tcl.c

/***************************************************************************
 *   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 jtag_interface_t *jtag_interface;

/* jtag commands */
static int handle_interface_list_command(struct command_context_s *cmd_ctx,
		char *cmd, char **args, int argc);
static int handle_interface_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
static int handle_jtag_khz_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
static int handle_jtag_rclk_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
static int handle_reset_config_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
static int handle_jtag_nsrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
static int handle_jtag_ntrst_delay_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
static int handle_jtag_nsrst_assert_width_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
static int handle_jtag_ntrst_assert_width_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);

static int handle_scan_chain_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);

static int handle_jtag_reset_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
static int handle_runtest_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
static int handle_irscan_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
static int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *argv);
static int Jim_Command_pathmove(Jim_Interp *interp, int argc, Jim_Obj *const *argv);
static int Jim_Command_flush_count(Jim_Interp *interp, int argc, Jim_Obj *const *args);

static int handle_verify_ircapture_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
static int handle_verify_jtag_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
static int handle_tms_sequence_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);


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_cmd(Jim_GetOptInfo *goi, jtag_tap_t * tap)
{
	Jim_Nvp *n;
	Jim_Obj *o;
	int e;

	/* parse config or cget options */
	while (goi->argc > 0) {
		Jim_SetEmptyResult (goi->interp);

		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:
				if (goi->argc == 0) {
					Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event ?event-name? ...");
					return JIM_ERR;
				}

				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;
					}
				}

				{
					jtag_tap_event_action_t *jteap;

					jteap = tap->event_action;
					/* replace existing? */
					while (jteap) {
						if (jteap->event == (enum jtag_event)n->value) {
							break;
						}
						jteap = jteap->next;
					}

					if (goi->isconfigure) {
						bool replace = true;
						if (jteap == NULL) {
							/* create new */
							jteap = calloc(1, sizeof (*jteap));
							replace = false;
						}
						jteap->event = n->value;
						Jim_GetOpt_Obj(goi, &o);
						if (jteap->body) {
							Jim_DecrRefCount(interp, jteap->body);
						}
						jteap->body = Jim_DuplicateObj(goi->interp, o);
						Jim_IncrRefCount(jteap->body);

						if (!replace)
						{
							/* add to head of event list */
							jteap->next = tap->event_action;
							tap->event_action = jteap;
						}
						Jim_SetEmptyResult(goi->interp);
					} else {
						/* get */
						if (jteap == NULL) {
							Jim_SetEmptyResult(goi->interp);
						} else {
							Jim_SetResult(goi->interp, Jim_DuplicateObj(goi->interp, jteap->body));
						}
					}
				}
				/* loop for more */
				break;
		}
	} /* while (goi->argc) */

	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_cmd(Jim_GetOptInfo *goi)
{
	jtag_tap_t *pTap;
	jim_wide w;
	int x;
	int e;
	Jim_Nvp *n;
	char *cp;
	const Jim_Nvp opts[] = {
#define NTAP_OPT_IRLEN     0
		{ .name = "-irlen"			,	.value = NTAP_OPT_IRLEN },
#define NTAP_OPT_IRMASK    1
		{ .name = "-irmask"			,	.value = NTAP_OPT_IRMASK },
#define NTAP_OPT_IRCAPTURE 2
		{ .name = "-ircapture"		,	.value = NTAP_OPT_IRCAPTURE },
#define NTAP_OPT_ENABLED   3
		{ .name = "-enable"			,	.value = NTAP_OPT_ENABLED },
#define NTAP_OPT_DISABLED  4
		{ .name = "-disable"		,	.value = NTAP_OPT_DISABLED },
#define NTAP_OPT_EXPECTED_ID 5
		{ .name = "-expected-id"	,	.value = NTAP_OPT_EXPECTED_ID },
		{ .name = NULL				,	.value = -1 },
	};

	pTap = calloc(1, sizeof(jtag_tap_t));
	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:
		{
			uint32_t *new_expected_ids;

			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);
				free(pTap);
				return e;
			}

			new_expected_ids = malloc(sizeof(uint32_t) * (pTap->expected_ids_cnt + 1));
			if (new_expected_ids == NULL) {
				Jim_SetResult_sprintf(goi->interp, "no memory");
				free((void *)pTap->dotted_name);
				free(pTap);
				return JIM_ERR;
			}

			memcpy(new_expected_ids, pTap->expected_ids, sizeof(uint32_t) * pTap->expected_ids_cnt);

			new_expected_ids[pTap->expected_ids_cnt] = w;

			free(pTap->expected_ids);
			pTap->expected_ids = new_expected_ids;
			pTap->expected_ids_cnt++;
			break;
		}
		case NTAP_OPT_IRLEN:
		case NTAP_OPT_IRMASK:
		case NTAP_OPT_IRCAPTURE:
			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);
				free(pTap);
				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);
					free((void *)pTap->dotted_name);
					free(pTap);
					return ERROR_FAIL;
				}
				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);
					free((void *)pTap->dotted_name);
					free(pTap);
					return ERROR_FAIL;
				}
				if ((w & 3) != 1)
					LOG_WARNING("%s: nonstandard IR value",
							pTap->dotted_name);
				pTap->ir_capture_value = w;
				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(jtag_tap_t *tap, enum jtag_event e)
{
	jtag_tap_event_action_t * jteap;

	for (jteap = tap->event_action; jteap != NULL; jteap = jteap->next) {
		if (jteap->event == e) {
			LOG_DEBUG("JTAG tap: %s event: %d (%s)\n\taction: %s",
					tap->dotted_name,
					e,
					Jim_Nvp_value2name_simple(nvp_jtag_tap_event, e)->name,
					Jim_GetString(jteap->body, NULL));
			if (Jim_EvalObj(interp, jteap->body) != JIM_OK) {
				Jim_PrintErrorMessage(interp);
			} else 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_command(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
{
	Jim_GetOptInfo goi;
	int e;
	Jim_Nvp *n;
	Jim_Obj *o;
	struct command_context_s *context;

	enum {
		JTAG_CMD_INTERFACE,
		JTAG_CMD_INIT,
		JTAG_CMD_INIT_RESET,
		JTAG_CMD_NEWTAP,
		JTAG_CMD_TAPENABLE,
		JTAG_CMD_TAPDISABLE,
		JTAG_CMD_TAPISENABLED,
		JTAG_CMD_CONFIGURE,
		JTAG_CMD_CGET,
		JTAG_CMD_NAMES,
	};

	const Jim_Nvp jtag_cmds[] = {
		{ .name = "interface"     , .value = JTAG_CMD_INTERFACE },
		{ .name = "arp_init"      , .value = JTAG_CMD_INIT },
		{ .name = "arp_init-reset", .value = JTAG_CMD_INIT_RESET },
		{ .name = "newtap"        , .value = JTAG_CMD_NEWTAP },
		{ .name = "tapisenabled"     , .value = JTAG_CMD_TAPISENABLED },
		{ .name = "tapenable"     , .value = JTAG_CMD_TAPENABLE },
		{ .name = "tapdisable"    , .value = JTAG_CMD_TAPDISABLE },
		{ .name = "configure"     , .value = JTAG_CMD_CONFIGURE },
		{ .name = "cget"          , .value = JTAG_CMD_CGET },
		{ .name = "names"         , .value = JTAG_CMD_NAMES },

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

	context = Jim_GetAssocData(interp, "context");
	/* go past the command */
	Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);

	e = Jim_GetOpt_Nvp(&goi, jtag_cmds, &n);
	if (e != JIM_OK) {
		Jim_GetOpt_NvpUnknown(&goi, jtag_cmds, 0);
		return e;
	}
		Jim_SetEmptyResult(goi.interp);
	switch (n->value) {
	case JTAG_CMD_INTERFACE:
		/* 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;
		}
		Jim_SetResultString(goi.interp, jtag_interface->name, -1);
		return JIM_OK;
	case JTAG_CMD_INIT:
		if (goi.argc != 0) {
			Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
			return JIM_ERR;
		}
		e = jtag_init_inner(context);
		if (e != ERROR_OK) {
			Jim_SetResult_sprintf(goi.interp, "error: %d", e);
			return JIM_ERR;
		}
		return JIM_OK;
	case JTAG_CMD_INIT_RESET:
		if (goi.argc != 0) {
			Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
			return JIM_ERR;
		}
		e = jtag_init_reset(context);
		if (e != ERROR_OK) {
			Jim_SetResult_sprintf(goi.interp, "error: %d", e);
			return JIM_ERR;
		}
		return JIM_OK;
	case JTAG_CMD_NEWTAP:
		return jim_newtap_cmd(&goi);
		break;
	case JTAG_CMD_TAPISENABLED:
	case JTAG_CMD_TAPENABLE:
	case JTAG_CMD_TAPDISABLE:
		if (goi.argc != 1) {
			Jim_SetResultString(goi.interp, "Too many parameters",-1);
			return JIM_ERR;
		}

		{
			jtag_tap_t *t;

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

			switch (n->value) {
			case JTAG_CMD_TAPISENABLED:
				break;
			case JTAG_CMD_TAPENABLE:
				if (t->enabled)
					break;
				jtag_tap_handle_event(t, JTAG_TAP_EVENT_ENABLE);
				if (!t->enabled)
					break;

				/* 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);
				break;
			case JTAG_CMD_TAPDISABLE:
				if (!t->enabled)
					break;
				jtag_tap_handle_event(t, JTAG_TAP_EVENT_DISABLE);
				if (t->enabled)
					break;

				/* 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);
				break;
			}
			e = t->enabled;
			Jim_SetResult(goi.interp, Jim_NewIntObj(goi.interp, e));
			return JIM_OK;
		}
		break;

	case JTAG_CMD_CGET:
		if (goi.argc < 2) {
			Jim_WrongNumArgs(goi.interp, 0, NULL,
					"cget tap_name queryparm");
			return JIM_ERR;
		}

		{
			jtag_tap_t *t;

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

			goi.isconfigure = 0;
			return jtag_tap_configure_cmd(&goi, t);
		}
		break;

	case JTAG_CMD_CONFIGURE:
		if (goi.argc < 3) {
			Jim_WrongNumArgs(goi.interp, 0, NULL,
					"configure tap_name attribute value ...");
			return JIM_ERR;
		}

		{
			jtag_tap_t *t;

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

			goi.isconfigure = 1;
			return jtag_tap_configure_cmd(&goi, t);
		}
		break;

	case JTAG_CMD_NAMES:
		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));
		{
			jtag_tap_t *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;
		}
		break;

	}

	return JIM_ERR;
}


void jtag_notify_event(enum jtag_event event)
{
	jtag_tap_t *tap;

	for (tap = jtag_all_taps(); tap; tap = tap->next_tap)
		jtag_tap_handle_event(tap, event);
}


int jtag_register_commands(struct command_context_s *cmd_ctx)
{
	register_jim(cmd_ctx, "jtag", jim_jtag_command, "perform jtag tap actions");

	register_command(cmd_ctx, NULL, "interface", handle_interface_command,
		COMMAND_CONFIG, "try to configure interface");
	register_command(cmd_ctx, NULL,
		"interface_list", &handle_interface_list_command,
		COMMAND_ANY, "list all built-in interfaces");
	register_command(cmd_ctx, NULL, "jtag_khz", handle_jtag_khz_command,
		COMMAND_ANY, "set maximum jtag speed (if supported); "
		"parameter is maximum khz, or 0 for adaptive clocking (RTCK).");
	register_command(cmd_ctx, NULL, "jtag_rclk", handle_jtag_rclk_command,
		COMMAND_ANY, "fallback_speed_khz - set JTAG speed to RCLK or use fallback speed");
	register_command(cmd_ctx, NULL, "reset_config", handle_reset_config_command,
		COMMAND_ANY,
		"reset_config "
		"[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]");
	register_command(cmd_ctx, NULL, "jtag_nsrst_delay", handle_jtag_nsrst_delay_command,
		COMMAND_ANY, "jtag_nsrst_delay <ms> - delay after deasserting srst in ms");
	register_command(cmd_ctx, NULL, "jtag_ntrst_delay", handle_jtag_ntrst_delay_command,
		COMMAND_ANY, "jtag_ntrst_delay <ms> - delay after deasserting trst in ms");
	register_command(cmd_ctx, NULL, "jtag_nsrst_assert_width", handle_jtag_nsrst_assert_width_command,
		COMMAND_ANY, "jtag_nsrst_assert_width <ms> - delay after asserting srst in ms");
	register_command(cmd_ctx, NULL, "jtag_ntrst_assert_width", handle_jtag_ntrst_assert_width_command,
		COMMAND_ANY, "jtag_ntrst_assert_width <ms> - delay after asserting trst in ms");

	register_command(cmd_ctx, NULL, "scan_chain", handle_scan_chain_command,
		COMMAND_EXEC, "print current scan chain configuration");

	register_command(cmd_ctx, NULL, "jtag_reset", handle_jtag_reset_command,
		COMMAND_EXEC, "toggle reset lines <trst> <srst>");
	register_command(cmd_ctx, NULL, "runtest", handle_runtest_command,
		COMMAND_EXEC, "move to Run-Test/Idle, and execute <num_cycles>");
	register_command(cmd_ctx, NULL, "irscan", handle_irscan_command,
		COMMAND_EXEC, "execute IR scan <device> <instr> [dev2] [instr2] ...");
	register_jim(cmd_ctx, "drscan", Jim_Command_drscan, "execute DR scan <device> <num_bits> <value> <num_bits1> <value2> ...");
	register_jim(cmd_ctx, "flush_count", Jim_Command_flush_count, "returns number of times the JTAG queue has been flushed");
	register_jim(cmd_ctx, "pathmove", Jim_Command_pathmove, "move JTAG to state1 then to state2, state3, etc. <state1>,<state2>,<stat3>...");

	register_command(cmd_ctx, NULL, "verify_ircapture", handle_verify_ircapture_command,
		COMMAND_ANY, "verify value captured during Capture-IR <enable | disable>");
	register_command(cmd_ctx, NULL, "verify_jtag", handle_verify_jtag_command,
		COMMAND_ANY, "verify value capture <enable | disable>");
	register_command(cmd_ctx, NULL, "tms_sequence", handle_tms_sequence_command,
		COMMAND_ANY, "choose short(default) or long tms_sequence <short | long>");
	return ERROR_OK;
}

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;
}

static int handle_interface_command(struct command_context_s *cmd_ctx,
		char *cmd, char **args, int argc)
{
	/* 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 (argc != 1 || args[0][0] == '\0')
		return ERROR_COMMAND_SYNTAX_ERROR;

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

		int retval = jtag_interfaces[i]->register_commands(cmd_ctx);
		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)", args[0]);
	handle_interface_list_command(cmd_ctx, cmd, args, argc);
	return ERROR_JTAG_INVALID_INTERFACE;
}

static int handle_interface_list_command(struct command_context_s *cmd_ctx,
		char *cmd, char **args, int argc)
{
	if (strcmp(cmd, "interface_list") == 0 && 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;
}

static int handle_scan_chain_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
	jtag_tap_t *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;
}

static int handle_reset_config_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
{
	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 (; argc; argc--, args++) {
		int tmp = 0;
		int m;

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

		/* signals */
		m = RESET_HAS_TRST | RESET_HAS_SRST;
		if (strcmp(*args, "none") == 0)
			tmp = RESET_NONE;
		else if (strcmp(*args, "trst_only") == 0)
			tmp = RESET_HAS_TRST;
		else if (strcmp(*args, "srst_only") == 0)
			tmp = RESET_HAS_SRST;
		else if (strcmp(*args, "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", *args);
			return ERROR_INVALID_ARGUMENTS;
		}
		if (m)
			goto next;

		/* combination (options for broken wiring) */
		m = RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST;
		if (strcmp(*args, "separate") == 0)
			/* separate reset lines - default */;
		else if (strcmp(*args, "srst_pulls_trst") == 0)
			tmp |= RESET_SRST_PULLS_TRST;
		else if (strcmp(*args, "trst_pulls_srst") == 0)
			tmp |= RESET_TRST_PULLS_SRST;
		else if (strcmp(*args, "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", *args);
			return ERROR_INVALID_ARGUMENTS;
		}
		if (m)
			goto next;

		/* trst_type (NOP without HAS_TRST) */
		m = RESET_TRST_OPEN_DRAIN;
		if (strcmp(*args, "trst_open_drain") == 0)
			tmp |= RESET_TRST_OPEN_DRAIN;
		else if (strcmp(*args, "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", *args);
			return ERROR_INVALID_ARGUMENTS;
		}
		if (m)
			goto next;

		/* srst_type (NOP without HAS_SRST) */
		m |= RESET_SRST_PUSH_PULL;
		if (strcmp(*args, "srst_push_pull") == 0)
			tmp |= RESET_SRST_PUSH_PULL;
		else if (strcmp(*args, "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", *args);
			return ERROR_INVALID_ARGUMENTS;
		}
		if (m)
			goto next;

		/* caller provided nonsense; fail */
		LOG_ERROR("unknown reset_config flag (%s)", *args);
		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;
}

static int handle_jtag_nsrst_delay_command(struct command_context_s *cmd_ctx,
		char *cmd, char **args, int argc)
{
	if (argc > 1)
		return ERROR_COMMAND_SYNTAX_ERROR;
	if (argc == 1)
	{
		unsigned delay;
		COMMAND_PARSE_NUMBER(uint, args[0], delay);

		jtag_set_nsrst_delay(delay);
	}
	command_print(cmd_ctx, "jtag_nsrst_delay: %u", jtag_get_nsrst_delay());
	return ERROR_OK;
}

static int handle_jtag_ntrst_delay_command(struct command_context_s *cmd_ctx,
		char *cmd, char **args, int argc)
{
	if (argc > 1)
		return ERROR_COMMAND_SYNTAX_ERROR;
	if (argc == 1)
	{