1 /***************************************************************************
2 * Copyright (C) 2005 by Dominic Rath *
3 * Dominic.Rath@gmx.de *
5 * Copyright (C) 2007-2010 Øyvind Harboe *
6 * oyvind.harboe@zylin.com *
8 * This program is free software; you can redistribute it and/or modify *
9 * it under the terms of the GNU General Public License as published by *
10 * the Free Software Foundation; either version 2 of the License, or *
11 * (at your option) any later version. *
13 * This program is distributed in the hope that it will be useful, *
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
16 * GNU General Public License for more details. *
18 * You should have received a copy of the GNU General Public License *
19 * along with this program; if not, write to the *
20 * Free Software Foundation, Inc., *
21 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
22 ***************************************************************************/
27 #include <helper/binarybuffer.h>
28 #include <helper/log.h>
30 #ifdef _DEBUG_JTAG_IO_
31 #define DEBUG_JTAG_IO(expr ...) \
32 do { if (1) LOG_DEBUG(expr); } while (0)
34 #define DEBUG_JTAG_IO(expr ...) \
35 do { if (0) LOG_DEBUG(expr); } while (0)
38 #ifndef DEBUG_JTAG_IOZ
39 #define DEBUG_JTAG_IOZ 64
42 /*-----</Macros>-------------------------------------------------*/
45 * Defines JTAG Test Access Port states.
47 * These definitions were gleaned from the ARM7TDMI-S Technical
48 * Reference Manual and validated against several other ARM core
51 * FIXME some interfaces require specific numbers be used, as they
52 * are handed-off directly to their hardware implementations.
53 * Fix those drivers to map as appropriate ... then pick some
54 * sane set of numbers here (where 0/uninitialized == INVALID).
56 typedef enum tap_state
{
60 /* These are the old numbers. Leave as-is for now... */
61 TAP_RESET
= 0, TAP_IDLE
= 8,
62 TAP_DRSELECT
= 1, TAP_DRCAPTURE
= 2, TAP_DRSHIFT
= 3, TAP_DREXIT1
= 4,
63 TAP_DRPAUSE
= 5, TAP_DREXIT2
= 6, TAP_DRUPDATE
= 7,
64 TAP_IRSELECT
= 9, TAP_IRCAPTURE
= 10, TAP_IRSHIFT
= 11, TAP_IREXIT1
= 12,
65 TAP_IRPAUSE
= 13, TAP_IREXIT2
= 14, TAP_IRUPDATE
= 15,
68 /* Proper ARM recommended numbers */
90 * Function tap_state_name
91 * Returns a string suitable for display representing the JTAG tap_state
93 const char *tap_state_name(tap_state_t state
);
95 /** Provides user-friendly name lookup of TAP states. */
96 tap_state_t
tap_state_by_name(const char *name
);
98 /** The current TAP state of the pending JTAG command queue. */
99 extern tap_state_t cmd_queue_cur_state
;
102 * This structure defines a single scan field in the scan. It provides
103 * fields for the field's width and pointers to scan input and output
106 * In addition, this structure includes a value and mask that is used by
107 * jtag_add_dr_scan_check() to validate the value that was scanned out.
110 /** The number of bits this field specifies (up to 32) */
112 /** A pointer to value to be scanned into the device */
113 const uint8_t *out_value
;
114 /** A pointer to a 32-bit memory location for data scanned out */
117 /** The value used to check the data scanned out. */
118 uint8_t *check_value
;
119 /** The mask to go with check_value */
127 int abs_chain_position
;
128 /** Is this TAP disabled after JTAG reset? */
129 bool disabled_after_reset
;
130 /** Is this TAP currently enabled? */
132 int ir_length
; /**< size of instruction register */
133 uint32_t ir_capture_value
;
134 uint8_t *expected
; /**< Capture-IR expected value */
135 uint32_t ir_capture_mask
;
136 uint8_t *expected_mask
; /**< Capture-IR expected mask */
137 uint32_t idcode
; /**< device identification code */
138 /** not all devices have idcode,
139 * we'll discover this during chain examination */
142 /** Array of expected identification codes */
143 uint32_t *expected_ids
;
144 /** Number of expected identification codes */
145 uint8_t expected_ids_cnt
;
147 /** Flag saying whether to ignore version field in expected_ids[] */
150 /** current instruction */
152 /** Bypass register selected */
155 struct jtag_tap_event_action
*event_action
;
157 struct jtag_tap
*next_tap
;
158 /* dap instance if some null if no instance , initialized to 0 by calloc*/
159 struct adiv5_dap
*dap
;
160 /* private pointer to support none-jtag specific functions */
164 void jtag_tap_init(struct jtag_tap
*tap
);
165 void jtag_tap_free(struct jtag_tap
*tap
);
167 struct jtag_tap
*jtag_all_taps(void);
168 const char *jtag_tap_name(const struct jtag_tap
*tap
);
169 struct jtag_tap
*jtag_tap_by_string(const char* dotted_name
);
170 struct jtag_tap
*jtag_tap_by_jim_obj(Jim_Interp
* interp
, Jim_Obj
*obj
);
171 struct jtag_tap
*jtag_tap_by_position(unsigned abs_position
);
172 struct jtag_tap
*jtag_tap_next_enabled(struct jtag_tap
*p
);
173 unsigned jtag_tap_count_enabled(void);
174 unsigned jtag_tap_count(void);
177 * - TRST_ASSERTED triggers two sets of callbacks, after operations to
178 * reset the scan chain -- via TMS+TCK signaling, or deasserting the
179 * nTRST signal -- are queued:
181 * + Callbacks in C code fire first, patching internal state
182 * + Then post-reset event scripts fire ... activating JTAG circuits
183 * via TCK cycles, exiting SWD mode via TMS sequences, etc
185 * During those callbacks, scan chain contents have not been validated.
186 * JTAG operations that address a specific TAP (primarily DR/IR scans)
187 * must *not* be queued.
189 * - TAP_EVENT_SETUP is reported after TRST_ASSERTED, and after the scan
190 * chain has been validated. JTAG operations including scans that
191 * target specific TAPs may be performed.
193 * - TAP_EVENT_ENABLE and TAP_EVENT_DISABLE implement TAP activation and
194 * deactivation outside the core using scripted code that understands
195 * the specific JTAG router type. They might be triggered indirectly
196 * from EVENT_SETUP operations.
200 JTAG_TAP_EVENT_SETUP
,
201 JTAG_TAP_EVENT_ENABLE
,
202 JTAG_TAP_EVENT_DISABLE
,
205 struct jtag_tap_event_action
{
206 /** The event for which this action will be triggered. */
207 enum jtag_event event
;
208 /** The interpreter to use for evaluating the @c body. */
210 /** Contains a script to 'eval' when the @c event is triggered. */
212 /* next action in linked list */
213 struct jtag_tap_event_action
*next
;
217 * Defines the function signature requide for JTAG event callback
218 * functions, which are added with jtag_register_event_callback()
219 * and removed jtag_unregister_event_callback().
220 * @param event The event to handle.
221 * @param prive A pointer to data that was passed to
222 * jtag_register_event_callback().
223 * @returns Must return ERROR_OK on success, or an error code on failure.
225 * @todo Change to return void or define a use for its return code.
227 typedef int (*jtag_event_handler_t
)(enum jtag_event event
, void *priv
);
229 int jtag_register_event_callback(jtag_event_handler_t f
, void *x
);
230 int jtag_unregister_event_callback(jtag_event_handler_t f
, void *x
);
232 int jtag_call_event_callbacks(enum jtag_event event
);
235 /** @returns The current JTAG speed setting. */
236 int jtag_get_speed(int *speed
);
239 * Given a @a speed setting, use the interface @c speed_div callback to
240 * adjust the setting.
241 * @param speed The speed setting to convert back to readable KHz.
242 * @returns ERROR_OK if the interface has not been initialized or on success;
243 * otherwise, the error code produced by the @c speed_div callback.
245 int jtag_get_speed_readable(int *speed
);
247 /** Attempt to configure the interface for the specified KHz. */
248 int jtag_config_khz(unsigned khz
);
251 * Attempt to enable RTCK/RCLK. If that fails, fallback to the
252 * specified frequency.
254 int jtag_config_rclk(unsigned fallback_speed_khz
);
256 /** Retreives the clock speed of the JTAG interface in KHz. */
257 unsigned jtag_get_speed_khz(void);
261 RESET_HAS_TRST
= 0x1,
262 RESET_HAS_SRST
= 0x2,
263 RESET_TRST_AND_SRST
= 0x3,
264 RESET_SRST_PULLS_TRST
= 0x4,
265 RESET_TRST_PULLS_SRST
= 0x8,
266 RESET_TRST_OPEN_DRAIN
= 0x10,
267 RESET_SRST_PUSH_PULL
= 0x20,
268 RESET_SRST_NO_GATING
= 0x40,
269 RESET_CNCT_UNDER_SRST
= 0x80
272 enum reset_types
jtag_get_reset_config(void);
273 void jtag_set_reset_config(enum reset_types type
);
275 void jtag_set_nsrst_delay(unsigned delay
);
276 unsigned jtag_get_nsrst_delay(void);
278 void jtag_set_ntrst_delay(unsigned delay
);
279 unsigned jtag_get_ntrst_delay(void);
281 void jtag_set_nsrst_assert_width(unsigned delay
);
282 unsigned jtag_get_nsrst_assert_width(void);
284 void jtag_set_ntrst_assert_width(unsigned delay
);
285 unsigned jtag_get_ntrst_assert_width(void);
287 /** @returns The current state of TRST. */
288 int jtag_get_trst(void);
289 /** @returns The current state of SRST. */
290 int jtag_get_srst(void);
292 /** Enable or disable data scan verification checking. */
293 void jtag_set_verify(bool enable
);
294 /** @returns True if data scan verification will be performed. */
295 bool jtag_will_verify(void);
297 /** Enable or disable verification of IR scan checking. */
298 void jtag_set_verify_capture_ir(bool enable
);
299 /** @returns True if IR scan verification will be performed. */
300 bool jtag_will_verify_capture_ir(void);
302 /** Initialize debug adapter upon startup. */
303 int adapter_init(struct command_context
*cmd_ctx
);
305 /** Shutdown the debug adapter upon program exit. */
306 int adapter_quit(void);
308 /** Set ms to sleep after jtag_execute_queue() flushes queue. Debug purposes. */
309 void jtag_set_flush_queue_sleep(int ms
);
312 * Initialize JTAG chain using only a RESET reset. If init fails,
315 int jtag_init(struct command_context
*cmd_ctx
);
317 /** reset, then initialize JTAG chain */
318 int jtag_init_reset(struct command_context
*cmd_ctx
);
319 int jtag_register_commands(struct command_context
*cmd_ctx
);
320 int jtag_init_inner(struct command_context
*cmd_ctx
);
324 * The JTAG interface can be implemented with a software or hardware fifo.
326 * TAP_DRSHIFT and TAP_IRSHIFT are illegal end states; however,
327 * TAP_DRSHIFT/IRSHIFT can be emulated as end states, by using longer
330 * Code that is relatively insensitive to the path taken through state
331 * machine (as long as it is JTAG compliant) can use @a endstate for
332 * jtag_add_xxx_scan(). Otherwise, the pause state must be specified as
333 * end state and a subsequent jtag_add_pathmove() must be issued.
337 * Generate an IR SCAN with a list of scan fields with one entry for
340 * If the input field list contains an instruction value for a TAP then
341 * that is used otherwise the TAP is set to bypass.
343 * TAPs for which no fields are passed are marked as bypassed for
344 * subsequent DR SCANs.
347 void jtag_add_ir_scan(struct jtag_tap
*tap
,
348 struct scan_field
*fields
, tap_state_t endstate
);
350 * The same as jtag_add_ir_scan except no verification is performed out
353 void jtag_add_ir_scan_noverify(struct jtag_tap
*tap
,
354 const struct scan_field
*fields
, tap_state_t state
);
356 * Scan out the bits in ir scan mode.
358 * If in_bits == NULL, discard incoming bits.
360 void jtag_add_plain_ir_scan(int num_bits
, const uint8_t *out_bits
, uint8_t *in_bits
,
361 tap_state_t endstate
);
364 * Generate a DR SCAN using the fields passed to the function.
365 * For connected TAPs, the function checks in_fields and uses fields
366 * specified there. For bypassed TAPs, the function generates a dummy
367 * 1-bit field. The bypass status of TAPs is set by jtag_add_ir_scan().
369 void jtag_add_dr_scan(struct jtag_tap
*tap
, int num_fields
,
370 const struct scan_field
*fields
, tap_state_t endstate
);
371 /** A version of jtag_add_dr_scan() that uses the check_value/mask fields */
372 void jtag_add_dr_scan_check(struct jtag_tap
*tap
, int num_fields
,
373 struct scan_field
*fields
, tap_state_t endstate
);
375 * Scan out the bits in ir scan mode.
377 * If in_bits == NULL, discard incoming bits.
379 void jtag_add_plain_dr_scan(int num_bits
,
380 const uint8_t *out_bits
, uint8_t *in_bits
, tap_state_t endstate
);
383 * Defines the type of data passed to the jtag_callback_t interface.
384 * The underlying type must allow storing an @c int or pointer type.
386 typedef intptr_t jtag_callback_data_t
;
389 * Defines a simple JTAG callback that can allow conversions on data
390 * scanned in from an interface.
392 * This callback should only be used for conversion that cannot fail.
393 * For conversion types or checks that can fail, use the more complete
394 * variant: jtag_callback_t.
396 typedef void (*jtag_callback1_t
)(jtag_callback_data_t data0
);
398 /** A simpler version of jtag_add_callback4(). */
399 void jtag_add_callback(jtag_callback1_t
, jtag_callback_data_t data0
);
403 * Defines the interface of the JTAG callback mechanism. Such
404 * callbacks can be executed once the queue has been flushed.
406 * The JTAG queue can be executed synchronously or asynchronously.
407 * Typically for USB, the queue is executed asynchronously. For
408 * low-latency interfaces, the queue may be executed synchronously.
410 * The callback mechanism is very general and does not make many
411 * assumptions about what the callback does or what its arguments are.
412 * These callbacks are typically executed *after* the *entire* JTAG
413 * queue has been executed for e.g. USB interfaces, and they are
414 * guaranteeed to be invoked in the order that they were queued.
416 * If the execution of the queue fails before the callbacks, then --
417 * depending on driver implementation -- the callbacks may or may not be
420 * @todo Make that behavior consistent.
422 * @param data0 Typically used to point to the data to operate on.
423 * Frequently this will be the data clocked in during a shift operation.
424 * @param data1 An integer big enough to use as an @c int or a pointer.
425 * @param data2 An integer big enough to use as an @c int or a pointer.
426 * @param data3 An integer big enough to use as an @c int or a pointer.
427 * @returns an error code
429 typedef int (*jtag_callback_t
)(jtag_callback_data_t data0
,
430 jtag_callback_data_t data1
,
431 jtag_callback_data_t data2
,
432 jtag_callback_data_t data3
);
435 * Run a TAP_RESET reset where the end state is TAP_RESET,
436 * regardless of the start state.
438 void jtag_add_tlr(void);
441 * Application code *must* assume that interfaces will
442 * implement transitions between states with different
443 * paths and path lengths through the state diagram. The
444 * path will vary across interface and also across versions
445 * of the same interface over time. Even if the OpenOCD code
446 * is unchanged, the actual path taken may vary over time
447 * and versions of interface firmware or PCB revisions.
449 * Use jtag_add_pathmove() when specific transition sequences
452 * Do not use jtag_add_pathmove() unless you need to, but do use it
455 * DANGER! If the target is dependent upon a particular sequence
456 * of transitions for things to work correctly(e.g. as a workaround
457 * for an errata that contradicts the JTAG standard), then pathmove
458 * must be used, even if some jtag interfaces happen to use the
459 * desired path. Worse, the jtag interface used for testing a
460 * particular implementation, could happen to use the "desired"
461 * path when transitioning to/from end
464 * A list of unambigious single clock state transitions, not
465 * all drivers can support this, but it is required for e.g.
466 * XScale and Xilinx support
468 * Note! TAP_RESET must not be used in the path!
470 * Note that the first on the list must be reachable
471 * via a single transition from the current state.
473 * All drivers are required to implement jtag_add_pathmove().
474 * However, if the pathmove sequence can not be precisely
475 * executed, an interface_jtag_add_pathmove() or jtag_execute_queue()
476 * must return an error. It is legal, but not recommended, that
477 * a driver returns an error in all cases for a pathmove if it
478 * can only implement a few transitions and therefore
479 * a partial implementation of pathmove would have little practical
482 * If an error occurs, jtag_error will contain one of these error codes:
483 * - ERROR_JTAG_NOT_STABLE_STATE -- The final state was not stable.
484 * - ERROR_JTAG_STATE_INVALID -- The path passed through TAP_RESET.
485 * - ERROR_JTAG_TRANSITION_INVALID -- The path includes invalid
488 void jtag_add_pathmove(int num_states
, const tap_state_t
*path
);
491 * jtag_add_statemove() moves from the current state to @a goal_state.
493 * @param goal_state The final TAP state.
494 * @return ERROR_OK on success, or an error code on failure.
496 * Moves from the current state to the goal \a state.
497 * Both states must be stable.
499 int jtag_add_statemove(tap_state_t goal_state
);
502 * Goes to TAP_IDLE (if we're not already there), cycle
503 * precisely num_cycles in the TAP_IDLE state, after which move
504 * to @a endstate (unless it is also TAP_IDLE).
506 * @param num_cycles Number of cycles in TAP_IDLE state. This argument
507 * may be 0, in which case this routine will navigate to @a endstate
509 * @param endstate The final state.
511 void jtag_add_runtest(int num_cycles
, tap_state_t endstate
);
514 * A reset of the TAP state machine can be requested.
516 * Whether tms or trst reset is used depends on the capabilities of
517 * the target and jtag interface(reset_config command configures this).
519 * srst can driver a reset of the TAP state machine and vice
522 * Application code may need to examine value of jtag_reset_config
523 * to determine the proper codepath
525 * DANGER! Even though srst drives trst, trst might not be connected to
526 * the interface, and it might actually be *harmful* to assert trst in this case.
528 * This is why combinations such as "reset_config srst_only srst_pulls_trst"
531 * only req_tlr_or_trst and srst can have a transition for a
532 * call as the effects of transitioning both at the "same time"
533 * are undefined, but when srst_pulls_trst or vice versa,
534 * then trst & srst *must* be asserted together.
536 void jtag_add_reset(int req_tlr_or_trst
, int srst
);
538 void jtag_add_sleep(uint32_t us
);
540 int jtag_add_tms_seq(unsigned nbits
, const uint8_t *seq
, enum tap_state t
);
543 * Function jtag_add_clocks
544 * first checks that the state in which the clocks are to be issued is
545 * stable, then queues up num_cycles clocks for transmission.
547 void jtag_add_clocks(int num_cycles
);
550 * For software FIFO implementations, the queued commands can be executed
551 * during this call or earlier. A sw queue might decide to push out
552 * some of the jtag_add_xxx() operations once the queue is "big enough".
554 * This fn will return an error code if any of the prior jtag_add_xxx()
555 * calls caused a failure, e.g. check failure. Note that it does not
556 * matter if the operation was executed *before* jtag_execute_queue(),
557 * jtag_execute_queue() will still return an error code.
559 * All jtag_add_xxx() calls that have in_handler != NULL will have been
560 * executed when this fn returns, but if what has been queued only
561 * clocks data out, without reading anything back, then JTAG could
562 * be running *after* jtag_execute_queue() returns. The API does
563 * not define a way to flush a hw FIFO that runs *after*
564 * jtag_execute_queue() returns.
566 * jtag_add_xxx() commands can either be executed immediately or
567 * at some time between the jtag_add_xxx() fn call and jtag_execute_queue().
569 int jtag_execute_queue(void);
571 /** same as jtag_execute_queue() but does not clear the error flag */
572 void jtag_execute_queue_noclear(void);
574 /** @returns the number of times the scan queue has been flushed */
575 int jtag_get_flush_queue_count(void);
577 /** Report Tcl event to all TAPs */
578 void jtag_notify_event(enum jtag_event
);
580 /* can be implemented by hw + sw */
581 int jtag_power_dropout(int *dropout
);
582 int jtag_srst_asserted(int *srst_asserted
);
584 /* JTAG support functions */
587 * Execute jtag queue and check value with an optional mask.
588 * @param field Pointer to scan field.
589 * @param value Pointer to scan value.
590 * @param mask Pointer to scan mask; may be NULL.
591 * @returns Nothing, but calls jtag_set_error() on any error.
593 void jtag_check_value_mask(struct scan_field
*field
, uint8_t *value
, uint8_t *mask
);
595 void jtag_sleep(uint32_t us
);
598 * The JTAG subsystem defines a number of error codes,
599 * using codes between -100 and -199.
601 #define ERROR_JTAG_INIT_FAILED (-100)
602 #define ERROR_JTAG_INVALID_INTERFACE (-101)
603 #define ERROR_JTAG_NOT_IMPLEMENTED (-102)
604 #define ERROR_JTAG_TRST_ASSERTED (-103)
605 #define ERROR_JTAG_QUEUE_FAILED (-104)
606 #define ERROR_JTAG_NOT_STABLE_STATE (-105)
607 #define ERROR_JTAG_DEVICE_ERROR (-107)
608 #define ERROR_JTAG_STATE_INVALID (-108)
609 #define ERROR_JTAG_TRANSITION_INVALID (-109)
610 #define ERROR_JTAG_INIT_SOFT_FAIL (-110)
613 * jtag_add_dr_out() is a version of jtag_add_dr_scan() which
614 * only scans data out. It operates on 32 bit integers instead
615 * of 8 bit, which makes it a better impedance match with
616 * the calling code which often operate on 32 bit integers.
618 * Current or end_state can not be TAP_RESET. end_state can be TAP_INVALID
620 * num_bits[i] is the number of bits to clock out from value[i] LSB first.
622 * If the device is in bypass, then that is an error condition in
623 * the caller code that is not detected by this fn, whereas
624 * jtag_add_dr_scan() does detect it. Similarly if the device is not in
625 * bypass, data must be passed to it.
627 * If anything fails, then jtag_error will be set and jtag_execute() will
628 * return an error. There is no way to determine if there was a failure
629 * during this function call.
631 * This is an inline fn to speed up embedded hosts. Also note that
632 * interface_jtag_add_dr_out() can be a *small* inline function for
635 * There is no jtag_add_dr_outin() version of this fn that also allows
636 * clocking data back in. Patches gladly accepted!
640 * Set the current JTAG core execution error, unless one was set
641 * by a previous call previously. Driver or application code must
642 * use jtag_error_clear to reset jtag_error once this routine has been
643 * called with a non-zero error code.
645 void jtag_set_error(int error
);
647 * Resets jtag_error to ERROR_OK, returning its previous value.
648 * @returns The previous value of @c jtag_error.
650 int jtag_error_clear(void);
653 * Return true if it's safe for a background polling task to access the
654 * JTAG scan chain. Polling may be explicitly disallowed, and is also
655 * unsafe while nTRST is active or the JTAG clock is gated off.
657 bool is_jtag_poll_safe(void);
660 * Return flag reporting whether JTAG polling is disallowed.
662 bool jtag_poll_get_enabled(void);
665 * Assign flag reporting whether JTAG polling is disallowed.
667 void jtag_poll_set_enabled(bool value
);
670 /* The minidriver may have inline versions of some of the low
671 * level APIs that are used in inner loops. */
672 #include <jtag/minidriver.h>
674 bool transport_is_jtag(void);
676 int jim_jtag_newtap(Jim_Interp
*interp
, int argc
, Jim_Obj
*const *argv
);
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