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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         script_debug(interp, "drscan", argc, args);
 112
 113         /* validate arguments as numbers */
 114         e = JIM_OK;
 115         for (i = 2; i < argc; i += 2) {
 116                 long bits;
 117                 const char *cp;
 118
 119                 e = Jim_GetLong(interp, args[i], &bits);
 120                 /* If valid - try next arg */
 121                 if (e == JIM_OK)
 122                         continue;
 123
 124                 /* Not valid.. are we at the end? */
 125                 if (((i + 2) != argc)) {
 126                         /* nope, then error */
 127                         return e;
 128                 }
 129
 130                 /* it could be: "-endstate FOO"
 131                  * e.g. DRPAUSE so we can issue more instructions
 132                  * before entering RUN/IDLE and executing them.
 133                  */
 134
 135                 /* get arg as a string. */
 136                 cp = Jim_GetString(args[i], NULL);
 137                 /* is it the magic? */
 138                 if (0 == strcmp("-endstate", cp)) {
 139                         /* is the statename valid? */
 140                         cp = Jim_GetString(args[i + 1], NULL);
 141
 142                         /* see if it is a valid state name */
 143                         endstate = tap_state_by_name(cp);
 144                         if (endstate < 0) {
 145                                 /* update the error message */
 146                                 Jim_SetResultFormatted(interp, "endstate: %s invalid", cp);
 147                         } else {
 148                                 if (!scan_is_safe(endstate))
 149                                         LOG_WARNING("drscan with unsafe "
 150                                                 "endstate \"%s\"", cp);
 151
 152                                 /* valid - so clear the error */
 153                                 e = JIM_OK;
 154                                 /* and remove the last 2 args */
 155                                 argc -= 2;
 156                         }
 157                 }
 158
 159                 /* Still an error? */
 160                 if (e != JIM_OK)
 161                         return e;       /* too bad */
 162         }       /* validate args */
 163
 164         assert(e == JIM_OK);
 165
 166         tap = jtag_tap_by_jim_obj(interp, args[1]);
 167         if (tap == NULL)
 168                 return JIM_ERR;
 169
 170         num_fields = (argc-2)/2;
 171         if (num_fields <= 0) {
 172                 Jim_SetResultString(interp, "drscan: no scan fields supplied", -1);
 173                 return JIM_ERR;
 174         }
 175         fields = malloc(sizeof(struct scan_field) * num_fields);
 176         for (i = 2; i < argc; i += 2) {
 177                 long bits;
 178                 int len;
 179                 const char *str;
 180
 181                 Jim_GetLong(interp, args[i], &bits);
 182                 str = Jim_GetString(args[i + 1], &len);
 183
 184                 fields[field_count].num_bits = bits;
 185                 void *t = malloc(DIV_ROUND_UP(bits, 8));
 186                 fields[field_count].out_value = t;
 187                 str_to_buf(str, len, t, bits, 0);
 188                 fields[field_count].in_value = t;
 189                 field_count++;
 190         }
 191
 192         jtag_add_dr_scan(tap, num_fields, fields, endstate);
 193
 194         retval = jtag_execute_queue();
 195         if (retval != ERROR_OK) {
 196                 Jim_SetResultString(interp, "drscan: jtag execute failed", -1);
 197                 return JIM_ERR;
 198         }
 199
 200         field_count = 0;
 201         Jim_Obj *list = Jim_NewListObj(interp, NULL, 0);
 202         for (i = 2; i < argc; i += 2) {
 203                 long bits;
 204                 char *str;
 205
 206                 Jim_GetLong(interp, args[i], &bits);
 207                 str = buf_to_str(fields[field_count].in_value, bits, 16);
 208                 free(fields[field_count].in_value);
 209
 210                 Jim_ListAppendElement(interp, list, Jim_NewStringObj(interp, str, strlen(str)));
 211                 free(str);
 212                 field_count++;
 213         }
 214
 215         Jim_SetResult(interp, list);
 216
 217         free(fields);
 218
 219         return JIM_OK;
 220 }
 221
 222
 223 static int Jim_Command_pathmove(Jim_Interp *interp, int argc, Jim_Obj *const *args)
 224 {
 225         tap_state_t states[8];
 226
 227         if ((argc < 2) || ((size_t)argc > (ARRAY_SIZE(states) + 1))) {
 228                 Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
 229                 return JIM_ERR;
 230         }
 231
 232         script_debug(interp, "pathmove", argc, args);
 233
 234         int i;
 235         for (i = 0; i < argc-1; i++) {
 236                 const char *cp;
 237                 cp = Jim_GetString(args[i + 1], NULL);
 238                 states[i] = tap_state_by_name(cp);
 239                 if (states[i] < 0) {
 240                         /* update the error message */
 241                         Jim_SetResultFormatted(interp, "endstate: %s invalid", cp);
 242                         return JIM_ERR;
 243                 }
 244         }
 245
 246         if ((jtag_add_statemove(states[0]) != ERROR_OK) || (jtag_execute_queue() != ERROR_OK)) {
 247                 Jim_SetResultString(interp, "pathmove: jtag execute failed", -1);
 248                 return JIM_ERR;
 249         }
 250
 251         jtag_add_pathmove(argc - 2, states + 1);
 252
 253         if (jtag_execute_queue() != ERROR_OK) {
 254                 Jim_SetResultString(interp, "pathmove: failed", -1);
 255                 return JIM_ERR;
 256         }
 257
 258         return JIM_OK;
 259 }
 260
 261
 262 static int Jim_Command_flush_count(Jim_Interp *interp, int argc, Jim_Obj *const *args)
 263 {
 264         script_debug(interp, "flush_count", argc, args);
 265
 266         Jim_SetResult(interp, Jim_NewIntObj(interp, jtag_get_flush_queue_count()));
 267
 268         return JIM_OK;
 269 }
 270
 271 /* REVISIT Just what about these should "move" ... ?
 272  * These registrations, into the main JTAG table?
 273  *
 274  * There's a minor compatibility issue, these all show up twice;
 275  * that's not desirable:
 276  *  - jtag drscan ... NOT DOCUMENTED!
 277  *  - drscan ...
 278  *
 279  * The "irscan" command (for example) doesn't show twice.
 280  */
 281 static const struct command_registration jtag_command_handlers_to_move[] = {
 282         {
 283                 .name = "drscan",
 284                 .mode = COMMAND_EXEC,
 285                 .jim_handler = Jim_Command_drscan,
 286                 .help = "Execute Data Register (DR) scan for one TAP.  "
 287                         "Other TAPs must be in BYPASS mode.",
 288                 .usage = "tap_name [num_bits value]* ['-endstate' state_name]",
 289         },
 290         {
 291                 .name = "flush_count",
 292                 .mode = COMMAND_EXEC,
 293                 .jim_handler = Jim_Command_flush_count,
 294                 .help = "Returns the number of times the JTAG queue "
 295                         "has been flushed.",
 296         },
 297         {
 298                 .name = "pathmove",
 299                 .mode = COMMAND_EXEC,
 300                 .jim_handler = Jim_Command_pathmove,
 301                 .usage = "start_state state1 [state2 [state3 ...]]",
 302                 .help = "Move JTAG state machine from current state "
 303                         "(start_state) to state1, then state2, state3, etc.",
 304         },
 305         COMMAND_REGISTRATION_DONE
 306 };
 307
 308
 309 enum jtag_tap_cfg_param {
 310         JCFG_EVENT,
 311         JCFG_IDCODE,
 312 };
 313
 314 static Jim_Nvp nvp_config_opts[] = {
 315         { .name = "-event",      .value = JCFG_EVENT },
 316         { .name = "-idcode",     .value = JCFG_IDCODE },
 317
 318         { .name = NULL,          .value = -1 }
 319 };
 320
 321 static int jtag_tap_configure_event(Jim_GetOptInfo *goi, struct jtag_tap *tap)
 322 {
 323         if (goi->argc == 0) {
 324                 Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event <event-name> ...");
 325                 return JIM_ERR;
 326         }
 327
 328         Jim_Nvp *n;
 329         int e = Jim_GetOpt_Nvp(goi, nvp_jtag_tap_event, &n);
 330         if (e != JIM_OK) {
 331                 Jim_GetOpt_NvpUnknown(goi, nvp_jtag_tap_event, 1);
 332                 return e;
 333         }
 334
 335         if (goi->isconfigure) {
 336                 if (goi->argc != 1) {
 337                         Jim_WrongNumArgs(goi->interp,
 338                                 goi->argc,
 339                                 goi->argv,
 340                                 "-event <event-name> <event-body>");
 341                         return JIM_ERR;
 342                 }
 343         } else {
 344                 if (goi->argc != 0) {
 345                         Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event <event-name>");
 346                         return JIM_ERR;
 347                 }
 348         }
 349
 350         struct jtag_tap_event_action *jteap  = tap->event_action;
 351         /* replace existing event body */
 352         bool found = false;
 353         while (jteap) {
 354                 if (jteap->event == (enum jtag_event)n->value) {
 355                         found = true;
 356                         break;
 357                 }
 358                 jteap = jteap->next;
 359         }
 360
 361         Jim_SetEmptyResult(goi->interp);
 362
 363         if (goi->isconfigure) {
 364                 if (!found)
 365                         jteap = calloc(1, sizeof(*jteap));
 366                 else if (NULL != jteap->body)
 367                         Jim_DecrRefCount(goi->interp, jteap->body);
 368
 369                 jteap->interp = goi->interp;
 370                 jteap->event = n->value;
 371
 372                 Jim_Obj *o;
 373                 Jim_GetOpt_Obj(goi, &o);
 374                 jteap->body = Jim_DuplicateObj(goi->interp, o);
 375                 Jim_IncrRefCount(jteap->body);
 376
 377                 if (!found) {
 378                         /* add to head of event list */
 379                         jteap->next = tap->event_action;
 380                         tap->event_action = jteap;
 381                 }
 382         } else if (found) {
 383                 jteap->interp = goi->interp;
 384                 Jim_SetResult(goi->interp,
 385                         Jim_DuplicateObj(goi->interp, jteap->body));
 386         }
 387         return JIM_OK;
 388 }
 389
 390 static int jtag_tap_configure_cmd(Jim_GetOptInfo *goi, struct jtag_tap *tap)
 391 {
 392         /* parse config or cget options */
 393         while (goi->argc > 0) {
 394                 Jim_SetEmptyResult(goi->interp);
 395
 396                 Jim_Nvp *n;
 397                 int e = Jim_GetOpt_Nvp(goi, nvp_config_opts, &n);
 398                 if (e != JIM_OK) {
 399                         Jim_GetOpt_NvpUnknown(goi, nvp_config_opts, 0);
 400                         return e;
 401                 }
 402
 403                 switch (n->value) {
 404                         case JCFG_EVENT:
 405                                 e = jtag_tap_configure_event(goi, tap);
 406                                 if (e != JIM_OK)
 407                                         return e;
 408                                 break;
 409                         case JCFG_IDCODE:
 410                                 if (goi->isconfigure) {
 411                                         Jim_SetResultFormatted(goi->interp,
 412                                                         "not settable: %s", n->name);
 413                                         return JIM_ERR;
 414                                 } else {
 415                                         if (goi->argc != 0) {
 416                                                 Jim_WrongNumArgs(goi->interp,
 417                                                                 goi->argc, goi->argv,
 418                                                                 "NO PARAMS");
 419                                                 return JIM_ERR;
 420                                         }
 421                                 }
 422                                 Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, tap->idcode));
 423                                 break;
 424                         default:
 425                                 Jim_SetResultFormatted(goi->interp, "unknown value: %s", n->name);
 426                                 return JIM_ERR;
 427                 }
 428         }
 429
 430         return JIM_OK;
 431 }
 432
 433 static int is_bad_irval(int ir_length, jim_wide w)
 434 {
 435         jim_wide v = 1;
 436
 437         v <<= ir_length;
 438         v -= 1;
 439         v = ~v;
 440         return (w & v) != 0;
 441 }
 442
 443 static int jim_newtap_expected_id(Jim_Nvp *n, Jim_GetOptInfo *goi,
 444         struct jtag_tap *pTap)
 445 {
 446         jim_wide w;
 447         int e = Jim_GetOpt_Wide(goi, &w);
 448         if (e != JIM_OK) {
 449                 Jim_SetResultFormatted(goi->interp, "option: %s bad parameter", n->name);
 450                 return e;
 451         }
 452
 453         uint32_t *p = realloc(pTap->expected_ids,
 454                               (pTap->expected_ids_cnt + 1) * sizeof(uint32_t));
 455         if (!p) {
 456                 Jim_SetResultFormatted(goi->interp, "no memory");
 457                 return JIM_ERR;
 458         }
 459
 460         pTap->expected_ids = p;
 461         pTap->expected_ids[pTap->expected_ids_cnt++] = w;
 462
 463         return JIM_OK;
 464 }
 465
 466 #define NTAP_OPT_IRLEN     0
 467 #define NTAP_OPT_IRMASK    1
 468 #define NTAP_OPT_IRCAPTURE 2
 469 #define NTAP_OPT_ENABLED   3
 470 #define NTAP_OPT_DISABLED  4
 471 #define NTAP_OPT_EXPECTED_ID 5
 472 #define NTAP_OPT_VERSION   6
 473
 474 static int jim_newtap_ir_param(Jim_Nvp *n, Jim_GetOptInfo *goi,
 475         struct jtag_tap *pTap)
 476 {
 477         jim_wide w;
 478         int e = Jim_GetOpt_Wide(goi, &w);
 479         if (e != JIM_OK) {
 480                 Jim_SetResultFormatted(goi->interp,
 481                         "option: %s bad parameter", n->name);
 482                 return e;
 483         }
 484         switch (n->value) {
 485             case NTAP_OPT_IRLEN:
 486                     if (w > (jim_wide) (8 * sizeof(pTap->ir_capture_value))) {
 487                             LOG_WARNING("%s: huge IR length %d",
 488                                     pTap->dotted_name, (int) w);
 489                     }
 490                     pTap->ir_length = w;
 491                     break;
 492             case NTAP_OPT_IRMASK:
 493                     if (is_bad_irval(pTap->ir_length, w)) {
 494                             LOG_ERROR("%s: IR mask %x too big",
 495                                     pTap->dotted_name,
 496                                     (int) w);
 497                             return JIM_ERR;
 498                     }
 499                     if ((w & 3) != 3)
 500                             LOG_WARNING("%s: nonstandard IR mask", pTap->dotted_name);
 501                     pTap->ir_capture_mask = w;
 502                     break;
 503             case NTAP_OPT_IRCAPTURE:
 504                     if (is_bad_irval(pTap->ir_length, w)) {
 505                             LOG_ERROR("%s: IR capture %x too big",
 506                                     pTap->dotted_name, (int) w);
 507                             return JIM_ERR;
 508                     }
 509                     if ((w & 3) != 1)
 510                             LOG_WARNING("%s: nonstandard IR value",
 511                                     pTap->dotted_name);
 512                     pTap->ir_capture_value = w;
 513                     break;
 514             default:
 515                     return JIM_ERR;
 516         }
 517         return JIM_OK;
 518 }
 519
 520 static int jim_newtap_cmd(Jim_GetOptInfo *goi)
 521 {
 522         struct jtag_tap *pTap;
 523         int x;
 524         int e;
 525         Jim_Nvp *n;
 526         char *cp;
 527         const Jim_Nvp opts[] = {
 528                 { .name = "-irlen",       .value = NTAP_OPT_IRLEN },
 529                 { .name = "-irmask",       .value = NTAP_OPT_IRMASK },
 530                 { .name = "-ircapture",       .value = NTAP_OPT_IRCAPTURE },
 531                 { .name = "-enable",       .value = NTAP_OPT_ENABLED },
 532                 { .name = "-disable",       .value = NTAP_OPT_DISABLED },
 533                 { .name = "-expected-id",       .value = NTAP_OPT_EXPECTED_ID },
 534                 { .name = "-ignore-version",       .value = NTAP_OPT_VERSION },
 535                 { .name = NULL,       .value = -1 },
 536         };
 537
 538         pTap = calloc(1, sizeof(struct jtag_tap));
 539         if (!pTap) {
 540                 Jim_SetResultFormatted(goi->interp, "no memory");
 541                 return JIM_ERR;
 542         }
 543
 544         /*
 545          * we expect CHIP + TAP + OPTIONS
 546          * */
 547         if (goi->argc < 3) {
 548                 Jim_SetResultFormatted(goi->interp, "Missing CHIP TAP OPTIONS ....");
 549                 free(pTap);
 550                 return JIM_ERR;
 551         }
 552
 553         const char *tmp;
 554         Jim_GetOpt_String(goi, &tmp, NULL);
 555         pTap->chip = strdup(tmp);
 556
 557         Jim_GetOpt_String(goi, &tmp, NULL);
 558         pTap->tapname = strdup(tmp);
 559
 560         /* name + dot + name + null */
 561         x = strlen(pTap->chip) + 1 + strlen(pTap->tapname) + 1;
 562         cp = malloc(x);
 563         sprintf(cp, "%s.%s", pTap->chip, pTap->tapname);
 564         pTap->dotted_name = cp;
 565
 566         LOG_DEBUG("Creating New Tap, Chip: %s, Tap: %s, Dotted: %s, %d params",
 567                 pTap->chip, pTap->tapname, pTap->dotted_name, goi->argc);
 568
 569         if (!transport_is_jtag()) {
 570                 /* SWD doesn't require any JTAG tap parameters */
 571                 pTap->enabled = true;
 572                 jtag_tap_init(pTap);
 573                 return JIM_OK;
 574         }
 575
 576         /* IEEE specifies that the two LSBs of an IR scan are 01, so make
 577          * that the default.  The "-ircapture" and "-irmask" options are only
 578          * needed to cope with nonstandard TAPs, or to specify more bits.
 579          */
 580         pTap->ir_capture_mask = 0x03;
 581         pTap->ir_capture_value = 0x01;
 582
 583         while (goi->argc) {
 584                 e = Jim_GetOpt_Nvp(goi, opts, &n);
 585                 if (e != JIM_OK) {
 586                         Jim_GetOpt_NvpUnknown(goi, opts, 0);
 587                         free(cp);
 588                         free(pTap);
 589                         return e;
 590                 }
 591                 LOG_DEBUG("Processing option: %s", n->name);
 592                 switch (n->value) {
 593                     case NTAP_OPT_ENABLED:
 594                             pTap->disabled_after_reset = false;
 595                             break;
 596                     case NTAP_OPT_DISABLED:
 597                             pTap->disabled_after_reset = true;
 598                             break;
 599                     case NTAP_OPT_EXPECTED_ID:
 600                             e = jim_newtap_expected_id(n, goi, pTap);
 601                             if (JIM_OK != e) {
 602                                     free(cp);
 603                                     free(pTap);
 604                                     return e;
 605                             }
 606                             break;
 607                     case NTAP_OPT_IRLEN:
 608                     case NTAP_OPT_IRMASK:
 609                     case NTAP_OPT_IRCAPTURE:
 610                             e = jim_newtap_ir_param(n, goi, pTap);
 611                             if (JIM_OK != e) {
 612                                     free(cp);
 613                                     free(pTap);
 614                                     return e;
 615                             }
 616                             break;
 617                     case NTAP_OPT_VERSION:
 618                             pTap->ignore_version = true;
 619                             break;
 620                 }       /* switch (n->value) */
 621         }       /* while (goi->argc) */
 622
 623         /* default is enabled-after-reset */
 624         pTap->enabled = !pTap->disabled_after_reset;
 625
 626         /* Did all the required option bits get cleared? */
 627         if (pTap->ir_length != 0) {
 628                 jtag_tap_init(pTap);
 629                 return JIM_OK;
 630         }
 631
 632         Jim_SetResultFormatted(goi->interp,
 633                 "newtap: %s missing IR length",
 634                 pTap->dotted_name);
 635         jtag_tap_free(pTap);
 636         return JIM_ERR;
 637 }
 638
 639 static void jtag_tap_handle_event(struct jtag_tap *tap, enum jtag_event e)
 640 {
 641         struct jtag_tap_event_action *jteap;
 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                 if (Jim_EvalObj(jteap->interp, jteap->body) != JIM_OK) {
 653                         Jim_MakeErrorMessage(jteap->interp);
 654                         LOG_USER("%s", Jim_GetString(Jim_GetResult(jteap->interp), NULL));
 655                         continue;
 656                 }
 657
 658                 switch (e) {
 659                     case JTAG_TAP_EVENT_ENABLE:
 660                     case JTAG_TAP_EVENT_DISABLE:
 661                                 /* NOTE:  we currently assume the handlers
 662                                  * can't fail.  Right here is where we should
 663                                  * really be verifying the scan chains ...
 664                                  */
 665                             tap->enabled = (e == JTAG_TAP_EVENT_ENABLE);
 666                             LOG_INFO("JTAG tap: %s %s", tap->dotted_name,
 667                                 tap->enabled ? "enabled" : "disabled");
 668                             break;
 669                     default:
 670                             break;
 671                 }
 672         }
 673 }
 674
 675 static int jim_jtag_arp_init(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 676 {
 677         Jim_GetOptInfo goi;
 678         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 679         if (goi.argc != 0) {
 680                 Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
 681                 return JIM_ERR;
 682         }
 683         struct command_context *context = current_command_context(interp);
 684         int e = jtag_init_inner(context);
 685         if (e != ERROR_OK) {
 686                 Jim_Obj *eObj = Jim_NewIntObj(goi.interp, e);
 687                 Jim_SetResultFormatted(goi.interp, "error: %#s", eObj);
 688                 Jim_FreeNewObj(goi.interp, eObj);
 689                 return JIM_ERR;
 690         }
 691         return JIM_OK;
 692 }
 693
 694 static int jim_jtag_arp_init_reset(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 695 {
 696         int e = ERROR_OK;
 697         Jim_GetOptInfo goi;
 698         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 699         if (goi.argc != 0) {
 700                 Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
 701                 return JIM_ERR;
 702         }
 703         struct command_context *context = current_command_context(interp);
 704         if (transport_is_jtag())
 705                 e = jtag_init_reset(context);
 706         else if (transport_is_swd())
 707                 e = swd_init_reset(context);
 708
 709         if (e != ERROR_OK) {
 710                 Jim_Obj *eObj = Jim_NewIntObj(goi.interp, e);
 711                 Jim_SetResultFormatted(goi.interp, "error: %#s", eObj);
 712                 Jim_FreeNewObj(goi.interp, eObj);
 713                 return JIM_ERR;
 714         }
 715         return JIM_OK;
 716 }
 717
 718 int jim_jtag_newtap(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 719 {
 720         Jim_GetOptInfo goi;
 721         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 722         return jim_newtap_cmd(&goi);
 723 }
 724
 725 static bool jtag_tap_enable(struct jtag_tap *t)
 726 {
 727         if (t->enabled)
 728                 return false;
 729         jtag_tap_handle_event(t, JTAG_TAP_EVENT_ENABLE);
 730         if (!t->enabled)
 731                 return false;
 732
 733         /* FIXME add JTAG sanity checks, w/o TLR
 734          *  - scan chain length grew by one (this)
 735          *  - IDs and IR lengths are as expected
 736          */
 737         jtag_call_event_callbacks(JTAG_TAP_EVENT_ENABLE);
 738         return true;
 739 }
 740 static bool jtag_tap_disable(struct jtag_tap *t)
 741 {
 742         if (!t->enabled)
 743                 return false;
 744         jtag_tap_handle_event(t, JTAG_TAP_EVENT_DISABLE);
 745         if (t->enabled)
 746                 return false;
 747
 748         /* FIXME add JTAG sanity checks, w/o TLR
 749          *  - scan chain length shrank by one (this)
 750          *  - IDs and IR lengths are as expected
 751          */
 752         jtag_call_event_callbacks(JTAG_TAP_EVENT_DISABLE);
 753         return true;
 754 }
 755
 756 int jim_jtag_tap_enabler(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 757 {
 758         const char *cmd_name = Jim_GetString(argv[0], NULL);
 759         Jim_GetOptInfo goi;
 760         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 761         if (goi.argc != 1) {
 762                 Jim_SetResultFormatted(goi.interp, "usage: %s <name>", cmd_name);
 763                 return JIM_ERR;
 764         }
 765
 766         struct jtag_tap *t;
 767
 768         t = jtag_tap_by_jim_obj(goi.interp, goi.argv[0]);
 769         if (t == NULL)
 770                 return JIM_ERR;
 771
 772         if (strcasecmp(cmd_name, "tapisenabled") == 0) {
 773                 /* do nothing, just return the value */
 774         } else if (strcasecmp(cmd_name, "tapenable") == 0) {
 775                 if (!jtag_tap_enable(t)) {
 776                         LOG_WARNING("failed to enable tap %s", t->dotted_name);
 777                         return JIM_ERR;
 778                 }
 779         } else if (strcasecmp(cmd_name, "tapdisable") == 0) {
 780                 if (!jtag_tap_disable(t)) {
 781                         LOG_WARNING("failed to disable tap %s", t->dotted_name);
 782                         return JIM_ERR;
 783                 }
 784         } else {
 785                 LOG_ERROR("command '%s' unknown", cmd_name);
 786                 return JIM_ERR;
 787         }
 788         bool e = t->enabled;
 789         Jim_SetResult(goi.interp, Jim_NewIntObj(goi.interp, e));
 790         return JIM_OK;
 791 }
 792
 793 int jim_jtag_configure(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 794 {
 795         const char *cmd_name = Jim_GetString(argv[0], NULL);
 796         Jim_GetOptInfo goi;
 797         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 798         goi.isconfigure = !strcmp(cmd_name, "configure");
 799         if (goi.argc < 2 + goi.isconfigure) {
 800                 Jim_WrongNumArgs(goi.interp, 0, NULL,
 801                         "<tap_name> <attribute> ...");
 802                 return JIM_ERR;
 803         }
 804
 805         struct jtag_tap *t;
 806
 807         Jim_Obj *o;
 808         Jim_GetOpt_Obj(&goi, &o);
 809         t = jtag_tap_by_jim_obj(goi.interp, o);
 810         if (t == NULL)
 811                 return JIM_ERR;
 812
 813         return jtag_tap_configure_cmd(&goi, t);
 814 }
 815
 816 static int jim_jtag_names(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 817 {
 818         Jim_GetOptInfo goi;
 819         Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
 820         if (goi.argc != 0) {
 821                 Jim_WrongNumArgs(goi.interp, 1, goi.argv, "Too many parameters");
 822                 return JIM_ERR;
 823         }
 824         Jim_SetResult(goi.interp, Jim_NewListObj(goi.interp, NULL, 0));
 825         struct jtag_tap *tap;
 826
 827         for (tap = jtag_all_taps(); tap; tap = tap->next_tap) {
 828                 Jim_ListAppendElement(goi.interp,
 829                         Jim_GetResult(goi.interp),
 830                         Jim_NewStringObj(goi.interp,
 831                                 tap->dotted_name, -1));
 832         }
 833         return JIM_OK;
 834 }
 835
 836 COMMAND_HANDLER(handle_jtag_init_command)
 837 {
 838         if (CMD_ARGC != 0)
 839                 return ERROR_COMMAND_SYNTAX_ERROR;
 840
 841         static bool jtag_initialized;
 842         if (jtag_initialized) {
 843                 LOG_INFO("'jtag init' has already been called");
 844                 return ERROR_OK;
 845         }
 846         jtag_initialized = true;
 847
 848         LOG_DEBUG("Initializing jtag devices...");
 849         return jtag_init(CMD_CTX);
 850 }
 851
 852 static const struct command_registration jtag_subcommand_handlers[] = {
 853         {
 854                 .name = "init",
 855                 .mode = COMMAND_ANY,
 856                 .handler = handle_jtag_init_command,
 857                 .help = "initialize jtag scan chain",
 858                 .usage = ""
 859         },
 860         {
 861                 .name = "arp_init",
 862                 .mode = COMMAND_ANY,
 863                 .jim_handler = jim_jtag_arp_init,
 864                 .help = "Validates JTAG scan chain against the list of "
 865                         "declared TAPs using just the four standard JTAG "
 866                         "signals.",
 867         },
 868         {
 869                 .name = "arp_init-reset",
 870                 .mode = COMMAND_ANY,
 871                 .jim_handler = jim_jtag_arp_init_reset,
 872                 .help = "Uses TRST and SRST to try resetting everything on "
 873                         "the JTAG scan chain, then performs 'jtag arp_init'."
 874         },
 875         {
 876                 .name = "newtap",
 877                 .mode = COMMAND_CONFIG,
 878                 .jim_handler = jim_jtag_newtap,
 879                 .help = "Create a new TAP instance named basename.tap_type, "
 880                         "and appends it to the scan chain.",
 881                 .usage = "basename tap_type '-irlen' count "
 882                         "['-enable'|'-disable'] "
 883                         "['-expected_id' number] "
 884                         "['-ignore-version'] "
 885                         "['-ircapture' number] "
 886                         "['-mask' number] ",
 887         },
 888         {
 889                 .name = "tapisenabled",
 890                 .mode = COMMAND_EXEC,
 891                 .jim_handler = jim_jtag_tap_enabler,
 892                 .help = "Returns a Tcl boolean (0/1) indicating whether "
 893                         "the TAP is enabled (1) or not (0).",
 894                 .usage = "tap_name",
 895         },
 896         {
 897                 .name = "tapenable",
 898                 .mode = COMMAND_EXEC,
 899                 .jim_handler = jim_jtag_tap_enabler,
 900                 .help = "Try to enable the specified TAP using the "
 901                         "'tap-enable' TAP event.",
 902                 .usage = "tap_name",
 903         },
 904         {
 905                 .name = "tapdisable",
 906                 .mode = COMMAND_EXEC,
 907                 .jim_handler = jim_jtag_tap_enabler,
 908                 .help = "Try to disable the specified TAP using the "
 909                         "'tap-disable' TAP event.",
 910                 .usage = "tap_name",
 911         },
 912         {
 913                 .name = "configure",
 914                 .mode = COMMAND_ANY,
 915                 .jim_handler = jim_jtag_configure,
 916                 .help = "Provide a Tcl handler for the specified "
 917                         "TAP event.",
 918                 .usage = "tap_name '-event' event_name handler",
 919         },
 920         {
 921                 .name = "cget",
 922                 .mode = COMMAND_EXEC,
 923                 .jim_handler = jim_jtag_configure,
 924                 .help = "Return any Tcl handler for the specified "
 925                         "TAP event.",
 926                 .usage = "tap_name '-event' event_name",
 927         },
 928         {
 929                 .name = "names",
 930                 .mode = COMMAND_ANY,
 931                 .jim_handler = jim_jtag_names,
 932                 .help = "Returns list of all JTAG tap names.",
 933         },
 934         {
 935                 .chain = jtag_command_handlers_to_move,
 936         },
 937         COMMAND_REGISTRATION_DONE
 938 };
 939
 940 void jtag_notify_event(enum jtag_event event)
 941 {
 942         struct jtag_tap *tap;
 943
 944         for (tap = jtag_all_taps(); tap; tap = tap->next_tap)
 945                 jtag_tap_handle_event(tap, event);
 946 }
 947
 948
 949 COMMAND_HANDLER(handle_scan_chain_command)
 950 {
 951         struct jtag_tap *tap;
 952         char expected_id[12];
 953
 954         tap = jtag_all_taps();
 955         command_print(CMD_CTX,
 956                 "   TapName             Enabled  IdCode     Expected   IrLen IrCap IrMask");
 957         command_print(CMD_CTX,
 958                 "-- ------------------- -------- ---------- ---------- ----- ----- ------");
 959
 960         while (tap) {
 961                 uint32_t expected, expected_mask, ii;
 962
 963                 snprintf(expected_id, sizeof expected_id, "0x%08x",
 964                         (unsigned)((tap->expected_ids_cnt > 0)
 965                                    ? tap->expected_ids[0]
 966                                    : 0));
 967                 if (tap->ignore_version)
 968                         expected_id[2] = '*';
 969
 970                 expected = buf_get_u32(tap->expected, 0, tap->ir_length);
 971                 expected_mask = buf_get_u32(tap->expected_mask, 0, tap->ir_length);
 972
 973                 command_print(CMD_CTX,
 974                         "%2d %-18s     %c     0x%08x %s %5d 0x%02x  0x%02x",
 975                         tap->abs_chain_position,
 976                         tap->dotted_name,
 977                         tap->enabled ? 'Y' : 'n',
 978                         (unsigned int)(tap->idcode),
 979                         expected_id,
 980                         (unsigned int)(tap->ir_length),
 981                         (unsigned int)(expected),
 982                         (unsigned int)(expected_mask));
 983
 984                 for (ii = 1; ii < tap->expected_ids_cnt; ii++) {
 985                         snprintf(expected_id, sizeof expected_id, "0x%08x",
 986                                 (unsigned) tap->expected_ids[ii]);
 987                         if (tap->ignore_version)
 988                                 expected_id[2] = '*';
 989
 990                         command_print(CMD_CTX,
 991                                 "                                           %s",
 992                                 expected_id);
 993                 }
 994
 995                 tap = tap->next_tap;
 996         }
 997
 998         return ERROR_OK;
 999 }
1000
1001 COMMAND_HANDLER(handle_jtag_ntrst_delay_command)
1002 {
1003         if (CMD_ARGC > 1)
1004                 return ERROR_COMMAND_SYNTAX_ERROR;
1005         if (CMD_ARGC == 1) {
1006                 unsigned delay;
1007                 COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
1008
1009                 jtag_set_ntrst_delay(delay);
1010         }
1011         command_print(CMD_CTX, "jtag_ntrst_delay: %u", jtag_get_ntrst_delay());
1012         return ERROR_OK;
1013 }
1014
1015 COMMAND_HANDLER(handle_jtag_ntrst_assert_width_command)
1016 {
1017         if (CMD_ARGC > 1)
1018                 return ERROR_COMMAND_SYNTAX_ERROR;
1019         if (CMD_ARGC == 1) {
1020                 unsigned delay;
1021                 COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
1022
1023                 jtag_set_ntrst_assert_width(delay);
1024         }
1025         command_print(CMD_CTX, "jtag_ntrst_assert_width: %u", jtag_get_ntrst_assert_width());
1026         return ERROR_OK;
1027 }
1028
1029 COMMAND_HANDLER(handle_jtag_rclk_command)
1030 {
1031         if (CMD_ARGC > 1)
1032                 return ERROR_COMMAND_SYNTAX_ERROR;
1033
1034         int retval = ERROR_OK;
1035         if (CMD_ARGC == 1) {
1036                 unsigned khz = 0;
1037                 COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], khz);
1038
1039                 retval = jtag_config_rclk(khz);
1040                 if (ERROR_OK != retval)
1041                         return retval;
1042         }
1043
1044         int cur_khz = jtag_get_speed_khz();
1045         retval = jtag_get_speed_readable(&cur_khz);
1046         if (ERROR_OK != retval)
1047                 return retval;
1048
1049         if (cur_khz)
1050                 command_print(CMD_CTX, "RCLK not supported - fallback to %d kHz", cur_khz);
1051         else
1052                 command_print(CMD_CTX, "RCLK - adaptive");
1053
1054         return retval;
1055 }
1056
1057 COMMAND_HANDLER(handle_jtag_reset_command)
1058 {
1059         if (CMD_ARGC != 2)
1060                 return ERROR_COMMAND_SYNTAX_ERROR;
1061
1062         int trst = -1;
1063         if (CMD_ARGV[0][0] == '1')
1064                 trst = 1;
1065         else if (CMD_ARGV[0][0] == '0')
1066                 trst = 0;
1067         else
1068                 return ERROR_COMMAND_SYNTAX_ERROR;
1069
1070         int srst = -1;
1071         if (CMD_ARGV[1][0] == '1')
1072                 srst = 1;
1073         else if (CMD_ARGV[1][0] == '0')
1074                 srst = 0;
1075         else
1076                 return ERROR_COMMAND_SYNTAX_ERROR;
1077
1078         if (adapter_init(CMD_CTX) != ERROR_OK)
1079                 return ERROR_JTAG_INIT_FAILED;
1080
1081         jtag_add_reset(trst, srst);
1082         return jtag_execute_queue();
1083 }
1084
1085 COMMAND_HANDLER(handle_runtest_command)
1086 {
1087         if (CMD_ARGC != 1)
1088                 return ERROR_COMMAND_SYNTAX_ERROR;
1089
1090         unsigned num_clocks;
1091         COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], num_clocks);
1092
1093         jtag_add_runtest(num_clocks, TAP_IDLE);
1094         return jtag_execute_queue();
1095 }
1096
1097 /*
1098  * For "irscan" or "drscan" commands, the "end" (really, "next") state
1099  * should be stable ... and *NOT* a shift state, otherwise free-running
1100  * jtag clocks could change the values latched by the update state.
1101  * Not surprisingly, this is the same constraint as SVF; the "irscan"
1102  * and "drscan" commands are a write-only subset of what SVF provides.
1103  */
1104
1105 COMMAND_HANDLER(handle_irscan_command)
1106 {
1107         int i;
1108         struct scan_field *fields;
1109         struct jtag_tap *tap = NULL;
1110         tap_state_t endstate;
1111
1112         if ((CMD_ARGC < 2) || (CMD_ARGC % 2))
1113                 return ERROR_COMMAND_SYNTAX_ERROR;
1114
1115         /* optional "-endstate" "statename" at the end of the arguments,
1116          * so that e.g. IRPAUSE can let us load the data register before
1117          * entering RUN/IDLE to execute the instruction we load here.
1118          */
1119         endstate = TAP_IDLE;
1120
1121         if (CMD_ARGC >= 4) {
1122                 /* have at least one pair of numbers.
1123                  * is last pair the magic text? */
1124                 if (strcmp("-endstate", CMD_ARGV[CMD_ARGC - 2]) == 0) {
1125                         endstate = tap_state_by_name(CMD_ARGV[CMD_ARGC - 1]);
1126                         if (endstate == TAP_INVALID)
1127                                 return ERROR_COMMAND_SYNTAX_ERROR;
1128                         if (!scan_is_safe(endstate))
1129                                 LOG_WARNING("unstable irscan endstate \"%s\"",
1130                                         CMD_ARGV[CMD_ARGC - 1]);
1131                         CMD_ARGC -= 2;
1132                 }
1133         }
1134
1135         int num_fields = CMD_ARGC / 2;
1136         if (num_fields > 1) {
1137                 /* we really should be looking at plain_ir_scan if we want
1138                  * anything more fancy.
1139                  */
1140                 LOG_ERROR("Specify a single value for tap");
1141                 return ERROR_COMMAND_SYNTAX_ERROR;
1142         }
1143
1144         fields = calloc(num_fields, sizeof(*fields));
1145
1146         int retval;
1147         for (i = 0; i < num_fields; i++) {
1148                 tap = jtag_tap_by_string(CMD_ARGV[i*2]);
1149                 if (tap == NULL) {
1150                         free(fields);
1151                         command_print(CMD_CTX, "Tap: %s unknown", CMD_ARGV[i*2]);
1152
1153                         return ERROR_FAIL;
1154                 }
1155                 int field_size = tap->ir_length;
1156                 fields[i].num_bits = field_size;
1157                 uint8_t *v = malloc(DIV_ROUND_UP(field_size, 8));
1158
1159                 uint64_t value;
1160                 retval = parse_u64(CMD_ARGV[i * 2 + 1], &value);
1161                 if (ERROR_OK != retval)
1162                         goto error_return;
1163                 buf_set_u64(v, 0, field_size, value);
1164                 fields[i].out_value = v;
1165                 fields[i].in_value = NULL;
1166         }
1167
1168         /* did we have an endstate? */
1169         jtag_add_ir_scan(tap, fields, endstate);
1170
1171         retval = jtag_execute_queue();
1172
1173 error_return:
1174         for (i = 0; i < num_fields; i++) {
1175                 if (NULL != fields[i].out_value)
1176                         free((void *)fields[i].out_value);
1177         }
1178
1179         free(fields);
1180
1181         return retval;
1182 }
1183
1184 COMMAND_HANDLER(handle_verify_ircapture_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_capture_ir(enable);
1193         }
1194
1195         const char *status = jtag_will_verify_capture_ir() ? "enabled" : "disabled";
1196         command_print(CMD_CTX, "verify Capture-IR is %s", status);
1197
1198         return ERROR_OK;
1199 }
1200
1201 COMMAND_HANDLER(handle_verify_jtag_command)
1202 {
1203         if (CMD_ARGC > 1)
1204                 return ERROR_COMMAND_SYNTAX_ERROR;
1205
1206         if (CMD_ARGC == 1) {
1207                 bool enable;
1208                 COMMAND_PARSE_ENABLE(CMD_ARGV[0], enable);
1209                 jtag_set_verify(enable);
1210         }
1211
1212         const char *status = jtag_will_verify() ? "enabled" : "disabled";
1213         command_print(CMD_CTX, "verify jtag capture is %s", status);
1214
1215         return ERROR_OK;
1216 }
1217
1218 COMMAND_HANDLER(handle_tms_sequence_command)
1219 {
1220         if (CMD_ARGC > 1)
1221                 return ERROR_COMMAND_SYNTAX_ERROR;
1222
1223         if (CMD_ARGC == 1) {
1224                 bool use_new_table;
1225                 if (strcmp(CMD_ARGV[0], "short") == 0)
1226                         use_new_table = true;
1227                 else if (strcmp(CMD_ARGV[0], "long") == 0)
1228                         use_new_table = false;
1229                 else
1230                         return ERROR_COMMAND_SYNTAX_ERROR;
1231
1232                 tap_use_new_tms_table(use_new_table);
1233         }
1234
1235         command_print(CMD_CTX, "tms sequence is  %s",
1236                 tap_uses_new_tms_table() ? "short" : "long");
1237
1238         return ERROR_OK;
1239 }
1240
1241 COMMAND_HANDLER(handle_jtag_flush_queue_sleep)
1242 {
1243         if (CMD_ARGC != 1)
1244                 return ERROR_COMMAND_SYNTAX_ERROR;
1245
1246         int sleep_ms;
1247         COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], sleep_ms);
1248
1249         jtag_set_flush_queue_sleep(sleep_ms);
1250
1251         return ERROR_OK;
1252 }
1253
1254 COMMAND_HANDLER(handle_wait_srst_deassert)
1255 {
1256         if (CMD_ARGC != 1)
1257                 return ERROR_COMMAND_SYNTAX_ERROR;
1258
1259         int timeout_ms;
1260         COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], timeout_ms);
1261         if ((timeout_ms <= 0) || (timeout_ms > 100000)) {
1262                 LOG_ERROR("Timeout must be an integer between 0 and 100000");
1263                 return ERROR_FAIL;
1264         }
1265
1266         LOG_USER("Waiting for srst assert + deassert for at most %dms", timeout_ms);
1267         int asserted_yet;
1268         int64_t then = timeval_ms();
1269         while (jtag_srst_asserted(&asserted_yet) == ERROR_OK) {
1270                 if ((timeval_ms() - then) > timeout_ms) {
1271                         LOG_ERROR("Timed out");
1272                         return ERROR_FAIL;
1273                 }
1274                 if (asserted_yet)
1275                         break;
1276         }
1277         while (jtag_srst_asserted(&asserted_yet) == ERROR_OK) {
1278                 if ((timeval_ms() - then) > timeout_ms) {
1279                         LOG_ERROR("Timed out");
1280                         return ERROR_FAIL;
1281                 }
1282                 if (!asserted_yet)
1283                         break;
1284         }
1285
1286         return ERROR_OK;
1287 }
1288
1289 static const struct command_registration jtag_command_handlers[] = {
1290
1291         {
1292                 .name = "jtag_flush_queue_sleep",
1293                 .handler = handle_jtag_flush_queue_sleep,
1294                 .mode = COMMAND_ANY,
1295                 .help = "For debug purposes(simulate long delays of interface) "
1296                         "to test performance or change in behavior. Default 0ms.",
1297                 .usage = "[sleep in ms]",
1298         },
1299         {
1300                 .name = "jtag_rclk",
1301                 .handler = handle_jtag_rclk_command,
1302                 .mode = COMMAND_ANY,
1303                 .help = "With an argument, change to to use adaptive clocking "
1304                         "if possible; else to use the fallback speed.  "
1305                         "With or without argument, display current setting.",
1306                 .usage = "[fallback_speed_khz]",
1307         },
1308         {
1309                 .name = "jtag_ntrst_delay",
1310                 .handler = handle_jtag_ntrst_delay_command,
1311                 .mode = COMMAND_ANY,
1312                 .help = "delay after deasserting trst in ms",
1313                 .usage = "[milliseconds]",
1314         },
1315         {
1316                 .name = "jtag_ntrst_assert_width",
1317                 .handler = handle_jtag_ntrst_assert_width_command,
1318                 .mode = COMMAND_ANY,
1319                 .help = "delay after asserting trst in ms",
1320                 .usage = "[milliseconds]",
1321         },
1322         {
1323                 .name = "scan_chain",
1324                 .handler = handle_scan_chain_command,
1325                 .mode = COMMAND_ANY,
1326                 .help = "print current scan chain configuration",
1327                 .usage = ""
1328         },
1329         {
1330                 .name = "jtag_reset",
1331                 .handler = handle_jtag_reset_command,
1332                 .mode = COMMAND_EXEC,
1333                 .help = "Set reset line values.  Value '1' is active, "
1334                         "value '0' is inactive.",
1335                 .usage = "trst_active srst_active",
1336         },
1337         {
1338                 .name = "runtest",
1339                 .handler = handle_runtest_command,
1340                 .mode = COMMAND_EXEC,
1341                 .help = "Move to Run-Test/Idle, and issue TCK for num_cycles.",
1342                 .usage = "num_cycles"
1343         },
1344         {
1345                 .name = "irscan",
1346                 .handler = handle_irscan_command,
1347                 .mode = COMMAND_EXEC,
1348                 .help = "Execute Instruction Register (DR) scan.  The "
1349                         "specified opcodes are put into each TAP's IR, "
1350                         "and other TAPs are put in BYPASS.",
1351                 .usage = "[tap_name instruction]* ['-endstate' state_name]",
1352         },
1353         {
1354                 .name = "verify_ircapture",
1355                 .handler = handle_verify_ircapture_command,
1356                 .mode = COMMAND_ANY,
1357                 .help = "Display or assign flag controlling whether to "
1358                         "verify values captured during Capture-IR.",
1359                 .usage = "['enable'|'disable']",
1360         },
1361         {
1362                 .name = "verify_jtag",
1363                 .handler = handle_verify_jtag_command,
1364                 .mode = COMMAND_ANY,
1365                 .help = "Display or assign flag controlling whether to "
1366                         "verify values captured during IR and DR scans.",
1367                 .usage = "['enable'|'disable']",
1368         },
1369         {
1370                 .name = "tms_sequence",
1371                 .handler = handle_tms_sequence_command,
1372                 .mode = COMMAND_ANY,
1373                 .help = "Display or change what style TMS sequences to use "
1374                         "for JTAG state transitions:  short (default) or "
1375                         "long.  Only for working around JTAG bugs.",
1376                 /* Specifically for working around DRIVER bugs... */
1377                 .usage = "['short'|'long']",
1378         },
1379         {
1380                 .name = "wait_srst_deassert",
1381                 .handler = handle_wait_srst_deassert,
1382                 .mode = COMMAND_ANY,
1383                 .help = "Wait for an SRST deassert. "
1384                         "Useful for cases where you need something to happen within ms "
1385                         "of an srst deassert. Timeout in ms ",
1386                 .usage = "ms",
1387         },
1388         {
1389                 .name = "jtag",
1390                 .mode = COMMAND_ANY,
1391                 .help = "perform jtag tap actions",
1392                 .usage = "",
1393
1394                 .chain = jtag_subcommand_handlers,
1395         },
1396         {
1397                 .chain = jtag_command_handlers_to_move,
1398         },
1399         COMMAND_REGISTRATION_DONE
1400 };
1401
1402 int jtag_register_commands(struct command_context *cmd_ctx)
1403 {
1404         return register_commands(cmd_ctx, NULL, jtag_command_handlers);
1405 }