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|
/***************************************************************************
* Copyright (C) 2005 by Dominic Rath *
* Dominic.Rath@gmx.de *
* *
* Copyright (C) 2007,2008 Øyvind Harboe *
* oyvind.harboe@zylin.com *
* *
* 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. *
***************************************************************************/
#ifndef JTAG_H
#define JTAG_H
#include "binarybuffer.h"
#include "log.h"
#ifdef _DEBUG_JTAG_IO_
#define DEBUG_JTAG_IO(expr ...) LOG_DEBUG(expr)
#else
#define DEBUG_JTAG_IO(expr ...)
#endif
#ifndef DEBUG_JTAG_IOZ
#define DEBUG_JTAG_IOZ 64
#endif
/*-----<Macros>--------------------------------------------------*/
/**
* When given an array, compute its DIMension; in other words, the
* number of elements in the array
*/
#define DIM(x) (sizeof(x)/sizeof((x)[0]))
/** Calculate the number of bytes required to hold @a n TAP scan bits */
#define TAP_SCAN_BYTES(n) CEIL(n, 8)
/*-----</Macros>-------------------------------------------------*/
/**
* Defines JTAG Test Access Port states.
*
* These definitions were gleaned from the ARM7TDMI-S Technical
* Reference Manual and validated against several other ARM core
* technical manuals. tap_get_tms_path() is sensitive to this numbering
* and ordering of the TAP states; furthermore, some interfaces require
* specific numbers be used, as they are handed-off directly to their
* hardware implementations.
*/
typedef enum tap_state
{
#if BUILD_ECOSBOARD
/* These are the old numbers. Leave as-is for now... */
TAP_RESET = 0, TAP_IDLE = 8,
TAP_DRSELECT = 1, TAP_DRCAPTURE = 2, TAP_DRSHIFT = 3, TAP_DREXIT1 = 4,
TAP_DRPAUSE = 5, TAP_DREXIT2 = 6, TAP_DRUPDATE = 7,
TAP_IRSELECT = 9, TAP_IRCAPTURE = 10, TAP_IRSHIFT = 11, TAP_IREXIT1 = 12,
TAP_IRPAUSE = 13, TAP_IREXIT2 = 14, TAP_IRUPDATE = 15,
TAP_NUM_STATES = 16, TAP_INVALID = -1,
#else
/* Proper ARM recommended numbers */
TAP_DREXIT2 = 0x0,
TAP_DREXIT1 = 0x1,
TAP_DRSHIFT = 0x2,
TAP_DRPAUSE = 0x3,
TAP_IRSELECT = 0x4,
TAP_DRUPDATE = 0x5,
TAP_DRCAPTURE = 0x6,
TAP_DRSELECT = 0x7,
TAP_IREXIT2 = 0x8,
TAP_IREXIT1 = 0x9,
TAP_IRSHIFT = 0xa,
TAP_IRPAUSE = 0xb,
TAP_IDLE = 0xc,
TAP_IRUPDATE = 0xd,
TAP_IRCAPTURE = 0xe,
TAP_RESET = 0x0f,
TAP_NUM_STATES = 0x10,
TAP_INVALID = -1,
#endif
} tap_state_t;
/**
* Function tap_state_name
* Returns a string suitable for display representing the JTAG tap_state
*/
const char* tap_state_name(tap_state_t state);
/// The current TAP state of the pending JTAG command queue.
extern tap_state_t cmd_queue_cur_state;
/// The TAP state in which DR scans should end.
extern tap_state_t cmd_queue_end_state;
/**
* This structure defines a single scan field in the scan. It provides
* fields for the field's width and pointers to scan input and output
* values.
*
* In addition, this structure includes a value and mask that is used by
* jtag_add_dr_scan_check() to validate the value that was scanned out.
*
* The allocated, modified, and intmp fields are internal work space.
*/
typedef struct scan_field_s
{
/// A pointer to the tap structure to which this field refers.
jtag_tap_t* tap;
/// The number of bits this field specifies (up to 32)
int num_bits;
/// A pointer to value to be scanned into the device
u8* out_value;
/// A pointer to a 32-bit memory location for data scanned out
u8* in_value;
/// The value used to check the data scanned out.
u8* check_value;
/// The mask to go with check_value
u8* check_mask;
/// in_value has been allocated for the queue
int allocated;
/// Indicates we modified the in_value.
int modified;
/// temporary storage for performing value checks synchronously
u8 intmp[4];
} scan_field_t;
#ifdef INCLUDE_JTAG_INTERFACE_H
/**
* The inferred type of a scan_command_s structure, indicating whether
* the command has the host scan in from the device, the host scan out
* to the device, or both.
*/
enum scan_type {
/// From device to host,
SCAN_IN = 1,
/// From host to device,
SCAN_OUT = 2,
/// Full-duplex scan.
SCAN_IO = 3
};
/**
* The scan_command provide a means of encapsulating a set of scan_field_s
* structures that should be scanned in/out to the device.
*/
typedef struct scan_command_s
{
/// instruction/not data scan
bool ir_scan;
/// number of fields in *fields array
int num_fields;
/// pointer to an array of data scan fields
scan_field_t* fields;
/// state in which JTAG commands should finish
tap_state_t end_state;
} scan_command_t;
typedef struct statemove_command_s
{
/// state in which JTAG commands should finish
tap_state_t end_state;
} statemove_command_t;
typedef struct pathmove_command_s
{
/// number of states in *path
int num_states;
/// states that have to be passed
tap_state_t* path;
} pathmove_command_t;
typedef struct runtest_command_s
{
/// number of cycles to spend in Run-Test/Idle state
int num_cycles;
/// state in which JTAG commands should finish
tap_state_t end_state;
} runtest_command_t;
typedef struct stableclocks_command_s
{
/// number of clock cycles that should be sent
int num_cycles;
} stableclocks_command_t;
typedef struct reset_command_s
{
/// Set TRST output: 0=deassert, 1=assert, -1=no change
int trst;
/// Set SRST output: 0=deassert, 1=assert, -1=no change
int srst;
} reset_command_t;
typedef struct end_state_command_s
{
/// state in which JTAG commands should finish
tap_state_t end_state;
} end_state_command_t;
typedef struct sleep_command_s
{
/// number of microseconds to sleep
u32 us;
} sleep_command_t;
/**
* Defines a container type that hold a pointer to a JTAG command
* structure of any defined type.
*/
typedef union jtag_command_container_u
{
scan_command_t* scan;
statemove_command_t* statemove;
pathmove_command_t* pathmove;
runtest_command_t* runtest;
stableclocks_command_t* stableclocks;
reset_command_t* reset;
end_state_command_t* end_state;
sleep_command_t* sleep;
} jtag_command_container_t;
/**
* The type of the @c jtag_command_container_u contained by a
* @c jtag_command_s structure.
*/
enum jtag_command_type {
JTAG_SCAN = 1,
JTAG_STATEMOVE = 2,
JTAG_RUNTEST = 3,
JTAG_RESET = 4,
JTAG_PATHMOVE = 6,
JTAG_SLEEP = 7,
JTAG_STABLECLOCKS = 8
};
typedef struct jtag_command_s
{
jtag_command_container_t cmd;
enum jtag_command_type type;
struct jtag_command_s* next;
} jtag_command_t;
/// The current queue of jtag_command_s structures.
extern jtag_command_t* jtag_command_queue;
extern void* cmd_queue_alloc(size_t size);
extern void cmd_queue_free(void);
extern void jtag_queue_command(jtag_command_t *cmd);
extern void jtag_command_queue_reset(void);
#endif // INCLUDE_JTAG_INTERFACE_H
typedef struct jtag_tap_event_action_s jtag_tap_event_action_t;
/* this is really: typedef jtag_tap_t */
/* But - the typedef is done in "types.h" */
/* due to "forward decloration reasons" */
struct jtag_tap_s
{
const char* chip;
const char* tapname;
const char* dotted_name;
int abs_chain_position;
/// Is this TAP enabled?
int enabled;
int ir_length; /**< size of instruction register */
u32 ir_capture_value;
u8* expected; /**< Capture-IR expected value */
u32 ir_capture_mask;
u8* expected_mask; /**< Capture-IR expected mask */
u32 idcode;
/**< device identification code */
/// Array of expected identification codes */
u32* expected_ids;
/// Number of expected identification codes
u8 expected_ids_cnt;
/// current instruction
u8* cur_instr;
/// Bypass register selected
int bypass;
jtag_tap_event_action_t *event_action;
jtag_tap_t* next_tap;
};
extern jtag_tap_t* jtag_AllTaps(void);
extern jtag_tap_t* jtag_TapByPosition(int n);
extern jtag_tap_t* jtag_TapByString(const char* dotted_name);
extern jtag_tap_t* jtag_TapByJimObj(Jim_Interp* interp, Jim_Obj* obj);
extern jtag_tap_t* jtag_TapByAbsPosition(int abs_position);
extern int jtag_NumEnabledTaps(void);
extern int jtag_NumTotalTaps(void);
static __inline__ jtag_tap_t* jtag_NextEnabledTap(jtag_tap_t* p)
{
if (p == NULL)
{
/* start at the head of list */
p = jtag_AllTaps();
}
else
{
/* start *after* this one */
p = p->next_tap;
}
while (p)
{
if (p->enabled)
{
break;
}
else
{
p = p->next_tap;
}
}
return p;
}
enum reset_line_mode {
LINE_OPEN_DRAIN = 0x0,
LINE_PUSH_PULL = 0x1,
};
enum jtag_event {
JTAG_TRST_ASSERTED
};
extern char* jtag_event_strings[];
enum jtag_tap_event {
JTAG_TAP_EVENT_ENABLE,
JTAG_TAP_EVENT_DISABLE
};
extern const Jim_Nvp nvp_jtag_tap_event[];
struct jtag_tap_event_action_s
{
enum jtag_tap_event event;
Jim_Obj* body;
jtag_tap_event_action_t* next;
};
extern int jtag_trst;
extern int jtag_srst;
typedef struct jtag_event_callback_s
{
int (*callback)(enum jtag_event event, void* priv);
void* priv;
struct jtag_event_callback_s* next;
} jtag_event_callback_t;
extern jtag_event_callback_t* jtag_event_callbacks;
extern int jtag_speed;
extern int jtag_speed_post_reset;
enum reset_types {
RESET_NONE = 0x0,
RESET_HAS_TRST = 0x1,
RESET_HAS_SRST = 0x2,
RESET_TRST_AND_SRST = 0x3,
RESET_SRST_PULLS_TRST = 0x4,
RESET_TRST_PULLS_SRST = 0x8,
RESET_TRST_OPEN_DRAIN = 0x10,
RESET_SRST_PUSH_PULL = 0x20,
};
extern enum reset_types jtag_reset_config;
/**
* Initialize interface upon startup. Return a successful no-op upon
* subsequent invocations.
*/
extern int jtag_interface_init(struct command_context_s* cmd_ctx);
/// Shutdown the JTAG interface upon program exit.
extern int jtag_interface_quit(void);
/**
* Initialize JTAG chain using only a RESET reset. If init fails,
* try reset + init.
*/
extern int jtag_init(struct command_context_s* cmd_ctx);
/// reset, then initialize JTAG chain
extern int jtag_init_reset(struct command_context_s* cmd_ctx);
extern int jtag_register_commands(struct command_context_s* cmd_ctx);
/**
* @file
* The JTAG interface can be implemented with a software or hardware fifo.
*
* TAP_DRSHIFT and TAP_IRSHIFT are illegal end states; however,
* TAP_DRSHIFT/IRSHIFT can be emulated as end states, by using longer
* scans.
*
* Code that is relatively insensitive to the path taken through state
* machine (as long as it is JTAG compliant) can use @a endstate for
* jtag_add_xxx_scan(). Otherwise, the pause state must be specified as
* end state and a subsequent jtag_add_pathmove() must be issued.
*/
extern void jtag_add_ir_scan(int num_fields, scan_field_t* fields, tap_state_t endstate);
/**
* The same as jtag_add_ir_scan except no verification is performed out
* the output values.
*/
extern void jtag_add_ir_scan_noverify(int num_fields, const scan_field_t *fields, tap_state_t state);
/**
* Set in_value to point to 32 bits of memory to scan into. This
* function is a way to handle the case of synchronous and asynchronous
* JTAG queues.
*
* In the event of an asynchronous queue execution the queue buffer
* allocation method is used, for the synchronous case the temporary 32
* bits come from the input field itself.
*/
extern void jtag_alloc_in_value32(scan_field_t *field);
extern void jtag_add_dr_scan(int num_fields, const scan_field_t* fields, tap_state_t endstate);
/// A version of jtag_add_dr_scan() that uses the check_value/mask fields
extern void jtag_add_dr_scan_check(int num_fields, scan_field_t* fields, tap_state_t endstate);
extern void jtag_add_plain_ir_scan(int num_fields, const scan_field_t* fields, tap_state_t endstate);
extern void jtag_add_plain_dr_scan(int num_fields, const scan_field_t* fields, tap_state_t endstate);
/**
* Defines a simple JTAG callback that can allow conversions on data
* scanned in from an interface.
*
* This callback should only be used for conversion that cannot fail.
* For conversion types or checks that can fail, use the more complete
* variant: jtag_callback_t.
*/
typedef void (*jtag_callback1_t)(u8 *in);
/// A simpler version of jtag_add_callback4().
extern void jtag_add_callback(jtag_callback1_t, u8 *in);
/**
* Defines the type of data passed to the jtag_callback_t interface.
* The underlying type must allow storing an @c int or pointer type.
*/
typedef intptr_t jtag_callback_data_t;
/**
* Defines the interface of the JTAG callback mechanism.
*
* @param in the pointer to the data clocked in
* @param data1 An integer big enough to use as an @c int or a pointer.
* @param data2 An integer big enough to use as an @c int or a pointer.
* @param data3 An integer big enough to use as an @c int or a pointer.
* @returns an error code
*/
typedef int (*jtag_callback_t)(u8 *in, jtag_callback_data_t data1, jtag_callback_data_t data2, jtag_callback_data_t data3);
/**
* This callback can be executed immediately the queue has been flushed.
*
* The JTAG queue can be executed synchronously or asynchronously.
* Typically for USB, the queue is executed asynchronously. For
* low-latency interfaces, the queue may be executed synchronously.
*
* The callback mechanism is very general and does not make many
* assumptions about what the callback does or what its arguments are.
* These callbacks are typically executed *after* the *entire* JTAG
* queue has been executed for e.g. USB interfaces, and they are
* guaranteeed to be invoked in the order that they were queued.
*
* If the execution of the queue fails before the callbacks, then --
* depending on driver implementation -- the callbacks may or may not be
* invoked. @todo Can we make this behavior consistent?
*
* The strange name is due to C's lack of overloading using function
* arguments.
*
* @param f The callback function to add.
* @param in Typically used to point to the data to operate on.
* Frequently this will be the data clocked in during a shift operation.
* @param data1 An integer big enough to use as an @c int or a pointer.
* @param data2 An integer big enough to use as an @c int or a pointer.
* @param data3 An integer big enough to use as an @c int or a pointer.
*
*/
extern void jtag_add_callback4(jtag_callback_t f, u8 *in,
jtag_callback_data_t data1, jtag_callback_data_t data2,
jtag_callback_data_t data3);
/**
* Run a TAP_RESET reset where the end state is TAP_RESET,
* regardless of the start state.
*/
extern void jtag_add_tlr(void);
/**
* Application code *must* assume that interfaces will
* implement transitions between states with different
* paths and path lengths through the state diagram. The
* path will vary across interface and also across versions
* of the same interface over time. Even if the OpenOCD code
* is unchanged, the actual path taken may vary over time
* and versions of interface firmware or PCB revisions.
*
* Use jtag_add_pathmove() when specific transition sequences
* are required.
*
* Do not use jtag_add_pathmove() unless you need to, but do use it
* if you have to.
*
* DANGER! If the target is dependent upon a particular sequence
* of transitions for things to work correctly(e.g. as a workaround
* for an errata that contradicts the JTAG standard), then pathmove
* must be used, even if some jtag interfaces happen to use the
* desired path. Worse, the jtag interface used for testing a
* particular implementation, could happen to use the "desired"
* path when transitioning to/from end
* state.
*
* A list of unambigious single clock state transitions, not
* all drivers can support this, but it is required for e.g.
* XScale and Xilinx support
*
* Note! TAP_RESET must not be used in the path!
*
* Note that the first on the list must be reachable
* via a single transition from the current state.
*
* All drivers are required to implement jtag_add_pathmove().
* However, if the pathmove sequence can not be precisely
* executed, an interface_jtag_add_pathmove() or jtag_execute_queue()
* must return an error. It is legal, but not recommended, that
* a driver returns an error in all cases for a pathmove if it
* can only implement a few transitions and therefore
* a partial implementation of pathmove would have little practical
* application.
*/
extern void jtag_add_pathmove(int num_states, const tap_state_t* path);
/**
* Goes to TAP_IDLE (if we're not already there), cycle
* precisely num_cycles in the TAP_IDLE state, after which move
* to @a endstate (unless it is also TAP_IDLE).
*
* @param num_cycles Number of cycles in TAP_IDLE state. This argument
* may be 0, in which case this routine will navigate to @a endstate
* via TAP_IDLE.
* @param endstate The final state.
*/
extern void jtag_add_runtest(int num_cycles, tap_state_t endstate);
/**
* A reset of the TAP state machine can be requested.
*
* Whether tms or trst reset is used depends on the capabilities of
* the target and jtag interface(reset_config command configures this).
*
* srst can driver a reset of the TAP state machine and vice
* versa
*
* Application code may need to examine value of jtag_reset_config
* to determine the proper codepath
*
* DANGER! Even though srst drives trst, trst might not be connected to
* the interface, and it might actually be *harmful* to assert trst in this case.
*
* This is why combinations such as "reset_config srst_only srst_pulls_trst"
* are supported.
*
* only req_tlr_or_trst and srst can have a transition for a
* call as the effects of transitioning both at the "same time"
* are undefined, but when srst_pulls_trst or vice versa,
* then trst & srst *must* be asserted together.
*/
extern void jtag_add_reset(int req_tlr_or_trst, int srst);
extern void jtag_add_end_state(tap_state_t endstate);
extern void jtag_add_sleep(u32 us);
/**
* Function jtag_add_stable_clocks
* first checks that the state in which the clocks are to be issued is
* stable, then queues up clock_count clocks for transmission.
*/
void jtag_add_clocks(int num_cycles);
/**
* For software FIFO implementations, the queued commands can be executed
* during this call or earlier. A sw queue might decide to push out
* some of the jtag_add_xxx() operations once the queue is "big enough".
*
* This fn will return an error code if any of the prior jtag_add_xxx()
* calls caused a failure, e.g. check failure. Note that it does not
* matter if the operation was executed *before* jtag_execute_queue(),
* jtag_execute_queue() will still return an error code.
*
* All jtag_add_xxx() calls that have in_handler!=NULL will have been
* executed when this fn returns, but if what has been queued only
* clocks data out, without reading anything back, then JTAG could
* be running *after* jtag_execute_queue() returns. The API does
* not define a way to flush a hw FIFO that runs *after*
* jtag_execute_queue() returns.
*
* jtag_add_xxx() commands can either be executed immediately or
* at some time between the jtag_add_xxx() fn call and jtag_execute_queue().
*/
extern int jtag_execute_queue(void);
/* same as jtag_execute_queue() but does not clear the error flag */
extern void jtag_execute_queue_noclear(void);
/**
* The jtag_error variable is set when an error occurs while executing
* the queue.
*
* This flag can also be set from application code, if an error happens
* during processing that should be reported during jtag_execute_queue().
*
* It is cleared by jtag_execute_queue().
*/
extern int jtag_error;
static __inline__ void jtag_set_error(int error)
{
if ((error==ERROR_OK)||(jtag_error!=ERROR_OK))
{
/* keep first error */
return;
}
jtag_error=error;
}
/* can be implemented by hw+sw */
extern int jtag_power_dropout(int* dropout);
extern int jtag_srst_asserted(int* srst_asserted);
/* JTAG support functions */
/**
* Execute jtag queue and check value with an optional mask.
* @param field Pointer to scan field.
* @param value Pointer to scan value.
* @param mask Pointer to scan mask; may be NULL.
* @returns Nothing, but calls jtag_set_error() on any error.
*/
extern void jtag_check_value_mask(scan_field_t *field, u8 *value, u8 *mask);
#ifdef INCLUDE_JTAG_INTERFACE_H
extern enum scan_type jtag_scan_type(const scan_command_t* cmd);
extern int jtag_scan_size(const scan_command_t* cmd);
extern int jtag_read_buffer(u8* buffer, const scan_command_t* cmd);
extern int jtag_build_buffer(const scan_command_t* cmd, u8** buffer);
#endif // INCLUDE_JTAG_INTERFACE_H
extern void jtag_sleep(u32 us);
extern int jtag_call_event_callbacks(enum jtag_event event);
extern int jtag_register_event_callback(int (* callback)(enum jtag_event event, void* priv), void* priv);
extern int jtag_verify_capture_ir;
void jtag_tap_handle_event(jtag_tap_t* tap, enum jtag_tap_event e);
/*
* The JTAG subsystem defines a number of error codes,
* using codes between -100 and -199.
*/
#define ERROR_JTAG_INIT_FAILED (-100)
#define ERROR_JTAG_INVALID_INTERFACE (-101)
#define ERROR_JTAG_NOT_IMPLEMENTED (-102)
#define ERROR_JTAG_TRST_ASSERTED (-103)
#define ERROR_JTAG_QUEUE_FAILED (-104)
#define ERROR_JTAG_NOT_STABLE_STATE (-105)
#define ERROR_JTAG_DEVICE_ERROR (-107)
/**
* jtag_add_dr_out() is a version of jtag_add_dr_scan() which
* only scans data out. It operates on 32 bit integers instead
* of 8 bit, which makes it a better impedance match with
* the calling code which often operate on 32 bit integers.
*
* Current or end_state can not be TAP_RESET. end_state can be TAP_INVALID
*
* num_bits[i] is the number of bits to clock out from value[i] LSB first.
*
* If the device is in bypass, then that is an error condition in
* the caller code that is not detected by this fn, whereas
* jtag_add_dr_scan() does detect it. Similarly if the device is not in
* bypass, data must be passed to it.
*
* If anything fails, then jtag_error will be set and jtag_execute() will
* return an error. There is no way to determine if there was a failure
* during this function call.
*
* This is an inline fn to speed up embedded hosts. Also note that
* interface_jtag_add_dr_out() can be a *small* inline function for
* embedded hosts.
*
* There is no jtag_add_dr_outin() version of this fn that also allows
* clocking data back in. Patches gladly accepted!
*/
extern void jtag_add_dr_out(jtag_tap_t* tap,
int num_fields, const int* num_bits, const u32* value,
tap_state_t end_state);
/**
* jtag_add_statemove() moves from the current state to @a goal_state.
*
* This function was originally designed to handle the XSTATE command
* from the XSVF specification.
*
* @param goal_state The final TAP state.
* @return ERROR_OK on success, or an error code on failure.
*/
extern int jtag_add_statemove(tap_state_t goal_state);
#endif /* JTAG_H */
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