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   1 /***************************************************************************
   2  *   Copyright (C) 2005 by Dominic Rath                                    *
   3  *   Dominic.Rath@gmx.de                                                   *
   4  *                                                                         *
   5  *   This program is free software; you can redistribute it and/or modify  *
   6  *   it under the terms of the GNU General Public License as published by  *
   7  *   the Free Software Foundation; either version 2 of the License, or     *
   8  *   (at your option) any later version.                                   *
   9  *                                                                         *
  10  *   This program is distributed in the hope that it will be useful,       *
  11  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  12  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  13  *   GNU General Public License for more details.                          *
  14  *                                                                         *
  15  *   You should have received a copy of the GNU General Public License     *
  16  *   along with this program; if not, write to the                         *
  17  *   Free Software Foundation, Inc.,                                       *
  18  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  19  ***************************************************************************/
  20 #ifdef HAVE_CONFIG_H
  21 #include "config.h"
  22 #endif
  23
  24 #include "replacements.h"
  25
  26 #include "jtag.h"
  27
  28 #include "command.h"
  29 #include "log.h"
  30 #include "interpreter.h"
  31
  32 #include "stdlib.h"
  33 #include "string.h"
  34 #include <unistd.h>
  35
  36 char* tap_state_strings[16] =
  37 {
  38         "tlr",
  39         "sds", "cd", "sd", "e1d", "pd", "e2d", "ud",
  40         "rti",
  41         "sis", "ci", "si", "e1i", "pi", "e2i", "ui"
  42 };
  43
  44 typedef struct cmd_queue_page_s
  45 {
  46         void *address;
  47         size_t used;
  48         struct cmd_queue_page_s *next;
  49 } cmd_queue_page_t;
  50
  51 #define CMD_QUEUE_PAGE_SIZE (1024 * 1024)
  52 static cmd_queue_page_t *cmd_queue_pages = NULL;
  53
  54 /* tap_move[i][j]: tap movement command to go from state i to state j
  55  * 0: Test-Logic-Reset
  56  * 1: Run-Test/Idle
  57  * 2: Shift-DR
  58  * 3: Pause-DR
  59  * 4: Shift-IR
  60  * 5: Pause-IR
  61  */
  62 u8 tap_move[6][6] =
  63 {
  64 /*        TLR   RTI   SD    PD    SI    PI             */
  65         {0x7f, 0x00, 0x17, 0x0a, 0x1b, 0x16},   /* TLR */
  66         {0x7f, 0x00, 0x25, 0x05, 0x2b, 0x0b},   /* RTI */
  67         {0x7f, 0x31, 0x00, 0x01, 0x0f, 0x2f},   /* SD  */
  68         {0x7f, 0x30, 0x20, 0x17, 0x1e, 0x2f},   /* PD  */
  69         {0x7f, 0x31, 0x07, 0x17, 0x00, 0x01},   /* SI  */
  70         {0x7f, 0x30, 0x1c, 0x17, 0x20, 0x2f}    /* PI  */
  71 };
  72
  73 int tap_move_map[16] = {
  74         0, -1, -1,  2, -1,  3, -1, -1,
  75         1, -1, -1,  4, -1,  5, -1, -1
  76 };
  77
  78 tap_transition_t tap_transitions[16] =
  79 {
  80         {TAP_TLR, TAP_RTI},             /* TLR */
  81         {TAP_SIS, TAP_CD},              /* SDS */
  82         {TAP_E1D, TAP_SD},              /* CD  */
  83         {TAP_E1D, TAP_SD},              /* SD  */
  84         {TAP_UD,  TAP_PD},              /* E1D */
  85         {TAP_E2D, TAP_PD},              /* PD  */
  86         {TAP_UD,  TAP_SD},              /* E2D */
  87         {TAP_SDS, TAP_RTI},             /* UD  */
  88         {TAP_SDS, TAP_RTI},             /* RTI */
  89         {TAP_TLR, TAP_CI},              /* SIS */
  90         {TAP_E1I, TAP_SI},              /* CI  */
  91         {TAP_E1I, TAP_SI},              /* SI  */
  92         {TAP_UI,  TAP_PI},              /* E1I */
  93         {TAP_E2I, TAP_PI},              /* PI  */
  94         {TAP_UI,  TAP_SI},              /* E2I */
  95         {TAP_SDS, TAP_RTI}              /* UI  */
  96 };
  97
  98 enum tap_state end_state = TAP_TLR;
  99 enum tap_state cur_state = TAP_TLR;
 100 int jtag_trst = 0;
 101 int jtag_srst = 0;
 102
 103 jtag_command_t *jtag_command_queue = NULL;
 104 jtag_command_t **last_comand_pointer = &jtag_command_queue;
 105 jtag_device_t *jtag_devices = NULL;
 106 int jtag_num_devices = 0;
 107 int jtag_ir_scan_size = 0;
 108 enum reset_types jtag_reset_config = RESET_NONE;
 109 enum tap_state cmd_queue_end_state = TAP_TLR;
 110 enum tap_state cmd_queue_cur_state = TAP_TLR;
 111
 112 int jtag_verify_capture_ir = 1;
 113
 114 /* how long the OpenOCD should wait before attempting JTAG communication after reset lines deasserted (in ms) */
 115 int jtag_nsrst_delay = 0; /* default to no nSRST delay */
 116 int jtag_ntrst_delay = 0; /* default to no nTRST delay */
 117
 118 /* callbacks to inform high-level handlers about JTAG state changes */
 119 jtag_event_callback_t *jtag_event_callbacks;
 120
 121 /* jtag interfaces (parport, FTDI-USB, TI-USB, ...)
 122  */
 123 #if BUILD_PARPORT == 1
 124         extern jtag_interface_t parport_interface;
 125 #endif
 126
 127 #if BUILD_FT2232_FTD2XX == 1
 128         extern jtag_interface_t ft2232_interface;
 129 #endif
 130
 131 #if BUILD_FT2232_LIBFTDI == 1
 132         extern jtag_interface_t ft2232_interface;
 133 #endif
 134
 135 #if BUILD_AMTJTAGACCEL == 1
 136         extern jtag_interface_t amt_jtagaccel_interface;
 137 #endif
 138
 139 #if BUILD_EP93XX == 1
 140         extern jtag_interface_t ep93xx_interface;
 141 #endif
 142
 143 jtag_interface_t *jtag_interfaces[] = {
 144 #if BUILD_PARPORT == 1
 145         &parport_interface,
 146 #endif
 147 #if BUILD_FT2232_FTD2XX == 1
 148         &ft2232_interface,
 149 #endif
 150 #if BUILD_FT2232_LIBFTDI == 1
 151         &ft2232_interface,
 152 #endif
 153 #if BUILD_AMTJTAGACCEL == 1
 154         &amt_jtagaccel_interface,
 155 #endif
 156 #if BUILD_EP93XX == 1
 157         &ep93xx_interface,
 158 #endif
 159         NULL,
 160 };
 161
 162 jtag_interface_t *jtag = NULL;
 163
 164 /* configuration */
 165 char* jtag_interface = NULL;
 166 int jtag_speed = -1;
 167
 168 /* forward declarations */
 169
 170 /* jtag commands */
 171 int handle_interface_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 172 int handle_jtag_speed_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 173 int handle_jtag_device_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 174 int handle_reset_config_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 175 int handle_jtag_nsrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 176 int handle_jtag_ntrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 177
 178 int handle_scan_chain_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 179
 180 int handle_endstate_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 181 int handle_jtag_reset_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 182 int handle_runtest_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 183 int handle_statemove_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 184 int handle_irscan_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 185 int handle_drscan_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 186
 187 int handle_verify_ircapture_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
 188
 189 int jtag_register_event_callback(int (*callback)(enum jtag_event event, void *priv), void *priv)
 190 {
 191         jtag_event_callback_t **callbacks_p = &jtag_event_callbacks;
 192
 193         if (callback == NULL)
 194         {
 195                 return ERROR_INVALID_ARGUMENTS;
 196         }
 197
 198         if (*callbacks_p)
 199         {
 200                 while ((*callbacks_p)->next)
 201                         callbacks_p = &((*callbacks_p)->next);
 202                 callbacks_p = &((*callbacks_p)->next);
 203         }
 204
 205         (*callbacks_p) = malloc(sizeof(jtag_event_callback_t));
 206         (*callbacks_p)->callback = callback;
 207         (*callbacks_p)->priv = priv;
 208         (*callbacks_p)->next = NULL;
 209
 210         return ERROR_OK;
 211 }
 212
 213 int jtag_unregister_event_callback(int (*callback)(enum jtag_event event, void *priv))
 214 {
 215         jtag_event_callback_t **callbacks_p = &jtag_event_callbacks;
 216
 217         if (callback == NULL)
 218         {
 219                 return ERROR_INVALID_ARGUMENTS;
 220         }
 221
 222         while (*callbacks_p)
 223         {
 224                 jtag_event_callback_t **next = &((*callbacks_p)->next);
 225                 if ((*callbacks_p)->callback == callback)
 226                 {
 227                         free(*callbacks_p);
 228                         *callbacks_p = *next;
 229                 }
 230                 callbacks_p = next;
 231         }
 232
 233         return ERROR_OK;
 234 }
 235
 236 int jtag_call_event_callbacks(enum jtag_event event)
 237 {
 238         jtag_event_callback_t *callback = jtag_event_callbacks;
 239
 240         DEBUG("jtag event: %i", event);
 241
 242         while (callback)
 243         {
 244                 callback->callback(event, callback->priv);
 245                 callback = callback->next;
 246         }
 247
 248         return ERROR_OK;
 249 }
 250
 251 /* returns a pointer to the pointer of the last command in queue
 252  * this may be a pointer to the root pointer (jtag_command_queue)
 253  * or to the next member of the last but one command
 254  */
 255 jtag_command_t** jtag_get_last_command_p(void)
 256 {
 257 /*      jtag_command_t *cmd = jtag_command_queue;
 258
 259         if (cmd)
 260                 while (cmd->next)
 261                         cmd = cmd->next;
 262         else
 263                 return &jtag_command_queue;
 264
 265         return &cmd->next;*/
 266
 267         return last_comand_pointer;
 268 }
 269
 270 /* returns a pointer to the n-th device in the scan chain */
 271 jtag_device_t* jtag_get_device(int num)
 272 {
 273         jtag_device_t *device = jtag_devices;
 274         int i = 0;
 275
 276         while (device)
 277         {
 278                 if (num == i)
 279                         return device;
 280                 device = device->next;
 281                 i++;
 282         }
 283
 284         return NULL;
 285 }
 286
 287 void* cmd_queue_alloc(size_t size)
 288 {
 289         cmd_queue_page_t **p_page = &cmd_queue_pages;
 290         int offset;
 291
 292         if (*p_page)
 293         {
 294                 while ((*p_page)->next)
 295                         p_page = &((*p_page)->next);
 296                 if (CMD_QUEUE_PAGE_SIZE - (*p_page)->used < size)
 297                         p_page = &((*p_page)->next);
 298         }
 299
 300         if (!*p_page)
 301         {
 302                 *p_page = malloc(sizeof(cmd_queue_page_t));
 303                 (*p_page)->used = 0;
 304                 (*p_page)->address = malloc(CMD_QUEUE_PAGE_SIZE);
 305                 (*p_page)->next = NULL;
 306         }
 307
 308         offset = (*p_page)->used;
 309         (*p_page)->used += size;
 310
 311         return ((*p_page)->address) + offset;
 312 }
 313
 314 void cmd_queue_free()
 315 {
 316         cmd_queue_page_t *page = cmd_queue_pages;
 317
 318         while (page)
 319         {
 320                 cmd_queue_page_t *last = page;
 321                 free(page->address);
 322                 page = page->next;
 323                 free(last);
 324         }
 325
 326         cmd_queue_pages = NULL;
 327 }
 328
 329 int jtag_add_ir_scan(int num_fields, scan_field_t *fields, enum tap_state state)
 330 {
 331         jtag_command_t **last_cmd;
 332         jtag_device_t *device;
 333         int i, j;
 334         int scan_size = 0;
 335         /*      int changed = 0; */
 336
 337         if (jtag_trst == 1)
 338         {
 339                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 340                 return ERROR_JTAG_TRST_ASSERTED;
 341         }
 342
 343         /*
 344         for (i=0; i<num_fields; i++)
 345         {
 346                 device = jtag_get_device(fields[i].device);
 347                 if (device)
 348                 {
 349                         if (buf_cmp(device->cur_instr, fields[i].out_value, device->ir_length))
 350                                 changed = 1;
 351                 }
 352                 else
 353                 {
 354                         ERROR("inexistant device specified for ir scan");
 355                         return ERROR_INVALID_ARGUMENTS;
 356                 }
 357         }
 358
 359         if (!changed)
 360                 return ERROR_OK;
 361         */
 362
 363         last_cmd = jtag_get_last_command_p();
 364
 365         /* allocate memory for a new list member */
 366         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 367         (*last_cmd)->next = NULL;
 368         last_comand_pointer = &((*last_cmd)->next);
 369         (*last_cmd)->type = JTAG_SCAN;
 370
 371         /* allocate memory for ir scan command */
 372         (*last_cmd)->cmd.scan = cmd_queue_alloc(sizeof(scan_command_t));
 373         (*last_cmd)->cmd.scan->ir_scan = 1;
 374         (*last_cmd)->cmd.scan->num_fields = jtag_num_devices;   /* one field per device */
 375         (*last_cmd)->cmd.scan->fields = cmd_queue_alloc(jtag_num_devices * sizeof(scan_field_t));
 376         (*last_cmd)->cmd.scan->end_state = state;
 377
 378         if (state != -1)
 379                 cmd_queue_end_state = state;
 380
 381         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 382                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 383
 384         if (cmd_queue_end_state == TAP_TLR)
 385                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 386
 387         cmd_queue_cur_state = cmd_queue_end_state;
 388
 389         for (i=0; i < jtag_num_devices; i++)
 390         {
 391                 int found = 0;
 392                 device = jtag_get_device(i);
 393                 scan_size = device->ir_length;
 394                 (*last_cmd)->cmd.scan->fields[i].device = i;
 395                 (*last_cmd)->cmd.scan->fields[i].num_bits = scan_size;
 396                 (*last_cmd)->cmd.scan->fields[i].in_value = NULL;
 397                 if (jtag_verify_capture_ir)
 398                 {
 399                         (*last_cmd)->cmd.scan->fields[i].in_check_value = buf_cpy(device->expected, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 400                         (*last_cmd)->cmd.scan->fields[i].in_check_mask = buf_cpy(device->expected_mask, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 401                 }
 402                 else
 403                 {
 404                         (*last_cmd)->cmd.scan->fields[i].in_check_value = NULL;
 405                         (*last_cmd)->cmd.scan->fields[i].in_check_mask = NULL;
 406                 }
 407                 (*last_cmd)->cmd.scan->fields[i].in_handler = NULL;
 408                 (*last_cmd)->cmd.scan->fields[i].in_handler_priv = NULL;
 409
 410                 /* search the list */
 411                 for (j=0; j < num_fields; j++)
 412                 {
 413                         if (i == fields[j].device)
 414                         {
 415                                 found = 1;
 416                                 (*last_cmd)->cmd.scan->fields[i].out_value = buf_cpy(fields[j].out_value, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 417                                 (*last_cmd)->cmd.scan->fields[i].out_mask = buf_cpy(fields[j].out_mask, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 418
 419                                 device->bypass = 0;
 420                                 break;
 421                         }
 422                 }
 423
 424                 if (!found)
 425                 {
 426                         /* if a device isn't listed, set it to BYPASS */
 427                         (*last_cmd)->cmd.scan->fields[i].out_value = buf_set_ones(cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 428                         (*last_cmd)->cmd.scan->fields[i].out_mask = NULL;
 429                         device->bypass = 1;
 430
 431                 }
 432
 433                 /* update device information */
 434                 buf_cpy((*last_cmd)->cmd.scan->fields[i].out_value, jtag_get_device(i)->cur_instr, scan_size);
 435         }
 436
 437         return ERROR_OK;
 438 }
 439
 440 int jtag_add_plain_ir_scan(int num_fields, scan_field_t *fields, enum tap_state state)
 441 {
 442         jtag_command_t **last_cmd;
 443         int i;
 444
 445         if (jtag_trst == 1)
 446         {
 447                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 448                 return ERROR_JTAG_TRST_ASSERTED;
 449         }
 450
 451         last_cmd = jtag_get_last_command_p();
 452
 453         /* allocate memory for a new list member */
 454         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 455         (*last_cmd)->next = NULL;
 456         last_comand_pointer = &((*last_cmd)->next);
 457         (*last_cmd)->type = JTAG_SCAN;
 458
 459         /* allocate memory for ir scan command */
 460         (*last_cmd)->cmd.scan = cmd_queue_alloc(sizeof(scan_command_t));
 461         (*last_cmd)->cmd.scan->ir_scan = 1;
 462         (*last_cmd)->cmd.scan->num_fields = num_fields;
 463         (*last_cmd)->cmd.scan->fields = cmd_queue_alloc(num_fields * sizeof(scan_field_t));
 464         (*last_cmd)->cmd.scan->end_state = state;
 465
 466         if (state != -1)
 467                 cmd_queue_end_state = state;
 468
 469         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 470                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 471
 472         if (cmd_queue_end_state == TAP_TLR)
 473                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 474
 475         cmd_queue_cur_state = cmd_queue_end_state;
 476
 477         for (i = 0; i < num_fields; i++)
 478         {
 479                 int num_bits = fields[i].num_bits;
 480                 int num_bytes = CEIL(fields[i].num_bits, 8);
 481                 (*last_cmd)->cmd.scan->fields[i].device = fields[i].device;
 482                 (*last_cmd)->cmd.scan->fields[i].num_bits = num_bits;
 483                 (*last_cmd)->cmd.scan->fields[i].out_value = buf_cpy(fields[i].out_value, cmd_queue_alloc(num_bytes), num_bits);
 484                 (*last_cmd)->cmd.scan->fields[i].out_mask = buf_cpy(fields[i].out_mask, cmd_queue_alloc(num_bytes), num_bits);
 485                 (*last_cmd)->cmd.scan->fields[i].in_value = fields[i].in_value;
 486                 (*last_cmd)->cmd.scan->fields[i].in_check_value = buf_cpy(fields[i].in_check_value, cmd_queue_alloc(num_bytes), num_bits);
 487                 (*last_cmd)->cmd.scan->fields[i].in_check_mask = buf_cpy(fields[i].in_check_mask, cmd_queue_alloc(num_bytes), num_bits);
 488                 (*last_cmd)->cmd.scan->fields[i].in_handler = NULL;
 489                 (*last_cmd)->cmd.scan->fields[i].in_handler_priv = NULL;
 490         }
 491         return ERROR_OK;
 492 }
 493
 494 int jtag_add_dr_scan(int num_fields, scan_field_t *fields, enum tap_state state)
 495 {
 496         int i, j;
 497         int bypass_devices = 0;
 498         int field_count = 0;
 499         jtag_command_t **last_cmd = jtag_get_last_command_p();
 500         jtag_device_t *device = jtag_devices;
 501         int scan_size;
 502
 503         if (jtag_trst == 1)
 504         {
 505                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 506                 return ERROR_JTAG_TRST_ASSERTED;
 507         }
 508
 509         /* count devices in bypass */
 510         while (device)
 511         {
 512                 if (device->bypass)
 513                         bypass_devices++;
 514                 device = device->next;
 515         }
 516
 517         /* allocate memory for a new list member */
 518         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 519         last_comand_pointer = &((*last_cmd)->next);
 520         (*last_cmd)->next = NULL;
 521         (*last_cmd)->type = JTAG_SCAN;
 522
 523         /* allocate memory for dr scan command */
 524         (*last_cmd)->cmd.scan = cmd_queue_alloc(sizeof(scan_command_t));
 525         (*last_cmd)->cmd.scan->ir_scan = 0;
 526         (*last_cmd)->cmd.scan->num_fields = num_fields + bypass_devices;
 527         (*last_cmd)->cmd.scan->fields = cmd_queue_alloc((num_fields + bypass_devices) * sizeof(scan_field_t));
 528         (*last_cmd)->cmd.scan->end_state = state;
 529
 530         if (state != -1)
 531                 cmd_queue_end_state = state;
 532
 533         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 534                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 535
 536         if (cmd_queue_end_state == TAP_TLR)
 537                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 538
 539         cmd_queue_cur_state = cmd_queue_end_state;
 540
 541         for (i=0; i < jtag_num_devices; i++)
 542         {
 543                 int found = 0;
 544                 (*last_cmd)->cmd.scan->fields[field_count].device = i;
 545
 546                 for (j=0; j < num_fields; j++)
 547                 {
 548                         if (i == fields[j].device)
 549                         {
 550                                 found = 1;
 551                                 scan_size = fields[j].num_bits;
 552                                 (*last_cmd)->cmd.scan->fields[field_count].num_bits = scan_size;
 553                                 (*last_cmd)->cmd.scan->fields[field_count].out_value = buf_cpy(fields[j].out_value, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 554                                 (*last_cmd)->cmd.scan->fields[field_count].out_mask = buf_cpy(fields[j].out_mask, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 555                                 (*last_cmd)->cmd.scan->fields[field_count].in_value = fields[j].in_value;
 556                                 (*last_cmd)->cmd.scan->fields[field_count].in_check_value = buf_cpy(fields[j].in_check_value, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 557                                 (*last_cmd)->cmd.scan->fields[field_count].in_check_mask = buf_cpy(fields[j].in_check_mask, cmd_queue_alloc(CEIL(scan_size, 8)), scan_size);
 558                                 (*last_cmd)->cmd.scan->fields[field_count].in_handler = fields[j].in_handler;
 559                                 (*last_cmd)->cmd.scan->fields[field_count++].in_handler_priv = fields[j].in_handler_priv;
 560                         }
 561                 }
 562                 if (!found)
 563                 {
 564                         /* if a device isn't listed, the BYPASS register should be selected */
 565                         if (!jtag_get_device(i)->bypass)
 566                         {
 567                                 ERROR("BUG: no scan data for a device not in BYPASS");
 568                                 exit(-1);
 569                         }
 570
 571                         /* program the scan field to 1 bit length, and ignore it's value */
 572                         (*last_cmd)->cmd.scan->fields[field_count].num_bits = 1;
 573                         (*last_cmd)->cmd.scan->fields[field_count].out_value = NULL;
 574                         (*last_cmd)->cmd.scan->fields[field_count].out_mask = NULL;
 575                         (*last_cmd)->cmd.scan->fields[field_count].in_value = NULL;
 576                         (*last_cmd)->cmd.scan->fields[field_count].in_check_value = NULL;
 577                         (*last_cmd)->cmd.scan->fields[field_count].in_check_mask = NULL;
 578                         (*last_cmd)->cmd.scan->fields[field_count].in_handler = NULL;
 579                         (*last_cmd)->cmd.scan->fields[field_count++].in_handler_priv = NULL;
 580                 }
 581                 else
 582                 {
 583                         /* if a device is listed, the BYPASS register must not be selected */
 584                         if (jtag_get_device(i)->bypass)
 585                         {
 586                                 ERROR("BUG: scan data for a device in BYPASS");
 587                                 exit(-1);
 588                         }
 589                 }
 590         }
 591         return ERROR_OK;
 592 }
 593
 594 int jtag_add_plain_dr_scan(int num_fields, scan_field_t *fields, enum tap_state state)
 595 {
 596         int i;
 597         jtag_command_t **last_cmd = jtag_get_last_command_p();
 598
 599         if (jtag_trst == 1)
 600         {
 601                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 602                 return ERROR_JTAG_TRST_ASSERTED;
 603         }
 604
 605         /* allocate memory for a new list member */
 606         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 607         last_comand_pointer = &((*last_cmd)->next);
 608         (*last_cmd)->next = NULL;
 609         (*last_cmd)->type = JTAG_SCAN;
 610
 611         /* allocate memory for scan command */
 612         (*last_cmd)->cmd.scan = cmd_queue_alloc(sizeof(scan_command_t));
 613         (*last_cmd)->cmd.scan->ir_scan = 0;
 614         (*last_cmd)->cmd.scan->num_fields = num_fields;
 615         (*last_cmd)->cmd.scan->fields = cmd_queue_alloc(num_fields * sizeof(scan_field_t));
 616         (*last_cmd)->cmd.scan->end_state = state;
 617
 618         if (state != -1)
 619                 cmd_queue_end_state = state;
 620
 621         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 622                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 623
 624         if (cmd_queue_end_state == TAP_TLR)
 625                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 626
 627         cmd_queue_cur_state = cmd_queue_end_state;
 628
 629         for (i = 0; i < num_fields; i++)
 630         {
 631                 int num_bits = fields[i].num_bits;
 632                 int num_bytes = CEIL(fields[i].num_bits, 8);
 633                 (*last_cmd)->cmd.scan->fields[i].device = fields[i].device;
 634                 (*last_cmd)->cmd.scan->fields[i].num_bits = num_bits;
 635                 (*last_cmd)->cmd.scan->fields[i].out_value = buf_cpy(fields[i].out_value, cmd_queue_alloc(num_bytes), num_bits);
 636                 (*last_cmd)->cmd.scan->fields[i].out_mask = buf_cpy(fields[i].out_mask, cmd_queue_alloc(num_bytes), num_bits);
 637                 (*last_cmd)->cmd.scan->fields[i].in_value = fields[i].in_value;
 638                 (*last_cmd)->cmd.scan->fields[i].in_check_value = buf_cpy(fields[i].in_check_value, cmd_queue_alloc(num_bytes), num_bits);
 639                 (*last_cmd)->cmd.scan->fields[i].in_check_mask = buf_cpy(fields[i].in_check_mask, cmd_queue_alloc(num_bytes), num_bits);
 640                 (*last_cmd)->cmd.scan->fields[i].in_handler = fields[i].in_handler;
 641                 (*last_cmd)->cmd.scan->fields[i].in_handler_priv = fields[i].in_handler_priv;
 642         }
 643
 644         return ERROR_OK;
 645 }
 646 int jtag_add_statemove(enum tap_state state)
 647 {
 648         jtag_command_t **last_cmd = jtag_get_last_command_p();
 649
 650         if (jtag_trst == 1)
 651         {
 652                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 653                 return ERROR_JTAG_TRST_ASSERTED;
 654         }
 655
 656         /* allocate memory for a new list member */
 657         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 658         last_comand_pointer = &((*last_cmd)->next);
 659         (*last_cmd)->next = NULL;
 660         (*last_cmd)->type = JTAG_STATEMOVE;
 661
 662         (*last_cmd)->cmd.statemove = cmd_queue_alloc(sizeof(statemove_command_t));
 663         (*last_cmd)->cmd.statemove->end_state = state;
 664
 665         if (state != -1)
 666                 cmd_queue_end_state = state;
 667
 668         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 669                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 670
 671         if (cmd_queue_end_state == TAP_TLR)
 672                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 673
 674         cmd_queue_cur_state = cmd_queue_end_state;
 675
 676         return ERROR_OK;
 677 }
 678
 679 int jtag_add_pathmove(int num_states, enum tap_state *path)
 680 {
 681         jtag_command_t **last_cmd = jtag_get_last_command_p();
 682         int i;
 683
 684         if (jtag_trst == 1)
 685         {
 686                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 687                 return ERROR_JTAG_TRST_ASSERTED;
 688         }
 689
 690         /* the last state has to be a stable state */
 691         if (tap_move_map[path[num_states - 1]] == -1)
 692         {
 693                 ERROR("TAP path doesn't finish in a stable state");
 694                 return ERROR_JTAG_NOT_IMPLEMENTED;
 695         }
 696
 697         if (jtag->support_statemove)
 698         {
 699                 /* allocate memory for a new list member */
 700                 *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 701                 last_comand_pointer = &((*last_cmd)->next);
 702                 (*last_cmd)->next = NULL;
 703                 (*last_cmd)->type = JTAG_RUNTEST;
 704
 705                 (*last_cmd)->cmd.pathmove = cmd_queue_alloc(sizeof(pathmove_command_t));
 706                 (*last_cmd)->cmd.pathmove->num_states = num_states;
 707                 (*last_cmd)->cmd.pathmove->path = cmd_queue_alloc(sizeof(enum tap_state) * num_states);
 708
 709                 for (i = 0; i < num_states; i++)
 710                         (*last_cmd)->cmd.pathmove->path[i] = path[i];
 711         }
 712         else
 713         {
 714                 /* validate the desired path, and see if it fits a default path */
 715                 int begin = 0;
 716                 int end = 0;
 717                 int j;
 718
 719                 for (i = 0; i < num_states; i++)
 720                 {
 721                         for (j = i; j < num_states; j++)
 722                         {
 723                                 if (tap_move_map[path[j]] != -1)
 724                                 {
 725                                         end = j;
 726                                         break;
 727                                 }
 728                         }
 729
 730                         if (begin - end <= 7)   /* a default path spans no more than 7 states */
 731                         {
 732                                 jtag_add_statemove(path[end]);
 733                         }
 734                         else
 735                         {
 736                                 ERROR("encountered a TAP path that can't be fulfilled by default paths");
 737                                 return ERROR_JTAG_NOT_IMPLEMENTED;
 738                         }
 739
 740                         i = end;
 741                 }
 742         }
 743
 744         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 745                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 746
 747         if (cmd_queue_end_state == TAP_TLR)
 748                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 749
 750         cmd_queue_cur_state = path[num_states - 1];
 751
 752         return ERROR_OK;
 753 }
 754
 755 int jtag_add_runtest(int num_cycles, enum tap_state state)
 756 {
 757         jtag_command_t **last_cmd = jtag_get_last_command_p();
 758
 759         if (jtag_trst == 1)
 760         {
 761                 WARNING("JTAG command queued, while TRST is low (TAP in reset)");
 762                 return ERROR_JTAG_TRST_ASSERTED;
 763         }
 764
 765         /* allocate memory for a new list member */
 766         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 767         (*last_cmd)->next = NULL;
 768         last_comand_pointer = &((*last_cmd)->next);
 769         (*last_cmd)->type = JTAG_RUNTEST;
 770
 771         (*last_cmd)->cmd.runtest = cmd_queue_alloc(sizeof(runtest_command_t));
 772         (*last_cmd)->cmd.runtest->num_cycles = num_cycles;
 773         (*last_cmd)->cmd.runtest->end_state = state;
 774
 775         if (state != -1)
 776                 cmd_queue_end_state = state;
 777
 778         if (cmd_queue_cur_state == TAP_TLR && cmd_queue_end_state != TAP_TLR)
 779                 jtag_call_event_callbacks(JTAG_TRST_RELEASED);
 780
 781         if (cmd_queue_end_state == TAP_TLR)
 782                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 783
 784         cmd_queue_cur_state = cmd_queue_end_state;
 785
 786         return ERROR_OK;
 787 }
 788
 789 int jtag_add_reset(int req_trst, int req_srst)
 790 {
 791         int trst_with_tms = 0;
 792
 793         jtag_command_t **last_cmd = jtag_get_last_command_p();
 794
 795         if (req_trst == -1)
 796                 req_trst = jtag_trst;
 797
 798         if (req_srst == -1)
 799                 req_srst = jtag_srst;
 800
 801         /* Make sure that jtag_reset_config allows the requested reset */
 802         /* if SRST pulls TRST, we can't fulfill srst == 1 with trst == 0 */
 803         if (((jtag_reset_config & RESET_SRST_PULLS_TRST) && (req_srst == 1)) && (req_trst == 0))
 804                 return ERROR_JTAG_RESET_WOULD_ASSERT_TRST;
 805
 806         /* if TRST pulls SRST, we reset with TAP T-L-R */
 807         if (((jtag_reset_config & RESET_TRST_PULLS_SRST) && (req_trst == 1)) && (req_srst == 0))
 808         {
 809                 req_trst = 0;
 810                 trst_with_tms = 1;
 811         }
 812
 813         if (req_srst && !(jtag_reset_config & RESET_HAS_SRST))
 814         {
 815                 ERROR("requested nSRST assertion, but the current configuration doesn't support this");
 816                 return ERROR_JTAG_RESET_CANT_SRST;
 817         }
 818
 819         if (req_trst && !(jtag_reset_config & RESET_HAS_TRST))
 820         {
 821                 req_trst = 0;
 822                 trst_with_tms = 1;
 823         }
 824
 825         /* allocate memory for a new list member */
 826         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 827         (*last_cmd)->next = NULL;
 828         last_comand_pointer = &((*last_cmd)->next);
 829         (*last_cmd)->type = JTAG_RESET;
 830
 831         (*last_cmd)->cmd.reset = cmd_queue_alloc(sizeof(reset_command_t));
 832         (*last_cmd)->cmd.reset->trst = req_trst;
 833         (*last_cmd)->cmd.reset->srst = req_srst;
 834
 835         jtag_trst = req_trst;
 836         jtag_srst = req_srst;
 837
 838         if (jtag_srst)
 839         {
 840                 jtag_call_event_callbacks(JTAG_SRST_ASSERTED);
 841         }
 842         else
 843         {
 844                 jtag_call_event_callbacks(JTAG_SRST_RELEASED);
 845                 if (jtag_nsrst_delay)
 846                         jtag_add_sleep(jtag_nsrst_delay * 1000);
 847         }
 848
 849         if (trst_with_tms)
 850         {
 851                 last_cmd = &((*last_cmd)->next);
 852
 853                 /* allocate memory for a new list member */
 854                 *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 855                 (*last_cmd)->next = NULL;
 856                 last_comand_pointer = &((*last_cmd)->next);
 857                 (*last_cmd)->type = JTAG_STATEMOVE;
 858
 859                 (*last_cmd)->cmd.statemove = cmd_queue_alloc(sizeof(statemove_command_t));
 860                 (*last_cmd)->cmd.statemove->end_state = TAP_TLR;
 861
 862                 jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 863                 cmd_queue_cur_state = TAP_TLR;
 864                 cmd_queue_end_state = TAP_TLR;
 865
 866                 return ERROR_OK;
 867         }
 868         else
 869         {
 870                 if (jtag_trst)
 871                 {
 872                         /* we just asserted nTRST, so we're now in Test-Logic-Reset,
 873                          * and inform possible listeners about this
 874                          */
 875                         cmd_queue_cur_state = TAP_TLR;
 876                         jtag_call_event_callbacks(JTAG_TRST_ASSERTED);
 877                 }
 878                 else
 879                 {
 880                         /* the nTRST line got deasserted, so we're still in Test-Logic-Reset,
 881                          * but we might want to add a delay to give the TAP time to settle
 882                          */
 883                         if (jtag_ntrst_delay)
 884                                 jtag_add_sleep(jtag_ntrst_delay * 1000);
 885                 }
 886         }
 887
 888         return ERROR_OK;
 889 }
 890
 891 int jtag_add_end_state(enum tap_state state)
 892 {
 893         jtag_command_t **last_cmd = jtag_get_last_command_p();
 894
 895         /* allocate memory for a new list member */
 896         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 897         (*last_cmd)->next = NULL;
 898         last_comand_pointer = &((*last_cmd)->next);
 899         (*last_cmd)->type = JTAG_END_STATE;
 900
 901         (*last_cmd)->cmd.end_state = cmd_queue_alloc(sizeof(end_state_command_t));
 902         (*last_cmd)->cmd.end_state->end_state = state;
 903
 904         if (state != -1)
 905                 cmd_queue_end_state = state;
 906
 907         return ERROR_OK;
 908 }
 909
 910 int jtag_add_sleep(u32 us)
 911 {
 912         jtag_command_t **last_cmd = jtag_get_last_command_p();
 913
 914         /* allocate memory for a new list member */
 915         *last_cmd = cmd_queue_alloc(sizeof(jtag_command_t));
 916         (*last_cmd)->next = NULL;
 917         last_comand_pointer = &((*last_cmd)->next);
 918         (*last_cmd)->type = JTAG_SLEEP;
 919
 920         (*last_cmd)->cmd.sleep = cmd_queue_alloc(sizeof(sleep_command_t));
 921         (*last_cmd)->cmd.sleep->us = us;
 922
 923         return ERROR_OK;
 924 }
 925
 926 int jtag_scan_size(scan_command_t *cmd)
 927 {
 928         int bit_count = 0;
 929         int i;
 930
 931         /* count bits in scan command */
 932         for (i=0; i<cmd->num_fields; i++)
 933         {
 934                 bit_count += cmd->fields[i].num_bits;
 935         }
 936
 937         return bit_count;
 938 }
 939
 940 int jtag_build_buffer(scan_command_t *cmd, u8 **buffer)
 941 {
 942         int bit_count = 0;
 943         int i;
 944
 945         bit_count = jtag_scan_size(cmd);
 946         *buffer = malloc(CEIL(bit_count, 8));
 947
 948         bit_count = 0;
 949
 950         for (i = 0; i < cmd->num_fields; i++)
 951         {
 952                 if (cmd->fields[i].out_value)
 953                 {
 954                         char* char_buf = buf_to_char(cmd->fields[i].out_value, cmd->fields[i].num_bits);
 955                         buf_set_buf(cmd->fields[i].out_value, 0, *buffer, bit_count, cmd->fields[i].num_bits);
 956 #ifdef _DEBUG_JTAG_IO_
 957                         DEBUG("fields[%i].out_value: %s", i, char_buf);
 958 #endif
 959                         free(char_buf);
 960                 }
 961
 962                 bit_count += cmd->fields[i].num_bits;
 963         }
 964
 965         return bit_count;
 966
 967 }
 968
 969 int jtag_read_buffer(u8 *buffer, scan_command_t *cmd)
 970 {
 971         int i;
 972         int bit_count = 0;
 973         int retval = ERROR_OK;
 974
 975         for (i=0; i < cmd->num_fields; i++)
 976         {
 977                 /* if neither in_value nor in_check_value are specified we don't have to examine this field */
 978                 if (cmd->fields[i].in_value || cmd->fields[i].in_check_value)
 979                 {
 980                         int num_bits = cmd->fields[i].num_bits;
 981
 982                         if (cmd->fields[i].in_value)
 983                         {
 984                                 char *char_buf;
 985                                 buf_set_buf(buffer, bit_count, cmd->fields[i].in_value, 0, num_bits);
 986                                 char_buf = buf_to_char(cmd->fields[i].in_value, num_bits);
 987 #ifdef _DEBUG_JTAG_IO_
 988                                 DEBUG("fields[%i].in_value: %s", i, char_buf);
 989 #endif
 990                                 free(char_buf);
 991                                 if (cmd->fields[i].in_handler)
 992                                 {
 993                                         if (cmd->fields[i].in_handler(cmd->fields[i].in_value, cmd->fields[i].in_handler_priv) != ERROR_OK)
 994                                         {
 995                                                 /* TODO: error reporting */
 996                                                 WARNING("in_handler reported a failed check");
 997                                                 retval = ERROR_JTAG_QUEUE_FAILED;
 998                                         }
 999                                 }
1000                         }
1001
1002                         if (cmd->fields[i].in_check_value)
1003                         {
1004                                 u8 *captured = buf_set_buf(buffer, bit_count, malloc(CEIL(num_bits, 8)), 0, num_bits);
1005                                 if ((cmd->fields[i].in_check_mask && buf_cmp_mask(captured, cmd->fields[i].in_check_value, cmd->fields[i].in_check_mask, num_bits))
1006                                         || (!cmd->fields[i].in_check_mask && buf_cmp(captured, cmd->fields[i].in_check_mask, num_bits)))
1007                                 {
1008                                         char *captured_char = buf_to_char(captured, num_bits);
1009                                         char *in_check_value_char = buf_to_char(cmd->fields[i].in_check_value, num_bits);
1010                                         char *in_check_mask_char = buf_to_char(cmd->fields[i].in_check_mask, num_bits);
1011                                         /* TODO: error reporting */
1012                                         WARNING("value captured during scan didn't pass the requested check: captured: %s check_value: %s check_mask: %s", captured_char, in_check_value_char, in_check_mask_char);
1013                                         retval = ERROR_JTAG_QUEUE_FAILED;
1014                                         free(captured_char);
1015                                         free(in_check_value_char);
1016                                         free(in_check_mask_char);
1017                                 }
1018                                 free(captured);
1019                         }
1020                 }
1021                 bit_count += cmd->fields[i].num_bits;
1022         }
1023
1024         return retval;
1025 }
1026
1027 enum scan_type jtag_scan_type(scan_command_t *cmd)
1028 {
1029         int i;
1030         int type = 0;
1031
1032         for (i=0; i < cmd->num_fields; i++)
1033         {
1034                 if (cmd->fields[i].in_check_value || cmd->fields[i].in_value)
1035                         type |= SCAN_IN;
1036                 if (cmd->fields[i].out_value)
1037                         type |= SCAN_OUT;
1038         }
1039
1040         return type;
1041 }
1042
1043 int jtag_execute_queue(void)
1044 {
1045         int retval;
1046
1047         retval = jtag->execute_queue();
1048
1049         cmd_queue_free();
1050
1051         jtag_command_queue = NULL;
1052         last_comand_pointer = &jtag_command_queue;
1053
1054         return retval;
1055 }
1056
1057 int jtag_cancel_queue(void)
1058 {
1059         cmd_queue_free();
1060         jtag_command_queue = NULL;
1061         last_comand_pointer = &jtag_command_queue;
1062
1063         return ERROR_OK;
1064 }
1065
1066 int jtag_reset_callback(enum jtag_event event, void *priv)
1067 {
1068         jtag_device_t *device = priv;
1069
1070         DEBUG("");
1071
1072         if (event == JTAG_TRST_ASSERTED)
1073         {
1074                 buf_set_ones(device->cur_instr, device->ir_length);
1075                 device->bypass = 1;
1076         }
1077
1078         return ERROR_OK;
1079 }
1080
1081 void jtag_sleep(u32 us)
1082 {
1083         usleep(us);
1084 }
1085
1086 int jtag_validate_chain()
1087 {
1088         jtag_device_t *device = jtag_devices;
1089         int total_ir_length = 0;
1090         u8 *ir_test = NULL;
1091         scan_field_t field;
1092         int chain_pos = 0;
1093
1094         while (device)
1095         {
1096                 total_ir_length += device->ir_length;
1097                 device = device->next;
1098         }
1099
1100         total_ir_length += 2;
1101         ir_test = malloc(CEIL(total_ir_length, 8));
1102         buf_set_ones(ir_test, total_ir_length);
1103
1104         field.device = 0;
1105         field.num_bits = total_ir_length;
1106         field.out_value = ir_test;
1107         field.out_mask = NULL;
1108         field.in_value = ir_test;
1109         field.in_check_value = NULL;
1110         field.in_check_mask = NULL;
1111         field.in_handler = NULL;
1112         field.in_handler_priv = NULL;
1113
1114         jtag_add_plain_ir_scan(1, &field, TAP_TLR);
1115         jtag_execute_queue();
1116
1117         device = jtag_devices;
1118         while (device)
1119         {
1120                 if (buf_get_u32(ir_test, chain_pos, 2) != 0x1)
1121                 {
1122                         char *cbuf = buf_to_char(ir_test, total_ir_length);
1123                         ERROR("Error validating JTAG scan chain, IR mismatch, scan returned %s", cbuf);
1124                         free(cbuf);
1125                         exit(-1);
1126                 }
1127                 chain_pos += device->ir_length;
1128                 device = device->next;
1129         }
1130
1131         if (buf_get_u32(ir_test, chain_pos, 2) != 0x3)
1132         {
1133                 char *cbuf = buf_to_char(ir_test, total_ir_length);
1134                 ERROR("Error validating JTAG scan chain, IR mismatch, scan returned %s", cbuf);
1135                 free(cbuf);
1136                 exit(-1);
1137         }
1138
1139         free(ir_test);
1140
1141         return ERROR_OK;
1142 }
1143
1144 int jtag_register_commands(struct command_context_s *cmd_ctx)
1145 {
1146         register_command(cmd_ctx, NULL, "interface", handle_interface_command,
1147                 COMMAND_CONFIG, NULL);
1148         register_command(cmd_ctx, NULL, "jtag_speed", handle_jtag_speed_command,
1149                 COMMAND_ANY, "set jtag speed (if supported) <speed>");
1150         register_command(cmd_ctx, NULL, "jtag_device", handle_jtag_device_command,
1151                 COMMAND_CONFIG, NULL);
1152         register_command(cmd_ctx, NULL, "reset_config", handle_reset_config_command,
1153                 COMMAND_CONFIG, NULL);
1154         register_command(cmd_ctx, NULL, "jtag_nsrst_delay", handle_jtag_nsrst_delay_command,
1155                 COMMAND_CONFIG, NULL);
1156         register_command(cmd_ctx, NULL, "jtag_ntrst_delay", handle_jtag_ntrst_delay_command,
1157                 COMMAND_CONFIG, NULL);
1158
1159         register_command(cmd_ctx, NULL, "scan_chain", handle_scan_chain_command,
1160                 COMMAND_EXEC, "print current scan chain configuration");
1161
1162         register_command(cmd_ctx, NULL, "endstate", handle_endstate_command,
1163                 COMMAND_EXEC, "finish JTAG operations in <tap_state>");
1164         register_command(cmd_ctx, NULL, "jtag_reset", handle_jtag_reset_command,
1165                 COMMAND_EXEC, "toggle reset lines <trst> <srst>");
1166         register_command(cmd_ctx, NULL, "runtest", handle_runtest_command,
1167                 COMMAND_EXEC, "move to Run-Test/Idle, and execute <num_cycles>");
1168         register_command(cmd_ctx, NULL, "statemove", handle_statemove_command,
1169                 COMMAND_EXEC, "move to current endstate or [tap_state]");
1170         register_command(cmd_ctx, NULL, "irscan", handle_irscan_command,
1171                 COMMAND_EXEC, "execute IR scan <device> <instr> [dev2] [instr2] ...");
1172         register_command(cmd_ctx, NULL, "drscan", handle_drscan_command,
1173                 COMMAND_EXEC, "execute DR scan <device> <var> [dev2] [var2] ...");
1174
1175         register_command(cmd_ctx, NULL, "verify_ircapture", handle_verify_ircapture_command,
1176                 COMMAND_ANY, "verify value captured during Capture-IR <enable|disable>");
1177         return ERROR_OK;
1178 }
1179
1180 int jtag_init(struct command_context_s *cmd_ctx)
1181 {
1182         int i;
1183
1184         DEBUG("");
1185
1186         if (jtag_speed == -1)
1187                 jtag_speed = 0;
1188
1189         if (jtag_interface && (jtag_interface[0] != 0))
1190                 /* configuration var 'jtag_interface' is set, and not empty */
1191                 for (i = 0; jtag_interfaces[i]; i++)
1192                 {
1193                         if (strcmp(jtag_interface, jtag_interfaces[i]->name) == 0)
1194                         {
1195                                 jtag_device_t *device;
1196                                 device = jtag_devices;
1197
1198                                 if (jtag_interfaces[i]->init() != ERROR_OK)
1199                                         return ERROR_JTAG_INIT_FAILED;
1200                                 jtag = jtag_interfaces[i];
1201
1202                                 jtag_ir_scan_size = 0;
1203                                 jtag_num_devices = 0;
1204                                 while (device != NULL)
1205                                 {
1206                                         jtag_ir_scan_size += device->ir_length;
1207                                         jtag_num_devices++;
1208                                         device = device->next;
1209                                 }
1210
1211                                 jtag_add_statemove(TAP_TLR);
1212                                 jtag_execute_queue();
1213
1214                                 jtag_validate_chain();
1215
1216                                 return ERROR_OK;
1217                         }
1218                 }
1219
1220         /* no valid interface was found (i.e. the configuration option,
1221          * didn't match one of the compiled-in interfaces
1222          */
1223         ERROR("No valid jtag interface found (%s)", jtag_interface);
1224         ERROR("compiled-in jtag interfaces:");
1225         for (i = 0; jtag_interfaces[i]; i++)
1226         {
1227                 ERROR("%i: %s", i, jtag_interfaces[i]->name);
1228         }
1229
1230         jtag = NULL;
1231         return ERROR_JTAG_INVALID_INTERFACE;
1232 }
1233
1234 int handle_interface_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1235 {
1236         int i;
1237
1238         /* only if the configuration var isn't overwritten from cmdline */
1239         if (!jtag_interface)
1240         {
1241                 if (args[0] && (args[0][0] != 0))
1242                 {
1243                         for (i=0; jtag_interfaces[i]; i++)
1244                         {
1245                                 if (strcmp(args[0], jtag_interfaces[i]->name) == 0)
1246                                 {
1247                                         if (jtag_interfaces[i]->register_commands(cmd_ctx) != ERROR_OK)
1248                                                 exit(-1);
1249
1250                                         jtag_interface = jtag_interfaces[i]->name;
1251
1252                                         return ERROR_OK;
1253                                 }
1254                         }
1255                 }
1256
1257                 /* remember the requested interface name, so we can complain about it later */
1258                 jtag_interface = strdup(args[0]);
1259                 DEBUG("'interface' command didn't specify a valid interface");
1260         }
1261
1262         return ERROR_OK;
1263 }
1264
1265 int handle_jtag_device_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1266 {
1267         jtag_device_t **last_device_p = &jtag_devices;
1268
1269         if (*last_device_p)
1270         {
1271                 while ((*last_device_p)->next)
1272                         last_device_p = &((*last_device_p)->next);
1273                 last_device_p = &((*last_device_p)->next);
1274         }
1275
1276         if (argc < 3)
1277                 return ERROR_OK;
1278
1279         *last_device_p = malloc(sizeof(jtag_device_t));
1280         (*last_device_p)->ir_length = strtoul(args[0], NULL, 0);
1281
1282         (*last_device_p)->expected = malloc((*last_device_p)->ir_length);
1283         buf_set_u32((*last_device_p)->expected, 0, (*last_device_p)->ir_length, strtoul(args[1], NULL, 0));
1284         (*last_device_p)->expected_mask = malloc((*last_device_p)->ir_length);
1285         buf_set_u32((*last_device_p)->expected_mask, 0, (*last_device_p)->ir_length, strtoul(args[2], NULL, 0));
1286
1287         (*last_device_p)->cur_instr = malloc((*last_device_p)->ir_length);
1288         (*last_device_p)->bypass = 1;
1289         buf_set_ones((*last_device_p)->cur_instr, (*last_device_p)->ir_length);
1290
1291         (*last_device_p)->next = NULL;
1292
1293         jtag_register_event_callback(jtag_reset_callback, (*last_device_p));
1294
1295         jtag_num_devices++;
1296
1297         return ERROR_OK;
1298 }
1299
1300 int handle_scan_chain_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1301 {
1302         jtag_device_t *device = jtag_devices;
1303         int device_count = 0;
1304
1305         while (device)
1306         {
1307                 u32 expected, expected_mask, cur_instr;
1308                 expected = buf_get_u32(device->expected, 0, device->ir_length);
1309                 expected_mask = buf_get_u32(device->expected_mask, 0, device->ir_length);
1310                 cur_instr = buf_get_u32(device->cur_instr, 0, device->ir_length);
1311                 command_print(cmd_ctx, "%i: idcode: 0x%8.8x ir length %i, ir capture 0x%x, ir mask 0x%x, current instruction 0x%x", device_count, device->idcode, device->ir_length, expected, expected_mask, cur_instr);
1312                 device = device->next;
1313                 device_count++;
1314         }
1315
1316         return ERROR_OK;
1317 }
1318
1319 int handle_reset_config_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1320 {
1321         if (argc >= 1)
1322         {
1323                 if (strcmp(args[0], "none") == 0)
1324                         jtag_reset_config = RESET_NONE;
1325                 else if (strcmp(args[0], "trst_only") == 0)
1326                         jtag_reset_config = RESET_HAS_TRST;
1327                 else if (strcmp(args[0], "srst_only") == 0)
1328                         jtag_reset_config = RESET_HAS_SRST;
1329                 else if (strcmp(args[0], "trst_and_srst") == 0)
1330                         jtag_reset_config = RESET_TRST_AND_SRST;
1331                 else
1332                 {
1333                         ERROR("invalid reset_config argument");
1334                         exit(-1);
1335                 }
1336         }
1337
1338         if (argc >= 2)
1339         {
1340                 if (strcmp(args[1], "srst_pulls_trst") == 0)
1341                         jtag_reset_config |= RESET_SRST_PULLS_TRST;
1342                 else if (strcmp(args[1], "trst_pulls_srst") == 0)
1343                         jtag_reset_config |= RESET_TRST_PULLS_SRST;
1344                 else if (strcmp(args[1], "combined") == 0)
1345                         jtag_reset_config |= RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST;
1346                 else if (strcmp(args[1], "separate") == 0)
1347                         jtag_reset_config &= ~(RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST);
1348                 else
1349                 {
1350                         ERROR("invalid reset_config argument");
1351                         exit(-1);
1352                 }
1353         }
1354
1355         if (argc >= 3)
1356         {
1357                 if (strcmp(args[2], "trst_open_drain") == 0)
1358                         jtag_reset_config |= RESET_TRST_OPEN_DRAIN;
1359                 else if (strcmp(args[2], "trst_push_pull") == 0)
1360                         jtag_reset_config &= ~RESET_TRST_OPEN_DRAIN;
1361                 else
1362                 {
1363                         ERROR("invalid reset_config argument");
1364                         exit(-1);
1365                 }
1366         }
1367
1368         if (argc >= 4)
1369         {
1370                 if (strcmp(args[3], "srst_push_pull") == 0)
1371                         jtag_reset_config |= RESET_SRST_PUSH_PULL;
1372                 else if (strcmp(args[3], "srst_open_drain") == 0)
1373                         jtag_reset_config &= ~RESET_SRST_PUSH_PULL;
1374                 else
1375                 {
1376                         ERROR("invalid reset_config argument");
1377                         exit(-1);
1378                 }
1379         }
1380
1381         return ERROR_OK;
1382 }
1383
1384 int handle_jtag_nsrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1385 {
1386         if (argc < 1)
1387         {
1388                 ERROR("jtag_nsrst_delay <ms> command takes one required argument");
1389                 exit(-1);
1390         }
1391         else
1392         {
1393                 jtag_nsrst_delay = strtoul(args[0], NULL, 0);
1394         }
1395
1396         return ERROR_OK;
1397 }
1398
1399 int handle_jtag_ntrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1400 {
1401         if (argc < 1)
1402         {
1403                 ERROR("jtag_ntrst_delay <ms> command takes one required argument");
1404                 exit(-1);
1405         }
1406         else
1407         {
1408                 jtag_ntrst_delay = strtoul(args[0], NULL, 0);
1409         }
1410
1411         return ERROR_OK;
1412 }
1413
1414 int handle_jtag_speed_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1415 {
1416         if (argc == 0)
1417                 command_print(cmd_ctx, "jtag_speed: %i", jtag_speed);
1418
1419         if (argc > 0)
1420         {
1421                 /* this command can be called during CONFIG,
1422                  * in which case jtag isn't initialized */
1423                 if (jtag)
1424                         jtag->speed(strtoul(args[0], NULL, 0));
1425                 else
1426                         jtag_speed = strtoul(args[0], NULL, 0);
1427         }
1428
1429         return ERROR_OK;
1430 }
1431
1432 int handle_endstate_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1433 {
1434         enum tap_state state;
1435
1436         if (argc < 1)
1437         {
1438                 command_print(cmd_ctx, "usage: endstate <tap_state>");
1439                 return ERROR_OK;
1440         }
1441
1442         for (state = 0; state < 16; state++)
1443         {
1444                 if (strcmp(args[0], tap_state_strings[state]) == 0)
1445                 {
1446                         jtag_add_end_state(state);
1447                         jtag_execute_queue();
1448                 }
1449         }
1450
1451         return ERROR_OK;
1452 }
1453
1454 int handle_jtag_reset_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1455 {
1456         int trst = -1;
1457         int srst = -1;
1458         char *usage = "usage: jtag_reset <trst> <srst>";
1459         int retval;
1460
1461         if (argc < 1)
1462         {
1463                 command_print(cmd_ctx, usage);
1464                 return ERROR_OK;
1465         }
1466
1467         if (args[0][0] == '1')
1468                 trst = 1;
1469         else if (args[0][0] == '0')
1470                 trst = 0;
1471         else
1472         {
1473                 command_print(cmd_ctx, usage);
1474                 return ERROR_OK;
1475         }
1476
1477         if (args[1][0] == '1')
1478                 srst = 1;
1479         else if (args[1][0] == '0')
1480                 srst = 0;
1481         else
1482         {
1483                 command_print(cmd_ctx, usage);
1484                 return ERROR_OK;
1485         }
1486
1487         if ((retval = jtag_add_reset(trst, srst)) != ERROR_OK)
1488         {
1489                 switch (retval)
1490                 {
1491                         case ERROR_JTAG_RESET_WOULD_ASSERT_TRST:
1492                                 command_print(cmd_ctx, "requested reset would assert trst\nif this is acceptable, use jtag_reset 1 %c", args[1][0]);
1493                                 break;
1494                         case ERROR_JTAG_RESET_CANT_SRST:
1495                                 command_print(cmd_ctx, "can't assert srst because the current reset_config doesn't support it");
1496                                 break;
1497                         default:
1498                                 command_print(cmd_ctx, "unknown error");
1499                 }
1500         }
1501         jtag_execute_queue();
1502
1503         return ERROR_OK;
1504 }
1505
1506 int handle_runtest_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1507 {
1508         if (argc < 1)
1509         {
1510                 command_print(cmd_ctx, "usage: runtest <num_cycles>");
1511                 return ERROR_OK;
1512         }
1513
1514         jtag_add_runtest(strtol(args[0], NULL, 0), -1);
1515         jtag_execute_queue();
1516
1517         return ERROR_OK;
1518
1519 }
1520
1521 int handle_statemove_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1522 {
1523         enum tap_state state;
1524
1525         state = -1;
1526         if (argc == 1)
1527         {
1528                 for (state = 0; state < 16; state++)
1529                 {
1530                         if (strcmp(args[0], tap_state_strings[state]) == 0)
1531                         {
1532                                 break;
1533                         }
1534                 }
1535         }
1536
1537         jtag_add_statemove(state);
1538         jtag_execute_queue();
1539
1540         return ERROR_OK;
1541
1542 }
1543
1544 int handle_irscan_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1545 {
1546         int i;
1547         scan_field_t *fields;
1548
1549         if ((argc < 2) || (argc % 2))
1550         {
1551                 command_print(cmd_ctx, "usage: irscan <device> <instr> [dev2] [instr2] ...");
1552                 return ERROR_OK;
1553         }
1554
1555         fields = malloc(sizeof(scan_field_t) * argc / 2);
1556
1557         for (i = 0; i < argc / 2; i++)
1558         {
1559                 int device = strtoul(args[i*2], NULL, 0);
1560                 int field_size = jtag_get_device(device)->ir_length;
1561                 fields[i].device = device;
1562                 fields[i].out_value = malloc(CEIL(field_size, 8));
1563                 buf_set_u32(fields[i].out_value, 0, field_size, strtoul(args[i*2+1], NULL, 0));
1564                 fields[i].out_mask = NULL;
1565                 fields[i].in_value = NULL;
1566                 fields[i].in_check_mask = NULL;
1567                 fields[i].in_handler = NULL;
1568                 fields[i].in_handler_priv = NULL;
1569         }
1570
1571         jtag_add_ir_scan(argc / 2, fields, -1);
1572         jtag_execute_queue();
1573
1574         for (i = 0; i < argc / 2; i++)
1575                 free(fields[i].out_value);
1576
1577         free (fields);
1578
1579         return ERROR_OK;
1580 }
1581
1582 int handle_drscan_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1583 {
1584         scan_field_t *fields;
1585         int num_fields = 0;
1586         int field_count = 0;
1587         var_t *var;
1588         int i, j;
1589
1590         if ((argc < 2) || (argc % 2))
1591         {
1592                 command_print(cmd_ctx, "usage: drscan <device> <var> [dev2] [var2]");
1593                 return ERROR_OK;
1594         }
1595
1596         for (i = 0; i < argc; i+=2)
1597         {
1598                 var = get_var_by_namenum(args[i+1]);
1599                 if (var)
1600                 {
1601                         num_fields += var->num_fields;
1602                 }
1603                 else
1604                 {
1605                         command_print(cmd_ctx, "variable %s doesn't exist", args[i+1]);
1606                         return ERROR_OK;
1607                 }
1608         }
1609
1610         fields = malloc(sizeof(scan_field_t) * num_fields);
1611
1612         for (i = 0; i < argc; i+=2)
1613         {
1614                 var = get_var_by_namenum(args[i+1]);
1615
1616                 for (j = 0; j < var->num_fields; j++)
1617                 {
1618                         fields[field_count].device = strtol(args[i], NULL, 0);
1619                         fields[field_count].num_bits = var->fields[j].num_bits;
1620                         fields[field_count].out_value = malloc(CEIL(var->fields[j].num_bits, 8));
1621                         buf_set_u32(fields[field_count].out_value, 0, var->fields[j].num_bits, var->fields[j].value);
1622                         fields[field_count].out_mask = NULL;
1623                         fields[field_count].in_value = fields[field_count].out_value;
1624                         fields[field_count].in_check_mask = NULL;
1625                         fields[field_count].in_check_value = NULL;
1626                         fields[field_count].in_handler = field_le_to_host;
1627                         fields[field_count++].in_handler_priv = &(var->fields[j]);
1628                 }
1629         }
1630
1631         jtag_add_dr_scan(num_fields, fields, -1);
1632         jtag_execute_queue();
1633
1634         for (i = 0; i < argc / 2; i++)
1635                 free(fields[i].out_value);
1636
1637         free(fields);
1638
1639         return ERROR_OK;
1640 }
1641
1642 int handle_verify_ircapture_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
1643 {
1644         if (argc == 0)
1645         {
1646                 command_print(cmd_ctx, "verify Capture-IR is %s", (jtag_verify_capture_ir) ? "enabled": "disabled");
1647                 return ERROR_OK;
1648         }
1649
1650         if (strcmp(args[0], "enable") == 0)
1651         {
1652                 jtag_verify_capture_ir = 1;
1653         }
1654         else if (strcmp(args[0], "disable") == 0)
1655         {
1656                 jtag_verify_capture_ir = 0;
1657         }
1658
1659         return ERROR_OK;
1660 }