG_ERROR("compiled-in jtag interfaces:");
        for (i = 0; jtag_interfaces[i]; i++)
        {
                LOG_ERROR("%i: %s", i, jtag_interfaces[i]->name);
        }

        return ERROR_JTAG_INVALID_INTERFACE;
}

int handle_jtag_device_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
        int e;
        char buf[1024];
        Jim_Obj *newargs[ 10 ];
        //
        // CONVERT SYNTAX
        //
        //   argv[-1] = command
        //   argv[ 0] = ir length
        //   argv[ 1] = ir capture
        //   argv[ 2] = ir mask
        //   argv[ 3] = not actually used by anything but in the docs

        if( argc < 4 ){
                command_print( cmd_ctx, "OLD DEPRECATED SYNTAX: Please use the NEW syntax");
                return ERROR_OK;
        }
        command_print( cmd_ctx, "OLD SYNTAX: DEPRECATED - translating to new syntax");
        command_print( cmd_ctx, "jtag newtap CHIP TAP -irlen %s -ircapture %s -irvalue %s",
                                   args[0],
                                   args[1],
                                   args[2] );
        command_print( cmd_ctx, "Example: STM32 has 2 taps, the cortexM3(len4) + boundryscan(len5)");
        command_print( cmd_ctx, "jtag newtap stm32 cortexm3  ....., thus creating the tap: \"stm32.cortexm3\"");
        command_print( cmd_ctx, "jtag newtap stm32 boundry  ....., and the tap: \"stm32.boundery\"");
        command_print( cmd_ctx, "And then refer to the taps by the dotted name.");



        newargs[0] = Jim_NewStringObj( interp, "jtag", -1   );
        newargs[1] = Jim_NewStringObj( interp, "newtap", -1 );
        sprintf( buf, "chip%d", jtag_NumTotalTaps() );
        newargs[2] = Jim_NewStringObj( interp, buf, -1 );
        sprintf( buf, "tap%d", jtag_NumTotalTaps() );
        newargs[3] = Jim_NewStringObj( interp, buf, -1  );
        newargs[4] = Jim_NewStringObj( interp, "-irlen", -1  );
        newargs[5] = Jim_NewStringObj( interp, args[0], -1  );
        newargs[6] = Jim_NewStringObj( interp, "-ircapture", -1  );
        newargs[7] = Jim_NewStringObj( interp, args[1], -1  );
        newargs[8] = Jim_NewStringObj( interp, "-irmask", -1  );
        newargs[9] = Jim_NewStringObj( interp, args[2], -1  );

        command_print( cmd_ctx, "NEW COMMAND:");
        sprintf( buf, "%s %s %s %s %s %s %s %s %s %s",
                         Jim_GetString( newargs[0], NULL ),
                         Jim_GetString( newargs[1], NULL ),
                         Jim_GetString( newargs[2], NULL ),
                         Jim_GetString( newargs[3], NULL ),
                         Jim_GetString( newargs[4], NULL ),
                         Jim_GetString( newargs[5], NULL ),
                         Jim_GetString( newargs[6], NULL ),
                         Jim_GetString( newargs[7], NULL ),
                         Jim_GetString( newargs[8], NULL ),
                         Jim_GetString( newargs[9], NULL ) );



        e = jim_jtag_command( interp, 10, newargs );
        if( e != JIM_OK ){
                command_print( cmd_ctx, "%s", Jim_GetString( Jim_GetResult(interp), NULL ) );
        }
        return e;
}


int handle_scan_chain_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
        jtag_tap_t *tap;

        tap = jtag_all_taps;
        command_print(cmd_ctx, "     TapName            | Enabled |   IdCode      Expected    IrLen IrCap  IrMask Instr     ");
        command_print(cmd_ctx, "---|--------------------|---------|------------|------------|------|------|------|---------");

        while( tap ){
                u32 expected, expected_mask, cur_instr;
                expected = buf_get_u32(tap->expected, 0, tap->ir_length);
                expected_mask = buf_get_u32(tap->expected_mask, 0, tap->ir_length);
                cur_instr = buf_get_u32(tap->cur_instr, 0, tap->ir_length);
                command_print(cmd_ctx,
                                          "%2d | %-18s |    %c    | 0x%08x | 0x%08x | 0x%02x | 0x%02x | 0x%02x | 0x%02x",
                                          tap->abs_chain_position,
                                          tap->dotted_name,
                                          tap->enabled ? 'Y' : 'n',
                                          tap->idcode,
                                          tap->expected_id,
                                          tap->ir_length,
                                          expected,
                                          expected_mask,
                                          cur_instr);
                tap = tap->next_tap;
        }

        return ERROR_OK;
}

int handle_reset_config_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
        if (argc < 1)
                return ERROR_COMMAND_SYNTAX_ERROR;

        if (argc >= 1)
        {
                if (strcmp(args[0], "none") == 0)
                        jtag_reset_config = RESET_NONE;
                else if (strcmp(args[0], "trst_only") == 0)
                        jtag_reset_config = RESET_HAS_TRST;
                else if (strcmp(args[0], "srst_only") == 0)
                        jtag_reset_config = RESET_HAS_SRST;
                else if (strcmp(args[0], "trst_and_srst") == 0)
                        jtag_reset_config = RESET_TRST_AND_SRST;
                else
                {
                        LOG_ERROR("(1) invalid reset_config argument (%s), defaulting to none", args[0]);
                        jtag_reset_config = RESET_NONE;
                        return ERROR_INVALID_ARGUMENTS;
                }
        }

        if (argc >= 2)
        {
                if (strcmp(args[1], "separate") == 0)
                {
                        /* seperate reset lines - default */
                } else
                {
                        if (strcmp(args[1], "srst_pulls_trst") == 0)
                                jtag_reset_config |= RESET_SRST_PULLS_TRST;
                        else if (strcmp(args[1], "trst_pulls_srst") == 0)
                                jtag_reset_config |= RESET_TRST_PULLS_SRST;
                        else if (strcmp(args[1], "combined") == 0)
                                jtag_reset_config |= RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST;
                        else
                        {
                                LOG_ERROR("(2) invalid reset_config argument (%s), defaulting to none", args[1]);
                                jtag_reset_config = RESET_NONE;
                                return ERROR_INVALID_ARGUMENTS;
                        }
                }
        }

        if (argc >= 3)
        {
                if (strcmp(args[2], "trst_open_drain") == 0)
                        jtag_reset_config |= RESET_TRST_OPEN_DRAIN;
                else if (strcmp(args[2], "trst_push_pull") == 0)
                        jtag_reset_config &= ~RESET_TRST_OPEN_DRAIN;
                else
                {
                        LOG_ERROR("(3) invalid reset_config argument (%s) defaulting to none", args[2] );
                        jtag_reset_config = RESET_NONE;
                        return ERROR_INVALID_ARGUMENTS;
                }
        }

        if (argc >= 4)
        {
                if (strcmp(args[3], "srst_push_pull") == 0)
                        jtag_reset_config |= RESET_SRST_PUSH_PULL;
                else if (strcmp(args[3], "srst_open_drain") == 0)
                        jtag_reset_config &= ~RESET_SRST_PUSH_PULL;
                else
                {
                        LOG_ERROR("(4) invalid reset_config argument (%s), defaulting to none", args[3]);
                        jtag_reset_config = RESET_NONE;
                        return ERROR_INVALID_ARGUMENTS;
                }
        }

        return ERROR_OK;
}

int handle_jtag_nsrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
        if (argc < 1)
        {
                LOG_ERROR("jtag_nsrst_delay <ms> command takes one required argument");
                exit(-1);
        }
        else
        {
                jtag_nsrst_delay = strtoul(args[0], NULL, 0);
        }

        return ERROR_OK;
}

int handle_jtag_ntrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
        if (argc < 1)
        {
                LOG_ERROR("jtag_ntrst_delay <ms> command takes one required argument");
                exit(-1);
        }
        else
        {
                jtag_ntrst_delay = strtoul(args[0], NULL, 0);
        }

        return ERROR_OK;
}

int handle_jtag_speed_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
        int retval=ERROR_OK;

        if (argc == 1)
        {
                LOG_DEBUG("handle jtag speed");

                int cur_speed = 0;
                cur_speed = jtag_speed = strtoul(args[0], NULL, 0);

                /* this command can be called during CONFIG,
                 * in which case jtag isn't initialized */
                if (jtag)
                {
                        retval=jtag->speed(cur_speed);
                }
        } else if (argc == 0)
        {
        } else
        {
                return ERROR_COMMAND_SYNTAX_ERROR;
        }
        command_print(cmd_ctx, "jtag_speed: %d", jtag_speed);

        return retval;
}

int handle_jtag_khz_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
        int retval=ERROR_OK;
        LOG_DEBUG("handle jtag khz");

        if(argc == 1)
        {
                speed_khz = strtoul(args[0], NULL, 0);
                if (jtag != NULL)
                {
                        int cur_speed = 0;
                        LOG_DEBUG("have interface set up");
                        int speed_div1;
                        if ((retval=jtag->khz(speed_khz, &speed_div1))!=ERROR_OK)
                        {
                                speed_khz = 0;
                                return retval;
                        }

                        cur_speed = jtag_speed = speed_div1;

                        retval=jtag->speed(cur_speed);
                } else
                {
                        hasKHz = 1;
                }
        } else if (argc==0)
        {
        } else
        {
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        if (jtag!=NULL)
        {
                if ((retval=jtag->speed_div(jtag_speed, &speed_khz))!=ERROR_OK)
                        return retval;
        }

        if (speed_khz==0)
        {
                command_print(cmd_ctx, "RCLK - adaptive");
        } else
        {
                command_print(cmd_ctx, "%d kHz", speed_khz);
        }
        return retval;

}

int handle_endstate_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
        enum tap_state state;

        if (argc < 1)
        {
                return ERROR_COMMAND_SYNTAX_ERROR;
        }
        else
        {
                for (state = 0; state < 16; state++)
                {
                        if (strcmp(args[0], tap_state_strings[state]) == 0)
                        {
                                jtag_add_end_state(state);
                                jtag_execute_queue();
                        }
                }
        }
        command_print(cmd_ctx, "current endstate: %s", tap_state_strings[cmd_queue_end_state]);

        return ERROR_OK;
}

int handle_jtag_reset_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
        int trst = -1;
        int srst = -1;

        if (argc < 2)
        {
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        if (args[0][0] == '1')
                trst = 1;
        else if (args[0][0] == '0')
                trst = 0;
        else
        {
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        if (args[1][0] == '1')
                srst = 1;
        else if (args[1][0] == '0')
                srst = 0;
        else
        {
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        if (jtag_interface_init(cmd_ctx) != ERROR_OK)
                return ERROR_JTAG_INIT_FAILED;

        jtag_add_reset(trst, srst);
        jtag_execute_queue();

        return ERROR_OK;
}

int handle_runtest_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
        if (argc < 1)
        {
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        jtag_add_runtest(strtol(args[0], NULL, 0), -1);
        jtag_execute_queue();

        return ERROR_OK;

}

int handle_irscan_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
        int i;
        scan_field_t *fields;
        jtag_tap_t *tap;

        if ((argc < 2) || (argc % 2))
        {
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        fields = malloc(sizeof(scan_field_t) * argc / 2);

        for (i = 0; i < argc / 2; i++)
        {
                tap = jtag_TapByString( args[i*2] );
                if (tap==NULL)
                {
                        command_print( cmd_ctx, "Tap: %s unknown", args[i*2] );
                        return ERROR_FAIL;
                }
                int field_size = tap->ir_length;
                fields[i].tap = tap;
                fields[i].out_value = malloc(CEIL(field_size, 8));
                buf_set_u32(fields[i].out_value, 0, field_size, strtoul(args[i*2+1], NULL, 0));
                fields[i].out_mask = NULL;
                fields[i].in_value = NULL;
                fields[i].in_check_mask = NULL;
                fields[i].in_handler = NULL;
                fields[i].in_handler_priv = NULL;
        }

        jtag_add_ir_scan(argc / 2, fields, -1);
        jtag_execute_queue();

        for (i = 0; i < argc / 2; i++)
                free(fields[i].out_value);

        free (fields);

        return ERROR_OK;
}

int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *args)
{
        int retval;
        scan_field_t *fields;
        int num_fields;
        int field_count = 0;
        int i, e;
        jtag_tap_t *tap;

        /* args[1] = device
         * args[2] = num_bits
         * args[3] = hex string
         * ... repeat num bits and hex string ...
         */
        if ((argc < 4) || ((argc % 2)!=0))
        {
                Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
                return JIM_ERR;
        }

        for (i = 2; i < argc; i+=2)
        {
                long bits;

                e = Jim_GetLong(interp, args[i], &bits);
                if (e != JIM_OK)
                        return e;
        }

        tap = jtag_TapByJimObj( interp, args[1] );
        if( tap == NULL ){
                return JIM_ERR;
        }

        num_fields=(argc-2)/2;
        fields = malloc(sizeof(scan_field_t) * num_fields);
        for (i = 2; i < argc; i+=2)
        {
                long bits;
                int len;
                const char *str;

                Jim_GetLong(interp, args[i], &bits);
                str = Jim_GetString(args[i+1], &len);


                fields[field_count].tap = tap;
                fields[field_count].num_bits = bits;
                fields[field_count].out_value = malloc(CEIL(bits, 8));
                str_to_buf(str, len, fields[field_count].out_value, bits, 0);
                fields[field_count].out_mask = NULL;
                fields[field_count].in_value = fields[field_count].out_value;
                fields[field_count].in_check_mask = NULL;
                fields[field_count].in_check_value = NULL;
                fields[field_count].in_handler = NULL;
                fields[field_count++].in_handler_priv = NULL;
        }

        jtag_add_dr_scan(num_fields, fields, -1);
        retval = jtag_execute_queue();
        if (retval != ERROR_OK)
        {
                Jim_SetResultString(interp, "drscan: jtag execute failed",-1);
                return JIM_ERR;
        }

        field_count=0;
        Jim_Obj *list = Jim_NewListObj(interp, NULL, 0);
        for (i = 2; i < argc; i+=2)
        {
                long bits;
                char *str;

                Jim_GetLong(interp, args[i], &bits);
                str = buf_to_str(fields[field_count].in_value, bits, 16);
                free(fields[field_count].out_value);

                Jim_ListAppendElement(interp, list, Jim_NewStringObj(interp, str, strlen(str)));
                free(str);
                field_count++;
        }

        Jim_SetResult(interp, list);

        free(fields);

        return JIM_OK;
}

int handle_verify_ircapture_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
        if (argc == 1)
        {
                if (strcmp(args[0], "enable") == 0)
                {
                        jtag_verify_capture_ir = 1;
                }
                else if (strcmp(args[0], "disable") == 0)
                {
                        jtag_verify_capture_ir = 0;
                } else
                {
                        return ERROR_COMMAND_SYNTAX_ERROR;
                }
        } else if (argc != 0)
        {
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        command_print(cmd_ctx, "verify Capture-IR is %s", (jtag_verify_capture_ir) ? "enabled": "disabled");

        return ERROR_OK;
}


int jtag_power_dropout(int *dropout)
{
        return jtag->power_dropout(dropout);
}

int jtag_srst_asserted(int *srst_asserted)
{
        return jtag->srst_asserted(srst_asserted);
}