/***************************************************************************
 *   Copyright (C) 2005 by Dominic Rath                                    *
 *   Dominic.Rath@gmx.de                                                   *
 *                                                                         *
 *   Copyright (C) 2007,2008 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                                                  *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include "jtag.h"
#include "minidriver.h"
#include "interface.h"
#include "interfaces.h"

#ifdef HAVE_STRINGS_H
#include <strings.h>
#endif

static const Jim_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 }
};

extern struct jtag_interface *jtag_interface;

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 int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *args)
{
	int retval;
	struct scan_field *fields;
	int num_fields;
	int field_count = 0;
	int i, e;
	struct jtag_tap *tap;
	tap_state_t endstate;

	/* args[1] = device
	 * args[2] = num_bits
	 * args[3] = hex string
	 * ... repeat num bits and hex string ...
	 *
	 * .. optionally:
	*     args[N-2] = "-endstate"
	 *     args[N-1] = statename
	 */
	if ((argc < 4) || ((argc % 2) != 0))
	{
		Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
		return JIM_ERR;
	}

	endstate = TAP_IDLE;

	script_debug(interp, "drscan", argc, args);

	/* validate arguments as numbers */
	e = JIM_OK;
	for (i = 2; i < argc; i += 2)
	{
		long bits;
		const char *cp;

		e = Jim_GetLong(interp, args[i], &bits);
		/* If valid - try next arg */
		if (e == JIM_OK) {
			continue;
		}

		/* Not valid.. are we at the end? */
		if (((i + 2) != argc)) {
			/* nope, then error */
			return e;
		}

		/* it could be: "-endstate FOO"
		 * e.g. DRPAUSE so we can issue more instructions
		 * before entering RUN/IDLE and executing them.
		 */

		/* get arg as a string. */
		cp = Jim_GetString(args[i], NULL);
		/* is it the magic? */
		if (0 == strcmp("-endstate", cp)) {
			/* is the statename valid? */
			cp = Jim_GetString(args[i + 1], NULL);

			/* see if it is a valid state name */
			endstate = tap_state_by_name(cp);
			if (endstate < 0) {
				/* update the error message */
				Jim_SetResult_sprintf(interp,"endstate: %s invalid", cp);
			} else {
				if (!scan_is_safe(endstate))
					LOG_WARNING("drscan with unsafe "
							"endstate \"%s\"", cp);

				/* valid - so clear the error */
				e = JIM_OK;
				/* and remove the last 2 args */
				argc -= 2;
			}
		}

		/* Still an error? */
		if (e != JIM_OK) {
			return e; /* too bad */
		}
	} /* validate args */

	tap = jtag_tap_by_jim_obj(interp, args[1]);
	if (tap == NULL) {
		return JIM_ERR;
	}

	num_fields = (argc-2)/2;
	fields = malloc(sizeof(struct scan_field) * num_fields);
	for (i = 2; i < argc; i += 2)
	{
		long bits;
		int len;
		const char *str;

		Jim_GetLong(interp, args[i], &bits);
		str = Jim_GetString(args[i + 1], &len);

		fields[field_count].tap = tap;
		fields[field_count].num_bits = bits;
		fields[field_count].out_value = malloc(DIV_ROUND_UP(bits, 8));
		str_to_buf(str, len, fields[field_count].out_value, bits, 0);
		fields[field_count].in_value = fields[field_count].out_value;
		field_count++;
	}

	jtag_add_dr_scan(num_fields, fields, endstate);

	retval = jtag_execute_queue();
	if (retval != ERROR_OK)
	{
		Jim_SetResultString(interp, "drscan: jtag execute failed",-1);
		return JIM_ERR;
	}

	field_count = 0;
	Jim_Obj *list = Jim_NewListObj(interp, NULL, 0);
	for (i = 2; i < argc; i += 2)
	{
		long bits;
		char *str;

		Jim_GetLong(interp, args[i], &bits);
		str = buf_to_str(fields[field_count].in_value, bits, 16);
		free(fields[field_count].out_value);

		Jim_ListAppendElement(interp, list, Jim_NewStringObj(interp, str, strlen(str)));
		free(str);
		field_count++;
	}

	Jim_SetResult(interp, list);

	free(fields);

	return JIM_OK;
}


static int Jim_Command_pathmove(Jim_Interp *interp, int argc, Jim_Obj *const *args)
{
	tap_state_t states[8];

	if ((argc < 2) || ((size_t)argc > (ARRAY_SIZE(states) + 1)))
	{
		Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
		return JIM_ERR;
	}

	script_debug(interp, "pathmove", argc, args);

	int i;
	for (i = 0; i < argc-1; i++)
	{
		const char *cp;
		cp = Jim_GetString(args[i + 1], NULL);
		states[i] = tap_state_by_name(cp);
		if (states[i] < 0)
		{
			/* update the error message */
			Jim_SetResult_sprintf(interp,"endstate: %s invalid", cp);
			return JIM_ERR;
		}
	}

	if ((jtag_add_statemove(states[0]) != ERROR_OK) || (jtag_execute_queue()!= ERROR_OK))
	{
		Jim_SetResultString(interp, "pathmove: jtag execute failed",-1);
		return JIM_ERR;
	}

	jtag_add_pathmove(argc-2, states + 1);

	if (jtag_execute_queue()!= ERROR_OK)
	{
		Jim_SetResultString(interp, "pathmove: failed",-1);
		return JIM_ERR;
	}

	return JIM_OK;
}


static int Jim_Command_flush_count(Jim_Interp *interp, int argc, Jim_Obj *const *args)
{
	script_debug(interp, "flush_count", argc, args);

	Jim_SetResult(interp, Jim_NewIntObj(interp, jtag_get_flush_queue_count()));

	return JIM_OK;
}

static const struct command_registration jtag_command_handlers_to_move[] = {
	{
		.name = "drscan",
		.mode = COMMAND_EXEC,
		.jim_handler = &Jim_Command_drscan,
		.help = "execute DR scan <device> "
			"<num_bits> <value> <num_bits1> <value2> ...",
	},
	{
		.name = "flush_count",
		.mode = COMMAND_EXEC,
		.jim_handler = &Jim_Command_flush_count,
		.help = "returns number of times the JTAG queue has been flushed",
	},
	{
		.name = "pathmove",
		.mode = COMMAND_EXEC,
		.jim_handler = &Jim_Command_pathmove,
		.usage = "<state1>,<state2>,<state3>... ",
		.help = "move JTAG to state1 then to state2, state3, etc.",
	},
	COMMAND_REGISTRATION_DONE
};


enum jtag_tap_cfg_param {
	JCFG_EVENT
};

static Jim_Nvp nvp_config_opts[] = {
	{ .name = "-event",      .value = JCFG_EVENT },

	{ .name = NULL,          .value = -1 }
};

static int jtag_tap_configure_event(Jim_GetOptInfo *goi, struct jtag_tap * tap)
{
	if (goi->argc == 0)
	{
		Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event <event-name> ...");
		return JIM_ERR;
	}

	Jim_Nvp *n;
	int e = Jim_GetOpt_Nvp(goi, nvp_jtag_tap_event, &n);
	if (e != JIM_OK)
	{
		Jim_GetOpt_NvpUnknown(goi, nvp_jtag_tap_event, 1);
		return e;
	}

	if (goi->isconfigure) {
		if (goi->argc != 1) {
			Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event <event-name> <event-body>");
			return JIM_ERR;
		}
	} else {
		if (goi->argc != 0) {
			Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event <event-name>");
			return JIM_ERR;
		}
	}

	struct jtag_tap_event_action *jteap  = tap->event_action;
	/* replace existing event body */
	bool found = false;
	while (jteap)
	{
		if (jteap->event == (enum jtag_event)n->value)
		{
			found = true;
			break;
		}
		jteap = jteap->next;
	}

	Jim_SetEmptyResult(goi->interp);

	if (goi->isconfigure)
	{
		if (!found)
			jteap = calloc(1, sizeof(*jteap));
		else if (NULL != jteap->body)
			Jim_DecrRefCount(goi->interp, jteap->body);

		jteap->interp = goi->interp;
		jteap->event = n->value;

		Jim_Obj *o;
		Jim_GetOpt_Obj(goi, &o);
		jteap->body = Jim_DuplicateObj(goi->interp, o);
		Jim_IncrRefCount(jteap->body);

		if (!found)
		{
			/* add to head of event list */
			jteap->next = tap->event_action;
			tap->event_action = jteap;
		}
	}
	else if (found)
	{
		jteap->interp = goi->interp;
		Jim_SetResult(goi->interp,
			Jim_DuplicateObj(goi->interp, jteap->body));
	}
	return JIM_OK;
}

static int jtag_tap_configure_cmd(Jim_GetOptInfo *goi, struct jtag_tap * tap)
{
	/* parse config or cget options */
	while (goi->argc > 0)
	{
		Jim_SetEmptyResult (goi->interp);

		Jim_Nvp *n;
		int e = Jim_GetOpt_Nvp(goi, nvp_config_opts, &n);
		if (e != JIM_OK)
		{
			Jim_GetOpt_NvpUnknown(goi, nvp_config_opts, 0);
			return e;
		}

		switch (n->value)
		{
		case JCFG_EVENT:
			e = jtag_tap_configure_event(goi, tap);
			if (e != JIM_OK)
				return e;
			break;
		default:
			Jim_SetResult_sprintf(goi->interp, "unknown event: %s", n->name);
			return JIM_ERR;
		}
	}

	return JIM_OK;
}

static int is_bad_irval(int ir_length, jim_wide w)
{
	jim_wide v = 1;

	v <<= ir_length;
	v -= 1;
	v = ~v;
	return (w & v) != 0;
}

static int jim_newtap_expected_id(Jim_Nvp *n, Jim_GetOptInfo *goi,
		struct jtag_tap *pTap)
{
	jim_wide w;
	int e = Jim_GetOpt_Wide(goi, &w);
	if (e != JIM_OK) {
		Jim_SetResult_sprintf(goi->interp, "option: %s bad parameter", n->name);
		return e;
	}

	unsigned expected_len = sizeof(uint32_t) * pTap->expected_ids_cnt;
	uint32_t *new_expected_ids = malloc(expected_len + sizeof(uint32_t));
	if (new_expected_ids == NULL)
	{
		Jim_SetResult_sprintf(goi->interp, "no memory");
		return JIM_ERR;
	}

	memcpy(new_expected_ids, pTap->expected_ids, expected_len);

	new_expected_ids[pTap->expected_ids_cnt] = w;

	free(pTap->expected_ids);
	pTap->expected_ids = new_expected_ids;
	pTap->expected_ids_cnt++;

	return JIM_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

static int jim_newtap_ir_param(Jim_Nvp *n, Jim_GetOptInfo *goi,
		struct jtag_tap *pTap)
{
	jim_wide w;
	int e = Jim_GetOpt_Wide(goi, &w);
	if (e != JIM_OK)
	{
		Jim_SetResult_sprintf(goi->interp,
				"option: %s bad parameter", n->name);
		free((void *)pTap->dotted_name);
		return e;
	}
	switch (n->value) {
	case NTAP_OPT_IRLEN:
		if (w > (jim_wide) (8 * sizeof(pTap->ir_capture_value)))
		{
			LOG_WARNING("%s: huge IR length %d",
					pTap->dotted_name, (int) w);
		}
		pTap->ir_length = w;
		break;
	case NTAP_OPT_IRMASK:
		if (is_bad_irval(pTap->ir_length, w))
		{
			LOG_ERROR("%s: IR mask %x too big",
					pTap->dotted_name,
					(int) w);
			return JIM_ERR;
		}
		if ((w & 3) != 3)
			LOG_WARNING("%s: nonstandard IR mask", pTap->dotted_name);
		pTap->ir_capture_mask = w;
		break;
	case NTAP_OPT_IRCAPTURE:
		if (is_bad_irval(pTap->ir_length, w))
		{
			LOG_ERROR("%s: IR capture %x too big",
					pTap->dotted_name, (int) w);
			return JIM_ERR;
		}
		if ((w & 3) != 1)
			LOG_WARNING("%s: nonstandard IR value",
					pTap->dotted_name);
		pTap->ir_capture_value = w;
		break;
	default:
		return JIM_ERR;
	}
	return JIM_OK;
}

static int jim_newtap_cmd(Jim_GetOptInfo *goi)
{
	struct jtag_tap *pTap;
	int x;
	int e;
	Jim_Nvp *n;
	char *cp;
	const Jim_Nvp 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 = NULL				,	.value = -1 },
	};

	pTap = calloc(1, sizeof(struct jtag_tap));
	if (!pTap) {
		Jim_SetResult_sprintf(goi->interp, "no memory");
		return JIM_ERR;
	}

	/*
	 * we expect CHIP + TAP + OPTIONS
	 * */
	if (goi->argc < 3) {
		Jim_SetResult_sprintf(goi->interp, "Missing CHIP TAP OPTIONS ....");
		free(pTap);
		return JIM_ERR;
	}
	Jim_GetOpt_String(goi, &cp, NULL);
	pTap->chip = strdup(cp);

	Jim_GetOpt_String(goi, &cp, NULL);
	pTap->tapname = strdup(cp);

	/* name + dot + name + null */
	x = strlen(pTap->chip) + 1 + strlen(pTap->tapname) + 1;
	cp = malloc(x);
	sprintf(cp, "%s.%s", pTap->chip, pTap->tapname);
	pTap->dotted_name = cp;

	LOG_DEBUG("Creating New Tap, Chip: %s, Tap: %s, Dotted: %s, %d params",
			  pTap->chip, pTap->tapname, pTap->dotted_name, goi->argc);

	/* IEEE specifies that the two LSBs of an IR scan are 01, so make
	 * that the default.  The "-irlen" and "-irmask" options are only
	 * needed to cope with nonstandard TAPs, or to specify more bits.
	 */
	pTap->ir_capture_mask = 0x03;
	pTap->ir_capture_value = 0x01;

	while (goi->argc) {
		e = Jim_GetOpt_Nvp(goi, opts, &n);
		if (e != JIM_OK) {
			Jim_GetOpt_NvpUnknown(goi, opts, 0);
			free((void *)pTap->dotted_name);
			free(pTap);
			return e;
		}
		LOG_DEBUG("Processing option: %s", n->name);
		switch (n->value) {
		case NTAP_OPT_ENABLED:
			pTap->disabled_after_reset = false;
			break;
		case NTAP_OPT_DISABLED:
			pTap->disabled_after_reset = true;
			break;
		case NTAP_OPT_EXPECTED_ID:
			e = jim_newtap_expected_id(n, goi, pTap);
			if (JIM_OK != e)
			{
				free((void *)pTap->dotted_name);
				free(pTap);
				return e;
			}
			break;
		case NTAP_OPT_IRLEN:
		case NTAP_OPT_IRMASK:
		case NTAP_OPT_IRCAPTURE:
			e = jim_newtap_ir_param(n, goi, pTap);
			if (JIM_OK != e)
			{
				free((void *)pTap->dotted_name);
				free(pTap);
				return e;
			}
			break;
		} /* switch (n->value) */
	} /* while (goi->argc) */

	/* default is enabled-after-reset */
	pTap->enabled = !pTap->disabled_after_reset;

	/* Did all the required option bits get cleared? */
	if (pTap->ir_length != 0)
	{
		jtag_tap_init(pTap);
		return ERROR_OK;
	}

	Jim_SetResult_sprintf(goi->interp,
			"newtap: %s missing IR length",
			pTap->dotted_name);
	jtag_tap_free(pTap);
	return JIM_ERR;
}

static void jtag_tap_handle_event(struct jtag_tap *tap, enum jtag_event e)
{
	struct jtag_tap_event_action * jteap;

	for (jteap = tap->event_action; jteap != NULL; jteap = jteap->next)
	{
		if (jteap->event != e)
			continue;

		Jim_Nvp *nvp = Jim_Nvp_value2name_simple(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));

		if (Jim_EvalObj(jteap->interp, jteap->body) != JIM_OK)
		{
			Jim_PrintErrorMessage(jteap->interp);
			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;
		}
	}
}

static int jim_jtag_interface(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
{
	Jim_GetOptInfo goi;
	Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);

	/* return the name of the interface */
	/* TCL code might need to know the exact type... */
	/* FUTURE: we allow this as a means to "set" the interface. */
	if (goi.argc != 0) {
		Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
		return JIM_ERR;
	}
	const char *name = jtag_interface ? jtag_interface->name : NULL;
	Jim_SetResultString(goi.interp, name ? : "undefined", -1);
	return JIM_OK;
}

static int jim_jtag_arp_init(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
{
	Jim_GetOptInfo goi;
	Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
	if (goi.argc != 0) {
		Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
		return JIM_ERR;
	}
	struct command_context *context = Jim_GetAssocData(interp, "context");
	int e = jtag_init_inner(context);
	if (e != ERROR_OK) {
		Jim_SetResult_sprintf(goi.interp, "error: %d", e);
		return JIM_ERR;
	}
	return JIM_OK;
}

static int jim_jtag_arp_init_reset(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
{
	Jim_GetOptInfo goi;
	Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
	if (goi.argc != 0) {
		Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
		return JIM_ERR;
	}
	struct command_context *context = Jim_GetAssocData(interp, "context");
	int e = jtag_init_reset(context);
	if (e != ERROR_OK) {
		Jim_SetResult_sprintf(goi.interp, "error: %d", e);
		return JIM_ERR;
	}
	return JIM_OK;
}

static int jim_jtag_newtap(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
{
	Jim_GetOptInfo goi;
	Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
	return jim_newtap_cmd(&goi);
}

static bool jtag_tap_enable(struct jtag_tap *t)
{
	if (t->enabled)
		return false;
	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 false;
	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;
}

static int jim_jtag_tap_enabler(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
{
	const char *cmd_name = Jim_GetString(argv[0], NULL);
	Jim_GetOptInfo goi;
	Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
	if (goi.argc != 1) {
		Jim_SetResult_sprintf(goi.interp, "usage: %s <name>", cmd_name);
		return JIM_ERR;
	}

	struct jtag_tap *t;

	t = jtag_tap_by_jim_obj(goi.interp, goi.argv[0]);
	if (t == NULL)
		return JIM_ERR;

	if (strcasecmp(cmd_name, "tapisenabled") == 0) {
		// do nothing, just return the value
	} else if (strcasecmp(cmd_name, "tapenable") == 0) {
		if (!jtag_tap_enable(t))
			LOG_WARNING("failed to disable tap");
	} else if (strcasecmp(cmd_name, "tapdisable") == 0) {
		if (!jtag_tap_disable(t))
			LOG_WARNING("failed to disable tap");
	} else {
		LOG_ERROR("command '%s' unknown", cmd_name);
		return JIM_ERR;
	}
	bool e = t->enabled;
	Jim_SetResult(goi.interp, Jim_NewIntObj(goi.interp, e));
	return JIM_OK;
}

static int jim_jtag_configure(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
{
	const char *cmd_name = Jim_GetString(argv[0], NULL);
	Jim_GetOptInfo goi;
	Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
	goi.isconfigure = !strcmp(cmd_name, "configure");
	if (goi.argc < 2 + goi.isconfigure) {
		Jim_WrongNumArgs(goi.interp, 0, NULL,
				"<tap_name> <attribute> ...");
		return JIM_ERR;
	}

	struct jtag_tap *t;

	Jim_Obj *o;
	Jim_GetOpt_Obj(&goi, &o);
	t = jtag_tap_by_jim_obj(goi.interp, o);
	if (t == NULL) {
		return JIM_ERR;
	}

	return jtag_tap_configure_cmd(&goi, t);
}

static int jim_jtag_names(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
{
	Jim_GetOptInfo goi;
	Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
	if (goi.argc != 0) {
		Jim_WrongNumArgs(goi.interp, 1, goi.argv, "Too many parameters");
		return JIM_ERR;
	}
	Jim_SetResult(goi.interp, Jim_NewListObj(goi.interp, NULL, 0));
	struct jtag_tap *tap;

	for (tap = jtag_all_taps(); tap; tap = tap->next_tap) {
		Jim_ListAppendElement(goi.interp,
			Jim_GetResult(goi.interp),
			Jim_NewStringObj(goi.interp,
				tap->dotted_name, -1));
	}
	return JIM_OK;
}

COMMAND_HANDLER(handle_jtag_init_command)
{
	if (CMD_ARGC != 0)
		return ERROR_COMMAND_SYNTAX_ERROR;

	static bool jtag_initialized = false;
	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_CONFIG,
		.handler = &handle_jtag_init_command,
		.help = "initialize jtag scan chain",
	},
	{
		.name = "interface",
		.mode = COMMAND_ANY,
		.jim_handler = &jim_jtag_interface,
		.help = "Returns the selected interface",
	},
	{
		.name = "arp_init",
		.mode = COMMAND_ANY,
		.jim_handler = &jim_jtag_arp_init,
	},
	{
		.name = "arp_init-reset",
		.mode = COMMAND_ANY,
		.jim_handler = &jim_jtag_arp_init_reset,
	},
	{
		.name = "newtap",
		.mode = COMMAND_CONFIG,
		.jim_handler = &jim_jtag_newtap,
		.help = "Create a new TAP instance",
		.usage = "<name> <type> -irlen <count> [-ircapture <count>] "
			"[-irmask <count>] [-enable|-disable]",
	},
	{
		.name = "tapisenabled",
		.mode = COMMAND_EXEC,
		.jim_handler = &jim_jtag_tap_enabler,
		.help = "Returns a integer indicating TAP state (0/1)",
		.usage = "<name>",
	},
	{
		.name = "tapenable",
		.mode = COMMAND_EXEC,
		.jim_handler = &jim_jtag_tap_enabler,
		.help = "Enable the specified TAP",
		.usage = "<name>",
	},
	{
		.name = "tapdisable",
		.mode = COMMAND_EXEC,
		.jim_handler = &jim_jtag_tap_enabler,
		.help = "Enable the specified TAP",
		.usage = "<name>",
	},
	{
		.name = "configure",
		.mode = COMMAND_EXEC,
		.jim_handler = &jim_jtag_configure,
		.help = "Enable the specified TAP",
		.usage = "<name> [<key> <value> ...]",
	},
	{
		.name = "cget",
		.mode = COMMAND_EXEC,
		.jim_handler = &jim_jtag_configure,
		.help = "Enable the specified TAP",
		.usage = "<name> [<key> <value> ...]",
	},
	{
		.name = "names",
		.mode = COMMAND_ANY,
		.jim_handler = &jim_jtag_names,
		.help = "Returns list of all JTAG tap names",
	},
	{
		.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);
}


static int default_khz(int khz, int *jtag_speed)
{
	LOG_ERROR("Translation from khz to jtag_speed not implemented");
	return ERROR_FAIL;
}

static int default_speed_div(int speed, int *khz)
{
	LOG_ERROR("Translation from jtag_speed to khz not implemented");
	return ERROR_FAIL;
}

static int default_power_dropout(int *dropout)
{
	*dropout = 0; /* by default we can't detect power dropout */
	return ERROR_OK;
}

static int default_srst_asserted(int *srst_asserted)
{
	*srst_asserted = 0; /* by default we can't detect srst asserted */
	return ERROR_OK;
}

COMMAND_HANDLER(handle_interface_list_command)
{
	if (strcmp(CMD_NAME, "interface_list") == 0 && CMD_ARGC > 0)
		return ERROR_COMMAND_SYNTAX_ERROR;

	command_print(CMD_CTX, "The following JTAG interfaces are available:");
	for (unsigned i = 0; NULL != jtag_interfaces[i]; i++)
	{
		const char *name = jtag_interfaces[i]->name;
		command_print(CMD_CTX, "%u: %s", i + 1, name);
	}

	return ERROR_OK;
}

COMMAND_HANDLER(handle_interface_command)
{
	/* check whether the interface is already configured */
	if (jtag_interface)
	{
		LOG_WARNING("Interface already configured, ignoring");
		return ERROR_OK;
	}

	/* interface name is a mandatory argument */
	if (CMD_ARGC != 1 || CMD_ARGV[0][0] == '\0')
		return ERROR_COMMAND_SYNTAX_ERROR;

	for (unsigned i = 0; NULL != jtag_interfaces[i]; i++)
	{
		if (strcmp(CMD_ARGV[0], jtag_interfaces[i]->name) != 0)
			continue;

		if (NULL != jtag_interfaces[i]->commands)
		{
			int retval = register_commands(CMD_CTX, NULL,
					jtag_interfaces[i]->commands);
			if (ERROR_OK != retval)
				return retval;
		}

		jtag_interface = jtag_interfaces[i];

		if (jtag_interface->khz == NULL)
			jtag_interface->khz = default_khz;
		if (jtag_interface->speed_div == NULL)
			jtag_interface->speed_div = default_speed_div;
		if (jtag_interface->power_dropout == NULL)
			jtag_interface->power_dropout = default_power_dropout;
		if (jtag_interface->srst_asserted == NULL)
			jtag_interface->srst_asserted = default_srst_asserted;

		return ERROR_OK;
	}

	/* no valid interface was found (i.e. the configuration option,
	 * didn't match one of the compiled-in interfaces
	 */
	LOG_ERROR("The specified JTAG interface was not found (%s)", CMD_ARGV[0]);
	CALL_COMMAND_HANDLER(handle_interface_list_command);
	return ERROR_JTAG_INVALID_INTERFACE;
}

COMMAND_HANDLER(handle_scan_chain_command)
{
	struct jtag_tap *tap;

	tap = jtag_all_taps();
	command_print(CMD_CTX, "     TapName            | Enabled |   IdCode      Expected    IrLen IrCap  IrMask Instr     ");
	command_print(CMD_CTX, "---|--------------------|---------|------------|------------|------|------|------|---------");

	while (tap) {
		uint32_t expected, expected_mask, cur_instr, ii;
		expected = buf_get_u32(tap->expected, 0, tap->ir_length);
		expected_mask = buf_get_u32(tap->expected_mask, 0, tap->ir_length);
		cur_instr = buf_get_u32(tap->cur_instr, 0, tap->ir_length);

		command_print(CMD_CTX,
					  "%2d | %-18s |    %c    | 0x%08x | 0x%08x | 0x%02x | 0x%02x | 0x%02x | 0x%02x",
					  tap->abs_chain_position,
					  tap->dotted_name,
					  tap->enabled ? 'Y' : 'n',
					  (unsigned int)(tap->idcode),
					  (unsigned int)(tap->expected_ids_cnt > 0 ? tap->expected_ids[0] : 0),
					  (unsigned int)(tap->ir_length),
					  (unsigned int)(expected),
					  (unsigned int)(expected_mask),
					  (unsigned int)(cur_instr));

		for (ii = 1; ii < tap->expected_ids_cnt; ii++) {
			command_print(CMD_CTX, "   |                    |         |            | 0x%08x |      |      |      |         ",
						  (unsigned int)(tap->expected_ids[ii]));
		}

		tap = tap->next_tap;
	}

	return ERROR_OK;
}

COMMAND_HANDLER(handle_reset_config_command)
{
	int new_cfg = 0;
	int mask = 0;

	/* Original versions cared about the order of these tokens:
	 *   reset_config signals [combination [trst_type [srst_type]]]
	 * They also clobbered the previous configuration even on error.
	 *
	 * Here we don't care about the order, and only change values
	 * which have been explicitly specified.
	 */
	for (; CMD_ARGC; CMD_ARGC--, CMD_ARGV++) {
		int tmp = 0;
		int m;

		/* gating */
		m = RESET_SRST_NO_GATING;
		if (strcmp(*CMD_ARGV, "srst_gates_jtag") == 0)
			/* default: don't use JTAG while SRST asserted */;
		else if (strcmp(*CMD_ARGV, "srst_nogate") == 0)
			tmp = RESET_SRST_NO_GATING;
		else
			m = 0;
		if (mask & m) {
			LOG_ERROR("extra reset_config %s spec (%s)",
					"gating", *CMD_ARGV);
			return ERROR_INVALID_ARGUMENTS;
		}
		if (m)
			goto next;

		/* signals */
		m = RESET_HAS_TRST | RESET_HAS_SRST;
		if (strcmp(*CMD_ARGV, "none") == 0)
			tmp = RESET_NONE;
		else if (strcmp(*CMD_ARGV, "trst_only") == 0)
			tmp = RESET_HAS_TRST;
		else if (strcmp(*CMD_ARGV, "srst_only") == 0)
			tmp = RESET_HAS_SRST;
		else if (strcmp(*CMD_ARGV, "trst_and_srst") == 0)
			tmp = RESET_HAS_TRST | RESET_HAS_SRST;
		else
			m = 0;
		if (mask & m) {
			LOG_ERROR("extra reset_config %s spec (%s)",
					"signal", *CMD_ARGV);
			return ERROR_INVALID_ARGUMENTS;
		}
		if (m)
			goto next;

		/* combination (options for broken wiring) */
		m = RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST;
		if (strcmp(*CMD_ARGV, "separate") == 0)
			/* separate reset lines - default */;
		else if (strcmp(*CMD_ARGV, "srst_pulls_trst") == 0)
			tmp |= RESET_SRST_PULLS_TRST;
		else if (strcmp(*CMD_ARGV, "trst_pulls_srst") == 0)
			tmp |= RESET_TRST_PULLS_SRST;
		else if (strcmp(*CMD_ARGV, "combined") == 0)
			tmp |= RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST;
		else
			m = 0;
		if (mask & m) {
			LOG_ERROR("extra reset_config %s spec (%s)",
					"combination", *CMD_ARGV);
			return ERROR_INVALID_ARGUMENTS;
		}
		if (m)
			goto next;

		/* trst_type (NOP without HAS_TRST) */
		m = RESET_TRST_OPEN_DRAIN;
		if (strcmp(*CMD_ARGV, "trst_open_drain") == 0)
			tmp |= RESET_TRST_OPEN_DRAIN;
		else if (strcmp(*CMD_ARGV, "trst_push_pull") == 0)
			/* push/pull from adapter - default */;
		else
			m = 0;
		if (mask & m) {
			LOG_ERROR("extra reset_config %s spec (%s)",
					"trst_type", *CMD_ARGV);
			return ERROR_INVALID_ARGUMENTS;
		}
		if (m)
			goto next;

		/* srst_type (NOP without HAS_SRST) */
		m |= RESET_SRST_PUSH_PULL;
		if (strcmp(*CMD_ARGV, "srst_push_pull") == 0)
			tmp |= RESET_SRST_PUSH_PULL;
		else if (strcmp(*CMD_ARGV, "srst_open_drain") == 0)
			/* open drain from adapter - default */;
		else
			m = 0;
		if (mask & m) {
			LOG_ERROR("extra reset_config %s spec (%s)",
					"srst_type", *CMD_ARGV);
			return ERROR_INVALID_ARGUMENTS;
		}
		if (m)
			goto next;

		/* caller provided nonsense; fail */
		LOG_ERROR("unknown reset_config flag (%s)", *CMD_ARGV);
		return ERROR_INVALID_ARGUMENTS;

next:
		/* Remember the bits which were specified (mask)
		 * and their new values (new_cfg).
		 */
		mask |= m;
		new_cfg |= tmp;
	}

	/* clear previous values of those bits, save new values */
	if (mask) {
		int old_cfg = jtag_get_reset_config();

		old_cfg &= ~mask;
		new_cfg |= old_cfg;
		jtag_set_reset_config(new_cfg);
	} else
		new_cfg = jtag_get_reset_config();


	/*
	 * Display the (now-)current reset mode
	 */
	char *modes[5];

	/* minimal JTAG has neither SRST nor TRST (so that's the default) */
	switch (new_cfg & (RESET_HAS_TRST | RESET_HAS_SRST)) {
	case RESET_HAS_SRST:
		modes[0] = "srst_only";
		break;
	case RESET_HAS_TRST:
		modes[0] = "trst_only";
		break;
	case RESET_TRST_AND_SRST:
		modes[0] = "trst_and_srst";
		break;
	default:
		modes[0] = "none";
		break;
	}

	/* normally SRST and TRST are decoupled; but bugs happen ... */
	switch (new_cfg & (RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST)) {
	case RESET_SRST_PULLS_TRST:
		modes[1] = "srst_pulls_trst";
		break;
	case RESET_TRST_PULLS_SRST:
		modes[1] = "trst_pulls_srst";
		break;
	case RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST:
		modes[1] = "combined";
		break;
	default:
		modes[1] = "separate";
		break;
	}

	/* TRST-less connectors include Altera, Xilinx, and minimal JTAG */
	if (new_cfg & RESET_HAS_TRST) {
		if (new_cfg & RESET_TRST_OPEN_DRAIN)
			modes[3] = " trst_open_drain";
		else
			modes[3] = " trst_push_pull";
	} else
		modes[3] = "";

	/* SRST-less connectors include TI-14, Xilinx, and minimal JTAG */
	if (new_cfg & RESET_HAS_SRST) {
		if (new_cfg & RESET_SRST_NO_GATING)
			modes[2] = " srst_nogate";
		else
			modes[2] = " srst_gates_jtag";

		if (new_cfg & RESET_SRST_PUSH_PULL)
			modes[4] = " srst_push_pull";
		else
			modes[4] = " srst_open_drain";
	} else {
		modes[2] = "";
		modes[4] = "";
	}

	command_print(CMD_CTX, "%s %s%s%s%s",
			modes[0], modes[1],
			modes[2], modes[3], modes[4]);

	return ERROR_OK;
}

COMMAND_HANDLER(handle_jtag_nsrst_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_nsrst_delay(delay);
	}
	command_print(CMD_CTX, "jtag_nsrst_delay: %u", jtag_get_nsrst_delay());
	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_CTX, "jtag_ntrst_delay: %u", jtag_get_ntrst_delay());
	return ERROR_OK;
}

COMMAND_HANDLER(handle_jtag_nsrst_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_nsrst_assert_width(delay);
	}
	command_print(CMD_CTX, "jtag_nsrst_assert_width: %u", jtag_get_nsrst_assert_width());
	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_CTX, "jtag_ntrst_assert_width: %u", jtag_get_ntrst_assert_width());
	return ERROR_OK;
}

COMMAND_HANDLER(handle_jtag_khz_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 = jtag_config_khz(khz);
		if (ERROR_OK != retval)
			return retval;
	}

	int cur_speed = jtag_get_speed_khz();
	retval = jtag_get_speed_readable(&cur_speed);
	if (ERROR_OK != retval)
		return retval;

	if (cur_speed)
		command_print(CMD_CTX, "%d kHz", cur_speed);
	else
		command_print(CMD_CTX, "RCLK - adaptive");

	return retval;
}

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 = jtag_config_rclk(khz);
		if (ERROR_OK != retval)
			return retval;
	}

	int cur_khz = jtag_get_speed_khz();
	retval = jtag_get_speed_readable(&cur_khz);
	if (ERROR_OK != retval)
		return retval;

	if (cur_khz)
		command_print(CMD_CTX, "RCLK not supported - fallback to %d kHz", cur_khz);
	else
		command_print(CMD_CTX, "RCLK - adaptive");

	return retval;
}

COMMAND_HANDLER(handle_jtag_reset_command)
{
	if (CMD_ARGC != 2)
		return ERROR_COMMAND_SYNTAX_ERROR;

	int trst = -1;
	if (CMD_ARGV[0][0] == '1')
		trst = 1;
	else if (CMD_ARGV[0][0] == '0')
		trst = 0;
	else
		return ERROR_COMMAND_SYNTAX_ERROR;

	int srst = -1;
	if (CMD_ARGV[1][0] == '1')
		srst = 1;
	else if (CMD_ARGV[1][0] == '0')
		srst = 0;
	else
		return ERROR_COMMAND_SYNTAX_ERROR;

	if (jtag_interface_init(CMD_CTX) != ERROR_OK)
		return ERROR_JTAG_INIT_FAILED;

	jtag_add_reset(trst, srst);
	return jtag_execute_queue();
}

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;
	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;
	size_t fields_len = sizeof(struct scan_field) * num_fields;
	fields = malloc(fields_len);
	memset(fields, 0, fields_len);

	int retval;
	for (i = 0; i < num_fields; i++)
	{
		tap = jtag_tap_by_string(CMD_ARGV[i*2]);
		if (tap == NULL)
		{
			int j;
			for (j = 0; j < i; j++)
				free(fields[j].out_value);
                        free(fields);
			command_print(CMD_CTX, "Tap: %s unknown", CMD_ARGV[i*2]);

			return ERROR_FAIL;
		}
		int field_size = tap->ir_length;
		fields[i].tap = tap;
		fields[i].num_bits = field_size;
		fields[i].out_value = malloc(DIV_ROUND_UP(field_size, 8));

		uint32_t value;
		retval = parse_u32(CMD_ARGV[i * 2 + 1], &value);
		if (ERROR_OK != retval)
			goto error_return;
		buf_set_u32(fields[i].out_value, 0, field_size, value);
		fields[i].in_value = NULL;
	}

	/* did we have an endstate? */
	jtag_add_ir_scan(num_fields, fields, endstate);

	retval = jtag_execute_queue();

error_return:
	for (i = 0; i < num_fields; i++)
	{
		if (NULL != fields[i].out_value)
			free(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_CTX, "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_CTX, "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_CTX, "tms sequence is  %s",
			tap_uses_new_tms_table() ? "short": "long");

	return ERROR_OK;
}

static const struct command_registration jtag_command_handlers[] = {
	{
		.name = "interface",
		.handler = &handle_interface_command,
		.mode = COMMAND_CONFIG,
		.help = "select a JTAG interface",
		.usage = "<driver_name>",
	},
	{
		.name = "interface_list",
		.handler = &handle_interface_list_command,
		.mode = COMMAND_ANY,
		.help = "list all built-in interfaces",
	},
	{
		.name = "jtag_khz",
		.handler = &handle_jtag_khz_command,
		.mode = COMMAND_ANY,
		.help = "set maximum jtag speed (if supported)",
		.usage = "<khz:0=rtck>",
	},
	{
		.name = "jtag_rclk",
		.handler = &handle_jtag_rclk_command,
		.mode = COMMAND_ANY,
		.help = "set JTAG speed to RCLK or use fallback speed",
		.usage = "<fallback_speed_khz>",
	},
	{
		.name = "reset_config",
		.handler = &handle_reset_config_command,
		.mode = COMMAND_ANY,
		.help = "configure JTAG reset behavior",
		.usage = "[none|trst_only|srst_only|trst_and_srst] "
			"[srst_pulls_trst|trst_pulls_srst|combined|separate] "
			"[srst_gates_jtag|srst_nogate] "
			"[trst_push_pull|trst_open_drain] "
			"[srst_push_pull|srst_open_drain]",
	},
	{
		.name = "jtag_nsrst_delay",
		.handler = &handle_jtag_nsrst_delay_command,
		.mode = COMMAND_ANY,
		.help = "delay after deasserting srst in ms",
		.usage = "<ms>",
	},
	{
		.name = "jtag_ntrst_delay",
		.handler = &handle_jtag_ntrst_delay_command,
		.mode = COMMAND_ANY,
		.help = "delay after deasserting trst in ms",
		.usage = "<ms>"
	},
	{
		.name = "jtag_nsrst_assert_width",
		.handler = &handle_jtag_nsrst_assert_width_command,
		.mode = COMMAND_ANY,
		.help = "delay after asserting srst in ms",
		.usage = "<ms>"
	},
	{
		.name = "jtag_ntrst_assert_width",
		.handler = &handle_jtag_ntrst_assert_width_command,
		.mode = COMMAND_ANY,
		.help = "delay after asserting trst in ms",
		.usage = "<ms>"
	},
	{
		.name = "scan_chain",
		.handler = &handle_scan_chain_command,
		.mode = COMMAND_EXEC,
		.help = "print current scan chain configuration",
	},
	{
		.name = "jtag_reset",
		.handler = &handle_jtag_reset_command,
		.mode = COMMAND_EXEC,
		.help = "toggle reset lines",
		.usage = "<trst> <srst>",
	},
	{
		.name = "runtest",
		.handler = &handle_runtest_command,
		.mode = COMMAND_EXEC,
		.help = "move to Run-Test/Idle, and execute <num_cycles>",
		.usage = "<num_cycles>"
	},
	{
		.name = "irscan",
		.handler = &handle_irscan_command,
		.mode = COMMAND_EXEC,
		.help = "execute IR scan",
		.usage = "<device> <instr> [dev2] [instr2] ...",
	},
	{
		.name = "verify_ircapture",
		.handler = &handle_verify_ircapture_command,
		.mode = COMMAND_ANY,
		.help = "verify value captured during Capture-IR",
		.usage = "<enable | disable>",
	},
	{
		.name = "verify_jtag",
		.handler = &handle_verify_jtag_command,
		.mode = COMMAND_ANY,
		.help = "verify value capture",
		.usage = "<enable | disable>",
	},
	{
		.name = "tms_sequence",
		.handler = &handle_tms_sequence_command,
		.mode = COMMAND_ANY,
		.help = "choose short(default) or long tms_sequence",
		.usage = "<short | long>",
	},
	{
		.name = "jtag",
		.mode = COMMAND_ANY,
		.help = "perform jtag tap actions",

		.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);
}