jtag/tcl.c

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// SPDX-License-Identifier: GPL-2.0-or-later
 
/***************************************************************************
 *   Copyright (C) 2005 by Dominic Rath                                    *
 *   Dominic.Rath@gmx.de                                                   *
 *                                                                         *
 *   Copyright (C) 2007-2010 Øyvind Harboe                                 *
 *   oyvind.harboe@zylin.com                                               *
 *                                                                         *
 *   Copyright (C) 2009 SoftPLC Corporation                                *
 *       http://softplc.com                                                *
 *   dick@softplc.com                                                      *
 *                                                                         *
 *   Copyright (C) 2009 Zachary T Welch                                    *
 *   zw@superlucidity.net                                                  *
 ***************************************************************************/
 
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
 
#include "adapter.h"
#include "jtag.h"
#include "swd.h"
#include "minidriver.h"
#include "interface.h"
#include "interfaces.h"
#include "tcl.h"
 
#ifdef HAVE_STRINGS_H
#include <strings.h>
#endif
 
#include <helper/command.h>
#include <helper/nvp.h>
#include <helper/time_support.h>
#include "transport/transport.h"
 
static const struct nvp nvp_jtag_tap_event[] = {
    { .value = JTAG_TRST_ASSERTED,          .name = "post-reset" },
    { .value = JTAG_TAP_EVENT_SETUP,        .name = "setup" },
    { .value = JTAG_TAP_EVENT_ENABLE,       .name = "tap-enable" },
    { .value = JTAG_TAP_EVENT_DISABLE,      .name = "tap-disable" },
 
    { .name = NULL, .value = -1 }
};
 
struct jtag_tap *jtag_tap_by_jim_obj(Jim_Interp *interp, Jim_Obj *o)
{
    const char *cp = Jim_GetString(o, NULL);
    struct jtag_tap *t = cp ? jtag_tap_by_string(cp) : NULL;
    if (!cp)
        cp = "(unknown)";
    if (!t)
        Jim_SetResultFormatted(interp, "Tap '%s' could not be found", cp);
    return t;
}
 
static bool scan_is_safe(tap_state_t state)
{
    switch (state) {
        case TAP_RESET:
        case TAP_IDLE:
        case TAP_DRPAUSE:
        case TAP_IRPAUSE:
            return true;
        default:
            return false;
    }
}
 
static COMMAND_HELPER(handle_jtag_command_drscan_fields, struct scan_field *fields)
{
    unsigned int field_count = 0;
    for (unsigned int i = 1; i < CMD_ARGC; i += 2) {
        unsigned int bits;
        COMMAND_PARSE_NUMBER(uint, CMD_ARGV[i], bits);
        fields[field_count].num_bits = bits;
 
        void *t = malloc(DIV_ROUND_UP(bits, 8));
        if (!t) {
            LOG_ERROR("Out of memory");
            return ERROR_FAIL;
        }
        fields[field_count].out_value = t;
        str_to_buf(CMD_ARGV[i + 1], strlen(CMD_ARGV[i + 1]), t, bits, 0);
        fields[field_count].in_value = t;
        field_count++;
    }
 
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_jtag_command_drscan)
{
    /*
     * CMD_ARGV[0] = device
     * CMD_ARGV[1] = num_bits
     * CMD_ARGV[2] = hex string
     * ... repeat num bits and hex string ...
     *
     * ... optionally:
     * CMD_ARGV[CMD_ARGC-2] = "-endstate"
     * CMD_ARGV[CMD_ARGC-1] = statename
     */
 
    if (CMD_ARGC < 3 || (CMD_ARGC % 2) != 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    struct jtag_tap *tap = jtag_tap_by_string(CMD_ARGV[0]);
    if (!tap) {
        command_print(CMD, "Tap '%s' could not be found", CMD_ARGV[0]);
        return ERROR_COMMAND_ARGUMENT_INVALID;
    }
 
    if (tap->bypass) {
        command_print(CMD, "Can't execute as the selected tap is in BYPASS");
        return ERROR_FAIL;
    }
 
    tap_state_t endstate = TAP_IDLE;
    if (CMD_ARGC > 3 && !strcmp("-endstate", CMD_ARGV[CMD_ARGC - 2])) {
        const char *state_name = CMD_ARGV[CMD_ARGC - 1];
        endstate = tap_state_by_name(state_name);
        if (endstate < 0) {
            command_print(CMD, "endstate: %s invalid", state_name);
            return ERROR_COMMAND_ARGUMENT_INVALID;
        }
 
        if (!scan_is_safe(endstate))
            LOG_WARNING("drscan with unsafe endstate \"%s\"", state_name);
 
        CMD_ARGC -= 2;
    }
 
    unsigned int num_fields = (CMD_ARGC - 1) / 2;
    struct scan_field *fields = calloc(num_fields, sizeof(struct scan_field));
    if (!fields) {
        LOG_ERROR("Out of memory");
        return ERROR_FAIL;
    }
 
    int retval = CALL_COMMAND_HANDLER(handle_jtag_command_drscan_fields, fields);
    if (retval != ERROR_OK)
        goto fail;
 
    jtag_add_dr_scan(tap, num_fields, fields, endstate);
 
    retval = jtag_execute_queue();
    if (retval != ERROR_OK) {
        command_print(CMD, "drscan: jtag execute failed");
        goto fail;
    }
 
    for (unsigned int i = 0; i < num_fields; i++) {
        char *str = buf_to_hex_str(fields[i].in_value, fields[i].num_bits);
        command_print(CMD, "%s", str);
        free(str);
    }
 
fail:
    for (unsigned int i = 0; i < num_fields; i++)
        free(fields[i].in_value);
    free(fields);
 
    return retval;
}
 
COMMAND_HANDLER(handle_jtag_command_pathmove)
{
    tap_state_t states[8];
 
    if (CMD_ARGC < 1 || CMD_ARGC > ARRAY_SIZE(states))
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    for (unsigned int i = 0; i < CMD_ARGC; i++) {
        states[i] = tap_state_by_name(CMD_ARGV[i]);
        if (states[i] < 0) {
            command_print(CMD, "endstate: %s invalid", CMD_ARGV[i]);
            return ERROR_COMMAND_ARGUMENT_INVALID;
        }
    }
 
    int retval = jtag_add_statemove(states[0]);
    if (retval == ERROR_OK)
        retval = jtag_execute_queue();
    if (retval != ERROR_OK) {
        command_print(CMD, "pathmove: jtag execute failed");
        return retval;
    }
 
    jtag_add_pathmove(CMD_ARGC - 1, states + 1);
    retval = jtag_execute_queue();
    if (retval != ERROR_OK) {
        command_print(CMD, "pathmove: failed");
        return retval;
    }
 
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_jtag_flush_count)
{
    if (CMD_ARGC != 0)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    int count = jtag_get_flush_queue_count();
    command_print_sameline(CMD, "%d", count);
 
    return ERROR_OK;
}
 
/* REVISIT Just what about these should "move" ... ?
 * These registrations, into the main JTAG table?
 *
 * There's a minor compatibility issue, these all show up twice;
 * that's not desirable:
 *  - jtag drscan ... NOT DOCUMENTED!
 *  - drscan ...
 *
 * The "irscan" command (for example) doesn't show twice.
 */
static const struct command_registration jtag_command_handlers_to_move[] = {
    {
        .name = "drscan",
        .mode = COMMAND_EXEC,
        .handler = handle_jtag_command_drscan,
        .help = "Execute Data Register (DR) scan for one TAP.  "
            "Other TAPs must be in BYPASS mode.",
        .usage = "tap_name (num_bits value)+ ['-endstate' state_name]",
    },
    {
        .name = "flush_count",
        .mode = COMMAND_EXEC,
        .handler = handle_jtag_flush_count,
        .help = "Returns the number of times the JTAG queue "
            "has been flushed.",
        .usage = "",
    },
    {
        .name = "pathmove",
        .mode = COMMAND_EXEC,
        .handler = handle_jtag_command_pathmove,
        .usage = "start_state state1 [state2 [state3 ...]]",
        .help = "Move JTAG state machine from current state "
            "(start_state) to state1, then state2, state3, etc.",
    },
    COMMAND_REGISTRATION_DONE
};
 
 
enum jtag_tap_cfg_param {
    JCFG_EVENT,
    JCFG_IDCODE,
};
 
static struct nvp nvp_config_opts[] = {
    { .name = "-event",      .value = JCFG_EVENT },
    { .name = "-idcode",     .value = JCFG_IDCODE },
 
    { .name = NULL,          .value = -1 }
};
 
static int jtag_tap_set_event(struct command_context *cmd_ctx, struct jtag_tap *tap,
         const struct nvp *event, Jim_Obj *body)
{
    struct jtag_tap_event_action *jteap = tap->event_action;
 
    while (jteap) {
        if (jteap->event == (enum jtag_event)event->value)
            break;
        jteap = jteap->next;
    }
 
    if (!jteap) {
        jteap = calloc(1, sizeof(*jteap));
        if (!jteap) {
            LOG_ERROR("Out of memory");
            return ERROR_FAIL;
        }
 
        /* add to head of event list */
        jteap->next = tap->event_action;
        tap->event_action = jteap;
    } else {
        Jim_DecrRefCount(cmd_ctx->interp, jteap->body);
    }
 
    jteap->interp = cmd_ctx->interp;
    jteap->event = (enum jtag_event)event->value;
    jteap->body = Jim_DuplicateObj(cmd_ctx->interp, body);
    Jim_IncrRefCount(jteap->body);
 
    return ERROR_OK;
}
 
__COMMAND_HANDLER(handle_jtag_configure)
{
    bool is_configure = !strcmp(CMD_NAME, "configure");
 
    if (CMD_ARGC < (is_configure ? 3 : 2))
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    /* FIXME: rework jtag_tap_by_jim_obj */
    struct jtag_tap *tap = jtag_tap_by_jim_obj(CMD_CTX->interp, CMD_JIMTCL_ARGV[0]);
    if (!tap)
        return ERROR_FAIL;
 
    for (unsigned int i = 1; i < CMD_ARGC; i++) {
        const struct nvp *n = nvp_name2value(nvp_config_opts, CMD_ARGV[i]);
        switch (n->value) {
        case JCFG_EVENT:
            if (i + (is_configure ? 2 : 1) >= CMD_ARGC) {
                command_print(CMD, "wrong # args: should be \"-event <event-name>%s\"",
                        is_configure ? " <event-body>" : "");
                return ERROR_COMMAND_ARGUMENT_INVALID;
            }
 
            const struct nvp *event = nvp_name2value(nvp_jtag_tap_event, CMD_ARGV[i + 1]);
            if (!event->name) {
                nvp_unknown_command_print(CMD, nvp_jtag_tap_event, CMD_ARGV[i], CMD_ARGV[i + 1]);
                return ERROR_COMMAND_ARGUMENT_INVALID;
            }
 
            if (is_configure) {
                int retval = jtag_tap_set_event(CMD_CTX, tap, event, CMD_JIMTCL_ARGV[i + 2]);
                if (retval != ERROR_OK)
                    return retval;
            } else {
                struct jtag_tap_event_action *jteap = tap->event_action;
                while (jteap) {
                    if (jteap->event == (enum jtag_event)event->value) {
                        command_print(CMD, "%s", Jim_GetString(jteap->body, NULL));
                        break;
                    }
                    jteap = jteap->next;
                }
            }
 
            i += is_configure ? 2 : 1;
            break;
        case JCFG_IDCODE:
            if (is_configure) {
                command_print(CMD, "not settable: %s", n->name);
                return ERROR_COMMAND_ARGUMENT_INVALID;
            }
            command_print(CMD, "0x%08x", tap->idcode);
            break;
        default:
            nvp_unknown_command_print(CMD, nvp_config_opts, NULL, CMD_ARGV[i]);
            return ERROR_COMMAND_ARGUMENT_INVALID;
        }
    }
    return ERROR_OK;
}
 
#define NTAP_OPT_IRLEN     0
#define NTAP_OPT_IRMASK    1
#define NTAP_OPT_IRCAPTURE 2
#define NTAP_OPT_ENABLED   3
#define NTAP_OPT_DISABLED  4
#define NTAP_OPT_EXPECTED_ID 5
#define NTAP_OPT_VERSION   6
#define NTAP_OPT_BYPASS    7
#define NTAP_OPT_IRBYPASS    8
 
static const struct nvp jtag_newtap_opts[] = {
    { .name = "-irlen",          .value = NTAP_OPT_IRLEN },
    { .name = "-irmask",         .value = NTAP_OPT_IRMASK },
    { .name = "-ircapture",      .value = NTAP_OPT_IRCAPTURE },
    { .name = "-enable",         .value = NTAP_OPT_ENABLED },
    { .name = "-disable",        .value = NTAP_OPT_DISABLED },
    { .name = "-expected-id",    .value = NTAP_OPT_EXPECTED_ID },
    { .name = "-ignore-version", .value = NTAP_OPT_VERSION },
    { .name = "-ignore-bypass",  .value = NTAP_OPT_BYPASS },
    { .name = "-ir-bypass",      .value = NTAP_OPT_IRBYPASS },
    { .name = NULL,              .value = -1 },
};
 
static COMMAND_HELPER(handle_jtag_newtap_args, struct jtag_tap *tap)
{
    /* we expect CHIP + TAP + OPTIONS */
    if (CMD_ARGC < 2)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    tap->chip = strdup(CMD_ARGV[0]);
    tap->tapname = strdup(CMD_ARGV[1]);
    tap->dotted_name = alloc_printf("%s.%s", CMD_ARGV[0], CMD_ARGV[1]);
    if (!tap->chip || !tap->tapname || !tap->dotted_name) {
        LOG_ERROR("Out of memory");
        return ERROR_FAIL;
    }
    CMD_ARGC -= 2;
    CMD_ARGV += 2;
 
    LOG_DEBUG("Creating New Tap, Chip: %s, Tap: %s, Dotted: %s, %d params",
          tap->chip, tap->tapname, tap->dotted_name, CMD_ARGC);
 
    /*
     * IEEE specifies that the two LSBs of an IR scan are 01, so make
     * that the default.  The "-ircapture" and "-irmask" options are only
     * needed to cope with nonstandard TAPs, or to specify more bits.
     */
    tap->ir_capture_mask = 0x03;
    tap->ir_capture_value = 0x01;
 
    while (CMD_ARGC) {
        const struct nvp *n = nvp_name2value(jtag_newtap_opts, CMD_ARGV[0]);
        CMD_ARGC--;
        CMD_ARGV++;
        switch (n->value) {
        case NTAP_OPT_ENABLED:
            tap->disabled_after_reset = false;
            break;
 
        case NTAP_OPT_DISABLED:
            tap->disabled_after_reset = true;
            break;
 
        case NTAP_OPT_EXPECTED_ID:
            if (!CMD_ARGC)
                return ERROR_COMMAND_ARGUMENT_INVALID;
 
            tap->expected_ids = realloc(tap->expected_ids,
                                        (tap->expected_ids_cnt + 1) * sizeof(uint32_t));
            if (!tap->expected_ids) {
                LOG_ERROR("Out of memory");
                return ERROR_FAIL;
            }
 
            uint32_t id;
            COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], id);
            CMD_ARGC--;
            CMD_ARGV++;
            tap->expected_ids[tap->expected_ids_cnt++] = id;
 
            break;
 
        case NTAP_OPT_IRLEN:
            if (!CMD_ARGC)
                return ERROR_COMMAND_ARGUMENT_INVALID;
 
            COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tap->ir_length);
            CMD_ARGC--;
            CMD_ARGV++;
            if (tap->ir_length > (int)(8 * sizeof(tap->ir_capture_value)))
                LOG_WARNING("%s: huge IR length %d", tap->dotted_name, tap->ir_length);
            break;
 
        case NTAP_OPT_IRMASK:
            if (!CMD_ARGC)
                return ERROR_COMMAND_ARGUMENT_INVALID;
 
            COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], tap->ir_capture_mask);
            CMD_ARGC--;
            CMD_ARGV++;
            if ((tap->ir_capture_mask & 3) != 3)
                LOG_WARNING("%s: nonstandard IR mask", tap->dotted_name);
            break;
 
        case NTAP_OPT_IRCAPTURE:
            if (!CMD_ARGC)
                return ERROR_COMMAND_ARGUMENT_INVALID;
 
            COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], tap->ir_capture_value);
            CMD_ARGC--;
            CMD_ARGV++;
            if ((tap->ir_capture_value & 3) != 1)
                LOG_WARNING("%s: nonstandard IR value", tap->dotted_name);
            break;
 
        case NTAP_OPT_VERSION:
            tap->ignore_version = true;
            break;
 
        case NTAP_OPT_BYPASS:
            tap->ignore_bypass = true;
            break;
 
        case NTAP_OPT_IRBYPASS:
            if (!CMD_ARGC)
                return ERROR_COMMAND_ARGUMENT_INVALID;
 
            COMMAND_PARSE_NUMBER(u64, CMD_ARGV[0], tap->ir_bypass_value);
            CMD_ARGC--;
            CMD_ARGV++;
            break;
 
        default:
            nvp_unknown_command_print(CMD, jtag_newtap_opts, NULL, CMD_ARGV[-1]);
            return ERROR_COMMAND_ARGUMENT_INVALID;
        }
    }
 
    /* default is enabled-after-reset */
    tap->enabled = !tap->disabled_after_reset;
 
    if (transport_is_jtag() && tap->ir_length == 0) {
        command_print(CMD, "newtap: %s missing IR length", tap->dotted_name);
        return ERROR_COMMAND_ARGUMENT_INVALID;
    }
 
    return ERROR_OK;
}
 
__COMMAND_HANDLER(handle_jtag_newtap)
{
    struct jtag_tap *tap = calloc(1, sizeof(struct jtag_tap));
    if (!tap) {
        LOG_ERROR("Out of memory");
        return ERROR_FAIL;
    }
 
    int retval = CALL_COMMAND_HANDLER(handle_jtag_newtap_args, tap);
    if (retval != ERROR_OK) {
        free(tap->chip);
        free(tap->tapname);
        free(tap->dotted_name);
        free(tap->expected_ids);
        free(tap);
        return retval;
    }
 
    jtag_tap_init(tap);
    return ERROR_OK;
}
 
static void jtag_tap_handle_event(struct jtag_tap *tap, enum jtag_event e)
{
    struct jtag_tap_event_action *jteap;
    int retval;
 
    for (jteap = tap->event_action; jteap; jteap = jteap->next) {
        if (jteap->event != e)
            continue;
 
        const struct nvp *nvp = nvp_value2name(nvp_jtag_tap_event, e);
        LOG_DEBUG("JTAG tap: %s event: %d (%s)\n\taction: %s",
            tap->dotted_name, e, nvp->name,
            Jim_GetString(jteap->body, NULL));
 
        retval = Jim_EvalObj(jteap->interp, jteap->body);
        if (retval == JIM_RETURN)
            retval = jteap->interp->returnCode;
 
        if (retval != JIM_OK) {
            Jim_MakeErrorMessage(jteap->interp);
            LOG_USER("%s", Jim_GetString(Jim_GetResult(jteap->interp), NULL));
            continue;
        }
 
        switch (e) {
            case JTAG_TAP_EVENT_ENABLE:
            case JTAG_TAP_EVENT_DISABLE:
                /* NOTE:  we currently assume the handlers
                 * can't fail.  Right here is where we should
                 * really be verifying the scan chains ...
                 */
                tap->enabled = (e == JTAG_TAP_EVENT_ENABLE);
                LOG_INFO("JTAG tap: %s %s", tap->dotted_name,
                tap->enabled ? "enabled" : "disabled");
                break;
            default:
                break;
        }
    }
}
 
COMMAND_HANDLER(handle_jtag_arp_init)
{
    if (CMD_ARGC != 0)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    return jtag_init_inner(CMD_CTX);
}
 
COMMAND_HANDLER(handle_jtag_arp_init_reset)
{
    if (CMD_ARGC != 0)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    if (transport_is_jtag())
        return jtag_init_reset(CMD_CTX);
 
    if (transport_is_swd())
        return swd_init_reset(CMD_CTX);
 
    return ERROR_OK;
}
 
static bool jtag_tap_enable(struct jtag_tap *t)
{
    if (t->enabled)
        return true;
    jtag_tap_handle_event(t, JTAG_TAP_EVENT_ENABLE);
    if (!t->enabled)
        return false;
 
    /* FIXME add JTAG sanity checks, w/o TLR
     *  - scan chain length grew by one (this)
     *  - IDs and IR lengths are as expected
     */
    jtag_call_event_callbacks(JTAG_TAP_EVENT_ENABLE);
    return true;
}
static bool jtag_tap_disable(struct jtag_tap *t)
{
    if (!t->enabled)
        return true;
    jtag_tap_handle_event(t, JTAG_TAP_EVENT_DISABLE);
    if (t->enabled)
        return false;
 
    /* FIXME add JTAG sanity checks, w/o TLR
     *  - scan chain length shrank by one (this)
     *  - IDs and IR lengths are as expected
     */
    jtag_call_event_callbacks(JTAG_TAP_EVENT_DISABLE);
    return true;
}
 
__COMMAND_HANDLER(handle_jtag_tap_enabler)
{
    if (CMD_ARGC != 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    struct jtag_tap *t = jtag_tap_by_string(CMD_ARGV[0]);
    if (!t) {
        command_print(CMD, "Tap '%s' could not be found", CMD_ARGV[0]);
        return ERROR_COMMAND_ARGUMENT_INVALID;
    }
 
    if (strcmp(CMD_NAME, "tapisenabled") == 0) {
        /* do nothing, just return the value */
    } else if (strcmp(CMD_NAME, "tapenable") == 0) {
        if (!jtag_tap_enable(t)) {
            command_print(CMD, "failed to enable tap %s", t->dotted_name);
            return ERROR_FAIL;
        }
    } else if (strcmp(CMD_NAME, "tapdisable") == 0) {
        if (!jtag_tap_disable(t)) {
            command_print(CMD, "failed to disable tap %s", t->dotted_name);
            return ERROR_FAIL;
        }
    } else {
        command_print(CMD, "command '%s' unknown", CMD_NAME);
        return ERROR_FAIL;
    }
 
    command_print(CMD, "%d", t->enabled ? 1 : 0);
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_jtag_names)
{
    if (CMD_ARGC != 0)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    for (struct jtag_tap *tap = jtag_all_taps(); tap; tap = tap->next_tap)
        command_print(CMD, "%s", tap->dotted_name);
 
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_jtag_init_command)
{
    if (CMD_ARGC != 0)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    static bool jtag_initialized;
    if (jtag_initialized) {
        LOG_INFO("'jtag init' has already been called");
        return ERROR_OK;
    }
    jtag_initialized = true;
 
    LOG_DEBUG("Initializing jtag devices...");
    return jtag_init(CMD_CTX);
}
 
static const struct command_registration jtag_subcommand_handlers[] = {
    {
        .name = "init",
        .mode = COMMAND_ANY,
        .handler = handle_jtag_init_command,
        .help = "initialize jtag scan chain",
        .usage = ""
    },
    {
        .name = "arp_init",
        .mode = COMMAND_ANY,
        .handler = handle_jtag_arp_init,
        .help = "Validates JTAG scan chain against the list of "
            "declared TAPs using just the four standard JTAG "
            "signals.",
        .usage = "",
    },
    {
        .name = "arp_init-reset",
        .mode = COMMAND_ANY,
        .handler = handle_jtag_arp_init_reset,
        .help = "Uses TRST and SRST to try resetting everything on "
            "the JTAG scan chain, then performs 'jtag arp_init'.",
        .usage = "",
    },
    {
        .name = "newtap",
        .mode = COMMAND_CONFIG,
        .handler = handle_jtag_newtap,
        .help = "Create a new TAP instance named basename.tap_type, "
            "and appends it to the scan chain.",
        .usage = "basename tap_type '-irlen' count "
            "['-enable'|'-disable'] "
            "['-expected_id' number] "
            "['-ignore-version'] "
            "['-ignore-bypass'] "
            "['-ircapture' number] "
            "['-ir-bypass' number] "
            "['-mask' number]",
    },
    {
        .name = "tapisenabled",
        .mode = COMMAND_EXEC,
        .handler = handle_jtag_tap_enabler,
        .help = "Returns a Tcl boolean (0/1) indicating whether "
            "the TAP is enabled (1) or not (0).",
        .usage = "tap_name",
    },
    {
        .name = "tapenable",
        .mode = COMMAND_EXEC,
        .handler = handle_jtag_tap_enabler,
        .help = "Try to enable the specified TAP using the "
            "'tap-enable' TAP event.",
        .usage = "tap_name",
    },
    {
        .name = "tapdisable",
        .mode = COMMAND_EXEC,
        .handler = handle_jtag_tap_enabler,
        .help = "Try to disable the specified TAP using the "
            "'tap-disable' TAP event.",
        .usage = "tap_name",
    },
    {
        .name = "configure",
        .mode = COMMAND_ANY,
        .handler = handle_jtag_configure,
        .help = "Provide a Tcl handler for the specified "
            "TAP event.",
        .usage = "tap_name '-event' event_name handler",
    },
    {
        .name = "cget",
        .mode = COMMAND_EXEC,
        .handler = handle_jtag_configure,
        .help = "Return any Tcl handler for the specified "
            "TAP event.",
        .usage = "tap_name '-event' event_name",
    },
    {
        .name = "names",
        .mode = COMMAND_ANY,
        .handler = handle_jtag_names,
        .help = "Returns list of all JTAG tap names.",
        .usage = "",
    },
    {
        .chain = jtag_command_handlers_to_move,
    },
    COMMAND_REGISTRATION_DONE
};
 
void jtag_notify_event(enum jtag_event event)
{
    struct jtag_tap *tap;
 
    for (tap = jtag_all_taps(); tap; tap = tap->next_tap)
        jtag_tap_handle_event(tap, event);
}
 
 
COMMAND_HANDLER(handle_scan_chain_command)
{
    struct jtag_tap *tap;
    char expected_id[12];
 
    tap = jtag_all_taps();
    command_print(CMD,
        "   TapName             Enabled  IdCode     Expected   IrLen IrCap IrMask");
    command_print(CMD,
        "-- ------------------- -------- ---------- ---------- ----- ----- ------");
 
    while (tap) {
        uint32_t expected, expected_mask, ii;
 
        snprintf(expected_id, sizeof(expected_id), "0x%08x",
            (unsigned)((tap->expected_ids_cnt > 0)
                   ? tap->expected_ids[0]
                   : 0));
        if (tap->ignore_version)
            expected_id[2] = '*';
 
        expected = buf_get_u32(tap->expected, 0, tap->ir_length);
        expected_mask = buf_get_u32(tap->expected_mask, 0, tap->ir_length);
 
        command_print(CMD,
            "%2d %-18s     %c     0x%08x %s %5d 0x%02x  0x%02x",
            tap->abs_chain_position,
            tap->dotted_name,
            tap->enabled ? 'Y' : 'n',
            (unsigned int)(tap->idcode),
            expected_id,
            (unsigned int)(tap->ir_length),
            (unsigned int)(expected),
            (unsigned int)(expected_mask));
 
        for (ii = 1; ii < tap->expected_ids_cnt; ii++) {
            snprintf(expected_id, sizeof(expected_id), "0x%08x",
                (unsigned) tap->expected_ids[ii]);
            if (tap->ignore_version)
                expected_id[2] = '*';
 
            command_print(CMD,
                "                                           %s",
                expected_id);
        }
 
        tap = tap->next_tap;
    }
 
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_jtag_ntrst_delay_command)
{
    if (CMD_ARGC > 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
    if (CMD_ARGC == 1) {
        unsigned delay;
        COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
 
        jtag_set_ntrst_delay(delay);
    }
    command_print(CMD, "jtag_ntrst_delay: %u", jtag_get_ntrst_delay());
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_jtag_ntrst_assert_width_command)
{
    if (CMD_ARGC > 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
    if (CMD_ARGC == 1) {
        unsigned delay;
        COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
 
        jtag_set_ntrst_assert_width(delay);
    }
    command_print(CMD, "jtag_ntrst_assert_width: %u", jtag_get_ntrst_assert_width());
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_jtag_rclk_command)
{
    if (CMD_ARGC > 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    int retval = ERROR_OK;
    if (CMD_ARGC == 1) {
        unsigned khz = 0;
        COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], khz);
 
        retval = adapter_config_rclk(khz);
        if (retval != ERROR_OK)
            return retval;
    }
 
    int cur_khz = adapter_get_speed_khz();
    retval = adapter_get_speed_readable(&cur_khz);
    if (retval != ERROR_OK)
        return retval;
 
    if (cur_khz)
        command_print(CMD, "RCLK not supported - fallback to %d kHz", cur_khz);
    else
        command_print(CMD, "RCLK - adaptive");
 
    return retval;
}
 
COMMAND_HANDLER(handle_runtest_command)
{
    if (CMD_ARGC != 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    unsigned num_clocks;
    COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], num_clocks);
 
    jtag_add_runtest(num_clocks, TAP_IDLE);
    return jtag_execute_queue();
}
 
/*
 * For "irscan" or "drscan" commands, the "end" (really, "next") state
 * should be stable ... and *NOT* a shift state, otherwise free-running
 * jtag clocks could change the values latched by the update state.
 * Not surprisingly, this is the same constraint as SVF; the "irscan"
 * and "drscan" commands are a write-only subset of what SVF provides.
 */
 
COMMAND_HANDLER(handle_irscan_command)
{
    int i;
    struct scan_field *fields;
    struct jtag_tap *tap = NULL;
    tap_state_t endstate;
 
    if ((CMD_ARGC < 2) || (CMD_ARGC % 2))
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    /* optional "-endstate" "statename" at the end of the arguments,
     * so that e.g. IRPAUSE can let us load the data register before
     * entering RUN/IDLE to execute the instruction we load here.
     */
    endstate = TAP_IDLE;
 
    if (CMD_ARGC >= 4) {
        /* have at least one pair of numbers.
         * is last pair the magic text? */
        if (strcmp("-endstate", CMD_ARGV[CMD_ARGC - 2]) == 0) {
            endstate = tap_state_by_name(CMD_ARGV[CMD_ARGC - 1]);
            if (endstate == TAP_INVALID)
                return ERROR_COMMAND_SYNTAX_ERROR;
            if (!scan_is_safe(endstate))
                LOG_WARNING("unstable irscan endstate \"%s\"",
                    CMD_ARGV[CMD_ARGC - 1]);
            CMD_ARGC -= 2;
        }
    }
 
    int num_fields = CMD_ARGC / 2;
    if (num_fields > 1) {
        /* we really should be looking at plain_ir_scan if we want
         * anything more fancy.
         */
        LOG_ERROR("Specify a single value for tap");
        return ERROR_COMMAND_SYNTAX_ERROR;
    }
 
    fields = calloc(num_fields, sizeof(*fields));
 
    int retval;
    for (i = 0; i < num_fields; i++) {
        tap = jtag_tap_by_string(CMD_ARGV[i*2]);
        if (!tap) {
            free(fields);
            command_print(CMD, "Tap: %s unknown", CMD_ARGV[i*2]);
 
            return ERROR_FAIL;
        }
        uint64_t value;
        retval = parse_u64(CMD_ARGV[i * 2 + 1], &value);
        if (retval != ERROR_OK)
            goto error_return;
 
        int field_size = tap->ir_length;
        fields[i].num_bits = field_size;
        uint8_t *v = calloc(1, DIV_ROUND_UP(field_size, 8));
        if (!v) {
            LOG_ERROR("Out of memory");
            goto error_return;
        }
 
        buf_set_u64(v, 0, field_size, value);
        fields[i].out_value = v;
        fields[i].in_value = NULL;
    }
 
    /* did we have an endstate? */
    jtag_add_ir_scan(tap, fields, endstate);
 
    retval = jtag_execute_queue();
 
error_return:
    for (i = 0; i < num_fields; i++)
        free((void *)fields[i].out_value);
 
    free(fields);
 
    return retval;
}
 
COMMAND_HANDLER(handle_verify_ircapture_command)
{
    if (CMD_ARGC > 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    if (CMD_ARGC == 1) {
        bool enable;
        COMMAND_PARSE_ENABLE(CMD_ARGV[0], enable);
        jtag_set_verify_capture_ir(enable);
    }
 
    const char *status = jtag_will_verify_capture_ir() ? "enabled" : "disabled";
    command_print(CMD, "verify Capture-IR is %s", status);
 
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_verify_jtag_command)
{
    if (CMD_ARGC > 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    if (CMD_ARGC == 1) {
        bool enable;
        COMMAND_PARSE_ENABLE(CMD_ARGV[0], enable);
        jtag_set_verify(enable);
    }
 
    const char *status = jtag_will_verify() ? "enabled" : "disabled";
    command_print(CMD, "verify jtag capture is %s", status);
 
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_tms_sequence_command)
{
    if (CMD_ARGC > 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    if (CMD_ARGC == 1) {
        bool use_new_table;
        if (strcmp(CMD_ARGV[0], "short") == 0)
            use_new_table = true;
        else if (strcmp(CMD_ARGV[0], "long") == 0)
            use_new_table = false;
        else
            return ERROR_COMMAND_SYNTAX_ERROR;
 
        tap_use_new_tms_table(use_new_table);
    }
 
    command_print(CMD, "tms sequence is  %s",
        tap_uses_new_tms_table() ? "short" : "long");
 
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_jtag_flush_queue_sleep)
{
    if (CMD_ARGC != 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    int sleep_ms;
    COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], sleep_ms);
 
    jtag_set_flush_queue_sleep(sleep_ms);
 
    return ERROR_OK;
}
 
COMMAND_HANDLER(handle_wait_srst_deassert)
{
    if (CMD_ARGC != 1)
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    int timeout_ms;
    COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], timeout_ms);
    if ((timeout_ms <= 0) || (timeout_ms > 100000)) {
        LOG_ERROR("Timeout must be an integer between 0 and 100000");
        return ERROR_FAIL;
    }
 
    LOG_USER("Waiting for srst assert + deassert for at most %dms", timeout_ms);
    int asserted_yet;
    int64_t then = timeval_ms();
    while (jtag_srst_asserted(&asserted_yet) == ERROR_OK) {
        if ((timeval_ms() - then) > timeout_ms) {
            LOG_ERROR("Timed out");
            return ERROR_FAIL;
        }
        if (asserted_yet)
            break;
    }
    while (jtag_srst_asserted(&asserted_yet) == ERROR_OK) {
        if ((timeval_ms() - then) > timeout_ms) {
            LOG_ERROR("Timed out");
            return ERROR_FAIL;
        }
        if (!asserted_yet)
            break;
    }
 
    return ERROR_OK;
}
 
static const struct command_registration jtag_command_handlers[] = {
 
    {
        .name = "jtag_flush_queue_sleep",
        .handler = handle_jtag_flush_queue_sleep,
        .mode = COMMAND_ANY,
        .help = "For debug purposes(simulate long delays of interface) "
            "to test performance or change in behavior. Default 0ms.",
        .usage = "[sleep in ms]",
    },
    {
        .name = "jtag_rclk",
        .handler = handle_jtag_rclk_command,
        .mode = COMMAND_ANY,
        .help = "With an argument, change to to use adaptive clocking "
            "if possible; else to use the fallback speed.  "
            "With or without argument, display current setting.",
        .usage = "[fallback_speed_khz]",
    },
    {
        .name = "jtag_ntrst_delay",
        .handler = handle_jtag_ntrst_delay_command,
        .mode = COMMAND_ANY,
        .help = "delay after deasserting trst in ms",
        .usage = "[milliseconds]",
    },
    {
        .name = "jtag_ntrst_assert_width",
        .handler = handle_jtag_ntrst_assert_width_command,
        .mode = COMMAND_ANY,
        .help = "delay after asserting trst in ms",
        .usage = "[milliseconds]",
    },
    {
        .name = "scan_chain",
        .handler = handle_scan_chain_command,
        .mode = COMMAND_ANY,
        .help = "print current scan chain configuration",
        .usage = ""
    },
    {
        .name = "runtest",
        .handler = handle_runtest_command,
        .mode = COMMAND_EXEC,
        .help = "Move to Run-Test/Idle, and issue TCK for num_cycles.",
        .usage = "num_cycles"
    },
    {
        .name = "irscan",
        .handler = handle_irscan_command,
        .mode = COMMAND_EXEC,
        .help = "Execute Instruction Register (IR) scan.  The "
            "specified opcodes are put into each TAP's IR, "
            "and other TAPs are put in BYPASS.",
        .usage = "[tap_name instruction]* ['-endstate' state_name]",
    },
    {
        .name = "verify_ircapture",
        .handler = handle_verify_ircapture_command,
        .mode = COMMAND_ANY,
        .help = "Display or assign flag controlling whether to "
            "verify values captured during Capture-IR.",
        .usage = "['enable'|'disable']",
    },
    {
        .name = "verify_jtag",
        .handler = handle_verify_jtag_command,
        .mode = COMMAND_ANY,
        .help = "Display or assign flag controlling whether to "
            "verify values captured during IR and DR scans.",
        .usage = "['enable'|'disable']",
    },
    {
        .name = "tms_sequence",
        .handler = handle_tms_sequence_command,
        .mode = COMMAND_ANY,
        .help = "Display or change what style TMS sequences to use "
            "for JTAG state transitions:  short (default) or "
            "long.  Only for working around JTAG bugs.",
        /* Specifically for working around DRIVER bugs... */
        .usage = "['short'|'long']",
    },
    {
        .name = "wait_srst_deassert",
        .handler = handle_wait_srst_deassert,
        .mode = COMMAND_ANY,
        .help = "Wait for an SRST deassert. "
            "Useful for cases where you need something to happen within ms "
            "of an srst deassert. Timeout in ms",
        .usage = "ms",
    },
    {
        .name = "jtag",
        .mode = COMMAND_ANY,
        .help = "perform jtag tap actions",
        .usage = "",
 
        .chain = jtag_subcommand_handlers,
    },
    {
        .chain = jtag_command_handlers_to_move,
    },
    COMMAND_REGISTRATION_DONE
};
 
int jtag_register_commands(struct command_context *cmd_ctx)
{
    return register_commands(cmd_ctx, NULL, jtag_command_handlers);
}