1 /***************************************************************************
2 * Copyright (C) 2009 Zachary T Welch *
3 * zw@superlucidity.net *
5 * Copyright (C) 2007,2008,2009 Øyvind Harboe *
6 * oyvind.harboe@zylin.com *
8 * Copyright (C) 2009 SoftPLC Corporation *
12 * Copyright (C) 2005 by Dominic Rath *
13 * Dominic.Rath@gmx.de *
15 * This program is free software; you can redistribute it and/or modify *
16 * it under the terms of the GNU General Public License as published by *
17 * the Free Software Foundation; either version 2 of the License, or *
18 * (at your option) any later version. *
20 * This program is distributed in the hope that it will be useful, *
21 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
22 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
23 * GNU General Public License for more details. *
25 * You should have received a copy of the GNU General Public License *
26 * along with this program; if not, write to the *
27 * Free Software Foundation, Inc., *
28 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
29 ***************************************************************************/
35 #include "minidriver.h"
36 #include "interface.h"
43 /// The number of JTAG queue flushes (for profiling and debugging purposes).
44 static int jtag_flush_queue_count
;
46 static void jtag_add_scan_check(void (*jtag_add_scan
)(int in_num_fields
, const scan_field_t
*in_fields
, tap_state_t state
),
47 int in_num_fields
, scan_field_t
*in_fields
, tap_state_t state
);
50 * The jtag_error variable is set when an error occurs while executing
51 * the queue. Application code may set this using jtag_set_error(),
52 * when an error occurs during processing that should be reported during
53 * jtag_execute_queue().
55 * Tts value may be checked with jtag_get_error() and cleared with
56 * jtag_error_clear(). This value is returned (and cleared) by
57 * jtag_execute_queue().
59 static int jtag_error
= ERROR_OK
;
61 static const char *jtag_event_strings
[] =
63 [JTAG_TRST_ASSERTED
] = "TAP reset",
64 [JTAG_TAP_EVENT_SETUP
] = "TAP setup",
65 [JTAG_TAP_EVENT_ENABLE
] = "TAP enabled",
66 [JTAG_TAP_EVENT_DISABLE
] = "TAP disabled",
70 * JTAG adapters must initialize with TRST and SRST de-asserted
71 * (they're negative logic, so that means *high*). But some
72 * hardware doesn't necessarily work that way ... so set things
73 * up so that jtag_init() always forces that state.
75 static int jtag_trst
= -1;
76 static int jtag_srst
= -1;
79 * List all TAPs that have been created.
81 static jtag_tap_t
*__jtag_all_taps
= NULL
;
83 * The number of TAPs in the __jtag_all_taps list, used to track the
84 * assigned chain position to new TAPs
86 static unsigned jtag_num_taps
= 0;
88 static enum reset_types jtag_reset_config
= RESET_NONE
;
89 static tap_state_t cmd_queue_end_state
= TAP_RESET
;
90 tap_state_t cmd_queue_cur_state
= TAP_RESET
;
92 static bool jtag_verify_capture_ir
= true;
93 static int jtag_verify
= 1;
95 /* how long the OpenOCD should wait before attempting JTAG communication after reset lines deasserted (in ms) */
96 static int jtag_nsrst_delay
= 0; /* default to no nSRST delay */
97 static int jtag_ntrst_delay
= 0; /* default to no nTRST delay */
98 static int jtag_nsrst_assert_width
= 0; /* width of assertion */
99 static int jtag_ntrst_assert_width
= 0; /* width of assertion */
101 typedef struct jtag_event_callback_s
103 jtag_event_handler_t callback
;
105 struct jtag_event_callback_s
* next
;
106 } jtag_event_callback_t
;
108 /* callbacks to inform high-level handlers about JTAG state changes */
109 static jtag_event_callback_t
*jtag_event_callbacks
;
112 static int speed_khz
= 0;
113 /* speed to fallback to when RCLK is requested but not supported */
114 static int rclk_fallback_speed_khz
= 0;
115 static enum {CLOCK_MODE_SPEED
, CLOCK_MODE_KHZ
, CLOCK_MODE_RCLK
} clock_mode
;
116 static int jtag_speed
= 0;
118 static struct jtag_interface_s
*jtag
= NULL
;
121 jtag_interface_t
*jtag_interface
= NULL
;
123 void jtag_set_error(int error
)
125 if ((error
== ERROR_OK
) || (jtag_error
!= ERROR_OK
))
129 int jtag_get_error(void)
133 int jtag_error_clear(void)
135 int temp
= jtag_error
;
136 jtag_error
= ERROR_OK
;
142 static bool jtag_poll
= 1;
144 bool is_jtag_poll_safe(void)
146 /* Polling can be disabled explicitly with set_enabled(false).
147 * It is also implicitly disabled while TRST is active and
148 * while SRST is gating the JTAG clock.
150 if (!jtag_poll
|| jtag_trst
!= 0)
152 return jtag_srst
== 0 || (jtag_reset_config
& RESET_SRST_NO_GATING
);
155 bool jtag_poll_get_enabled(void)
160 void jtag_poll_set_enabled(bool value
)
167 jtag_tap_t
*jtag_all_taps(void)
169 return __jtag_all_taps
;
172 unsigned jtag_tap_count(void)
174 return jtag_num_taps
;
177 unsigned jtag_tap_count_enabled(void)
179 jtag_tap_t
*t
= jtag_all_taps();
190 /// Append a new TAP to the chain of all taps.
191 void jtag_tap_add(struct jtag_tap_s
*t
)
193 t
->abs_chain_position
= jtag_num_taps
++;
195 jtag_tap_t
**tap
= &__jtag_all_taps
;
197 tap
= &(*tap
)->next_tap
;
201 /* returns a pointer to the n-th device in the scan chain */
202 static inline jtag_tap_t
*jtag_tap_by_position(unsigned n
)
204 jtag_tap_t
*t
= jtag_all_taps();
212 jtag_tap_t
*jtag_tap_by_string(const char *s
)
214 /* try by name first */
215 jtag_tap_t
*t
= jtag_all_taps();
219 if (0 == strcmp(t
->dotted_name
, s
))
224 /* no tap found by name, so try to parse the name as a number */
226 if (parse_uint(s
, &n
) != ERROR_OK
)
229 /* FIXME remove this numeric fallback code late June 2010, along
230 * with all info in the User's Guide that TAPs have numeric IDs.
231 * Also update "scan_chain" output to not display the numbers.
233 t
= jtag_tap_by_position(n
);
235 LOG_WARNING("Specify TAP '%s' by name, not number %u",
241 jtag_tap_t
*jtag_tap_by_jim_obj(Jim_Interp
*interp
, Jim_Obj
*o
)
243 const char *cp
= Jim_GetString(o
, NULL
);
244 jtag_tap_t
*t
= cp
? jtag_tap_by_string(cp
) : NULL
;
248 Jim_SetResult_sprintf(interp
, "Tap '%s' could not be found", cp
);
252 jtag_tap_t
* jtag_tap_next_enabled(jtag_tap_t
* p
)
254 p
= p
? p
->next_tap
: jtag_all_taps();
264 const char *jtag_tap_name(const jtag_tap_t
*tap
)
266 return (tap
== NULL
) ? "(unknown)" : tap
->dotted_name
;
270 int jtag_register_event_callback(jtag_event_handler_t callback
, void *priv
)
272 jtag_event_callback_t
**callbacks_p
= &jtag_event_callbacks
;
274 if (callback
== NULL
)
276 return ERROR_INVALID_ARGUMENTS
;
281 while ((*callbacks_p
)->next
)
282 callbacks_p
= &((*callbacks_p
)->next
);
283 callbacks_p
= &((*callbacks_p
)->next
);
286 (*callbacks_p
) = malloc(sizeof(jtag_event_callback_t
));
287 (*callbacks_p
)->callback
= callback
;
288 (*callbacks_p
)->priv
= priv
;
289 (*callbacks_p
)->next
= NULL
;
294 int jtag_unregister_event_callback(jtag_event_handler_t callback
, void *priv
)
296 jtag_event_callback_t
**callbacks_p
;
297 jtag_event_callback_t
**next
;
299 if (callback
== NULL
)
301 return ERROR_INVALID_ARGUMENTS
;
304 for (callbacks_p
= &jtag_event_callbacks
;
305 *callbacks_p
!= NULL
;
308 next
= &((*callbacks_p
)->next
);
310 if ((*callbacks_p
)->priv
!= priv
)
313 if ((*callbacks_p
)->callback
== callback
)
316 *callbacks_p
= *next
;
323 int jtag_call_event_callbacks(enum jtag_event event
)
325 jtag_event_callback_t
*callback
= jtag_event_callbacks
;
327 LOG_DEBUG("jtag event: %s", jtag_event_strings
[event
]);
331 jtag_event_callback_t
*next
;
333 /* callback may remove itself */
334 next
= callback
->next
;
335 callback
->callback(event
, callback
->priv
);
342 static void jtag_checks(void)
344 assert(jtag_trst
== 0);
347 static void jtag_prelude(tap_state_t state
)
351 assert(state
!= TAP_INVALID
);
353 cmd_queue_cur_state
= state
;
356 void jtag_alloc_in_value32(scan_field_t
*field
)
358 interface_jtag_alloc_in_value32(field
);
361 void jtag_add_ir_scan_noverify(int in_count
, const scan_field_t
*in_fields
,
366 int retval
= interface_jtag_add_ir_scan(in_count
, in_fields
, state
);
367 jtag_set_error(retval
);
371 void jtag_add_ir_scan(int in_num_fields
, scan_field_t
*in_fields
, tap_state_t state
)
373 assert(state
!= TAP_RESET
);
375 if (jtag_verify
&& jtag_verify_capture_ir
)
377 /* 8 x 32 bit id's is enough for all invocations */
379 for (int j
= 0; j
< in_num_fields
; j
++)
381 /* if we are to run a verification of the ir scan, we need to get the input back.
382 * We may have to allocate space if the caller didn't ask for the input back.
384 in_fields
[j
].check_value
= in_fields
[j
].tap
->expected
;
385 in_fields
[j
].check_mask
= in_fields
[j
].tap
->expected_mask
;
387 jtag_add_scan_check(jtag_add_ir_scan_noverify
, in_num_fields
, in_fields
, state
);
390 jtag_add_ir_scan_noverify(in_num_fields
, in_fields
, state
);
394 void jtag_add_plain_ir_scan(int in_num_fields
, const scan_field_t
*in_fields
,
397 assert(state
!= TAP_RESET
);
401 int retval
= interface_jtag_add_plain_ir_scan(
402 in_num_fields
, in_fields
, state
);
403 jtag_set_error(retval
);
406 void jtag_add_callback(jtag_callback1_t f
, jtag_callback_data_t data0
)
408 interface_jtag_add_callback(f
, data0
);
411 void jtag_add_callback4(jtag_callback_t f
, jtag_callback_data_t data0
,
412 jtag_callback_data_t data1
, jtag_callback_data_t data2
,
413 jtag_callback_data_t data3
)
415 interface_jtag_add_callback4(f
, data0
, data1
, data2
, data3
);
418 static int jtag_check_value_inner(uint8_t *captured
, uint8_t *in_check_value
,
419 uint8_t *in_check_mask
, int num_bits
);
421 static int jtag_check_value_mask_callback(jtag_callback_data_t data0
, jtag_callback_data_t data1
, jtag_callback_data_t data2
, jtag_callback_data_t data3
)
423 return jtag_check_value_inner((uint8_t *)data0
, (uint8_t *)data1
, (uint8_t *)data2
, (int)data3
);
426 static void jtag_add_scan_check(void (*jtag_add_scan
)(int in_num_fields
, const scan_field_t
*in_fields
, tap_state_t state
),
427 int in_num_fields
, scan_field_t
*in_fields
, tap_state_t state
)
429 for (int i
= 0; i
< in_num_fields
; i
++)
431 struct scan_field_s
*field
= &in_fields
[i
];
432 field
->allocated
= 0;
434 if (field
->check_value
|| field
->in_value
)
436 interface_jtag_add_scan_check_alloc(field
);
440 jtag_add_scan(in_num_fields
, in_fields
, state
);
442 for (int i
= 0; i
< in_num_fields
; i
++)
444 if ((in_fields
[i
].check_value
!= NULL
) && (in_fields
[i
].in_value
!= NULL
))
446 /* this is synchronous for a minidriver */
447 jtag_add_callback4(jtag_check_value_mask_callback
, (jtag_callback_data_t
)in_fields
[i
].in_value
,
448 (jtag_callback_data_t
)in_fields
[i
].check_value
,
449 (jtag_callback_data_t
)in_fields
[i
].check_mask
,
450 (jtag_callback_data_t
)in_fields
[i
].num_bits
);
452 if (in_fields
[i
].allocated
)
454 free(in_fields
[i
].in_value
);
456 if (in_fields
[i
].modified
)
458 in_fields
[i
].in_value
= NULL
;
463 void jtag_add_dr_scan_check(int in_num_fields
, scan_field_t
*in_fields
, tap_state_t state
)
467 jtag_add_scan_check(jtag_add_dr_scan
, in_num_fields
, in_fields
, state
);
470 jtag_add_dr_scan(in_num_fields
, in_fields
, state
);
475 void jtag_add_dr_scan(int in_num_fields
, const scan_field_t
*in_fields
,
478 assert(state
!= TAP_RESET
);
483 retval
= interface_jtag_add_dr_scan(in_num_fields
, in_fields
, state
);
484 jtag_set_error(retval
);
487 void jtag_add_plain_dr_scan(int in_num_fields
, const scan_field_t
*in_fields
,
490 assert(state
!= TAP_RESET
);
495 retval
= interface_jtag_add_plain_dr_scan(in_num_fields
, in_fields
, state
);
496 jtag_set_error(retval
);
499 void jtag_add_dr_out(jtag_tap_t
* tap
,
500 int num_fields
, const int* num_bits
, const uint32_t* value
,
501 tap_state_t end_state
)
503 assert(end_state
!= TAP_RESET
);
504 assert(end_state
!= TAP_INVALID
);
506 cmd_queue_cur_state
= end_state
;
508 interface_jtag_add_dr_out(tap
,
509 num_fields
, num_bits
, value
,
513 void jtag_add_tlr(void)
515 jtag_prelude(TAP_RESET
);
516 jtag_set_error(interface_jtag_add_tlr());
518 /* NOTE: order here matches TRST path in jtag_add_reset() */
519 jtag_call_event_callbacks(JTAG_TRST_ASSERTED
);
520 jtag_notify_event(JTAG_TRST_ASSERTED
);
523 void jtag_add_pathmove(int num_states
, const tap_state_t
*path
)
525 tap_state_t cur_state
= cmd_queue_cur_state
;
527 /* the last state has to be a stable state */
528 if (!tap_is_state_stable(path
[num_states
- 1]))
530 LOG_ERROR("BUG: TAP path doesn't finish in a stable state");
531 jtag_set_error(ERROR_JTAG_NOT_STABLE_STATE
);
535 for (int i
= 0; i
< num_states
; i
++)
537 if (path
[i
] == TAP_RESET
)
539 LOG_ERROR("BUG: TAP_RESET is not a valid state for pathmove sequences");
540 jtag_set_error(ERROR_JTAG_STATE_INVALID
);
544 if (tap_state_transition(cur_state
, true) != path
[i
]
545 && tap_state_transition(cur_state
, false) != path
[i
])
547 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
548 tap_state_name(cur_state
), tap_state_name(path
[i
]));
549 jtag_set_error(ERROR_JTAG_TRANSITION_INVALID
);
557 jtag_set_error(interface_jtag_add_pathmove(num_states
, path
));
558 cmd_queue_cur_state
= path
[num_states
- 1];
561 int jtag_add_statemove(tap_state_t goal_state
)
563 tap_state_t cur_state
= cmd_queue_cur_state
;
565 LOG_DEBUG("cur_state=%s goal_state=%s",
566 tap_state_name(cur_state
),
567 tap_state_name(goal_state
));
570 if (goal_state
== cur_state
)
571 ; /* nothing to do */
572 else if (goal_state
== TAP_RESET
)
576 else if (tap_is_state_stable(cur_state
) && tap_is_state_stable(goal_state
))
578 unsigned tms_bits
= tap_get_tms_path(cur_state
, goal_state
);
579 unsigned tms_count
= tap_get_tms_path_len(cur_state
, goal_state
);
580 tap_state_t moves
[8];
581 assert(tms_count
< DIM(moves
));
583 for (unsigned i
= 0; i
< tms_count
; i
++, tms_bits
>>= 1)
585 bool bit
= tms_bits
& 1;
587 cur_state
= tap_state_transition(cur_state
, bit
);
588 moves
[i
] = cur_state
;
591 jtag_add_pathmove(tms_count
, moves
);
593 else if (tap_state_transition(cur_state
, true) == goal_state
594 || tap_state_transition(cur_state
, false) == goal_state
)
596 jtag_add_pathmove(1, &goal_state
);
605 void jtag_add_runtest(int num_cycles
, tap_state_t state
)
608 jtag_set_error(interface_jtag_add_runtest(num_cycles
, state
));
612 void jtag_add_clocks(int num_cycles
)
614 if (!tap_is_state_stable(cmd_queue_cur_state
))
616 LOG_ERROR("jtag_add_clocks() called with TAP in unstable state \"%s\"",
617 tap_state_name(cmd_queue_cur_state
));
618 jtag_set_error(ERROR_JTAG_NOT_STABLE_STATE
);
625 jtag_set_error(interface_jtag_add_clocks(num_cycles
));
629 void jtag_add_reset(int req_tlr_or_trst
, int req_srst
)
631 int trst_with_tlr
= 0;
635 /* Without SRST, we must use target-specific JTAG operations
636 * on each target; callers should not be requesting SRST when
637 * that signal doesn't exist.
639 * RESET_SRST_PULLS_TRST is a board or chip level quirk, which
640 * can kick in even if the JTAG adapter can't drive TRST.
643 if (!(jtag_reset_config
& RESET_HAS_SRST
)) {
644 LOG_ERROR("BUG: can't assert SRST");
645 jtag_set_error(ERROR_FAIL
);
648 if ((jtag_reset_config
& RESET_SRST_PULLS_TRST
) != 0
649 && !req_tlr_or_trst
) {
650 LOG_ERROR("BUG: can't assert only SRST");
651 jtag_set_error(ERROR_FAIL
);
657 /* JTAG reset (entry to TAP_RESET state) can always be achieved
658 * using TCK and TMS; that may go through a TAP_{IR,DR}UPDATE
659 * state first. TRST accelerates it, and bypasses those states.
661 * RESET_TRST_PULLS_SRST is a board or chip level quirk, which
662 * can kick in even if the JTAG adapter can't drive SRST.
664 if (req_tlr_or_trst
) {
665 if (!(jtag_reset_config
& RESET_HAS_TRST
))
667 else if ((jtag_reset_config
& RESET_TRST_PULLS_SRST
) != 0
674 /* Maybe change TRST and/or SRST signal state */
675 if (jtag_srst
!= new_srst
|| jtag_trst
!= new_trst
) {
678 retval
= interface_jtag_add_reset(new_trst
, new_srst
);
679 if (retval
!= ERROR_OK
)
680 jtag_set_error(retval
);
682 retval
= jtag_execute_queue();
684 if (retval
!= ERROR_OK
) {
685 LOG_ERROR("TRST/SRST error %d", retval
);
690 /* SRST resets everything hooked up to that signal */
691 if (jtag_srst
!= new_srst
) {
692 jtag_srst
= new_srst
;
695 LOG_DEBUG("SRST line asserted");
696 if (jtag_nsrst_assert_width
)
697 jtag_add_sleep(jtag_nsrst_assert_width
* 1000);
700 LOG_DEBUG("SRST line released");
701 if (jtag_nsrst_delay
)
702 jtag_add_sleep(jtag_nsrst_delay
* 1000);
706 /* Maybe enter the JTAG TAP_RESET state ...
707 * - using only TMS, TCK, and the JTAG state machine
708 * - or else more directly, using TRST
710 * TAP_RESET should be invisible to non-debug parts of the system.
713 LOG_DEBUG("JTAG reset with TLR instead of TRST");
714 jtag_set_end_state(TAP_RESET
);
717 } else if (jtag_trst
!= new_trst
) {
718 jtag_trst
= new_trst
;
720 LOG_DEBUG("TRST line asserted");
721 tap_set_state(TAP_RESET
);
722 if (jtag_ntrst_assert_width
)
723 jtag_add_sleep(jtag_ntrst_assert_width
* 1000);
725 LOG_DEBUG("TRST line released");
726 if (jtag_ntrst_delay
)
727 jtag_add_sleep(jtag_ntrst_delay
* 1000);
729 /* We just asserted nTRST, so we're now in TAP_RESET.
730 * Inform possible listeners about this, now that
731 * JTAG instructions and data can be shifted. This
732 * sequence must match jtag_add_tlr().
734 jtag_call_event_callbacks(JTAG_TRST_ASSERTED
);
735 jtag_notify_event(JTAG_TRST_ASSERTED
);
740 tap_state_t
jtag_set_end_state(tap_state_t state
)
742 if ((state
== TAP_DRSHIFT
)||(state
== TAP_IRSHIFT
))
744 LOG_ERROR("BUG: TAP_DRSHIFT/IRSHIFT can't be end state. Calling code should use a larger scan field");
747 if (state
!= TAP_INVALID
)
748 cmd_queue_end_state
= state
;
749 return cmd_queue_end_state
;
752 tap_state_t
jtag_get_end_state(void)
754 return cmd_queue_end_state
;
757 void jtag_add_sleep(uint32_t us
)
759 /// @todo Here, keep_alive() appears to be a layering violation!!!
761 jtag_set_error(interface_jtag_add_sleep(us
));
764 static int jtag_check_value_inner(uint8_t *captured
, uint8_t *in_check_value
,
765 uint8_t *in_check_mask
, int num_bits
)
767 int retval
= ERROR_OK
;
769 int compare_failed
= 0;
772 compare_failed
= buf_cmp_mask(captured
, in_check_value
, in_check_mask
, num_bits
);
774 compare_failed
= buf_cmp(captured
, in_check_value
, num_bits
);
776 if (compare_failed
) {
777 char *captured_str
, *in_check_value_str
;
778 int bits
= (num_bits
> DEBUG_JTAG_IOZ
)
782 /* NOTE: we've lost diagnostic context here -- 'which tap' */
784 captured_str
= buf_to_str(captured
, bits
, 16);
785 in_check_value_str
= buf_to_str(in_check_value
, bits
, 16);
787 LOG_WARNING("Bad value '%s' captured during DR or IR scan:",
789 LOG_WARNING(" check_value: 0x%s", in_check_value_str
);
792 free(in_check_value_str
);
795 char *in_check_mask_str
;
797 in_check_mask_str
= buf_to_str(in_check_mask
, bits
, 16);
798 LOG_WARNING(" check_mask: 0x%s", in_check_mask_str
);
799 free(in_check_mask_str
);
802 retval
= ERROR_JTAG_QUEUE_FAILED
;
807 void jtag_check_value_mask(scan_field_t
*field
, uint8_t *value
, uint8_t *mask
)
809 assert(field
->in_value
!= NULL
);
813 /* no checking to do */
817 jtag_execute_queue_noclear();
819 int retval
= jtag_check_value_inner(field
->in_value
, value
, mask
, field
->num_bits
);
820 jtag_set_error(retval
);
825 int default_interface_jtag_execute_queue(void)
829 LOG_ERROR("No JTAG interface configured yet. "
830 "Issue 'init' command in startup scripts "
831 "before communicating with targets.");
835 return jtag
->execute_queue();
838 void jtag_execute_queue_noclear(void)
840 jtag_flush_queue_count
++;
841 jtag_set_error(interface_jtag_execute_queue());
844 int jtag_get_flush_queue_count(void)
846 return jtag_flush_queue_count
;
849 int jtag_execute_queue(void)
851 jtag_execute_queue_noclear();
852 return jtag_error_clear();
855 static int jtag_reset_callback(enum jtag_event event
, void *priv
)
857 jtag_tap_t
*tap
= priv
;
859 if (event
== JTAG_TRST_ASSERTED
)
861 tap
->enabled
= !tap
->disabled_after_reset
;
863 /* current instruction is either BYPASS or IDCODE */
864 buf_set_ones(tap
->cur_instr
, tap
->ir_length
);
871 void jtag_sleep(uint32_t us
)
873 alive_sleep(us
/1000);
876 /* Maximum number of enabled JTAG devices we expect in the scan chain,
877 * plus one (to detect garbage at the end). Devices that don't support
878 * IDCODE take up fewer bits, possibly allowing a few more devices.
880 #define JTAG_MAX_CHAIN_SIZE 20
882 #define EXTRACT_MFG(X) (((X) & 0xffe) >> 1)
883 #define EXTRACT_PART(X) (((X) & 0xffff000) >> 12)
884 #define EXTRACT_VER(X) (((X) & 0xf0000000) >> 28)
886 /* A reserved manufacturer ID is used in END_OF_CHAIN_FLAG, so we
887 * know that no valid TAP will have it as an IDCODE value.
889 #define END_OF_CHAIN_FLAG 0x000000ff
891 static int jtag_examine_chain_execute(uint8_t *idcode_buffer
, unsigned num_idcode
)
893 scan_field_t field
= {
895 .num_bits
= num_idcode
* 32,
896 .out_value
= idcode_buffer
,
897 .in_value
= idcode_buffer
,
900 // initialize to the end of chain ID value
901 for (unsigned i
= 0; i
< JTAG_MAX_CHAIN_SIZE
; i
++)
902 buf_set_u32(idcode_buffer
, i
* 32, 32, END_OF_CHAIN_FLAG
);
904 jtag_add_plain_dr_scan(1, &field
, TAP_DRPAUSE
);
906 return jtag_execute_queue();
909 static bool jtag_examine_chain_check(uint8_t *idcodes
, unsigned count
)
911 uint8_t zero_check
= 0x0;
912 uint8_t one_check
= 0xff;
914 for (unsigned i
= 0; i
< count
* 4; i
++)
916 zero_check
|= idcodes
[i
];
917 one_check
&= idcodes
[i
];
920 /* if there wasn't a single non-zero bit or if all bits were one,
921 * the scan is not valid. We wrote a mix of both values; either
923 * - There's a hardware issue (almost certainly):
924 * + all-zeroes can mean a target stuck in JTAG reset
925 * + all-ones tends to mean no target
926 * - The scan chain is WAY longer than we can handle, *AND* either
927 * + there are several hundreds of TAPs in bypass, or
928 * + at least a few dozen TAPs all have an all-ones IDCODE
930 if (zero_check
== 0x00 || one_check
== 0xff)
932 LOG_ERROR("JTAG scan chain interrogation failed: all %s",
933 (zero_check
== 0x00) ? "zeroes" : "ones");
934 LOG_ERROR("Check JTAG interface, timings, target power, etc.");
940 static void jtag_examine_chain_display(enum log_levels level
, const char *msg
,
941 const char *name
, uint32_t idcode
)
943 log_printf_lf(level
, __FILE__
, __LINE__
, __FUNCTION__
,
944 "JTAG tap: %s %16.16s: 0x%08x "
945 "(mfg: 0x%3.3x, part: 0x%4.4x, ver: 0x%1.1x)",
947 (unsigned int)idcode
,
948 (unsigned int)EXTRACT_MFG(idcode
),
949 (unsigned int)EXTRACT_PART(idcode
),
950 (unsigned int)EXTRACT_VER(idcode
));
953 static bool jtag_idcode_is_final(uint32_t idcode
)
956 * Some devices, such as AVR8, will output all 1's instead
957 * of TDI input value at end of chain. Allow those values
958 * instead of failing.
960 return idcode
== END_OF_CHAIN_FLAG
|| idcode
== 0xFFFFFFFF;
964 * This helper checks that remaining bits in the examined chain data are
965 * all as expected, but a single JTAG device requires only 64 bits to be
966 * read back correctly. This can help identify and diagnose problems
967 * with the JTAG chain earlier, gives more helpful/explicit error messages.
968 * Returns TRUE iff garbage was found.
970 static bool jtag_examine_chain_end(uint8_t *idcodes
, unsigned count
, unsigned max
)
972 bool triggered
= false;
973 for (; count
< max
- 31; count
+= 32)
975 uint32_t idcode
= buf_get_u32(idcodes
, count
, 32);
977 /* do not trigger the warning if the data looks good */
978 if (jtag_idcode_is_final(idcode
))
980 LOG_WARNING("Unexpected idcode after end of chain: %d 0x%08x",
981 count
, (unsigned int)idcode
);
987 static bool jtag_examine_chain_match_tap(const struct jtag_tap_s
*tap
)
989 /* ignore expected BYPASS codes; warn otherwise */
990 if (0 == tap
->expected_ids_cnt
&& !tap
->idcode
)
993 /* Loop over the expected identification codes and test for a match */
995 for (ii
= 0; ii
< tap
->expected_ids_cnt
; ii
++)
997 if (tap
->idcode
== tap
->expected_ids
[ii
])
1000 /* treat "-expected-id 0" as a "don't-warn" wildcard */
1001 if (0 == tap
->expected_ids
[ii
])
1005 /* If none of the expected ids matched, warn */
1006 jtag_examine_chain_display(LOG_LVL_WARNING
, "UNEXPECTED",
1007 tap
->dotted_name
, tap
->idcode
);
1008 for (ii
= 0; ii
< tap
->expected_ids_cnt
; ii
++)
1011 snprintf(msg
, sizeof(msg
), "expected %hhu of %hhu",
1012 ii
+ 1, tap
->expected_ids_cnt
);
1013 jtag_examine_chain_display(LOG_LVL_ERROR
, msg
,
1014 tap
->dotted_name
, tap
->expected_ids
[ii
]);
1019 /* Try to examine chain layout according to IEEE 1149.1 §12
1020 * This is called a "blind interrogation" of the scan chain.
1022 static int jtag_examine_chain(void)
1024 uint8_t idcode_buffer
[JTAG_MAX_CHAIN_SIZE
* 4];
1028 /* DR scan to collect BYPASS or IDCODE register contents.
1029 * Then make sure the scan data has both ones and zeroes.
1031 LOG_DEBUG("DR scan interrogation for IDCODE/BYPASS");
1032 retval
= jtag_examine_chain_execute(idcode_buffer
, JTAG_MAX_CHAIN_SIZE
);
1033 if (retval
!= ERROR_OK
)
1035 if (!jtag_examine_chain_check(idcode_buffer
, JTAG_MAX_CHAIN_SIZE
))
1036 return ERROR_JTAG_INIT_FAILED
;
1038 /* point at the 1st tap */
1039 jtag_tap_t
*tap
= jtag_tap_next_enabled(NULL
);
1042 LOG_ERROR("JTAG: No taps enabled?");
1043 return ERROR_JTAG_INIT_FAILED
;
1047 tap
&& bit_count
< (JTAG_MAX_CHAIN_SIZE
* 32) - 31;
1048 tap
= jtag_tap_next_enabled(tap
))
1050 uint32_t idcode
= buf_get_u32(idcode_buffer
, bit_count
, 32);
1052 if ((idcode
& 1) == 0)
1054 /* Zero for LSB indicates a device in bypass */
1055 LOG_WARNING("TAP %s does not have IDCODE",
1058 tap
->hasidcode
= false;
1064 /* Friendly devices support IDCODE */
1065 tap
->hasidcode
= true;
1066 jtag_examine_chain_display(LOG_LVL_INFO
,
1068 tap
->dotted_name
, idcode
);
1072 tap
->idcode
= idcode
;
1074 /* ensure the TAP ID matches what was expected */
1075 if (!jtag_examine_chain_match_tap(tap
))
1076 retval
= ERROR_JTAG_INIT_SOFT_FAIL
;
1079 /* Fail if too many TAPs were enabled for us to verify them all. */
1081 LOG_ERROR("Too many TAPs enabled; '%s' ignored.",
1083 return ERROR_JTAG_INIT_FAILED
;
1086 /* After those IDCODE or BYPASS register values should be
1087 * only the data we fed into the scan chain.
1089 if (jtag_examine_chain_end(idcode_buffer
, bit_count
,
1090 8 * sizeof(idcode_buffer
))) {
1091 LOG_ERROR("double-check your JTAG setup (interface, "
1092 "speed, missing TAPs, ...)");
1093 return ERROR_JTAG_INIT_FAILED
;
1096 /* Return success or, for backwards compatibility if only
1097 * some IDCODE values mismatched, a soft/continuable fault.
1103 * Validate the date loaded by entry to the Capture-IR state, to help
1104 * find errors related to scan chain configuration (wrong IR lengths)
1107 * Entry state can be anything. On non-error exit, all TAPs are in
1108 * bypass mode. On error exits, the scan chain is reset.
1110 static int jtag_validate_ircapture(void)
1113 int total_ir_length
= 0;
1114 uint8_t *ir_test
= NULL
;
1120 for (tap
= NULL
, total_ir_length
= 0;
1121 (tap
= jtag_tap_next_enabled(tap
)) != NULL
;
1122 total_ir_length
+= tap
->ir_length
)
1125 /* increase length to add 2 bit sentinel after scan */
1126 total_ir_length
+= 2;
1128 ir_test
= malloc(CEIL(total_ir_length
, 8));
1129 if (ir_test
== NULL
)
1132 /* after this scan, all TAPs will capture BYPASS instructions */
1133 buf_set_ones(ir_test
, total_ir_length
);
1136 field
.num_bits
= total_ir_length
;
1137 field
.out_value
= ir_test
;
1138 field
.in_value
= ir_test
;
1140 jtag_add_plain_ir_scan(1, &field
, TAP_IDLE
);
1142 LOG_DEBUG("IR capture validation scan");
1143 retval
= jtag_execute_queue();
1144 if (retval
!= ERROR_OK
)
1151 tap
= jtag_tap_next_enabled(tap
);
1156 /* Validate the two LSBs, which must be 01 per JTAG spec.
1158 * Or ... more bits could be provided by TAP declaration.
1159 * Plus, some taps (notably in i.MX series chips) violate
1160 * this part of the JTAG spec, so their capture mask/value
1161 * attributes might disable this test.
1163 val
= buf_get_u32(ir_test
, chain_pos
, tap
->ir_length
);
1164 if ((val
& tap
->ir_capture_mask
) != tap
->ir_capture_value
) {
1165 LOG_ERROR("%s: IR capture error; saw 0x%0*x not 0x%0*x",
1167 (tap
->ir_length
+ 7) / tap
->ir_length
,
1169 (tap
->ir_length
+ 7) / tap
->ir_length
,
1170 (unsigned) tap
->ir_capture_value
);
1172 retval
= ERROR_JTAG_INIT_FAILED
;
1175 LOG_DEBUG("%s: IR capture 0x%0*x", jtag_tap_name(tap
),
1176 (tap
->ir_length
+ 7) / tap
->ir_length
, val
);
1177 chain_pos
+= tap
->ir_length
;
1180 /* verify the '11' sentinel we wrote is returned at the end */
1181 val
= buf_get_u32(ir_test
, chain_pos
, 2);
1184 char *cbuf
= buf_to_str(ir_test
, total_ir_length
, 16);
1186 LOG_ERROR("IR capture error at bit %d, saw 0x%s not 0x...3",
1189 retval
= ERROR_JTAG_INIT_FAILED
;
1194 if (retval
!= ERROR_OK
) {
1196 jtag_execute_queue();
1202 void jtag_tap_init(jtag_tap_t
*tap
)
1204 assert(0 != tap
->ir_length
);
1206 /// @todo fix, this allocates one byte per bit for all three fields!
1207 tap
->expected
= malloc(tap
->ir_length
);
1208 tap
->expected_mask
= malloc(tap
->ir_length
);
1209 tap
->cur_instr
= malloc(tap
->ir_length
);
1211 /// @todo cope sanely with ir_length bigger than 32 bits
1212 buf_set_u32(tap
->expected
, 0, tap
->ir_length
, tap
->ir_capture_value
);
1213 buf_set_u32(tap
->expected_mask
, 0, tap
->ir_length
, tap
->ir_capture_mask
);
1214 buf_set_ones(tap
->cur_instr
, tap
->ir_length
);
1216 // place TAP in bypass mode
1218 // register the reset callback for the TAP
1219 jtag_register_event_callback(&jtag_reset_callback
, tap
);
1221 LOG_DEBUG("Created Tap: %s @ abs position %d, "
1222 "irlen %d, capture: 0x%x mask: 0x%x", tap
->dotted_name
,
1223 tap
->abs_chain_position
, tap
->ir_length
,
1224 (unsigned) tap
->ir_capture_value
,
1225 (unsigned) tap
->ir_capture_mask
);
1229 void jtag_tap_free(jtag_tap_t
*tap
)
1231 jtag_unregister_event_callback(&jtag_reset_callback
, tap
);
1233 /// @todo is anything missing? no memory leaks please
1234 free((void *)tap
->expected
);
1235 free((void *)tap
->expected_ids
);
1236 free((void *)tap
->chip
);
1237 free((void *)tap
->tapname
);
1238 free((void *)tap
->dotted_name
);
1242 int jtag_interface_init(struct command_context_s
*cmd_ctx
)
1247 if (!jtag_interface
)
1249 /* nothing was previously specified by "interface" command */
1250 LOG_ERROR("JTAG interface has to be specified, see \"interface\" command");
1251 return ERROR_JTAG_INVALID_INTERFACE
;
1254 jtag
= jtag_interface
;
1255 if (jtag_interface
->init() != ERROR_OK
)
1258 return ERROR_JTAG_INIT_FAILED
;
1261 int requested_khz
= jtag_get_speed_khz();
1262 int actual_khz
= requested_khz
;
1263 int retval
= jtag_get_speed_readable(&actual_khz
);
1264 if (ERROR_OK
!= retval
)
1265 LOG_INFO("interface specific clock speed value %d", jtag_get_speed());
1266 else if (actual_khz
)
1268 if ((CLOCK_MODE_RCLK
== clock_mode
)
1269 || ((CLOCK_MODE_KHZ
== clock_mode
) && !requested_khz
))
1271 LOG_INFO("RCLK (adaptive clock speed) not supported - fallback to %d kHz"
1275 LOG_INFO("clock speed %d kHz", actual_khz
);
1278 LOG_INFO("RCLK (adaptive clock speed)");
1283 int jtag_init_inner(struct command_context_s
*cmd_ctx
)
1287 bool issue_setup
= true;
1289 LOG_DEBUG("Init JTAG chain");
1291 tap
= jtag_tap_next_enabled(NULL
);
1293 LOG_ERROR("There are no enabled taps?");
1294 return ERROR_JTAG_INIT_FAILED
;
1298 if ((retval
= jtag_execute_queue()) != ERROR_OK
)
1301 /* Examine DR values first. This discovers problems which will
1302 * prevent communication ... hardware issues like TDO stuck, or
1303 * configuring the wrong number of (enabled) TAPs.
1305 retval
= jtag_examine_chain();
1308 /* complete success */
1310 case ERROR_JTAG_INIT_SOFT_FAIL
:
1311 /* For backward compatibility reasons, try coping with
1312 * configuration errors involving only ID mismatches.
1313 * We might be able to talk to the devices.
1315 LOG_ERROR("Trying to use configured scan chain anyway...");
1316 issue_setup
= false;
1319 /* some hard error; already issued diagnostics */
1323 /* Now look at IR values. Problems here will prevent real
1324 * communication. They mostly mean that the IR length is
1325 * wrong ... or that the IR capture value is wrong. (The
1326 * latter is uncommon, but easily worked around: provide
1327 * ircapture/irmask values during TAP setup.)
1329 retval
= jtag_validate_ircapture();
1330 if (retval
!= ERROR_OK
)
1334 jtag_notify_event(JTAG_TAP_EVENT_SETUP
);
1336 LOG_WARNING("Bypassing JTAG setup events due to errors");
1342 int jtag_interface_quit(void)
1344 if (!jtag
|| !jtag
->quit
)
1347 // close the JTAG interface
1348 int result
= jtag
->quit();
1349 if (ERROR_OK
!= result
)
1350 LOG_ERROR("failed: %d", result
);
1356 int jtag_init_reset(struct command_context_s
*cmd_ctx
)
1360 if ((retval
= jtag_interface_init(cmd_ctx
)) != ERROR_OK
)
1363 LOG_DEBUG("Initializing with hard TRST+SRST reset");
1366 * This procedure is used by default when OpenOCD triggers a reset.
1367 * It's now done through an overridable Tcl "init_reset" wrapper.
1369 * This started out as a more powerful "get JTAG working" reset than
1370 * jtag_init_inner(), applying TRST because some chips won't activate
1371 * JTAG without a TRST cycle (presumed to be async, though some of
1372 * those chips synchronize JTAG activation using TCK).
1374 * But some chips only activate JTAG as part of an SRST cycle; SRST
1375 * got mixed in. So it became a hard reset routine, which got used
1376 * in more places, and which coped with JTAG reset being forced as
1377 * part of SRST (srst_pulls_trst).
1379 * And even more corner cases started to surface: TRST and/or SRST
1380 * assertion timings matter; some chips need other JTAG operations;
1381 * TRST/SRST sequences can need to be different from these, etc.
1383 * Systems should override that wrapper to support system-specific
1384 * requirements that this not-fully-generic code doesn't handle.
1386 * REVISIT once Tcl code can read the reset_config modes, this won't
1387 * need to be a C routine at all...
1389 jtag_add_reset(1, 0); /* TAP_RESET, using TMS+TCK or TRST */
1390 if (jtag_reset_config
& RESET_HAS_SRST
)
1392 jtag_add_reset(1, 1);
1393 if ((jtag_reset_config
& RESET_SRST_PULLS_TRST
) == 0)
1394 jtag_add_reset(0, 1);
1396 jtag_add_reset(0, 0);
1397 if ((retval
= jtag_execute_queue()) != ERROR_OK
)
1400 /* Check that we can communication on the JTAG chain + eventually we want to
1401 * be able to perform enumeration only after OpenOCD has started
1402 * telnet and GDB server
1404 * That would allow users to more easily perform any magic they need to before
1407 return jtag_init_inner(cmd_ctx
);
1410 int jtag_init(struct command_context_s
*cmd_ctx
)
1414 if ((retval
= jtag_interface_init(cmd_ctx
)) != ERROR_OK
)
1417 /* guard against oddball hardware: force resets to be inactive */
1418 jtag_add_reset(0, 0);
1419 if ((retval
= jtag_execute_queue()) != ERROR_OK
)
1422 if (Jim_Eval_Named(interp
, "jtag_init", __FILE__
, __LINE__
) != JIM_OK
)
1428 unsigned jtag_get_speed_khz(void)
1433 static int jtag_khz_to_speed(unsigned khz
, int* speed
)
1435 LOG_DEBUG("convert khz to interface specific speed value");
1439 LOG_DEBUG("have interface set up");
1441 int retval
= jtag
->khz(jtag_get_speed_khz(), &speed_div1
);
1442 if (ERROR_OK
!= retval
)
1446 *speed
= speed_div1
;
1451 static int jtag_rclk_to_speed(unsigned fallback_speed_khz
, int* speed
)
1453 int retval
= jtag_khz_to_speed(0, speed
);
1454 if ((ERROR_OK
!= retval
) && fallback_speed_khz
)
1456 LOG_DEBUG("trying fallback speed...");
1457 retval
= jtag_khz_to_speed(fallback_speed_khz
, speed
);
1462 static int jtag_set_speed(int speed
)
1465 /* this command can be called during CONFIG,
1466 * in which case jtag isn't initialized */
1467 return jtag
? jtag
->speed(speed
) : ERROR_OK
;
1470 int jtag_config_speed(int speed
)
1472 LOG_DEBUG("handle jtag speed");
1473 clock_mode
= CLOCK_MODE_SPEED
;
1474 return jtag_set_speed(speed
);
1477 int jtag_config_khz(unsigned khz
)
1479 LOG_DEBUG("handle jtag khz");
1480 clock_mode
= CLOCK_MODE_KHZ
;
1482 int retval
= jtag_khz_to_speed(khz
, &speed
);
1483 return (ERROR_OK
!= retval
) ? retval
: jtag_set_speed(speed
);
1486 int jtag_config_rclk(unsigned fallback_speed_khz
)
1488 LOG_DEBUG("handle jtag rclk");
1489 clock_mode
= CLOCK_MODE_RCLK
;
1490 rclk_fallback_speed_khz
= fallback_speed_khz
;
1492 int retval
= jtag_rclk_to_speed(fallback_speed_khz
, &speed
);
1493 return (ERROR_OK
!= retval
) ? retval
: jtag_set_speed(speed
);
1496 int jtag_get_speed(void)
1501 case CLOCK_MODE_SPEED
:
1504 case CLOCK_MODE_KHZ
:
1505 jtag_khz_to_speed(jtag_get_speed_khz(), &speed
);
1507 case CLOCK_MODE_RCLK
:
1508 jtag_rclk_to_speed(rclk_fallback_speed_khz
, &speed
);
1511 LOG_ERROR("BUG: unknown jtag clock mode");
1518 int jtag_get_speed_readable(int *khz
)
1520 return jtag
? jtag
->speed_div(jtag_get_speed(), khz
) : ERROR_OK
;
1523 void jtag_set_verify(bool enable
)
1525 jtag_verify
= enable
;
1528 bool jtag_will_verify()
1533 void jtag_set_verify_capture_ir(bool enable
)
1535 jtag_verify_capture_ir
= enable
;
1538 bool jtag_will_verify_capture_ir()
1540 return jtag_verify_capture_ir
;
1543 int jtag_power_dropout(int *dropout
)
1545 return jtag
->power_dropout(dropout
);
1548 int jtag_srst_asserted(int *srst_asserted
)
1550 return jtag
->srst_asserted(srst_asserted
);
1553 enum reset_types
jtag_get_reset_config(void)
1555 return jtag_reset_config
;
1557 void jtag_set_reset_config(enum reset_types type
)
1559 jtag_reset_config
= type
;
1562 int jtag_get_trst(void)
1566 int jtag_get_srst(void)
1571 void jtag_set_nsrst_delay(unsigned delay
)
1573 jtag_nsrst_delay
= delay
;
1575 unsigned jtag_get_nsrst_delay(void)
1577 return jtag_nsrst_delay
;
1579 void jtag_set_ntrst_delay(unsigned delay
)
1581 jtag_ntrst_delay
= delay
;
1583 unsigned jtag_get_ntrst_delay(void)
1585 return jtag_ntrst_delay
;
1589 void jtag_set_nsrst_assert_width(unsigned delay
)
1591 jtag_nsrst_assert_width
= delay
;
1593 unsigned jtag_get_nsrst_assert_width(void)
1595 return jtag_nsrst_assert_width
;
1597 void jtag_set_ntrst_assert_width(unsigned delay
)
1599 jtag_ntrst_assert_width
= delay
;
1601 unsigned jtag_get_ntrst_assert_width(void)
1603 return jtag_ntrst_assert_width
;