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   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, see <http://www.gnu.org/licenses/>. *
  27  ***************************************************************************/
  28
  29 #ifdef HAVE_CONFIG_H
  30 #include "config.h"
  31 #endif
  32
  33 #include "jtag.h"
  34 #include "swd.h"
  35 #include "minidriver.h"
  36 #include "interface.h"
  37 #include "interfaces.h"
  38 #include "tcl.h"
  39
  40 #ifdef HAVE_STRINGS_H
  41 #include <strings.h>
  42 #endif
  43
  44 #include <helper/time_support.h>
  45 #include "transport/transport.h"
  46
  47 /**
  48  * @file
  49  * Holds support for accessing JTAG-specific mechanisms from TCl scripts.
  50  */
  51
  52 static const Jim_Nvp nvp_jtag_tap_event[] = {
  53         { .value = JTAG_TRST_ASSERTED,          .name = "post-reset" },
  54         { .value = JTAG_TAP_EVENT_SETUP,        .name = "setup" },
  55         { .value = JTAG_TAP_EVENT_ENABLE,       .name = "tap-enable" },
  56         { .value = JTAG_TAP_EVENT_DISABLE,      .name = "tap-disable" },
  57
  58         { .name = NULL, .value = -1 }
  59 };
  60
  61 struct jtag_tap *jtag_tap_by_jim_obj(Jim_Interp *interp, Jim_Obj *o)
  62 {
  63         const char *cp = Jim_GetString(o, NULL);
  64         struct jtag_tap *t = cp ? jtag_tap_by_string(cp) : NULL;
  65         if (NULL == cp)
  66                 cp = "(unknown)";
  67         if (NULL == t)
  68                 Jim_SetResultFormatted(interp, "Tap '%s' could not be found", cp);
  69         return t;
  70 }
  71
  72 static bool scan_is_safe(tap_state_t state)
  73 {
  74         switch (state) {
  75             case TAP_RESET:
  76             case TAP_IDLE:
  77             case TAP_DRPAUSE:
  78             case TAP_IRPAUSE:
  79                     return true;
  80             default:
  81                     return false;
  82         }
  83 }
  84
  85 static int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *args)
  86 {
  87         int retval;
  88         struct scan_field *fields;
  89         int num_fields;
  90         int field_count = 0;
  91         int i, e;
  92         struct jtag_tap *tap;
  93         tap_state_t endstate;
  94
  95         /* args[1] = device
  96          * args[2] = num_bits
  97          * args[3] = hex string
  98          * ... repeat num bits and hex string ...
  99          *
 100          * .. optionally:
 101         *     args[N-2] = "-endstate"
 102          *     args[N-1] = statename
 103          */
 104         if ((argc < 4) || ((argc % 2) != 0)) {
 105                 Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
 106                 return JIM_ERR;
 107         }
 108
 109         endstate = TAP_IDLE;
 110
 111         /* validate arguments as numbers */
 112         e = JIM_OK;
 113         for (i = 2; i < argc; i += 2) {
 114                 long bits;
 115                 const char *cp;
 116
 117                 e = Jim_GetLong(interp, args[i], &bits);
 118                 /* If valid - try next arg */
 119                 if (e == JIM_OK)
 120                         continue;
 121
 122                 /* Not valid.. are we at the end? */
 123                 if (((i + 2) != argc)) {
 124                         /* nope, then error */
 125                         return e;
 126                 }
 127
 128                 /* it could be: "-endstate FOO"
 129                  * e.g. DRPAUSE so we can issue more instructions
 130                  * before entering RUN/IDLE and executing them.
 131                  */
 132
 133                 /* get arg as a string. */
 134                 cp = Jim_GetString(args[i], NULL);
 135                 /* is it the magic? */
 136                 if (0 == strcmp("-endstate", cp)) {
 137                         /* is the statename valid? */
 138                         cp = Jim_GetString(args[i + 1], NULL);
 139
 140                         /* see if it is a valid state name */
 141                         endstate = tap_state_by_name(cp);
 142                         if (endstate < 0) {
 143                                 /* update the error message */
 144                                 Jim_SetResultFormatted(interp, "endstate: %s invalid", cp);
 145                         } else {
 146                                 if (!scan_is_safe(endstate))
 147                                         LOG_WARNING("drscan with unsafe "
 148                                                 "endstate \"%s\"", cp);
 149
 150                                 /* valid - so clear the error */
 151                                 e = JIM_OK;
 152                                 /* and remove the last 2 args */
 153                                 argc -= 2;
 154                         }
 155                 }
 156
 157                 /* Still an error? */
 158                 if (e != JIM_OK)
 159                         return e;       /* too bad */
 160         }       /* validate args */
 161
 162         assert(e == JIM_OK);
 163
 164         tap = jtag_tap_by_jim_obj(interp, args[1]);
 165         if (tap == NULL)
 166                 return JIM_ERR;
 167
 168         num_fields = (argc-2)/2;
 169         if (num_fields <= 0) {
 170                 Jim_SetResultString(interp, "drscan: no scan fields supplied", -1);
 171                 return JIM_ERR;
 172         }
 173         fields = malloc(sizeof(struct scan_field) * num_fields);
 174         for (i = 2; i < argc; i += 2) {
 175                 long bits;
 176                 int len;
 177                 const char *str;
 178
 179                 Jim_GetLong(interp, args[i], &bits);
 180                 str = Jim_GetString(args[i + 1], &len);
 181
 182                 fields[field_count].num_bits = bits;
 183                 void *t = malloc(DIV_ROUND_UP(bits, 8));
 184                 fields[field_count].out_value = t;
 185                 str_to_buf(str, len, t, bits, 0);
 186                 fields[field_count].in_value = t;
 187                 field_count++;
 188         }
 189
 190         jtag_add_dr_scan(tap, num_fields, fields, endstate);
 191
 192         retval = jtag_execute_queue();
 193         if (retval != ERROR_OK) {
 194                 Jim_SetResultString(interp, "drscan: jtag execute failed", -1);
 195
 196                 for (i = 0; i < field_count; i++)
 197                         free(fields[i].in_value);
 198                 free(fields);
 199
 200                 return JIM_ERR;
 201         }
 202
 203         field_count = 0;
 204         Jim_Obj *list = Jim_NewListObj(interp, NULL, 0);
 205         for (i = 2; i < argc; i += 2) {
 206                 long bits;
 207                 char *str;
 208
 209                 Jim_GetLong(interp, args[i], &bits);
 210                 str = buf_to_hex_str(fields[field_count].in_value, bits);
 211                 free(fields[field_count].in_value);
 212
 213                 Jim_ListAppendElement(interp, list, Jim_NewStringObj(interp, str, strlen(str)));
 214                 free(str);
 215                 field_count++;
 216         }
 217
 218         Jim_SetResult(interp, list);
 219
 220         free(fields);
 221
 222         return JIM_OK;
 223 }
 224
 225
 226 static int Jim_Command_pathmove(Jim_Interp *interp, int argc, Jim_Obj *const *args)
 227 {
 228         tap_state_t states[8];
 229
 230         if ((argc < 2) || ((size_t)argc > (ARRAY_SIZE(states) + 1))) {
 231                 Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
 232                 return JIM_ERR;
 233         }
 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         Jim_SetResult(interp, Jim_NewIntObj(interp, jtag_get_flush_queue_count()));
 266
 267         return JIM_OK;
 268 }
 269
 270 /* REVISIT Just what about these should "move" ... ?
 271  * These registrations, into the main JTAG table?
 272  *
 273  * There's a minor compatibility issue, these all show up twice;
 274  * that's not desirable:
 275  *  - jtag drscan ... NOT DOCUMENTED!
 276  *  - drscan ...
 277  *
 278  * The "irscan" command (for example) doesn't show twice.
 279  */
 280 static const struct command_registration jtag_command_handlers_to_move[] = {
 281         {
 282                 .name = "drscan",
 283                 .mode = COMMAND_EXEC,
 284                 .jim_handler = Jim_Command_drscan,
 285                 .help = "Execute Data Register (DR) scan for one TAP.  "
 286                         "Other TAPs must be in BYPASS mode.",
 287                 .usage = "tap_name [num_bits value]* ['-endstate' state_name]",
 288         },
 289         {
 290                 .name = "flush_count",
 291                 .mode = COMMAND_EXEC,
 292                 .jim_handler = Jim_Command_flush_count,
 293                 .help = "Returns the number of times the JTAG queue "
 294                         "has been flushed.",
 295         },
 296         {
 297                 .name = "pathmove",
 298                 .mode = COMMAND_EXEC,
 299                 .jim_handler = Jim_Command_pathmove,
 300                 .usage = "start_state state1 [state2 [state3 ...]]",
 301                 .help = "Move JTAG state machine from current state "
 302                         "(start_state) to state1, then state2, state3, etc.",
 303         },
 304         COMMAND_REGISTRATION_DONE
 305 };
 306
 307
 308 enum jtag_tap_cfg_param {
 309         JCFG_EVENT,
 310         JCFG_IDCODE,
 311 };
 312
 313 static Jim_Nvp nvp_config_opts[] = {
 314         { .name = "-event",      .value = JCFG_EVENT },
 315         { .name = "-idcode",     .value = JCFG_IDCODE },
 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                         case JCFG_IDCODE:
 409                                 if (goi->isconfigure) {
 410                                         Jim_SetResultFormatted(goi->interp,
 411                                                         "not settable: %s", n->name);
 412                                         return JIM_ERR;
 413                                 } else {
 414                                         if (goi->argc != 0) {
 415                                                 Jim_WrongNumArgs(goi->interp,
 416                                                                 goi->argc, goi->argv,
 417                                                                 "NO PARAMS");
 418                                                 return JIM_ERR;
 419                                         }
 420                                 }
 421                                 Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, tap->idcode));
 422                                 break;
 423                         default:
 424                                 Jim_SetResultFormatted(goi->interp, "unknown value: %s", n->name);
 425                                 return JIM_ERR;
 426                 }
 427         }
 428
 429         return JIM_OK;
 430 }
 431
 432 static int is_bad_irval(int ir_length, jim_wide w)
 433 {
 434         jim_wide v = 1;
 435
 436         v <<= ir_length;
 437         v -= 1;
 438         v = ~v;
 439         return (w & v) != 0;
 440 }
 441
 442 static int jim_newtap_expected_id(Jim_Nvp *n, Jim_GetOptInfo *goi,
 443         struct jtag_tap *pTap)
 444 {
 445         jim_wide w;
 446         int e = Jim_GetOpt_Wide(goi, &w);
 447         if (e != JIM_OK) {
 448                 Jim_SetResultFormatted(goi->interp, "option: %s bad parameter", n->name);
 449                 return e;
 450         }
 451
 452         uint32_t *p = realloc(pTap->expected_ids,
 453                               (pTap->expected_ids_cnt + 1) * sizeof(uint32_t));
 454         if (!p) {
 455                 Jim_SetResultFormatted(goi->interp, "no memory");
 456                 return JIM_ERR;
 457         }
 458
 459         pTap->expected_ids = p;
 460         pTap->expected_ids[pTap->expected_ids_cnt++] = w;
 461
 462         return JIM_OK;
 463 }
 464
 465 #define NTAP_OPT_IRLEN     0
 466 #define NTAP_OPT_IRMASK    1
 467 #define NTAP_OPT_IRCAPTURE 2
 468 #define NTAP_OPT_ENABLED   3
 469 #define NTAP_OPT_DISABLED  4
 470 #define NTAP_OPT_EXPECTED_ID 5
 471 #define NTAP_OPT_VERSION   6
 472
 473 static int jim_newtap_ir_param(Jim_Nvp *n, Jim_GetOptInfo *goi,
 474         struct jtag_tap *pTap)
 475 {
 476         jim_wide w;
 477         int e = Jim_GetOpt_Wide(goi, &w);
 478         if (e != JIM_OK) {
 479                 Jim_SetResultFormatted(goi->interp,
 480                         "option: %s bad parameter", n->name);
 481                 return e;
 482         }
 483         switch (n->value) {
 484             case NTAP_OPT_IRLEN:
 485                     if (w > (jim_wide) (8 * sizeof(pTap->ir_capture_value))) {
 486                             LOG_WARNING("%s: huge IR length %d",
 487                                     pTap->dotted_name, (int) w);
 488                     }
 489                     pTap->ir_length = w;
 490                     break;
 491             case NTAP_OPT_IRMASK:
 492                     if (is_bad_irval(pTap->ir_length, w)) {
 493                             LOG_ERROR("%s: IR mask %x too big",
 494                                     pTap->dotted_name,
 495                                     (int) w);
 496                             return JIM_ERR;
 497                     }
 498                     if ((w & 3) != 3)
 499                             LOG_WARNING("%s: nonstandard IR mask", pTap->dotted_name);
 500                     pTap->ir_capture_mask = w;
 501                     break;
 502             case NTAP_OPT_IRCAPTURE:
 503                     if (is_bad_irval(pTap->ir_length, w)) {
 504                             LOG_ERROR("%s: IR capture %x too big",
 505                                     pTap->dotted_name, (int) w);
 506                             return JIM_ERR;
 507                     }
 508                     if ((w & 3) != 1)
 509                             LOG_WARNING("%s: nonstandard IR value",
 510                                     pTap->dotted_name);
 511                     pTap->ir_capture_value = w;
 512                     break;
 513             default:
 514                     return JIM_ERR;
 515         }
 516         return JIM_OK;
 517 }
 518
 519 static int jim_newtap_cmd(Jim_GetOptInfo *goi)
 520 {
 521         struct jtag_tap *pTap;
 522         int x;
 523         int e;
 524         Jim_Nvp *n;
 525         char *cp;
 526         const Jim_Nvp opts[] = {
 527                 { .name = "-irlen",       .value = NTAP_OPT_IRLEN },
 528                 { .name = "-irmask",       .value = NTAP_OPT_IRMASK },
 529                 { .name = "-ircapture",       .value = NTAP_OPT_IRCAPTURE },
 530                 { .name = "-enable",       .value = NTAP_OPT_ENABLED },
 531                 { .name = "-disable",       .value = NTAP_OPT_DISABLED },
 532                 { .name = "-expected-id",       .value = NTAP_OPT_EXPECTED_ID },
 533                 { .name = "-ignore-version",       .value = NTAP_OPT_VERSION },
 534                 { .name = NULL,       .value = -1 },
 535         };
 536
 537         pTap = calloc(1, sizeof(struct jtag_tap));
 538         if (!pTap) {
 539                 Jim_SetResultFormatted(goi->interp, "no memory");
 540                 return JIM_ERR;
 541         }
 542
 543         /*
 544          * we expect CHIP + TAP + OPTIONS
 545          * */
 546         if (goi->argc < 3) {
 547                 Jim_SetResultFormatted(goi->interp, "Missing CHIP TAP OPTIONS ....");
 548                 free(pTap);
 549                 return JIM_ERR;
 550         }
 551
 552         const char *tmp;
 553         Jim_GetOpt_String(goi, &tmp, NULL);
 554         pTap->chip = strdup(tmp);
 555
 556         Jim_GetOpt_String(goi, &tmp, NULL);
 557         pTap->tapname = strdup(tmp);
 558
 559         /* name + dot + name + null */
 560         x = strlen(pTap->chip) + 1 + strlen(pTap->tapname) + 1;
 561         cp = malloc(x);
 562         sprintf(cp, "%s.%s", pTap->chip, pTap->tapname);
 563         pTap->dotted_name = cp;
 564
 565         LOG_DEBUG("Creating New Tap, Chip: %s, Tap: %s, Dotted: %s, %d params",
 566                 pTap->chip, pTap->tapname, pTap->dotted_name, goi->argc);
 567
 568         if (!transport_is_jtag()) {
 569                 /* SWD doesn't require any JTAG tap parameters */
 570                 pTap->enabled = true;
 571                 jtag_tap_init(pTap);
 572                 return JIM_OK;
 573         }
 574
 575         /* IEEE specifies that the two LSBs of an IR scan are 01, so make
 576          * that the default.  The "-ircapture" and "-irmask" options are only
 577          * needed to cope with nonstandard TAPs, or to specify more bits.
 578          */
 579         pTap->ir_capture_mask = 0x03;
 580         pTap->ir_capture_value = 0x01;
 581
 582         while (goi->argc) {
 583                 e = Jim_GetOpt_Nvp(goi, opts, &n);
 584                 if (e != JIM_OK) {
 585                         Jim_GetOpt_NvpUnknown(goi, opts, 0);
 586                         free(cp);
 587                         free(pTap);
 588                         return e;
 589                 }
 590                 LOG_DEBUG("Processing option: %s", n->name);
 591                 switch (n->value) {
 592                     case NTAP_OPT_ENABLED:
 593                             pTap->disabled_after_reset = false;
 594                             break;
 595                     case NTAP_OPT_DISABLED:
 596                             pTap->disabled_after_reset = true;
 597                             break;
 598                     case NTAP_OPT_EXPECTED_ID:
 599                             e = jim_newtap_expected_id(n, goi, pTap);
 600                             if (JIM_OK != e) {
 601                                     free(cp);
 602                                     free(pTap);
 603                                     return e;
 604                             }
 605                             break;
 606                     case NTAP_OPT_IRLEN:
 607                     case NTAP_OPT_IRMASK:
 608                     case NTAP_OPT_IRCAPTURE:
 609                             e = jim_newtap_ir_param(n, goi, pTap);
 610                             if (JIM_OK != e) {
 611                                     free(cp);
 612                                     free(pTap);
 613                                     return e;
 614                             }
 615                             break;
 616                     case NTAP_OPT_VERSION:
 617                             pTap->ignore_version = true;
 618                             break;
 619                 }       /* switch (n->value) */
 620         }       /* while (goi->argc) */
 621
 622         /* default is enabled-after-reset */
 623         pTap->enabled = !pTap->disabled_after_reset;
 624
 625         /* Did all the required option bits get cleared? */
 626         if (pTap->ir_length != 0) {
 627                 jtag_tap_init(pTap);
 628                 return JIM_OK;
 629         }
 630
 631         Jim_SetResultFormatted(goi->interp,
 632                 "newtap: %s missing IR length",
 633                 pTap->dotted_name);
 634         jtag_tap_free(pTap);
 635         return JIM_ERR;
 636 }
 637
 638 static void jtag_tap_handle_event(struct jtag_tap *tap, enum jtag_event e)
 639 {
 640         struct jtag_tap_event_action *jteap;
 641         int retval;
 642
 643         for (jteap = tap->event_action; jteap != NULL; jteap = jteap->next) {
 644                 if (jteap->event != e)
 645                         continue;
 646
 647                 Jim_Nvp *nvp = Jim_Nvp_value2name_simple(nvp_jtag_tap_event, e);
 648                 LOG_DEBUG("JTAG tap: %s event: %d (%s)\n\taction: %s",
 649                         tap->dotted_name, e, nvp->name,
 650                         Jim_GetString(jteap->body, NULL));
 651
 652                 retval = Jim_EvalObj(jteap->interp, jteap->body);
 653                 if (retval == JIM_RETURN)
 654                         retval = jteap->interp->returnCode;
 655
 656                 if (retval != JIM_OK) {
 657                         Jim_MakeErrorMessage(jteap->interp);
 658                         LOG_USER("%s", Jim_GetString(Jim_GetResult(jteap->interp), NULL));
 659                         continue;
 660                 }
 661
 662                 switch (e) {
 663                     case JTAG_TAP_EVENT_ENABLE:
 664                     case JTAG_TAP_EVENT_DISABLE:
 665                                 /* NOTE:  we currently assume the handlers
 666                                  * can't fail.  Right here is where we should
 667                                  * really be verifying the scan chains ...
 668                                  */
 669                             tap->enabled = (e == JTAG_TAP_EVENT_ENABLE);
 670                             LOG_INFO("JTAG tap: %s %s", tap->dotted_name,
 671                                 tap->enabled ? "enabled" : "disabled");
 672                             break;
 673                     default:
 674                             break;
 675                 }
 676         }
 677 }
 678
 679 static int jim_jtag_arp_init(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 680 {
 681         Jim_GetOptInfo goi;
 682         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 683         if (goi.argc != 0) {
 684                 Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
 685                 return JIM_ERR;
 686         }
 687         struct command_context *context = current_command_context(interp);
 688         int e = jtag_init_inner(context);
 689         if (e != ERROR_OK) {
 690                 Jim_Obj *eObj = Jim_NewIntObj(goi.interp, e);
 691                 Jim_IncrRefCount(eObj);
 692                 Jim_SetResultFormatted(goi.interp, "error: %#s", eObj);
 693                 Jim_DecrRefCount(goi.interp, eObj);
 694                 return JIM_ERR;
 695         }
 696         return JIM_OK;
 697 }
 698
 699 static int jim_jtag_arp_init_reset(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 700 {
 701         int e = ERROR_OK;
 702         Jim_GetOptInfo goi;
 703         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 704         if (goi.argc != 0) {
 705                 Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
 706                 return JIM_ERR;
 707         }
 708         struct command_context *context = current_command_context(interp);
 709         if (transport_is_jtag())
 710                 e = jtag_init_reset(context);
 711         else if (transport_is_swd())
 712                 e = swd_init_reset(context);
 713
 714         if (e != ERROR_OK) {
 715                 Jim_Obj *eObj = Jim_NewIntObj(goi.interp, e);
 716                 Jim_IncrRefCount(eObj);
 717                 Jim_SetResultFormatted(goi.interp, "error: %#s", eObj);
 718                 Jim_DecrRefCount(goi.interp, eObj);
 719                 return JIM_ERR;
 720         }
 721         return JIM_OK;
 722 }
 723
 724 int jim_jtag_newtap(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 725 {
 726         Jim_GetOptInfo goi;
 727         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 728         return jim_newtap_cmd(&goi);
 729 }
 730
 731 static bool jtag_tap_enable(struct jtag_tap *t)
 732 {
 733         if (t->enabled)
 734                 return false;
 735         jtag_tap_handle_event(t, JTAG_TAP_EVENT_ENABLE);
 736         if (!t->enabled)
 737                 return false;
 738
 739         /* FIXME add JTAG sanity checks, w/o TLR
 740          *  - scan chain length grew by one (this)
 741          *  - IDs and IR lengths are as expected
 742          */
 743         jtag_call_event_callbacks(JTAG_TAP_EVENT_ENABLE);
 744         return true;
 745 }
 746 static bool jtag_tap_disable(struct jtag_tap *t)
 747 {
 748         if (!t->enabled)
 749                 return false;
 750         jtag_tap_handle_event(t, JTAG_TAP_EVENT_DISABLE);
 751         if (t->enabled)
 752                 return false;
 753
 754         /* FIXME add JTAG sanity checks, w/o TLR
 755          *  - scan chain length shrank by one (this)
 756          *  - IDs and IR lengths are as expected
 757          */
 758         jtag_call_event_callbacks(JTAG_TAP_EVENT_DISABLE);
 759         return true;
 760 }
 761
 762 int jim_jtag_tap_enabler(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 763 {
 764         struct command *c = jim_to_command(interp);
 765         const char *cmd_name = c->name;
 766         Jim_GetOptInfo goi;
 767         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 768         if (goi.argc != 1) {
 769                 Jim_SetResultFormatted(goi.interp, "usage: %s <name>", cmd_name);
 770                 return JIM_ERR;
 771         }
 772
 773         struct jtag_tap *t;
 774
 775         t = jtag_tap_by_jim_obj(goi.interp, goi.argv[0]);
 776         if (t == NULL)
 777                 return JIM_ERR;
 778
 779         if (strcasecmp(cmd_name, "tapisenabled") == 0) {
 780                 /* do nothing, just return the value */
 781         } else if (strcasecmp(cmd_name, "tapenable") == 0) {
 782                 if (!jtag_tap_enable(t)) {
 783                         LOG_WARNING("failed to enable tap %s", t->dotted_name);
 784                         return JIM_ERR;
 785                 }
 786         } else if (strcasecmp(cmd_name, "tapdisable") == 0) {
 787                 if (!jtag_tap_disable(t)) {
 788                         LOG_WARNING("failed to disable tap %s", t->dotted_name);
 789                         return JIM_ERR;
 790                 }
 791         } else {
 792                 LOG_ERROR("command '%s' unknown", cmd_name);
 793                 return JIM_ERR;
 794         }
 795         bool e = t->enabled;
 796         Jim_SetResult(goi.interp, Jim_NewIntObj(goi.interp, e));
 797         return JIM_OK;
 798 }
 799
 800 int jim_jtag_configure(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 801 {
 802         struct command *c = jim_to_command(interp);
 803         const char *cmd_name = c->name;
 804         Jim_GetOptInfo goi;
 805         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 806         goi.isconfigure = !strcmp(cmd_name, "configure");
 807         if (goi.argc < 2 + goi.isconfigure) {
 808                 Jim_WrongNumArgs(goi.interp, 0, NULL,
 809                         "<tap_name> <attribute> ...");
 810                 return JIM_ERR;
 811         }
 812
 813         struct jtag_tap *t;
 814
 815         Jim_Obj *o;
 816         Jim_GetOpt_Obj(&goi, &o);
 817         t = jtag_tap_by_jim_obj(goi.interp, o);
 818         if (t == NULL)
 819                 return JIM_ERR;
 820
 821         return jtag_tap_configure_cmd(&goi, t);
 822 }
 823
 824 static int jim_jtag_names(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 825 {
 826         Jim_GetOptInfo goi;
 827         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 828         if (goi.argc != 0) {
 829                 Jim_WrongNumArgs(goi.interp, 1, goi.argv, "Too many parameters");
 830                 return JIM_ERR;
 831         }
 832         Jim_SetResult(goi.interp, Jim_NewListObj(goi.interp, NULL, 0));
 833         struct jtag_tap *tap;
 834
 835         for (tap = jtag_all_taps(); tap; tap = tap->next_tap) {
 836                 Jim_ListAppendElement(goi.interp,
 837                         Jim_GetResult(goi.interp),
 838                         Jim_NewStringObj(goi.interp,
 839                                 tap->dotted_name, -1));
 840         }
 841         return JIM_OK;
 842 }
 843
 844 COMMAND_HANDLER(handle_jtag_init_command)
 845 {
 846         if (CMD_ARGC != 0)
 847                 return ERROR_COMMAND_SYNTAX_ERROR;
 848
 849         static bool jtag_initialized;
 850         if (jtag_initialized) {
 851                 LOG_INFO("'jtag init' has already been called");
 852                 return ERROR_OK;
 853         }
 854         jtag_initialized = true;
 855
 856         LOG_DEBUG("Initializing jtag devices...");
 857         return jtag_init(CMD_CTX);
 858 }
 859
 860 static const struct command_registration jtag_subcommand_handlers[] = {
 861         {
 862                 .name = "init",
 863                 .mode = COMMAND_ANY,
 864                 .handler = handle_jtag_init_command,
 865                 .help = "initialize jtag scan chain",
 866                 .usage = ""
 867         },
 868         {
 869                 .name = "arp_init",
 870                 .mode = COMMAND_ANY,
 871                 .jim_handler = jim_jtag_arp_init,
 872                 .help = "Validates JTAG scan chain against the list of "
 873                         "declared TAPs using just the four standard JTAG "
 874                         "signals.",
 875         },
 876         {
 877                 .name = "arp_init-reset",
 878                 .mode = COMMAND_ANY,
 879                 .jim_handler = jim_jtag_arp_init_reset,
 880                 .help = "Uses TRST and SRST to try resetting everything on "
 881                         "the JTAG scan chain, then performs 'jtag arp_init'."
 882         },
 883         {
 884                 .name = "newtap",
 885                 .mode = COMMAND_CONFIG,
 886                 .jim_handler = jim_jtag_newtap,
 887                 .help = "Create a new TAP instance named basename.tap_type, "
 888                         "and appends it to the scan chain.",
 889                 .usage = "basename tap_type '-irlen' count "
 890                         "['-enable'|'-disable'] "
 891                         "['-expected_id' number] "
 892                         "['-ignore-version'] "
 893                         "['-ircapture' number] "
 894                         "['-mask' number] ",
 895         },
 896         {
 897                 .name = "tapisenabled",
 898                 .mode = COMMAND_EXEC,
 899                 .jim_handler = jim_jtag_tap_enabler,
 900                 .help = "Returns a Tcl boolean (0/1) indicating whether "
 901                         "the TAP is enabled (1) or not (0).",
 902                 .usage = "tap_name",
 903         },
 904         {
 905                 .name = "tapenable",
 906                 .mode = COMMAND_EXEC,
 907                 .jim_handler = jim_jtag_tap_enabler,
 908                 .help = "Try to enable the specified TAP using the "
 909                         "'tap-enable' TAP event.",
 910                 .usage = "tap_name",
 911         },
 912         {
 913                 .name = "tapdisable",
 914                 .mode = COMMAND_EXEC,
 915                 .jim_handler = jim_jtag_tap_enabler,
 916                 .help = "Try to disable the specified TAP using the "
 917                         "'tap-disable' TAP event.",
 918                 .usage = "tap_name",
 919         },
 920         {
 921                 .name = "configure",
 922                 .mode = COMMAND_ANY,
 923                 .jim_handler = jim_jtag_configure,
 924                 .help = "Provide a Tcl handler for the specified "
 925                         "TAP event.",
 926                 .usage = "tap_name '-event' event_name handler",
 927         },
 928         {
 929                 .name = "cget",
 930                 .mode = COMMAND_EXEC,
 931                 .jim_handler = jim_jtag_configure,
 932                 .help = "Return any Tcl handler for the specified "
 933                         "TAP event.",
 934                 .usage = "tap_name '-event' event_name",
 935         },
 936         {
 937                 .name = "names",
 938                 .mode = COMMAND_ANY,
 939                 .jim_handler = jim_jtag_names,
 940                 .help = "Returns list of all JTAG tap names.",
 941         },
 942         {
 943                 .chain = jtag_command_handlers_to_move,
 944         },
 945         COMMAND_REGISTRATION_DONE
 946 };
 947
 948 void jtag_notify_event(enum jtag_event event)
 949 {
 950         struct jtag_tap *tap;
 951
 952         for (tap = jtag_all_taps(); tap; tap = tap->next_tap)
 953                 jtag_tap_handle_event(tap, event);
 954 }
 955
 956
 957 COMMAND_HANDLER(handle_scan_chain_command)
 958 {
 959         struct jtag_tap *tap;
 960         char expected_id[12];
 961
 962         tap = jtag_all_taps();
 963         command_print(CMD,
 964                 "   TapName             Enabled  IdCode     Expected   IrLen IrCap IrMask");
 965         command_print(CMD,
 966                 "-- ------------------- -------- ---------- ---------- ----- ----- ------");
 967
 968         while (tap) {
 969                 uint32_t expected, expected_mask, ii;
 970
 971                 snprintf(expected_id, sizeof(expected_id), "0x%08x",
 972                         (unsigned)((tap->expected_ids_cnt > 0)
 973                                    ? tap->expected_ids[0]
 974                                    : 0));
 975                 if (tap->ignore_version)
 976                         expected_id[2] = '*';
 977
 978                 expected = buf_get_u32(tap->expected, 0, tap->ir_length);
 979                 expected_mask = buf_get_u32(tap->expected_mask, 0, tap->ir_length);
 980
 981                 command_print(CMD,
 982                         "%2d %-18s     %c     0x%08x %s %5d 0x%02x  0x%02x",
 983                         tap->abs_chain_position,
 984                         tap->dotted_name,
 985                         tap->enabled ? 'Y' : 'n',
 986                         (unsigned int)(tap->idcode),
 987                         expected_id,
 988                         (unsigned int)(tap->ir_length),
 989                         (unsigned int)(expected),
 990                         (unsigned int)(expected_mask));
 991
 992                 for (ii = 1; ii < tap->expected_ids_cnt; ii++) {
 993                         snprintf(expected_id, sizeof(expected_id), "0x%08x",
 994                                 (unsigned) tap->expected_ids[ii]);
 995                         if (tap->ignore_version)
 996                                 expected_id[2] = '*';
 997
 998                         command_print(CMD,
 999                                 "                                           %s",
1000                                 expected_id);
1001                 }
1002
1003                 tap = tap->next_tap;
1004         }
1005
1006         return ERROR_OK;
1007 }
1008
1009 COMMAND_HANDLER(handle_jtag_ntrst_delay_command)
1010 {
1011         if (CMD_ARGC > 1)
1012                 return ERROR_COMMAND_SYNTAX_ERROR;
1013         if (CMD_ARGC == 1) {
1014                 unsigned delay;
1015                 COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
1016
1017                 jtag_set_ntrst_delay(delay);
1018         }
1019         command_print(CMD, "jtag_ntrst_delay: %u", jtag_get_ntrst_delay());
1020         return ERROR_OK;
1021 }
1022
1023 COMMAND_HANDLER(handle_jtag_ntrst_assert_width_command)
1024 {
1025         if (CMD_ARGC > 1)
1026                 return ERROR_COMMAND_SYNTAX_ERROR;
1027         if (CMD_ARGC == 1) {
1028                 unsigned delay;
1029                 COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
1030
1031                 jtag_set_ntrst_assert_width(delay);
1032         }
1033         command_print(CMD, "jtag_ntrst_assert_width: %u", jtag_get_ntrst_assert_width());
1034         return ERROR_OK;
1035 }
1036
1037 COMMAND_HANDLER(handle_jtag_rclk_command)
1038 {
1039         if (CMD_ARGC > 1)
1040                 return ERROR_COMMAND_SYNTAX_ERROR;
1041
1042         int retval = ERROR_OK;
1043         if (CMD_ARGC == 1) {
1044                 unsigned khz = 0;
1045                 COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], khz);
1046
1047                 retval = jtag_config_rclk(khz);
1048                 if (ERROR_OK != retval)
1049                         return retval;
1050         }
1051
1052         int cur_khz = jtag_get_speed_khz();
1053         retval = jtag_get_speed_readable(&cur_khz);
1054         if (ERROR_OK != retval)
1055                 return retval;
1056
1057         if (cur_khz)
1058                 command_print(CMD, "RCLK not supported - fallback to %d kHz", cur_khz);
1059         else
1060                 command_print(CMD, "RCLK - adaptive");
1061
1062         return retval;
1063 }
1064
1065 COMMAND_HANDLER(handle_runtest_command)
1066 {
1067         if (CMD_ARGC != 1)
1068                 return ERROR_COMMAND_SYNTAX_ERROR;
1069
1070         unsigned num_clocks;
1071         COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], num_clocks);
1072
1073         jtag_add_runtest(num_clocks, TAP_IDLE);
1074         return jtag_execute_queue();
1075 }
1076
1077 /*
1078  * For "irscan" or "drscan" commands, the "end" (really, "next") state
1079  * should be stable ... and *NOT* a shift state, otherwise free-running
1080  * jtag clocks could change the values latched by the update state.
1081  * Not surprisingly, this is the same constraint as SVF; the "irscan"
1082  * and "drscan" commands are a write-only subset of what SVF provides.
1083  */
1084
1085 COMMAND_HANDLER(handle_irscan_command)
1086 {
1087         int i;
1088         struct scan_field *fields;
1089         struct jtag_tap *tap = NULL;
1090         tap_state_t endstate;
1091
1092         if ((CMD_ARGC < 2) || (CMD_ARGC % 2))
1093                 return ERROR_COMMAND_SYNTAX_ERROR;
1094
1095         /* optional "-endstate" "statename" at the end of the arguments,
1096          * so that e.g. IRPAUSE can let us load the data register before
1097          * entering RUN/IDLE to execute the instruction we load here.
1098          */
1099         endstate = TAP_IDLE;
1100
1101         if (CMD_ARGC >= 4) {
1102                 /* have at least one pair of numbers.
1103                  * is last pair the magic text? */
1104                 if (strcmp("-endstate", CMD_ARGV[CMD_ARGC - 2]) == 0) {
1105                         endstate = tap_state_by_name(CMD_ARGV[CMD_ARGC - 1]);
1106                         if (endstate == TAP_INVALID)
1107                                 return ERROR_COMMAND_SYNTAX_ERROR;
1108                         if (!scan_is_safe(endstate))
1109                                 LOG_WARNING("unstable irscan endstate \"%s\"",
1110                                         CMD_ARGV[CMD_ARGC - 1]);
1111                         CMD_ARGC -= 2;
1112                 }
1113         }
1114
1115         int num_fields = CMD_ARGC / 2;
1116         if (num_fields > 1) {
1117                 /* we really should be looking at plain_ir_scan if we want
1118                  * anything more fancy.
1119                  */
1120                 LOG_ERROR("Specify a single value for tap");
1121                 return ERROR_COMMAND_SYNTAX_ERROR;
1122         }
1123
1124         fields = calloc(num_fields, sizeof(*fields));
1125
1126         int retval;
1127         for (i = 0; i < num_fields; i++) {
1128                 tap = jtag_tap_by_string(CMD_ARGV[i*2]);
1129                 if (tap == NULL) {
1130                         free(fields);
1131                         command_print(CMD, "Tap: %s unknown", CMD_ARGV[i*2]);
1132
1133                         return ERROR_FAIL;
1134                 }
1135                 uint64_t value;
1136                 retval = parse_u64(CMD_ARGV[i * 2 + 1], &value);
1137                 if (ERROR_OK != retval)
1138                         goto error_return;
1139
1140                 int field_size = tap->ir_length;
1141                 fields[i].num_bits = field_size;
1142                 uint8_t *v = calloc(1, DIV_ROUND_UP(field_size, 8));
1143                 if (!v) {
1144                         LOG_ERROR("Out of memory");
1145                         goto error_return;
1146                 }
1147
1148                 buf_set_u64(v, 0, field_size, value);
1149                 fields[i].out_value = v;
1150                 fields[i].in_value = NULL;
1151         }
1152
1153         /* did we have an endstate? */
1154         jtag_add_ir_scan(tap, fields, endstate);
1155
1156         retval = jtag_execute_queue();
1157
1158 error_return:
1159         for (i = 0; i < num_fields; i++)
1160                 free((void *)fields[i].out_value);
1161
1162         free(fields);
1163
1164         return retval;
1165 }
1166
1167 COMMAND_HANDLER(handle_verify_ircapture_command)
1168 {
1169         if (CMD_ARGC > 1)
1170                 return ERROR_COMMAND_SYNTAX_ERROR;
1171
1172         if (CMD_ARGC == 1) {
1173                 bool enable;
1174                 COMMAND_PARSE_ENABLE(CMD_ARGV[0], enable);
1175                 jtag_set_verify_capture_ir(enable);
1176         }
1177
1178         const char *status = jtag_will_verify_capture_ir() ? "enabled" : "disabled";
1179         command_print(CMD, "verify Capture-IR is %s", status);
1180
1181         return ERROR_OK;
1182 }
1183
1184 COMMAND_HANDLER(handle_verify_jtag_command)
1185 {
1186         if (CMD_ARGC > 1)
1187                 return ERROR_COMMAND_SYNTAX_ERROR;
1188
1189         if (CMD_ARGC == 1) {
1190                 bool enable;
1191                 COMMAND_PARSE_ENABLE(CMD_ARGV[0], enable);
1192                 jtag_set_verify(enable);
1193         }
1194
1195         const char *status = jtag_will_verify() ? "enabled" : "disabled";
1196         command_print(CMD, "verify jtag capture is %s", status);
1197
1198         return ERROR_OK;
1199 }
1200
1201 COMMAND_HANDLER(handle_tms_sequence_command)
1202 {
1203         if (CMD_ARGC > 1)
1204                 return ERROR_COMMAND_SYNTAX_ERROR;
1205
1206         if (CMD_ARGC == 1) {
1207                 bool use_new_table;
1208                 if (strcmp(CMD_ARGV[0], "short") == 0)
1209                         use_new_table = true;
1210                 else if (strcmp(CMD_ARGV[0], "long") == 0)
1211                         use_new_table = false;
1212                 else
1213                         return ERROR_COMMAND_SYNTAX_ERROR;
1214
1215                 tap_use_new_tms_table(use_new_table);
1216         }
1217
1218         command_print(CMD, "tms sequence is  %s",
1219                 tap_uses_new_tms_table() ? "short" : "long");
1220
1221         return ERROR_OK;
1222 }
1223
1224 COMMAND_HANDLER(handle_jtag_flush_queue_sleep)
1225 {
1226         if (CMD_ARGC != 1)
1227                 return ERROR_COMMAND_SYNTAX_ERROR;
1228
1229         int sleep_ms;
1230         COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], sleep_ms);
1231
1232         jtag_set_flush_queue_sleep(sleep_ms);
1233
1234         return ERROR_OK;
1235 }
1236
1237 COMMAND_HANDLER(handle_wait_srst_deassert)
1238 {
1239         if (CMD_ARGC != 1)
1240                 return ERROR_COMMAND_SYNTAX_ERROR;
1241
1242         int timeout_ms;
1243         COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], timeout_ms);
1244         if ((timeout_ms <= 0) || (timeout_ms > 100000)) {
1245                 LOG_ERROR("Timeout must be an integer between 0 and 100000");
1246                 return ERROR_FAIL;
1247         }
1248
1249         LOG_USER("Waiting for srst assert + deassert for at most %dms", timeout_ms);
1250         int asserted_yet;
1251         int64_t then = timeval_ms();
1252         while (jtag_srst_asserted(&asserted_yet) == ERROR_OK) {
1253                 if ((timeval_ms() - then) > timeout_ms) {
1254                         LOG_ERROR("Timed out");
1255                         return ERROR_FAIL;
1256                 }
1257                 if (asserted_yet)
1258                         break;
1259         }
1260         while (jtag_srst_asserted(&asserted_yet) == ERROR_OK) {
1261                 if ((timeval_ms() - then) > timeout_ms) {
1262                         LOG_ERROR("Timed out");
1263                         return ERROR_FAIL;
1264                 }
1265                 if (!asserted_yet)
1266                         break;
1267         }
1268
1269         return ERROR_OK;
1270 }
1271
1272 static const struct command_registration jtag_command_handlers[] = {
1273
1274         {
1275                 .name = "jtag_flush_queue_sleep",
1276                 .handler = handle_jtag_flush_queue_sleep,
1277                 .mode = COMMAND_ANY,
1278                 .help = "For debug purposes(simulate long delays of interface) "
1279                         "to test performance or change in behavior. Default 0ms.",
1280                 .usage = "[sleep in ms]",
1281         },
1282         {
1283                 .name = "jtag_rclk",
1284                 .handler = handle_jtag_rclk_command,
1285                 .mode = COMMAND_ANY,
1286                 .help = "With an argument, change to to use adaptive clocking "
1287                         "if possible; else to use the fallback speed.  "
1288                         "With or without argument, display current setting.",
1289                 .usage = "[fallback_speed_khz]",
1290         },
1291         {
1292                 .name = "jtag_ntrst_delay",
1293                 .handler = handle_jtag_ntrst_delay_command,
1294                 .mode = COMMAND_ANY,
1295                 .help = "delay after deasserting trst in ms",
1296                 .usage = "[milliseconds]",
1297         },
1298         {
1299                 .name = "jtag_ntrst_assert_width",
1300                 .handler = handle_jtag_ntrst_assert_width_command,
1301                 .mode = COMMAND_ANY,
1302                 .help = "delay after asserting trst in ms",
1303                 .usage = "[milliseconds]",
1304         },
1305         {
1306                 .name = "scan_chain",
1307                 .handler = handle_scan_chain_command,
1308                 .mode = COMMAND_ANY,
1309                 .help = "print current scan chain configuration",
1310                 .usage = ""
1311         },
1312         {
1313                 .name = "runtest",
1314                 .handler = handle_runtest_command,
1315                 .mode = COMMAND_EXEC,
1316                 .help = "Move to Run-Test/Idle, and issue TCK for num_cycles.",
1317                 .usage = "num_cycles"
1318         },
1319         {
1320                 .name = "irscan",
1321                 .handler = handle_irscan_command,
1322                 .mode = COMMAND_EXEC,
1323                 .help = "Execute Instruction Register (IR) scan.  The "
1324                         "specified opcodes are put into each TAP's IR, "
1325                         "and other TAPs are put in BYPASS.",
1326                 .usage = "[tap_name instruction]* ['-endstate' state_name]",
1327         },
1328         {
1329                 .name = "verify_ircapture",
1330                 .handler = handle_verify_ircapture_command,
1331                 .mode = COMMAND_ANY,
1332                 .help = "Display or assign flag controlling whether to "
1333                         "verify values captured during Capture-IR.",
1334                 .usage = "['enable'|'disable']",
1335         },
1336         {
1337                 .name = "verify_jtag",
1338                 .handler = handle_verify_jtag_command,
1339                 .mode = COMMAND_ANY,
1340                 .help = "Display or assign flag controlling whether to "
1341                         "verify values captured during IR and DR scans.",
1342                 .usage = "['enable'|'disable']",
1343         },
1344         {
1345                 .name = "tms_sequence",
1346                 .handler = handle_tms_sequence_command,
1347                 .mode = COMMAND_ANY,
1348                 .help = "Display or change what style TMS sequences to use "
1349                         "for JTAG state transitions:  short (default) or "
1350                         "long.  Only for working around JTAG bugs.",
1351                 /* Specifically for working around DRIVER bugs... */
1352                 .usage = "['short'|'long']",
1353         },
1354         {
1355                 .name = "wait_srst_deassert",
1356                 .handler = handle_wait_srst_deassert,
1357                 .mode = COMMAND_ANY,
1358                 .help = "Wait for an SRST deassert. "
1359                         "Useful for cases where you need something to happen within ms "
1360                         "of an srst deassert. Timeout in ms ",
1361                 .usage = "ms",
1362         },
1363         {
1364                 .name = "jtag",
1365                 .mode = COMMAND_ANY,
1366                 .help = "perform jtag tap actions",
1367                 .usage = "",
1368
1369                 .chain = jtag_subcommand_handlers,
1370         },
1371         {
1372                 .chain = jtag_command_handlers_to_move,
1373         },
1374         COMMAND_REGISTRATION_DONE
1375 };
1376
1377 int jtag_register_commands(struct command_context *cmd_ctx)
1378 {
1379         return register_commands(cmd_ctx, NULL, jtag_command_handlers);
1380 }