git.gag.com Git - fw/openocd/blob - src/jtag/tcl.c

   1 /***************************************************************************
   2  *   Copyright (C) 2005 by Dominic Rath                                    *
   3  *   Dominic.Rath@gmx.de                                                   *
   4  *                                                                         *
   5  *   Copyright (C) 2007-2010 Øyvind Harboe                                 *
   6  *   oyvind.harboe@zylin.com                                               *
   7  *                                                                         *
   8  *   Copyright (C) 2009 SoftPLC Corporation                                *
   9  *       http://softplc.com                                                *
  10  *   dick@softplc.com                                                      *
  11  *                                                                         *
  12  *   Copyright (C) 2009 Zachary T Welch                                    *
  13  *   zw@superlucidity.net                                                  *
  14  *                                                                         *
  15  *   This program is free software; you can redistribute it and/or modify  *
  16  *   it under the terms of the GNU General Public License as published by  *
  17  *   the Free Software Foundation; either version 2 of the License, or     *
  18  *   (at your option) any later version.                                   *
  19  *                                                                         *
  20  *   This program is distributed in the hope that it will be useful,       *
  21  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  22  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  23  *   GNU General Public License for more details.                          *
  24  *                                                                         *
  25  *   You should have received a copy of the GNU General Public License     *
  26  *   along with this program; if not, write to the                         *
  27  *   Free Software Foundation, Inc.,                                       *
  28  *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
  29  ***************************************************************************/
  30
  31 #ifdef HAVE_CONFIG_H
  32 #include "config.h"
  33 #endif
  34
  35 #include "jtag.h"
  36 #include "swd.h"
  37 #include "minidriver.h"
  38 #include "interface.h"
  39 #include "interfaces.h"
  40 #include "tcl.h"
  41
  42 #ifdef HAVE_STRINGS_H
  43 #include <strings.h>
  44 #endif
  45
  46 #include <helper/time_support.h>
  47
  48 /**
  49  * @file
  50  * Holds support for accessing JTAG-specific mechanisms from TCl scripts.
  51  */
  52
  53 static const Jim_Nvp nvp_jtag_tap_event[] = {
  54         { .value = JTAG_TRST_ASSERTED,          .name = "post-reset" },
  55         { .value = JTAG_TAP_EVENT_SETUP,        .name = "setup" },
  56         { .value = JTAG_TAP_EVENT_ENABLE,       .name = "tap-enable" },
  57         { .value = JTAG_TAP_EVENT_DISABLE,      .name = "tap-disable" },
  58
  59         { .name = NULL, .value = -1 }
  60 };
  61
  62 struct jtag_tap *jtag_tap_by_jim_obj(Jim_Interp *interp, Jim_Obj *o)
  63 {
  64         const char *cp = Jim_GetString(o, NULL);
  65         struct jtag_tap *t = cp ? jtag_tap_by_string(cp) : NULL;
  66         if (NULL == cp)
  67                 cp = "(unknown)";
  68         if (NULL == t)
  69                 Jim_SetResultFormatted(interp, "Tap '%s' could not be found", cp);
  70         return t;
  71 }
  72
  73 static bool scan_is_safe(tap_state_t state)
  74 {
  75         switch (state) {
  76             case TAP_RESET:
  77             case TAP_IDLE:
  78             case TAP_DRPAUSE:
  79             case TAP_IRPAUSE:
  80                     return true;
  81             default:
  82                     return false;
  83         }
  84 }
  85
  86 static int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *args)
  87 {
  88         int retval;
  89         struct scan_field *fields;
  90         int num_fields;
  91         int field_count = 0;
  92         int i, e;
  93         struct jtag_tap *tap;
  94         tap_state_t endstate;
  95
  96         /* args[1] = device
  97          * args[2] = num_bits
  98          * args[3] = hex string
  99          * ... repeat num bits and hex string ...
 100          *
 101          * .. optionally:
 102         *     args[N-2] = "-endstate"
 103          *     args[N-1] = statename
 104          */
 105         if ((argc < 4) || ((argc % 2) != 0)) {
 106                 Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
 107                 return JIM_ERR;
 108         }
 109
 110         endstate = TAP_IDLE;
 111
 112         script_debug(interp, "drscan", argc, args);
 113
 114         /* validate arguments as numbers */
 115         e = JIM_OK;
 116         for (i = 2; i < argc; i += 2) {
 117                 long bits;
 118                 const char *cp;
 119
 120                 e = Jim_GetLong(interp, args[i], &bits);
 121                 /* If valid - try next arg */
 122                 if (e == JIM_OK)
 123                         continue;
 124
 125                 /* Not valid.. are we at the end? */
 126                 if (((i + 2) != argc)) {
 127                         /* nope, then error */
 128                         return e;
 129                 }
 130
 131                 /* it could be: "-endstate FOO"
 132                  * e.g. DRPAUSE so we can issue more instructions
 133                  * before entering RUN/IDLE and executing them.
 134                  */
 135
 136                 /* get arg as a string. */
 137                 cp = Jim_GetString(args[i], NULL);
 138                 /* is it the magic? */
 139                 if (0 == strcmp("-endstate", cp)) {
 140                         /* is the statename valid? */
 141                         cp = Jim_GetString(args[i + 1], NULL);
 142
 143                         /* see if it is a valid state name */
 144                         endstate = tap_state_by_name(cp);
 145                         if (endstate < 0) {
 146                                 /* update the error message */
 147                                 Jim_SetResultFormatted(interp, "endstate: %s invalid", cp);
 148                         } else {
 149                                 if (!scan_is_safe(endstate))
 150                                         LOG_WARNING("drscan with unsafe "
 151                                                 "endstate \"%s\"", cp);
 152
 153                                 /* valid - so clear the error */
 154                                 e = JIM_OK;
 155                                 /* and remove the last 2 args */
 156                                 argc -= 2;
 157                         }
 158                 }
 159
 160                 /* Still an error? */
 161                 if (e != JIM_OK)
 162                         return e;       /* too bad */
 163         }       /* validate args */
 164
 165         assert(e == JIM_OK);
 166
 167         tap = jtag_tap_by_jim_obj(interp, args[1]);
 168         if (tap == NULL)
 169                 return JIM_ERR;
 170
 171         num_fields = (argc-2)/2;
 172         if (num_fields <= 0) {
 173                 Jim_SetResultString(interp, "drscan: no scan fields supplied", -1);
 174                 return JIM_ERR;
 175         }
 176         fields = malloc(sizeof(struct scan_field) * num_fields);
 177         for (i = 2; i < argc; i += 2) {
 178                 long bits;
 179                 int len;
 180                 const char *str;
 181
 182                 Jim_GetLong(interp, args[i], &bits);
 183                 str = Jim_GetString(args[i + 1], &len);
 184
 185                 fields[field_count].num_bits = bits;
 186                 void *t = malloc(DIV_ROUND_UP(bits, 8));
 187                 fields[field_count].out_value = t;
 188                 str_to_buf(str, len, t, bits, 0);
 189                 fields[field_count].in_value = t;
 190                 field_count++;
 191         }
 192
 193         jtag_add_dr_scan(tap, num_fields, fields, endstate);
 194
 195         retval = jtag_execute_queue();
 196         if (retval != ERROR_OK) {
 197                 Jim_SetResultString(interp, "drscan: jtag execute failed", -1);
 198                 return JIM_ERR;
 199         }
 200
 201         field_count = 0;
 202         Jim_Obj *list = Jim_NewListObj(interp, NULL, 0);
 203         for (i = 2; i < argc; i += 2) {
 204                 long bits;
 205                 char *str;
 206
 207                 Jim_GetLong(interp, args[i], &bits);
 208                 str = buf_to_str(fields[field_count].in_value, bits, 16);
 209                 free(fields[field_count].in_value);
 210
 211                 Jim_ListAppendElement(interp, list, Jim_NewStringObj(interp, str, strlen(str)));
 212                 free(str);
 213                 field_count++;
 214         }
 215
 216         Jim_SetResult(interp, list);
 217
 218         free(fields);
 219
 220         return JIM_OK;
 221 }
 222
 223
 224 static int Jim_Command_pathmove(Jim_Interp *interp, int argc, Jim_Obj *const *args)
 225 {
 226         tap_state_t states[8];
 227
 228         if ((argc < 2) || ((size_t)argc > (ARRAY_SIZE(states) + 1))) {
 229                 Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
 230                 return JIM_ERR;
 231         }
 232
 233         script_debug(interp, "pathmove", argc, args);
 234
 235         int i;
 236         for (i = 0; i < argc-1; i++) {
 237                 const char *cp;
 238                 cp = Jim_GetString(args[i + 1], NULL);
 239                 states[i] = tap_state_by_name(cp);
 240                 if (states[i] < 0) {
 241                         /* update the error message */
 242                         Jim_SetResultFormatted(interp, "endstate: %s invalid", cp);
 243                         return JIM_ERR;
 244                 }
 245         }
 246
 247         if ((jtag_add_statemove(states[0]) != ERROR_OK) || (jtag_execute_queue() != ERROR_OK)) {
 248                 Jim_SetResultString(interp, "pathmove: jtag execute failed", -1);
 249                 return JIM_ERR;
 250         }
 251
 252         jtag_add_pathmove(argc - 2, states + 1);
 253
 254         if (jtag_execute_queue() != ERROR_OK) {
 255                 Jim_SetResultString(interp, "pathmove: failed", -1);
 256                 return JIM_ERR;
 257         }
 258
 259         return JIM_OK;
 260 }
 261
 262
 263 static int Jim_Command_flush_count(Jim_Interp *interp, int argc, Jim_Obj *const *args)
 264 {
 265         script_debug(interp, "flush_count", argc, args);
 266
 267         Jim_SetResult(interp, Jim_NewIntObj(interp, jtag_get_flush_queue_count()));
 268
 269         return JIM_OK;
 270 }
 271
 272 /* REVISIT Just what about these should "move" ... ?
 273  * These registrations, into the main JTAG table?
 274  *
 275  * There's a minor compatibility issue, these all show up twice;
 276  * that's not desirable:
 277  *  - jtag drscan ... NOT DOCUMENTED!
 278  *  - drscan ...
 279  *
 280  * The "irscan" command (for example) doesn't show twice.
 281  */
 282 static const struct command_registration jtag_command_handlers_to_move[] = {
 283         {
 284                 .name = "drscan",
 285                 .mode = COMMAND_EXEC,
 286                 .jim_handler = Jim_Command_drscan,
 287                 .help = "Execute Data Register (DR) scan for one TAP.  "
 288                         "Other TAPs must be in BYPASS mode.",
 289                 .usage = "tap_name [num_bits value]* ['-endstate' state_name]",
 290         },
 291         {
 292                 .name = "flush_count",
 293                 .mode = COMMAND_EXEC,
 294                 .jim_handler = Jim_Command_flush_count,
 295                 .help = "Returns the number of times the JTAG queue "
 296                         "has been flushed.",
 297         },
 298         {
 299                 .name = "pathmove",
 300                 .mode = COMMAND_EXEC,
 301                 .jim_handler = Jim_Command_pathmove,
 302                 .usage = "start_state state1 [state2 [state3 ...]]",
 303                 .help = "Move JTAG state machine from current state "
 304                         "(start_state) to state1, then state2, state3, etc.",
 305         },
 306         COMMAND_REGISTRATION_DONE
 307 };
 308
 309
 310 enum jtag_tap_cfg_param {
 311         JCFG_EVENT
 312 };
 313
 314 static Jim_Nvp nvp_config_opts[] = {
 315         { .name = "-event",      .value = JCFG_EVENT },
 316
 317         { .name = NULL,          .value = -1 }
 318 };
 319
 320 static int jtag_tap_configure_event(Jim_GetOptInfo *goi, struct jtag_tap *tap)
 321 {
 322         if (goi->argc == 0) {
 323                 Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event <event-name> ...");
 324                 return JIM_ERR;
 325         }
 326
 327         Jim_Nvp *n;
 328         int e = Jim_GetOpt_Nvp(goi, nvp_jtag_tap_event, &n);
 329         if (e != JIM_OK) {
 330                 Jim_GetOpt_NvpUnknown(goi, nvp_jtag_tap_event, 1);
 331                 return e;
 332         }
 333
 334         if (goi->isconfigure) {
 335                 if (goi->argc != 1) {
 336                         Jim_WrongNumArgs(goi->interp,
 337                                 goi->argc,
 338                                 goi->argv,
 339                                 "-event <event-name> <event-body>");
 340                         return JIM_ERR;
 341                 }
 342         } else {
 343                 if (goi->argc != 0) {
 344                         Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event <event-name>");
 345                         return JIM_ERR;
 346                 }
 347         }
 348
 349         struct jtag_tap_event_action *jteap  = tap->event_action;
 350         /* replace existing event body */
 351         bool found = false;
 352         while (jteap) {
 353                 if (jteap->event == (enum jtag_event)n->value) {
 354                         found = true;
 355                         break;
 356                 }
 357                 jteap = jteap->next;
 358         }
 359
 360         Jim_SetEmptyResult(goi->interp);
 361
 362         if (goi->isconfigure) {
 363                 if (!found)
 364                         jteap = calloc(1, sizeof(*jteap));
 365                 else if (NULL != jteap->body)
 366                         Jim_DecrRefCount(goi->interp, jteap->body);
 367
 368                 jteap->interp = goi->interp;
 369                 jteap->event = n->value;
 370
 371                 Jim_Obj *o;
 372                 Jim_GetOpt_Obj(goi, &o);
 373                 jteap->body = Jim_DuplicateObj(goi->interp, o);
 374                 Jim_IncrRefCount(jteap->body);
 375
 376                 if (!found) {
 377                         /* add to head of event list */
 378                         jteap->next = tap->event_action;
 379                         tap->event_action = jteap;
 380                 }
 381         } else if (found) {
 382                 jteap->interp = goi->interp;
 383                 Jim_SetResult(goi->interp,
 384                         Jim_DuplicateObj(goi->interp, jteap->body));
 385         }
 386         return JIM_OK;
 387 }
 388
 389 static int jtag_tap_configure_cmd(Jim_GetOptInfo *goi, struct jtag_tap *tap)
 390 {
 391         /* parse config or cget options */
 392         while (goi->argc > 0) {
 393                 Jim_SetEmptyResult(goi->interp);
 394
 395                 Jim_Nvp *n;
 396                 int e = Jim_GetOpt_Nvp(goi, nvp_config_opts, &n);
 397                 if (e != JIM_OK) {
 398                         Jim_GetOpt_NvpUnknown(goi, nvp_config_opts, 0);
 399                         return e;
 400                 }
 401
 402                 switch (n->value) {
 403                         case JCFG_EVENT:
 404                                 e = jtag_tap_configure_event(goi, tap);
 405                                 if (e != JIM_OK)
 406                                         return e;
 407                                 break;
 408                         default:
 409                                 Jim_SetResultFormatted(goi->interp, "unknown event: %s", n->name);
 410                                 return JIM_ERR;
 411                 }
 412         }
 413
 414         return JIM_OK;
 415 }
 416
 417 static int is_bad_irval(int ir_length, jim_wide w)
 418 {
 419         jim_wide v = 1;
 420
 421         v <<= ir_length;
 422         v -= 1;
 423         v = ~v;
 424         return (w & v) != 0;
 425 }
 426
 427 static int jim_newtap_expected_id(Jim_Nvp *n, Jim_GetOptInfo *goi,
 428         struct jtag_tap *pTap)
 429 {
 430         jim_wide w;
 431         int e = Jim_GetOpt_Wide(goi, &w);
 432         if (e != JIM_OK) {
 433                 Jim_SetResultFormatted(goi->interp, "option: %s bad parameter", n->name);
 434                 return e;
 435         }
 436
 437         unsigned expected_len = sizeof(uint32_t) * pTap->expected_ids_cnt;
 438         uint32_t *new_expected_ids = malloc(expected_len + sizeof(uint32_t));
 439         if (new_expected_ids == NULL) {
 440                 Jim_SetResultFormatted(goi->interp, "no memory");
 441                 return JIM_ERR;
 442         }
 443
 444         memcpy(new_expected_ids, pTap->expected_ids, expected_len);
 445
 446         new_expected_ids[pTap->expected_ids_cnt] = w;
 447
 448         free(pTap->expected_ids);
 449         pTap->expected_ids = new_expected_ids;
 450         pTap->expected_ids_cnt++;
 451
 452         return JIM_OK;
 453 }
 454
 455 #define NTAP_OPT_IRLEN     0
 456 #define NTAP_OPT_IRMASK    1
 457 #define NTAP_OPT_IRCAPTURE 2
 458 #define NTAP_OPT_ENABLED   3
 459 #define NTAP_OPT_DISABLED  4
 460 #define NTAP_OPT_EXPECTED_ID 5
 461 #define NTAP_OPT_VERSION   6
 462
 463 static int jim_newtap_ir_param(Jim_Nvp *n, Jim_GetOptInfo *goi,
 464         struct jtag_tap *pTap)
 465 {
 466         jim_wide w;
 467         int e = Jim_GetOpt_Wide(goi, &w);
 468         if (e != JIM_OK) {
 469                 Jim_SetResultFormatted(goi->interp,
 470                         "option: %s bad parameter", n->name);
 471                 return e;
 472         }
 473         switch (n->value) {
 474             case NTAP_OPT_IRLEN:
 475                     if (w > (jim_wide) (8 * sizeof(pTap->ir_capture_value))) {
 476                             LOG_WARNING("%s: huge IR length %d",
 477                                     pTap->dotted_name, (int) w);
 478                     }
 479                     pTap->ir_length = w;
 480                     break;
 481             case NTAP_OPT_IRMASK:
 482                     if (is_bad_irval(pTap->ir_length, w)) {
 483                             LOG_ERROR("%s: IR mask %x too big",
 484                                     pTap->dotted_name,
 485                                     (int) w);
 486                             return JIM_ERR;
 487                     }
 488                     if ((w & 3) != 3)
 489                             LOG_WARNING("%s: nonstandard IR mask", pTap->dotted_name);
 490                     pTap->ir_capture_mask = w;
 491                     break;
 492             case NTAP_OPT_IRCAPTURE:
 493                     if (is_bad_irval(pTap->ir_length, w)) {
 494                             LOG_ERROR("%s: IR capture %x too big",
 495                                     pTap->dotted_name, (int) w);
 496                             return JIM_ERR;
 497                     }
 498                     if ((w & 3) != 1)
 499                             LOG_WARNING("%s: nonstandard IR value",
 500                                     pTap->dotted_name);
 501                     pTap->ir_capture_value = w;
 502                     break;
 503             default:
 504                     return JIM_ERR;
 505         }
 506         return JIM_OK;
 507 }
 508
 509 static int jim_newtap_cmd(Jim_GetOptInfo *goi)
 510 {
 511         struct jtag_tap *pTap;
 512         int x;
 513         int e;
 514         Jim_Nvp *n;
 515         char *cp;
 516         const Jim_Nvp opts[] = {
 517                 { .name = "-irlen",       .value = NTAP_OPT_IRLEN },
 518                 { .name = "-irmask",       .value = NTAP_OPT_IRMASK },
 519                 { .name = "-ircapture",       .value = NTAP_OPT_IRCAPTURE },
 520                 { .name = "-enable",       .value = NTAP_OPT_ENABLED },
 521                 { .name = "-disable",       .value = NTAP_OPT_DISABLED },
 522                 { .name = "-expected-id",       .value = NTAP_OPT_EXPECTED_ID },
 523                 { .name = "-ignore-version",       .value = NTAP_OPT_VERSION },
 524                 { .name = NULL,       .value = -1 },
 525         };
 526
 527         pTap = calloc(1, sizeof(struct jtag_tap));
 528         if (!pTap) {
 529                 Jim_SetResultFormatted(goi->interp, "no memory");
 530                 return JIM_ERR;
 531         }
 532
 533         /*
 534          * we expect CHIP + TAP + OPTIONS
 535          * */
 536         if (goi->argc < 3) {
 537                 Jim_SetResultFormatted(goi->interp, "Missing CHIP TAP OPTIONS ....");
 538                 free(pTap);
 539                 return JIM_ERR;
 540         }
 541         Jim_GetOpt_String(goi, &cp, NULL);
 542         pTap->chip = strdup(cp);
 543
 544         Jim_GetOpt_String(goi, &cp, NULL);
 545         pTap->tapname = strdup(cp);
 546
 547         /* name + dot + name + null */
 548         x = strlen(pTap->chip) + 1 + strlen(pTap->tapname) + 1;
 549         cp = malloc(x);
 550         sprintf(cp, "%s.%s", pTap->chip, pTap->tapname);
 551         pTap->dotted_name = cp;
 552
 553         LOG_DEBUG("Creating New Tap, Chip: %s, Tap: %s, Dotted: %s, %d params",
 554                 pTap->chip, pTap->tapname, pTap->dotted_name, goi->argc);
 555
 556         if (!transport_is_jtag()) {
 557                 /* SWD or CMSIS-DAP (which is currently SWD-only) doesn't
 558                    require any JTAG tap parameters */
 559                 pTap->enabled = true;
 560                 jtag_tap_init(pTap);
 561                 return JIM_OK;
 562         }
 563
 564         /* IEEE specifies that the two LSBs of an IR scan are 01, so make
 565          * that the default.  The "-ircapture" and "-irmask" options are only
 566          * needed to cope with nonstandard TAPs, or to specify more bits.
 567          */
 568         pTap->ir_capture_mask = 0x03;
 569         pTap->ir_capture_value = 0x01;
 570
 571         while (goi->argc) {
 572                 e = Jim_GetOpt_Nvp(goi, opts, &n);
 573                 if (e != JIM_OK) {
 574                         Jim_GetOpt_NvpUnknown(goi, opts, 0);
 575                         free(cp);
 576                         free(pTap);
 577                         return e;
 578                 }
 579                 LOG_DEBUG("Processing option: %s", n->name);
 580                 switch (n->value) {
 581                     case NTAP_OPT_ENABLED:
 582                             pTap->disabled_after_reset = false;
 583                             break;
 584                     case NTAP_OPT_DISABLED:
 585                             pTap->disabled_after_reset = true;
 586                             break;
 587                     case NTAP_OPT_EXPECTED_ID:
 588                             e = jim_newtap_expected_id(n, goi, pTap);
 589                             if (JIM_OK != e) {
 590                                     free(cp);
 591                                     free(pTap);
 592                                     return e;
 593                             }
 594                             break;
 595                     case NTAP_OPT_IRLEN:
 596                     case NTAP_OPT_IRMASK:
 597                     case NTAP_OPT_IRCAPTURE:
 598                             e = jim_newtap_ir_param(n, goi, pTap);
 599                             if (JIM_OK != e) {
 600                                     free(cp);
 601                                     free(pTap);
 602                                     return e;
 603                             }
 604                             break;
 605                     case NTAP_OPT_VERSION:
 606                             pTap->ignore_version = true;
 607                             break;
 608                 }       /* switch (n->value) */
 609         }       /* while (goi->argc) */
 610
 611         /* default is enabled-after-reset */
 612         pTap->enabled = !pTap->disabled_after_reset;
 613
 614         /* Did all the required option bits get cleared? */
 615         if (pTap->ir_length != 0) {
 616                 jtag_tap_init(pTap);
 617                 return JIM_OK;
 618         }
 619
 620         Jim_SetResultFormatted(goi->interp,
 621                 "newtap: %s missing IR length",
 622                 pTap->dotted_name);
 623         jtag_tap_free(pTap);
 624         return JIM_ERR;
 625 }
 626
 627 static void jtag_tap_handle_event(struct jtag_tap *tap, enum jtag_event e)
 628 {
 629         struct jtag_tap_event_action *jteap;
 630
 631         for (jteap = tap->event_action; jteap != NULL; jteap = jteap->next) {
 632                 if (jteap->event != e)
 633                         continue;
 634
 635                 Jim_Nvp *nvp = Jim_Nvp_value2name_simple(nvp_jtag_tap_event, e);
 636                 LOG_DEBUG("JTAG tap: %s event: %d (%s)\n\taction: %s",
 637                         tap->dotted_name, e, nvp->name,
 638                         Jim_GetString(jteap->body, NULL));
 639
 640                 if (Jim_EvalObj(jteap->interp, jteap->body) != JIM_OK) {
 641                         Jim_MakeErrorMessage(jteap->interp);
 642                         LOG_USER("%s", Jim_GetString(Jim_GetResult(jteap->interp), NULL));
 643                         continue;
 644                 }
 645
 646                 switch (e) {
 647                     case JTAG_TAP_EVENT_ENABLE:
 648                     case JTAG_TAP_EVENT_DISABLE:
 649                                 /* NOTE:  we currently assume the handlers
 650                                  * can't fail.  Right here is where we should
 651                                  * really be verifying the scan chains ...
 652                                  */
 653                             tap->enabled = (e == JTAG_TAP_EVENT_ENABLE);
 654                             LOG_INFO("JTAG tap: %s %s", tap->dotted_name,
 655                                 tap->enabled ? "enabled" : "disabled");
 656                             break;
 657                     default:
 658                             break;
 659                 }
 660         }
 661 }
 662
 663 static int jim_jtag_arp_init(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 664 {
 665         Jim_GetOptInfo goi;
 666         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 667         if (goi.argc != 0) {
 668                 Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
 669                 return JIM_ERR;
 670         }
 671         struct command_context *context = current_command_context(interp);
 672         int e = jtag_init_inner(context);
 673         if (e != ERROR_OK) {
 674                 Jim_Obj *eObj = Jim_NewIntObj(goi.interp, e);
 675                 Jim_SetResultFormatted(goi.interp, "error: %#s", eObj);
 676                 Jim_FreeNewObj(goi.interp, eObj);
 677                 return JIM_ERR;
 678         }
 679         return JIM_OK;
 680 }
 681
 682 static int jim_jtag_arp_init_reset(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 683 {
 684         int e = ERROR_OK;
 685         Jim_GetOptInfo goi;
 686         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 687         if (goi.argc != 0) {
 688                 Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
 689                 return JIM_ERR;
 690         }
 691         struct command_context *context = current_command_context(interp);
 692         if (transport_is_jtag())
 693                 e = jtag_init_reset(context);
 694         else if (transport_is_swd())
 695                 e = swd_init_reset(context);
 696
 697         if (e != ERROR_OK) {
 698                 Jim_Obj *eObj = Jim_NewIntObj(goi.interp, e);
 699                 Jim_SetResultFormatted(goi.interp, "error: %#s", eObj);
 700                 Jim_FreeNewObj(goi.interp, eObj);
 701                 return JIM_ERR;
 702         }
 703         return JIM_OK;
 704 }
 705
 706 int jim_jtag_newtap(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 707 {
 708         Jim_GetOptInfo goi;
 709         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 710         return jim_newtap_cmd(&goi);
 711 }
 712
 713 static bool jtag_tap_enable(struct jtag_tap *t)
 714 {
 715         if (t->enabled)
 716                 return false;
 717         jtag_tap_handle_event(t, JTAG_TAP_EVENT_ENABLE);
 718         if (!t->enabled)
 719                 return false;
 720
 721         /* FIXME add JTAG sanity checks, w/o TLR
 722          *  - scan chain length grew by one (this)
 723          *  - IDs and IR lengths are as expected
 724          */
 725         jtag_call_event_callbacks(JTAG_TAP_EVENT_ENABLE);
 726         return true;
 727 }
 728 static bool jtag_tap_disable(struct jtag_tap *t)
 729 {
 730         if (!t->enabled)
 731                 return false;
 732         jtag_tap_handle_event(t, JTAG_TAP_EVENT_DISABLE);
 733         if (t->enabled)
 734                 return false;
 735
 736         /* FIXME add JTAG sanity checks, w/o TLR
 737          *  - scan chain length shrank by one (this)
 738          *  - IDs and IR lengths are as expected
 739          */
 740         jtag_call_event_callbacks(JTAG_TAP_EVENT_DISABLE);
 741         return true;
 742 }
 743
 744 int jim_jtag_tap_enabler(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 745 {
 746         const char *cmd_name = Jim_GetString(argv[0], NULL);
 747         Jim_GetOptInfo goi;
 748         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 749         if (goi.argc != 1) {
 750                 Jim_SetResultFormatted(goi.interp, "usage: %s <name>", cmd_name);
 751                 return JIM_ERR;
 752         }
 753
 754         struct jtag_tap *t;
 755
 756         t = jtag_tap_by_jim_obj(goi.interp, goi.argv[0]);
 757         if (t == NULL)
 758                 return JIM_ERR;
 759
 760         if (strcasecmp(cmd_name, "tapisenabled") == 0) {
 761                 /* do nothing, just return the value */
 762         } else if (strcasecmp(cmd_name, "tapenable") == 0) {
 763                 if (!jtag_tap_enable(t)) {
 764                         LOG_WARNING("failed to enable tap %s", t->dotted_name);
 765                         return JIM_ERR;
 766                 }
 767         } else if (strcasecmp(cmd_name, "tapdisable") == 0) {
 768                 if (!jtag_tap_disable(t)) {
 769                         LOG_WARNING("failed to disable tap %s", t->dotted_name);
 770                         return JIM_ERR;
 771                 }
 772         } else {
 773                 LOG_ERROR("command '%s' unknown", cmd_name);
 774                 return JIM_ERR;
 775         }
 776         bool e = t->enabled;
 777         Jim_SetResult(goi.interp, Jim_NewIntObj(goi.interp, e));
 778         return JIM_OK;
 779 }
 780
 781 int jim_jtag_configure(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 782 {
 783         const char *cmd_name = Jim_GetString(argv[0], NULL);
 784         Jim_GetOptInfo goi;
 785         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 786         goi.isconfigure = !strcmp(cmd_name, "configure");
 787         if (goi.argc < 2 + goi.isconfigure) {
 788                 Jim_WrongNumArgs(goi.interp, 0, NULL,
 789                         "<tap_name> <attribute> ...");
 790                 return JIM_ERR;
 791         }
 792
 793         struct jtag_tap *t;
 794
 795         Jim_Obj *o;
 796         Jim_GetOpt_Obj(&goi, &o);
 797         t = jtag_tap_by_jim_obj(goi.interp, o);
 798         if (t == NULL)
 799                 return JIM_ERR;
 800
 801         return jtag_tap_configure_cmd(&goi, t);
 802 }
 803
 804 static int jim_jtag_names(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 805 {
 806         Jim_GetOptInfo goi;
 807         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 808         if (goi.argc != 0) {
 809                 Jim_WrongNumArgs(goi.interp, 1, goi.argv, "Too many parameters");
 810                 return JIM_ERR;
 811         }
 812         Jim_SetResult(goi.interp, Jim_NewListObj(goi.interp, NULL, 0));
 813         struct jtag_tap *tap;
 814
 815         for (tap = jtag_all_taps(); tap; tap = tap->next_tap) {
 816                 Jim_ListAppendElement(goi.interp,
 817                         Jim_GetResult(goi.interp),
 818                         Jim_NewStringObj(goi.interp,
 819                                 tap->dotted_name, -1));
 820         }
 821         return JIM_OK;
 822 }
 823
 824 COMMAND_HANDLER(handle_jtag_init_command)
 825 {
 826         if (CMD_ARGC != 0)
 827                 return ERROR_COMMAND_SYNTAX_ERROR;
 828
 829         static bool jtag_initialized;
 830         if (jtag_initialized) {
 831                 LOG_INFO("'jtag init' has already been called");
 832                 return ERROR_OK;
 833         }
 834         jtag_initialized = true;
 835
 836         LOG_DEBUG("Initializing jtag devices...");
 837         return jtag_init(CMD_CTX);
 838 }
 839
 840 static const struct command_registration jtag_subcommand_handlers[] = {
 841         {
 842                 .name = "init",
 843                 .mode = COMMAND_ANY,
 844                 .handler = handle_jtag_init_command,
 845                 .help = "initialize jtag scan chain",
 846                 .usage = ""
 847         },
 848         {
 849                 .name = "arp_init",
 850                 .mode = COMMAND_ANY,
 851                 .jim_handler = jim_jtag_arp_init,
 852                 .help = "Validates JTAG scan chain against the list of "
 853                         "declared TAPs using just the four standard JTAG "
 854                         "signals.",
 855         },
 856         {
 857                 .name = "arp_init-reset",
 858                 .mode = COMMAND_ANY,
 859                 .jim_handler = jim_jtag_arp_init_reset,
 860                 .help = "Uses TRST and SRST to try resetting everything on "
 861                         "the JTAG scan chain, then performs 'jtag arp_init'."
 862         },
 863         {
 864                 .name = "newtap",
 865                 .mode = COMMAND_CONFIG,
 866                 .jim_handler = jim_jtag_newtap,
 867                 .help = "Create a new TAP instance named basename.tap_type, "
 868                         "and appends it to the scan chain.",
 869                 .usage = "basename tap_type '-irlen' count "
 870                         "['-enable'|'-disable'] "
 871                         "['-expected_id' number] "
 872                         "['-ignore-version'] "
 873                         "['-ircapture' number] "
 874                         "['-mask' number] ",
 875         },
 876         {
 877                 .name = "tapisenabled",
 878                 .mode = COMMAND_EXEC,
 879                 .jim_handler = jim_jtag_tap_enabler,
 880                 .help = "Returns a Tcl boolean (0/1) indicating whether "
 881                         "the TAP is enabled (1) or not (0).",
 882                 .usage = "tap_name",
 883         },
 884         {
 885                 .name = "tapenable",
 886                 .mode = COMMAND_EXEC,
 887                 .jim_handler = jim_jtag_tap_enabler,
 888                 .help = "Try to enable the specified TAP using the "
 889                         "'tap-enable' TAP event.",
 890                 .usage = "tap_name",
 891         },
 892         {
 893                 .name = "tapdisable",
 894                 .mode = COMMAND_EXEC,
 895                 .jim_handler = jim_jtag_tap_enabler,
 896                 .help = "Try to disable the specified TAP using the "
 897                         "'tap-disable' TAP event.",
 898                 .usage = "tap_name",
 899         },
 900         {
 901                 .name = "configure",
 902                 .mode = COMMAND_EXEC,
 903                 .jim_handler = jim_jtag_configure,
 904                 .help = "Provide a Tcl handler for the specified "
 905                         "TAP event.",
 906                 .usage = "tap_name '-event' event_name handler",
 907         },
 908         {
 909                 .name = "cget",
 910                 .mode = COMMAND_EXEC,
 911                 .jim_handler = jim_jtag_configure,
 912                 .help = "Return any Tcl handler for the specified "
 913                         "TAP event.",
 914                 .usage = "tap_name '-event' event_name",
 915         },
 916         {
 917                 .name = "names",
 918                 .mode = COMMAND_ANY,
 919                 .jim_handler = jim_jtag_names,
 920                 .help = "Returns list of all JTAG tap names.",
 921         },
 922         {
 923                 .chain = jtag_command_handlers_to_move,
 924         },
 925         COMMAND_REGISTRATION_DONE
 926 };
 927
 928 void jtag_notify_event(enum jtag_event event)
 929 {
 930         struct jtag_tap *tap;
 931
 932         for (tap = jtag_all_taps(); tap; tap = tap->next_tap)
 933                 jtag_tap_handle_event(tap, event);
 934 }
 935
 936
 937 COMMAND_HANDLER(handle_scan_chain_command)
 938 {
 939         struct jtag_tap *tap;
 940         char expected_id[12];
 941
 942         tap = jtag_all_taps();
 943         command_print(CMD_CTX,
 944                 "   TapName             Enabled  IdCode     Expected   IrLen IrCap IrMask");
 945         command_print(CMD_CTX,
 946                 "-- ------------------- -------- ---------- ---------- ----- ----- ------");
 947
 948         while (tap) {
 949                 uint32_t expected, expected_mask, ii;
 950
 951                 snprintf(expected_id, sizeof expected_id, "0x%08x",
 952                         (unsigned)((tap->expected_ids_cnt > 0)
 953                                    ? tap->expected_ids[0]
 954                                    : 0));
 955                 if (tap->ignore_version)
 956                         expected_id[2] = '*';
 957
 958                 expected = buf_get_u32(tap->expected, 0, tap->ir_length);
 959                 expected_mask = buf_get_u32(tap->expected_mask, 0, tap->ir_length);
 960
 961                 command_print(CMD_CTX,
 962                         "%2d %-18s     %c     0x%08x %s %5d 0x%02x  0x%02x",
 963                         tap->abs_chain_position,
 964                         tap->dotted_name,
 965                         tap->enabled ? 'Y' : 'n',
 966                         (unsigned int)(tap->idcode),
 967                         expected_id,
 968                         (unsigned int)(tap->ir_length),
 969                         (unsigned int)(expected),
 970                         (unsigned int)(expected_mask));
 971
 972                 for (ii = 1; ii < tap->expected_ids_cnt; ii++) {
 973                         snprintf(expected_id, sizeof expected_id, "0x%08x",
 974                                 (unsigned) tap->expected_ids[ii]);
 975                         if (tap->ignore_version)
 976                                 expected_id[2] = '*';
 977
 978                         command_print(CMD_CTX,
 979                                 "                                           %s",
 980                                 expected_id);
 981                 }
 982
 983                 tap = tap->next_tap;
 984         }
 985
 986         return ERROR_OK;
 987 }
 988
 989 COMMAND_HANDLER(handle_jtag_ntrst_delay_command)
 990 {
 991         if (CMD_ARGC > 1)
 992                 return ERROR_COMMAND_SYNTAX_ERROR;
 993         if (CMD_ARGC == 1) {
 994                 unsigned delay;
 995                 COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
 996
 997                 jtag_set_ntrst_delay(delay);
 998         }
 999         command_print(CMD_CTX, "jtag_ntrst_delay: %u", jtag_get_ntrst_delay());
1000         return ERROR_OK;
1001 }
1002
1003 COMMAND_HANDLER(handle_jtag_ntrst_assert_width_command)
1004 {
1005         if (CMD_ARGC > 1)
1006                 return ERROR_COMMAND_SYNTAX_ERROR;
1007         if (CMD_ARGC == 1) {
1008                 unsigned delay;
1009                 COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
1010
1011                 jtag_set_ntrst_assert_width(delay);
1012         }
1013         command_print(CMD_CTX, "jtag_ntrst_assert_width: %u", jtag_get_ntrst_assert_width());
1014         return ERROR_OK;
1015 }
1016
1017 COMMAND_HANDLER(handle_jtag_rclk_command)
1018 {
1019         if (CMD_ARGC > 1)
1020                 return ERROR_COMMAND_SYNTAX_ERROR;
1021
1022         int retval = ERROR_OK;
1023         if (CMD_ARGC == 1) {
1024                 unsigned khz = 0;
1025                 COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], khz);
1026
1027                 retval = jtag_config_rclk(khz);
1028                 if (ERROR_OK != retval)
1029                         return retval;
1030         }
1031
1032         int cur_khz = jtag_get_speed_khz();
1033         retval = jtag_get_speed_readable(&cur_khz);
1034         if (ERROR_OK != retval)
1035                 return retval;
1036
1037         if (cur_khz)
1038                 command_print(CMD_CTX, "RCLK not supported - fallback to %d kHz", cur_khz);
1039         else
1040                 command_print(CMD_CTX, "RCLK - adaptive");
1041
1042         return retval;
1043 }
1044
1045 COMMAND_HANDLER(handle_jtag_reset_command)
1046 {
1047         if (CMD_ARGC != 2)
1048                 return ERROR_COMMAND_SYNTAX_ERROR;
1049
1050         int trst = -1;
1051         if (CMD_ARGV[0][0] == '1')
1052                 trst = 1;
1053         else if (CMD_ARGV[0][0] == '0')
1054                 trst = 0;
1055         else
1056                 return ERROR_COMMAND_SYNTAX_ERROR;
1057
1058         int srst = -1;
1059         if (CMD_ARGV[1][0] == '1')
1060                 srst = 1;
1061         else if (CMD_ARGV[1][0] == '0')
1062                 srst = 0;
1063         else
1064                 return ERROR_COMMAND_SYNTAX_ERROR;
1065
1066         if (adapter_init(CMD_CTX) != ERROR_OK)
1067                 return ERROR_JTAG_INIT_FAILED;
1068
1069         jtag_add_reset(trst, srst);
1070         return jtag_execute_queue();
1071 }
1072
1073 COMMAND_HANDLER(handle_runtest_command)
1074 {
1075         if (CMD_ARGC != 1)
1076                 return ERROR_COMMAND_SYNTAX_ERROR;
1077
1078         unsigned num_clocks;
1079         COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], num_clocks);
1080
1081         jtag_add_runtest(num_clocks, TAP_IDLE);
1082         return jtag_execute_queue();
1083 }
1084
1085 /*
1086  * For "irscan" or "drscan" commands, the "end" (really, "next") state
1087  * should be stable ... and *NOT* a shift state, otherwise free-running
1088  * jtag clocks could change the values latched by the update state.
1089  * Not surprisingly, this is the same constraint as SVF; the "irscan"
1090  * and "drscan" commands are a write-only subset of what SVF provides.
1091  */
1092
1093 COMMAND_HANDLER(handle_irscan_command)
1094 {
1095         int i;
1096         struct scan_field *fields;
1097         struct jtag_tap *tap = NULL;
1098         tap_state_t endstate;
1099
1100         if ((CMD_ARGC < 2) || (CMD_ARGC % 2))
1101                 return ERROR_COMMAND_SYNTAX_ERROR;
1102
1103         /* optional "-endstate" "statename" at the end of the arguments,
1104          * so that e.g. IRPAUSE can let us load the data register before
1105          * entering RUN/IDLE to execute the instruction we load here.
1106          */
1107         endstate = TAP_IDLE;
1108
1109         if (CMD_ARGC >= 4) {
1110                 /* have at least one pair of numbers.
1111                  * is last pair the magic text? */
1112                 if (strcmp("-endstate", CMD_ARGV[CMD_ARGC - 2]) == 0) {
1113                         endstate = tap_state_by_name(CMD_ARGV[CMD_ARGC - 1]);
1114                         if (endstate == TAP_INVALID)
1115                                 return ERROR_COMMAND_SYNTAX_ERROR;
1116                         if (!scan_is_safe(endstate))
1117                                 LOG_WARNING("unstable irscan endstate \"%s\"",
1118                                         CMD_ARGV[CMD_ARGC - 1]);
1119                         CMD_ARGC -= 2;
1120                 }
1121         }
1122
1123         int num_fields = CMD_ARGC / 2;
1124         if (num_fields > 1) {
1125                 /* we really should be looking at plain_ir_scan if we want
1126                  * anything more fancy.
1127                  */
1128                 LOG_ERROR("Specify a single value for tap");
1129                 return ERROR_COMMAND_SYNTAX_ERROR;
1130         }
1131
1132         fields = calloc(num_fields, sizeof(*fields));
1133
1134         int retval;
1135         for (i = 0; i < num_fields; i++) {
1136                 tap = jtag_tap_by_string(CMD_ARGV[i*2]);
1137                 if (tap == NULL) {
1138                         free(fields);
1139                         command_print(CMD_CTX, "Tap: %s unknown", CMD_ARGV[i*2]);
1140
1141                         return ERROR_FAIL;
1142                 }
1143                 int field_size = tap->ir_length;
1144                 fields[i].num_bits = field_size;
1145                 uint8_t *v = malloc(DIV_ROUND_UP(field_size, 8));
1146
1147                 uint64_t value;
1148                 retval = parse_u64(CMD_ARGV[i * 2 + 1], &value);
1149                 if (ERROR_OK != retval)
1150                         goto error_return;
1151                 buf_set_u64(v, 0, field_size, value);
1152                 fields[i].out_value = v;
1153                 fields[i].in_value = NULL;
1154         }
1155
1156         /* did we have an endstate? */
1157         jtag_add_ir_scan(tap, fields, endstate);
1158
1159         retval = jtag_execute_queue();
1160
1161 error_return:
1162         for (i = 0; i < num_fields; i++) {
1163                 if (NULL != fields[i].out_value)
1164                         free((void *)fields[i].out_value);
1165         }
1166
1167         free(fields);
1168
1169         return retval;
1170 }
1171
1172 COMMAND_HANDLER(handle_verify_ircapture_command)
1173 {
1174         if (CMD_ARGC > 1)
1175                 return ERROR_COMMAND_SYNTAX_ERROR;
1176
1177         if (CMD_ARGC == 1) {
1178                 bool enable;
1179                 COMMAND_PARSE_ENABLE(CMD_ARGV[0], enable);
1180                 jtag_set_verify_capture_ir(enable);
1181         }
1182
1183         const char *status = jtag_will_verify_capture_ir() ? "enabled" : "disabled";
1184         command_print(CMD_CTX, "verify Capture-IR is %s", status);
1185
1186         return ERROR_OK;
1187 }
1188
1189 COMMAND_HANDLER(handle_verify_jtag_command)
1190 {
1191         if (CMD_ARGC > 1)
1192                 return ERROR_COMMAND_SYNTAX_ERROR;
1193
1194         if (CMD_ARGC == 1) {
1195                 bool enable;
1196                 COMMAND_PARSE_ENABLE(CMD_ARGV[0], enable);
1197                 jtag_set_verify(enable);
1198         }
1199
1200         const char *status = jtag_will_verify() ? "enabled" : "disabled";
1201         command_print(CMD_CTX, "verify jtag capture is %s", status);
1202
1203         return ERROR_OK;
1204 }
1205
1206 COMMAND_HANDLER(handle_tms_sequence_command)
1207 {
1208         if (CMD_ARGC > 1)
1209                 return ERROR_COMMAND_SYNTAX_ERROR;
1210
1211         if (CMD_ARGC == 1) {
1212                 bool use_new_table;
1213                 if (strcmp(CMD_ARGV[0], "short") == 0)
1214                         use_new_table = true;
1215                 else if (strcmp(CMD_ARGV[0], "long") == 0)
1216                         use_new_table = false;
1217                 else
1218                         return ERROR_COMMAND_SYNTAX_ERROR;
1219
1220                 tap_use_new_tms_table(use_new_table);
1221         }
1222
1223         command_print(CMD_CTX, "tms sequence is  %s",
1224                 tap_uses_new_tms_table() ? "short" : "long");
1225
1226         return ERROR_OK;
1227 }
1228
1229 COMMAND_HANDLER(handle_jtag_flush_queue_sleep)
1230 {
1231         if (CMD_ARGC != 1)
1232                 return ERROR_COMMAND_SYNTAX_ERROR;
1233
1234         int sleep_ms;
1235         COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], sleep_ms);
1236
1237         jtag_set_flush_queue_sleep(sleep_ms);
1238
1239         return ERROR_OK;
1240 }
1241
1242 COMMAND_HANDLER(handle_wait_srst_deassert)
1243 {
1244         if (CMD_ARGC != 1)
1245                 return ERROR_COMMAND_SYNTAX_ERROR;
1246
1247         int timeout_ms;
1248         COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], timeout_ms);
1249         if ((timeout_ms <= 0) || (timeout_ms > 100000)) {
1250                 LOG_ERROR("Timeout must be an integer between 0 and 100000");
1251                 return ERROR_FAIL;
1252         }
1253
1254         LOG_USER("Waiting for srst assert + deassert for at most %dms", timeout_ms);
1255         int asserted_yet;
1256         long long then = timeval_ms();
1257         while (jtag_srst_asserted(&asserted_yet) == ERROR_OK) {
1258                 if ((timeval_ms() - then) > timeout_ms) {
1259                         LOG_ERROR("Timed out");
1260                         return ERROR_FAIL;
1261                 }
1262                 if (asserted_yet)
1263                         break;
1264         }
1265         while (jtag_srst_asserted(&asserted_yet) == ERROR_OK) {
1266                 if ((timeval_ms() - then) > timeout_ms) {
1267                         LOG_ERROR("Timed out");
1268                         return ERROR_FAIL;
1269                 }
1270                 if (!asserted_yet)
1271                         break;
1272         }
1273
1274         return ERROR_OK;
1275 }
1276
1277 static const struct command_registration jtag_command_handlers[] = {
1278
1279         {
1280                 .name = "jtag_flush_queue_sleep",
1281                 .handler = handle_jtag_flush_queue_sleep,
1282                 .mode = COMMAND_ANY,
1283                 .help = "For debug purposes(simulate long delays of interface) "
1284                         "to test performance or change in behavior. Default 0ms.",
1285                 .usage = "[sleep in ms]",
1286         },
1287         {
1288                 .name = "jtag_rclk",
1289                 .handler = handle_jtag_rclk_command,
1290                 .mode = COMMAND_ANY,
1291                 .help = "With an argument, change to to use adaptive clocking "
1292                         "if possible; else to use the fallback speed.  "
1293                         "With or without argument, display current setting.",
1294                 .usage = "[fallback_speed_khz]",
1295         },
1296         {
1297                 .name = "jtag_ntrst_delay",
1298                 .handler = handle_jtag_ntrst_delay_command,
1299                 .mode = COMMAND_ANY,
1300                 .help = "delay after deasserting trst in ms",
1301                 .usage = "[milliseconds]",
1302         },
1303         {
1304                 .name = "jtag_ntrst_assert_width",
1305                 .handler = handle_jtag_ntrst_assert_width_command,
1306                 .mode = COMMAND_ANY,
1307                 .help = "delay after asserting trst in ms",
1308                 .usage = "[milliseconds]",
1309         },
1310         {
1311                 .name = "scan_chain",
1312                 .handler = handle_scan_chain_command,
1313                 .mode = COMMAND_ANY,
1314                 .help = "print current scan chain configuration",
1315                 .usage = ""
1316         },
1317         {
1318                 .name = "jtag_reset",
1319                 .handler = handle_jtag_reset_command,
1320                 .mode = COMMAND_EXEC,
1321                 .help = "Set reset line values.  Value '1' is active, "
1322                         "value '0' is inactive.",
1323                 .usage = "trst_active srst_active",
1324         },
1325         {
1326                 .name = "runtest",
1327                 .handler = handle_runtest_command,
1328                 .mode = COMMAND_EXEC,
1329                 .help = "Move to Run-Test/Idle, and issue TCK for num_cycles.",
1330                 .usage = "num_cycles"
1331         },
1332         {
1333                 .name = "irscan",
1334                 .handler = handle_irscan_command,
1335                 .mode = COMMAND_EXEC,
1336                 .help = "Execute Instruction Register (DR) scan.  The "
1337                         "specified opcodes are put into each TAP's IR, "
1338                         "and other TAPs are put in BYPASS.",
1339                 .usage = "[tap_name instruction]* ['-endstate' state_name]",
1340         },
1341         {
1342                 .name = "verify_ircapture",
1343                 .handler = handle_verify_ircapture_command,
1344                 .mode = COMMAND_ANY,
1345                 .help = "Display or assign flag controlling whether to "
1346                         "verify values captured during Capture-IR.",
1347                 .usage = "['enable'|'disable']",
1348         },
1349         {
1350                 .name = "verify_jtag",
1351                 .handler = handle_verify_jtag_command,
1352                 .mode = COMMAND_ANY,
1353                 .help = "Display or assign flag controlling whether to "
1354                         "verify values captured during IR and DR scans.",
1355                 .usage = "['enable'|'disable']",
1356         },
1357         {
1358                 .name = "tms_sequence",
1359                 .handler = handle_tms_sequence_command,
1360                 .mode = COMMAND_ANY,
1361                 .help = "Display or change what style TMS sequences to use "
1362                         "for JTAG state transitions:  short (default) or "
1363                         "long.  Only for working around JTAG bugs.",
1364                 /* Specifically for working around DRIVER bugs... */
1365                 .usage = "['short'|'long']",
1366         },
1367         {
1368                 .name = "wait_srst_deassert",
1369                 .handler = handle_wait_srst_deassert,
1370                 .mode = COMMAND_ANY,
1371                 .help = "Wait for an SRST deassert. "
1372                         "Useful for cases where you need something to happen within ms "
1373                         "of an srst deassert. Timeout in ms ",
1374                 .usage = "ms",
1375         },
1376         {
1377                 .name = "jtag",
1378                 .mode = COMMAND_ANY,
1379                 .help = "perform jtag tap actions",
1380                 .usage = "",
1381
1382                 .chain = jtag_subcommand_handlers,
1383         },
1384         {
1385                 .chain = jtag_command_handlers_to_move,
1386         },
1387         COMMAND_REGISTRATION_DONE
1388 };
1389
1390 int jtag_register_commands(struct command_context *cmd_ctx)
1391 {
1392         return register_commands(cmd_ctx, NULL, jtag_command_handlers);
1393 }