/*************************************************************************** * Copyright (C) 2009 Zachary T Welch * * zw@superlucidity.net * * * * Copyright (C) 2007,2008,2009 Øyvind Harboe * * oyvind.harboe@zylin.com * * * * Copyright (C) 2009 SoftPLC Corporation * * http://softplc.com * * dick@softplc.com * * * * Copyright (C) 2005 by Dominic Rath * * Dominic.Rath@gmx.de * * * * 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 "interface.h" #include "transport.h" #ifdef HAVE_STRINGS_H #include #endif /* SVF and XSVF are higher level JTAG command sets (for boundary scan) */ #include "svf/svf.h" #include "xsvf/xsvf.h" /// The number of JTAG queue flushes (for profiling and debugging purposes). static int jtag_flush_queue_count; // Sleep this # of ms after flushing the queue static int jtag_flush_queue_sleep = 0; static void jtag_add_scan_check(struct jtag_tap *active, void (*jtag_add_scan)(struct jtag_tap *active, int in_num_fields, const struct scan_field *in_fields, tap_state_t state), int in_num_fields, struct scan_field *in_fields, tap_state_t state); /** * The jtag_error variable is set when an error occurs while executing * the queue. Application code may set this using jtag_set_error(), * when an error occurs during processing that should be reported during * jtag_execute_queue(). * * The value is set and cleared, but never read by normal application code. * * This value is returned (and cleared) by jtag_execute_queue(). */ static int jtag_error = ERROR_OK; static const char *jtag_event_strings[] = { [JTAG_TRST_ASSERTED] = "TAP reset", [JTAG_TAP_EVENT_SETUP] = "TAP setup", [JTAG_TAP_EVENT_ENABLE] = "TAP enabled", [JTAG_TAP_EVENT_DISABLE] = "TAP disabled", }; /* * JTAG adapters must initialize with TRST and SRST de-asserted * (they're negative logic, so that means *high*). But some * hardware doesn't necessarily work that way ... so set things * up so that jtag_init() always forces that state. */ static int jtag_trst = -1; static int jtag_srst = -1; /** * List all TAPs that have been created. */ static struct jtag_tap *__jtag_all_taps = NULL; /** * The number of TAPs in the __jtag_all_taps list, used to track the * assigned chain position to new TAPs */ static unsigned jtag_num_taps = 0; static enum reset_types jtag_reset_config = RESET_NONE; tap_state_t cmd_queue_cur_state = TAP_RESET; static bool jtag_verify_capture_ir = true; static int jtag_verify = 1; /* how long the OpenOCD should wait before attempting JTAG communication after reset lines deasserted (in ms) */ static int adapter_nsrst_delay = 0; /* default to no nSRST delay */ static int jtag_ntrst_delay = 0; /* default to no nTRST delay */ static int adapter_nsrst_assert_width = 0; /* width of assertion */ static int jtag_ntrst_assert_width = 0; /* width of assertion */ /** * Contains a single callback along with a pointer that will be passed * when an event occurs. */ struct jtag_event_callback { /// a event callback jtag_event_handler_t callback; /// the private data to pass to the callback void* priv; /// the next callback struct jtag_event_callback* next; }; /* callbacks to inform high-level handlers about JTAG state changes */ static struct jtag_event_callback *jtag_event_callbacks; /* speed in kHz*/ static int speed_khz = 0; /* speed to fallback to when RCLK is requested but not supported */ static int rclk_fallback_speed_khz = 0; static enum {CLOCK_MODE_SPEED, CLOCK_MODE_KHZ, CLOCK_MODE_RCLK} clock_mode; static int jtag_speed = 0; static struct jtag_interface *jtag = NULL; const struct swd_driver *swd = NULL; /* configuration */ struct jtag_interface *jtag_interface = NULL; void jtag_set_flush_queue_sleep(int ms) { jtag_flush_queue_sleep = ms; } void jtag_set_error(int error) { if ((error == ERROR_OK) || (jtag_error != ERROR_OK)) return; jtag_error = error; } int jtag_error_clear(void) { int temp = jtag_error; jtag_error = ERROR_OK; return temp; } /************/ static bool jtag_poll = 1; bool is_jtag_poll_safe(void) { /* Polling can be disabled explicitly with set_enabled(false). * It is also implicitly disabled while TRST is active and * while SRST is gating the JTAG clock. */ if (!jtag_poll || jtag_trst != 0) return false; return jtag_srst == 0 || (jtag_reset_config & RESET_SRST_NO_GATING); } bool jtag_poll_get_enabled(void) { return jtag_poll; } void jtag_poll_set_enabled(bool value) { jtag_poll = value; } /************/ struct jtag_tap *jtag_all_taps(void) { return __jtag_all_taps; }; unsigned jtag_tap_count(void) { return jtag_num_taps; } unsigned jtag_tap_count_enabled(void) { struct jtag_tap *t = jtag_all_taps(); unsigned n = 0; while (t) { if (t->enabled) n++; t = t->next_tap; } return n; } /// Append a new TAP to the chain of all taps. void jtag_tap_add(struct jtag_tap *t) { t->abs_chain_position = jtag_num_taps++; struct jtag_tap **tap = &__jtag_all_taps; while (*tap != NULL) tap = &(*tap)->next_tap; *tap = t; } /* returns a pointer to the n-th device in the scan chain */ struct jtag_tap *jtag_tap_by_position(unsigned n) { struct jtag_tap *t = jtag_all_taps(); while (t && n-- > 0) t = t->next_tap; return t; } struct jtag_tap *jtag_tap_by_string(const char *s) { /* try by name first */ struct jtag_tap *t = jtag_all_taps(); while (t) { if (0 == strcmp(t->dotted_name, s)) return t; t = t->next_tap; } /* no tap found by name, so try to parse the name as a number */ unsigned n; if (parse_uint(s, &n) != ERROR_OK) return NULL; /* FIXME remove this numeric fallback code late June 2010, along * with all info in the User's Guide that TAPs have numeric IDs. * Also update "scan_chain" output to not display the numbers. */ t = jtag_tap_by_position(n); if (t) LOG_WARNING("Specify TAP '%s' by name, not number %u", t->dotted_name, n); return t; } struct jtag_tap* jtag_tap_next_enabled(struct jtag_tap* p) { p = p ? p->next_tap : jtag_all_taps(); while (p) { if (p->enabled) return p; p = p->next_tap; } return NULL; } const char *jtag_tap_name(const struct jtag_tap *tap) { return (tap == NULL) ? "(unknown)" : tap->dotted_name; } int jtag_register_event_callback(jtag_event_handler_t callback, void *priv) { struct jtag_event_callback **callbacks_p = &jtag_event_callbacks; if (callback == NULL) { return ERROR_INVALID_ARGUMENTS; } if (*callbacks_p) { while ((*callbacks_p)->next) callbacks_p = &((*callbacks_p)->next); callbacks_p = &((*callbacks_p)->next); } (*callbacks_p) = malloc(sizeof(struct jtag_event_callback)); (*callbacks_p)->callback = callback; (*callbacks_p)->priv = priv; (*callbacks_p)->next = NULL; return ERROR_OK; } int jtag_unregister_event_callback(jtag_event_handler_t callback, void *priv) { struct jtag_event_callback **p = &jtag_event_callbacks, *temp; if (callback == NULL) { return ERROR_INVALID_ARGUMENTS; } while (*p) { if (((*p)->priv != priv) || ((*p)->callback != callback)) { p = &(*p)->next; continue; } temp = *p; *p = (*p)->next; free(temp); } return ERROR_OK; } int jtag_call_event_callbacks(enum jtag_event event) { struct jtag_event_callback *callback = jtag_event_callbacks; LOG_DEBUG("jtag event: %s", jtag_event_strings[event]); while (callback) { struct jtag_event_callback *next; /* callback may remove itself */ next = callback->next; callback->callback(event, callback->priv); callback = next; } return ERROR_OK; } static void jtag_checks(void) { assert(jtag_trst == 0); } static void jtag_prelude(tap_state_t state) { jtag_checks(); assert(state != TAP_INVALID); cmd_queue_cur_state = state; } void jtag_alloc_in_value32(struct scan_field *field) { interface_jtag_alloc_in_value32(field); } void jtag_add_ir_scan_noverify(struct jtag_tap *active, const struct scan_field *in_fields, tap_state_t state) { jtag_prelude(state); int retval = interface_jtag_add_ir_scan(active, in_fields, state); jtag_set_error(retval); } static void jtag_add_ir_scan_noverify_callback(struct jtag_tap *active, int dummy, const struct scan_field *in_fields, tap_state_t state) { jtag_add_ir_scan_noverify(active, in_fields, state); } void jtag_add_ir_scan(struct jtag_tap *active, struct scan_field *in_fields, tap_state_t state) { assert(state != TAP_RESET); if (jtag_verify && jtag_verify_capture_ir) { /* 8 x 32 bit id's is enough for all invocations */ /* if we are to run a verification of the ir scan, we need to get the input back. * We may have to allocate space if the caller didn't ask for the input back. */ in_fields->check_value = active->expected; in_fields->check_mask = active->expected_mask; jtag_add_scan_check(active, jtag_add_ir_scan_noverify_callback, 1, in_fields, state); } else { jtag_add_ir_scan_noverify(active, in_fields, state); } } void jtag_add_plain_ir_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state) { assert(out_bits != NULL); assert(state != TAP_RESET); jtag_prelude(state); int retval = interface_jtag_add_plain_ir_scan( num_bits, out_bits, in_bits, state); jtag_set_error(retval); } static int jtag_check_value_inner(uint8_t *captured, uint8_t *in_check_value, uint8_t *in_check_mask, int num_bits); 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) { return jtag_check_value_inner((uint8_t *)data0, (uint8_t *)data1, (uint8_t *)data2, (int)data3); } static void jtag_add_scan_check(struct jtag_tap *active, void (*jtag_add_scan)(struct jtag_tap *active, int in_num_fields, const struct scan_field *in_fields, tap_state_t state), int in_num_fields, struct scan_field *in_fields, tap_state_t state) { for (int i = 0; i < in_num_fields; i++) { struct scan_field *field = &in_fields[i]; field->allocated = 0; field->modified = 0; if (field->check_value || field->in_value) continue; interface_jtag_add_scan_check_alloc(field); field->modified = 1; } jtag_add_scan(active, in_num_fields, in_fields, state); for (int i = 0; i < in_num_fields; i++) { if ((in_fields[i].check_value != NULL) && (in_fields[i].in_value != NULL)) { /* this is synchronous for a minidriver */ jtag_add_callback4(jtag_check_value_mask_callback, (jtag_callback_data_t)in_fields[i].in_value, (jtag_callback_data_t)in_fields[i].check_value, (jtag_callback_data_t)in_fields[i].check_mask, (jtag_callback_data_t)in_fields[i].num_bits); } if (in_fields[i].allocated) { free(in_fields[i].in_value); } if (in_fields[i].modified) { in_fields[i].in_value = NULL; } } } void jtag_add_dr_scan_check(struct jtag_tap *active, int in_num_fields, struct scan_field *in_fields, tap_state_t state) { if (jtag_verify) { jtag_add_scan_check(active, jtag_add_dr_scan, in_num_fields, in_fields, state); } else { jtag_add_dr_scan(active, in_num_fields, in_fields, state); } } void jtag_add_dr_scan(struct jtag_tap *active, int in_num_fields, const struct scan_field *in_fields, tap_state_t state) { assert(state != TAP_RESET); jtag_prelude(state); int retval; retval = interface_jtag_add_dr_scan(active, in_num_fields, in_fields, state); jtag_set_error(retval); } void jtag_add_plain_dr_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state) { assert(out_bits != NULL); assert(state != TAP_RESET); jtag_prelude(state); int retval; retval = interface_jtag_add_plain_dr_scan(num_bits, out_bits, in_bits, state); jtag_set_error(retval); } void jtag_add_tlr(void) { jtag_prelude(TAP_RESET); jtag_set_error(interface_jtag_add_tlr()); /* NOTE: order here matches TRST path in jtag_add_reset() */ jtag_call_event_callbacks(JTAG_TRST_ASSERTED); jtag_notify_event(JTAG_TRST_ASSERTED); } /** * If supported by the underlying adapter, this clocks a raw bit sequence * onto TMS for switching betwen JTAG and SWD modes. * * DO NOT use this to bypass the integrity checks and logging provided * by the jtag_add_pathmove() and jtag_add_statemove() calls. * * @param nbits How many bits to clock out. * @param seq The bit sequence. The LSB is bit 0 of seq[0]. * @param state The JTAG tap state to record on completion. Use * TAP_INVALID to represent being in in SWD mode. * * @todo Update naming conventions to stop assuming everything is JTAG. */ int jtag_add_tms_seq(unsigned nbits, const uint8_t *seq, enum tap_state state) { int retval; if (!(jtag->supported & DEBUG_CAP_TMS_SEQ)) return ERROR_JTAG_NOT_IMPLEMENTED; jtag_checks(); cmd_queue_cur_state = state; retval = interface_add_tms_seq(nbits, seq, state); jtag_set_error(retval); return retval; } void jtag_add_pathmove(int num_states, const tap_state_t *path) { tap_state_t cur_state = cmd_queue_cur_state; /* the last state has to be a stable state */ if (!tap_is_state_stable(path[num_states - 1])) { LOG_ERROR("BUG: TAP path doesn't finish in a stable state"); jtag_set_error(ERROR_JTAG_NOT_STABLE_STATE); return; } for (int i = 0; i < num_states; i++) { if (path[i] == TAP_RESET) { LOG_ERROR("BUG: TAP_RESET is not a valid state for pathmove sequences"); jtag_set_error(ERROR_JTAG_STATE_INVALID); return; } if (tap_state_transition(cur_state, true) != path[i] && tap_state_transition(cur_state, false) != path[i]) { LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(cur_state), tap_state_name(path[i])); jtag_set_error(ERROR_JTAG_TRANSITION_INVALID); return; } cur_state = path[i]; } jtag_checks(); jtag_set_error(interface_jtag_add_pathmove(num_states, path)); cmd_queue_cur_state = path[num_states - 1]; } int jtag_add_statemove(tap_state_t goal_state) { tap_state_t cur_state = cmd_queue_cur_state; if (goal_state != cur_state) { LOG_DEBUG("cur_state=%s goal_state=%s", tap_state_name(cur_state), tap_state_name(goal_state)); } /* If goal is RESET, be paranoid and force that that transition * (e.g. five TCK cycles, TMS high). Else trust "cur_state". */ if (goal_state == TAP_RESET) jtag_add_tlr(); else if (goal_state == cur_state) /* nothing to do */ ; else if (tap_is_state_stable(cur_state) && tap_is_state_stable(goal_state)) { unsigned tms_bits = tap_get_tms_path(cur_state, goal_state); unsigned tms_count = tap_get_tms_path_len(cur_state, goal_state); tap_state_t moves[8]; assert(tms_count < ARRAY_SIZE(moves)); for (unsigned i = 0; i < tms_count; i++, tms_bits >>= 1) { bool bit = tms_bits & 1; cur_state = tap_state_transition(cur_state, bit); moves[i] = cur_state; } jtag_add_pathmove(tms_count, moves); } else if (tap_state_transition(cur_state, true) == goal_state || tap_state_transition(cur_state, false) == goal_state) { jtag_add_pathmove(1, &goal_state); } else return ERROR_FAIL; return ERROR_OK; } void jtag_add_runtest(int num_cycles, tap_state_t state) { jtag_prelude(state); jtag_set_error(interface_jtag_add_runtest(num_cycles, state)); } void jtag_add_clocks(int num_cycles) { if (!tap_is_state_stable(cmd_queue_cur_state)) { LOG_ERROR("jtag_add_clocks() called with TAP in unstable state \"%s\"", tap_state_name(cmd_queue_cur_state)); jtag_set_error(ERROR_JTAG_NOT_STABLE_STATE); return; } if (num_cycles > 0) { jtag_checks(); jtag_set_error(interface_jtag_add_clocks(num_cycles)); } } void jtag_add_reset(int req_tlr_or_trst, int req_srst) { int trst_with_tlr = 0; int new_srst = 0; int new_trst = 0; /* Without SRST, we must use target-specific JTAG operations * on each target; callers should not be requesting SRST when * that signal doesn't exist. * * RESET_SRST_PULLS_TRST is a board or chip level quirk, which * can kick in even if the JTAG adapter can't drive TRST. */ if (req_srst) { if (!(jtag_reset_config & RESET_HAS_SRST)) { LOG_ERROR("BUG: can't assert SRST"); jtag_set_error(ERROR_FAIL); return; } if ((jtag_reset_config & RESET_SRST_PULLS_TRST) != 0 && !req_tlr_or_trst) { LOG_ERROR("BUG: can't assert only SRST"); jtag_set_error(ERROR_FAIL); return; } new_srst = 1; } /* JTAG reset (entry to TAP_RESET state) can always be achieved * using TCK and TMS; that may go through a TAP_{IR,DR}UPDATE * state first. TRST accelerates it, and bypasses those states. * * RESET_TRST_PULLS_SRST is a board or chip level quirk, which * can kick in even if the JTAG adapter can't drive SRST. */ if (req_tlr_or_trst) { if (!(jtag_reset_config & RESET_HAS_TRST)) trst_with_tlr = 1; else if ((jtag_reset_config & RESET_TRST_PULLS_SRST) != 0 && !req_srst) trst_with_tlr = 1; else new_trst = 1; } /* Maybe change TRST and/or SRST signal state */ if (jtag_srst != new_srst || jtag_trst != new_trst) { int retval; retval = interface_jtag_add_reset(new_trst, new_srst); if (retval != ERROR_OK) jtag_set_error(retval); else retval = jtag_execute_queue(); if (retval != ERROR_OK) { LOG_ERROR("TRST/SRST error"); return; } } /* SRST resets everything hooked up to that signal */ if (jtag_srst != new_srst) { jtag_srst = new_srst; if (jtag_srst) { LOG_DEBUG("SRST line asserted"); if (adapter_nsrst_assert_width) jtag_add_sleep(adapter_nsrst_assert_width * 1000); } else { LOG_DEBUG("SRST line released"); if (adapter_nsrst_delay) jtag_add_sleep(adapter_nsrst_delay * 1000); } } /* Maybe enter the JTAG TAP_RESET state ... * - using only TMS, TCK, and the JTAG state machine * - or else more directly, using TRST * * TAP_RESET should be invisible to non-debug parts of the system. */ if (trst_with_tlr) { LOG_DEBUG("JTAG reset with TLR instead of TRST"); jtag_add_tlr(); } else if (jtag_trst != new_trst) { jtag_trst = new_trst; if (jtag_trst) { LOG_DEBUG("TRST line asserted"); tap_set_state(TAP_RESET); if (jtag_ntrst_assert_width) jtag_add_sleep(jtag_ntrst_assert_width * 1000); } else { LOG_DEBUG("TRST line released"); if (jtag_ntrst_delay) jtag_add_sleep(jtag_ntrst_delay * 1000); /* We just asserted nTRST, so we're now in TAP_RESET. * Inform possible listeners about this, now that * JTAG instructions and data can be shifted. This * sequence must match jtag_add_tlr(). */ jtag_call_event_callbacks(JTAG_TRST_ASSERTED); jtag_notify_event(JTAG_TRST_ASSERTED); } } } void jtag_add_sleep(uint32_t us) { /// @todo Here, keep_alive() appears to be a layering violation!!! keep_alive(); jtag_set_error(interface_jtag_add_sleep(us)); } static int jtag_check_value_inner(uint8_t *captured, uint8_t *in_check_value, uint8_t *in_check_mask, int num_bits) { int retval = ERROR_OK; int compare_failed; if (in_check_mask) compare_failed = buf_cmp_mask(captured, in_check_value, in_check_mask, num_bits); else compare_failed = buf_cmp(captured, in_check_value, num_bits); if (compare_failed) { char *captured_str, *in_check_value_str; int bits = (num_bits > DEBUG_JTAG_IOZ) ? DEBUG_JTAG_IOZ : num_bits; /* NOTE: we've lost diagnostic context here -- 'which tap' */ captured_str = buf_to_str(captured, bits, 16); in_check_value_str = buf_to_str(in_check_value, bits, 16); LOG_WARNING("Bad value '%s' captured during DR or IR scan:", captured_str); LOG_WARNING(" check_value: 0x%s", in_check_value_str); free(captured_str); free(in_check_value_str); if (in_check_mask) { char *in_check_mask_str; in_check_mask_str = buf_to_str(in_check_mask, bits, 16); LOG_WARNING(" check_mask: 0x%s", in_check_mask_str); free(in_check_mask_str); } retval = ERROR_JTAG_QUEUE_FAILED; } return retval; } void jtag_check_value_mask(struct scan_field *field, uint8_t *value, uint8_t *mask) { assert(field->in_value != NULL); if (value == NULL) { /* no checking to do */ return; } jtag_execute_queue_noclear(); int retval = jtag_check_value_inner(field->in_value, value, mask, field->num_bits); jtag_set_error(retval); } int default_interface_jtag_execute_queue(void) { if (NULL == jtag) { LOG_ERROR("No JTAG interface configured yet. " "Issue 'init' command in startup scripts " "before communicating with targets."); return ERROR_FAIL; } return jtag->execute_queue(); } void jtag_execute_queue_noclear(void) { jtag_flush_queue_count++; jtag_set_error(interface_jtag_execute_queue()); if (jtag_flush_queue_sleep > 0) { /* For debug purposes it can be useful to test performance * or behavior when delaying after flushing the queue, * e.g. to simulate long roundtrip times. */ usleep(jtag_flush_queue_sleep * 1000); } } int jtag_get_flush_queue_count(void) { return jtag_flush_queue_count; } int jtag_execute_queue(void) { jtag_execute_queue_noclear(); return jtag_error_clear(); } static int jtag_reset_callback(enum jtag_event event, void *priv) { struct jtag_tap *tap = priv; if (event == JTAG_TRST_ASSERTED) { tap->enabled = !tap->disabled_after_reset; /* current instruction is either BYPASS or IDCODE */ buf_set_ones(tap->cur_instr, tap->ir_length); tap->bypass = 1; } return ERROR_OK; } /* sleep at least us microseconds. When we sleep more than 1000ms we * do an alive sleep, i.e. keep GDB alive. Note that we could starve * GDB if we slept for <1000ms many times. */ void jtag_sleep(uint32_t us) { if (us < 1000) usleep(us); else alive_sleep((us+999)/1000); } /* Maximum number of enabled JTAG devices we expect in the scan chain, * plus one (to detect garbage at the end). Devices that don't support * IDCODE take up fewer bits, possibly allowing a few more devices. */ #define JTAG_MAX_CHAIN_SIZE 20 #define EXTRACT_MFG(X) (((X) & 0xffe) >> 1) #define EXTRACT_PART(X) (((X) & 0xffff000) >> 12) #define EXTRACT_VER(X) (((X) & 0xf0000000) >> 28) /* A reserved manufacturer ID is used in END_OF_CHAIN_FLAG, so we * know that no valid TAP will have it as an IDCODE value. */ #define END_OF_CHAIN_FLAG 0x000000ff /* a larger IR length than we ever expect to autoprobe */ #define JTAG_IRLEN_MAX 60 static int jtag_examine_chain_execute(uint8_t *idcode_buffer, unsigned num_idcode) { struct scan_field field = { .num_bits = num_idcode * 32, .out_value = idcode_buffer, .in_value = idcode_buffer, }; // initialize to the end of chain ID value for (unsigned i = 0; i < JTAG_MAX_CHAIN_SIZE; i++) buf_set_u32(idcode_buffer, i * 32, 32, END_OF_CHAIN_FLAG); jtag_add_plain_dr_scan(field.num_bits, field.out_value, field.in_value, TAP_DRPAUSE); jtag_add_tlr(); return jtag_execute_queue(); } static bool jtag_examine_chain_check(uint8_t *idcodes, unsigned count) { uint8_t zero_check = 0x0; uint8_t one_check = 0xff; for (unsigned i = 0; i < count * 4; i++) { zero_check |= idcodes[i]; one_check &= idcodes[i]; } /* if there wasn't a single non-zero bit or if all bits were one, * the scan is not valid. We wrote a mix of both values; either * * - There's a hardware issue (almost certainly): * + all-zeroes can mean a target stuck in JTAG reset * + all-ones tends to mean no target * - The scan chain is WAY longer than we can handle, *AND* either * + there are several hundreds of TAPs in bypass, or * + at least a few dozen TAPs all have an all-ones IDCODE */ if (zero_check == 0x00 || one_check == 0xff) { LOG_ERROR("JTAG scan chain interrogation failed: all %s", (zero_check == 0x00) ? "zeroes" : "ones"); LOG_ERROR("Check JTAG interface, timings, target power, etc."); return false; } return true; } static void jtag_examine_chain_display(enum log_levels level, const char *msg, const char *name, uint32_t idcode) { log_printf_lf(level, __FILE__, __LINE__, __FUNCTION__, "JTAG tap: %s %16.16s: 0x%08x " "(mfg: 0x%3.3x, part: 0x%4.4x, ver: 0x%1.1x)", name, msg, (unsigned int)idcode, (unsigned int)EXTRACT_MFG(idcode), (unsigned int)EXTRACT_PART(idcode), (unsigned int)EXTRACT_VER(idcode)); } static bool jtag_idcode_is_final(uint32_t idcode) { /* * Some devices, such as AVR8, will output all 1's instead * of TDI input value at end of chain. Allow those values * instead of failing. */ return idcode == END_OF_CHAIN_FLAG || idcode == 0xFFFFFFFF; } /** * This helper checks that remaining bits in the examined chain data are * all as expected, but a single JTAG device requires only 64 bits to be * read back correctly. This can help identify and diagnose problems * with the JTAG chain earlier, gives more helpful/explicit error messages. * Returns TRUE iff garbage was found. */ static bool jtag_examine_chain_end(uint8_t *idcodes, unsigned count, unsigned max) { bool triggered = false; for (; count < max - 31; count += 32) { uint32_t idcode = buf_get_u32(idcodes, count, 32); /* do not trigger the warning if the data looks good */ if (jtag_idcode_is_final(idcode)) continue; LOG_WARNING("Unexpected idcode after end of chain: %d 0x%08x", count, (unsigned int)idcode); triggered = true; } return triggered; } static bool jtag_examine_chain_match_tap(const struct jtag_tap *tap) { uint32_t idcode = tap->idcode; /* ignore expected BYPASS codes; warn otherwise */ if (0 == tap->expected_ids_cnt && !idcode) return true; /* optionally ignore the JTAG version field */ uint32_t mask = tap->ignore_version ? ~(0xff << 24) : ~0; idcode &= mask; /* Loop over the expected identification codes and test for a match */ unsigned ii, limit = tap->expected_ids_cnt; for (ii = 0; ii < limit; ii++) { uint32_t expected = tap->expected_ids[ii] & mask; if (idcode == expected) return true; /* treat "-expected-id 0" as a "don't-warn" wildcard */ if (0 == tap->expected_ids[ii]) return true; } /* If none of the expected ids matched, warn */ jtag_examine_chain_display(LOG_LVL_WARNING, "UNEXPECTED", tap->dotted_name, tap->idcode); for (ii = 0; ii < limit; ii++) { char msg[32]; snprintf(msg, sizeof(msg), "expected %u of %u", ii + 1, limit); jtag_examine_chain_display(LOG_LVL_ERROR, msg, tap->dotted_name, tap->expected_ids[ii]); } return false; } /* Try to examine chain layout according to IEEE 1149.1 §12 * This is called a "blind interrogation" of the scan chain. */ static int jtag_examine_chain(void) { uint8_t idcode_buffer[JTAG_MAX_CHAIN_SIZE * 4]; unsigned bit_count; int retval; int tapcount = 0; bool autoprobe = false; /* DR scan to collect BYPASS or IDCODE register contents. * Then make sure the scan data has both ones and zeroes. */ LOG_DEBUG("DR scan interrogation for IDCODE/BYPASS"); retval = jtag_examine_chain_execute(idcode_buffer, JTAG_MAX_CHAIN_SIZE); if (retval != ERROR_OK) return retval; if (!jtag_examine_chain_check(idcode_buffer, JTAG_MAX_CHAIN_SIZE)) return ERROR_JTAG_INIT_FAILED; /* point at the 1st tap */ struct jtag_tap *tap = jtag_tap_next_enabled(NULL); if (!tap) autoprobe = true; for (bit_count = 0; tap && bit_count < (JTAG_MAX_CHAIN_SIZE * 32) - 31; tap = jtag_tap_next_enabled(tap)) { uint32_t idcode = buf_get_u32(idcode_buffer, bit_count, 32); if ((idcode & 1) == 0) { /* Zero for LSB indicates a device in bypass */ LOG_INFO("TAP %s does not have IDCODE", tap->dotted_name); idcode = 0; tap->hasidcode = false; bit_count += 1; } else { /* Friendly devices support IDCODE */ tap->hasidcode = true; jtag_examine_chain_display(LOG_LVL_INFO, "tap/device found", tap->dotted_name, idcode); bit_count += 32; } tap->idcode = idcode; /* ensure the TAP ID matches what was expected */ if (!jtag_examine_chain_match_tap(tap)) retval = ERROR_JTAG_INIT_SOFT_FAIL; } /* Fail if too many TAPs were enabled for us to verify them all. */ if (tap) { LOG_ERROR("Too many TAPs enabled; '%s' ignored.", tap->dotted_name); return ERROR_JTAG_INIT_FAILED; } /* if autoprobing, the tap list is still empty ... populate it! */ while (autoprobe && bit_count < (JTAG_MAX_CHAIN_SIZE * 32) - 31) { uint32_t idcode; char buf[12]; /* Is there another TAP? */ idcode = buf_get_u32(idcode_buffer, bit_count, 32); if (jtag_idcode_is_final(idcode)) break; /* Default everything in this TAP except IR length. * * REVISIT create a jtag_alloc(chip, tap) routine, and * share it with jim_newtap_cmd(). */ tap = calloc(1, sizeof *tap); if (!tap) return ERROR_FAIL; sprintf(buf, "auto%d", tapcount++); tap->chip = strdup(buf); tap->tapname = strdup("tap"); sprintf(buf, "%s.%s", tap->chip, tap->tapname); tap->dotted_name = strdup(buf); /* tap->ir_length == 0 ... signifying irlen autoprobe */ tap->ir_capture_mask = 0x03; tap->ir_capture_value = 0x01; tap->enabled = true; if ((idcode & 1) == 0) { bit_count += 1; tap->hasidcode = false; } else { bit_count += 32; tap->hasidcode = true; tap->idcode = idcode; tap->expected_ids_cnt = 1; tap->expected_ids = malloc(sizeof(uint32_t)); tap->expected_ids[0] = idcode; } LOG_WARNING("AUTO %s - use \"jtag newtap " "%s %s -expected-id 0x%8.8" PRIx32 " ...\"", tap->dotted_name, tap->chip, tap->tapname, tap->idcode); jtag_tap_init(tap); } /* After those IDCODE or BYPASS register values should be * only the data we fed into the scan chain. */ if (jtag_examine_chain_end(idcode_buffer, bit_count, 8 * sizeof(idcode_buffer))) { LOG_ERROR("double-check your JTAG setup (interface, " "speed, missing TAPs, ...)"); return ERROR_JTAG_INIT_FAILED; } /* Return success or, for backwards compatibility if only * some IDCODE values mismatched, a soft/continuable fault. */ return retval; } /* * Validate the date loaded by entry to the Capture-IR state, to help * find errors related to scan chain configuration (wrong IR lengths) * or communication. * * Entry state can be anything. On non-error exit, all TAPs are in * bypass mode. On error exits, the scan chain is reset. */ static int jtag_validate_ircapture(void) { struct jtag_tap *tap; int total_ir_length = 0; uint8_t *ir_test = NULL; struct scan_field field; int val; int chain_pos = 0; int retval; /* when autoprobing, accomodate huge IR lengths */ for (tap = NULL, total_ir_length = 0; (tap = jtag_tap_next_enabled(tap)) != NULL; total_ir_length += tap->ir_length) { if (tap->ir_length == 0) total_ir_length += JTAG_IRLEN_MAX; } /* increase length to add 2 bit sentinel after scan */ total_ir_length += 2; ir_test = malloc(DIV_ROUND_UP(total_ir_length, 8)); if (ir_test == NULL) return ERROR_FAIL; /* after this scan, all TAPs will capture BYPASS instructions */ buf_set_ones(ir_test, total_ir_length); field.num_bits = total_ir_length; field.out_value = ir_test; field.in_value = ir_test; jtag_add_plain_ir_scan(field.num_bits, field.out_value, field.in_value, TAP_IDLE); LOG_DEBUG("IR capture validation scan"); retval = jtag_execute_queue(); if (retval != ERROR_OK) goto done; tap = NULL; chain_pos = 0; for (;;) { tap = jtag_tap_next_enabled(tap); if (tap == NULL) { break; } /* If we're autoprobing, guess IR lengths. They must be at * least two bits. Guessing will fail if (a) any TAP does * not conform to the JTAG spec; or (b) when the upper bits * captured from some conforming TAP are nonzero. Or if * (c) an IR length is longer than 32 bits -- which is only * an implementation limit, which could someday be raised. * * REVISIT optimization: if there's a *single* TAP we can * lift restrictions (a) and (b) by scanning a recognizable * pattern before the all-ones BYPASS. Check for where the * pattern starts in the result, instead of an 0...01 value. * * REVISIT alternative approach: escape to some tcl code * which could provide more knowledge, based on IDCODE; and * only guess when that has no success. */ if (tap->ir_length == 0) { tap->ir_length = 2; while ((val = buf_get_u32(ir_test, chain_pos, tap->ir_length + 1)) == 1 && tap->ir_length <= 32) { tap->ir_length++; } LOG_WARNING("AUTO %s - use \"... -irlen %d\"", jtag_tap_name(tap), tap->ir_length); } /* Validate the two LSBs, which must be 01 per JTAG spec. * * Or ... more bits could be provided by TAP declaration. * Plus, some taps (notably in i.MX series chips) violate * this part of the JTAG spec, so their capture mask/value * attributes might disable this test. */ val = buf_get_u32(ir_test, chain_pos, tap->ir_length); if ((val & tap->ir_capture_mask) != tap->ir_capture_value) { LOG_ERROR("%s: IR capture error; saw 0x%0*x not 0x%0*x", jtag_tap_name(tap), (tap->ir_length + 7) / tap->ir_length, val, (tap->ir_length + 7) / tap->ir_length, (unsigned) tap->ir_capture_value); retval = ERROR_JTAG_INIT_FAILED; goto done; } LOG_DEBUG("%s: IR capture 0x%0*x", jtag_tap_name(tap), (tap->ir_length + 7) / tap->ir_length, val); chain_pos += tap->ir_length; } /* verify the '11' sentinel we wrote is returned at the end */ val = buf_get_u32(ir_test, chain_pos, 2); if (val != 0x3) { char *cbuf = buf_to_str(ir_test, total_ir_length, 16); LOG_ERROR("IR capture error at bit %d, saw 0x%s not 0x...3", chain_pos, cbuf); free(cbuf); retval = ERROR_JTAG_INIT_FAILED; } done: free(ir_test); if (retval != ERROR_OK) { jtag_add_tlr(); jtag_execute_queue(); } return retval; } void jtag_tap_init(struct jtag_tap *tap) { unsigned ir_len_bits; unsigned ir_len_bytes; /* if we're autoprobing, cope with potentially huge ir_length */ ir_len_bits = tap->ir_length ? : JTAG_IRLEN_MAX; ir_len_bytes = DIV_ROUND_UP(ir_len_bits, 8); tap->expected = calloc(1, ir_len_bytes); tap->expected_mask = calloc(1, ir_len_bytes); tap->cur_instr = malloc(ir_len_bytes); /// @todo cope better with ir_length bigger than 32 bits if (ir_len_bits > 32) ir_len_bits = 32; buf_set_u32(tap->expected, 0, ir_len_bits, tap->ir_capture_value); buf_set_u32(tap->expected_mask, 0, ir_len_bits, tap->ir_capture_mask); // TAP will be in bypass mode after jtag_validate_ircapture() tap->bypass = 1; buf_set_ones(tap->cur_instr, tap->ir_length); // register the reset callback for the TAP jtag_register_event_callback(&jtag_reset_callback, tap); LOG_DEBUG("Created Tap: %s @ abs position %d, " "irlen %d, capture: 0x%x mask: 0x%x", tap->dotted_name, tap->abs_chain_position, tap->ir_length, (unsigned) tap->ir_capture_value, (unsigned) tap->ir_capture_mask); jtag_tap_add(tap); } void jtag_tap_free(struct jtag_tap *tap) { jtag_unregister_event_callback(&jtag_reset_callback, tap); /// @todo is anything missing? no memory leaks please free((void *)tap->expected); free((void *)tap->expected_ids); free((void *)tap->chip); free((void *)tap->tapname); free((void *)tap->dotted_name); free(tap); } /** * Do low-level setup like initializing registers, output signals, * and clocking. */ int adapter_init(struct command_context *cmd_ctx) { if (jtag) return ERROR_OK; if (!jtag_interface) { /* nothing was previously specified by "interface" command */ LOG_ERROR("Debug Adapter has to be specified, " "see \"interface\" command"); return ERROR_JTAG_INVALID_INTERFACE; } jtag = jtag_interface; if (jtag_interface->init() != ERROR_OK) { jtag = NULL; return ERROR_JTAG_INIT_FAILED; } /* LEGACY SUPPORT ... adapter drivers must declare what * transports they allow. Until they all do so, assume * the legacy drivers are JTAG-only */ if (!transports_are_declared()) { LOG_ERROR("Adapter driver '%s' did not declare " "which transports it allows; assuming " "JTAG-only", jtag->name); int retval = allow_transports(cmd_ctx, jtag_only); if (retval != ERROR_OK) return retval; } int requested_khz = jtag_get_speed_khz(); int actual_khz = requested_khz; int jtag_speed_var; int retval = jtag_get_speed(&jtag_speed_var); if (retval != ERROR_OK) return retval; retval = jtag_get_speed_readable(&actual_khz); if (ERROR_OK != retval) LOG_INFO("adapter-specific clock speed value %d", jtag_speed_var); else if (actual_khz) { /* Adaptive clocking -- JTAG-specific */ if ((CLOCK_MODE_RCLK == clock_mode) || ((CLOCK_MODE_KHZ == clock_mode) && !requested_khz)) { LOG_INFO("RCLK (adaptive clock speed) not supported - fallback to %d kHz" , actual_khz); } else LOG_INFO("clock speed %d kHz", actual_khz); } else LOG_INFO("RCLK (adaptive clock speed)"); return ERROR_OK; } int jtag_init_inner(struct command_context *cmd_ctx) { struct jtag_tap *tap; int retval; bool issue_setup = true; LOG_DEBUG("Init JTAG chain"); tap = jtag_tap_next_enabled(NULL); if (tap == NULL) { /* Once JTAG itself is properly set up, and the scan chain * isn't absurdly large, IDCODE autoprobe should work fine. * * But ... IRLEN autoprobe can fail even on systems which * are fully conformant to JTAG. Also, JTAG setup can be * quite finicky on some systems. * * REVISIT: if TAP autoprobe works OK, then in many cases * we could escape to tcl code and set up targets based on * the TAP's IDCODE values. */ LOG_WARNING("There are no enabled taps. " "AUTO PROBING MIGHT NOT WORK!!"); /* REVISIT default clock will often be too fast ... */ } jtag_add_tlr(); if ((retval = jtag_execute_queue()) != ERROR_OK) return retval; /* Examine DR values first. This discovers problems which will * prevent communication ... hardware issues like TDO stuck, or * configuring the wrong number of (enabled) TAPs. */ retval = jtag_examine_chain(); switch (retval) { case ERROR_OK: /* complete success */ break; default: /* For backward compatibility reasons, try coping with * configuration errors involving only ID mismatches. * We might be able to talk to the devices. * * Also the device might be powered down during startup. * * After OpenOCD starts, we can try to power on the device * and run a reset. */ LOG_ERROR("Trying to use configured scan chain anyway..."); issue_setup = false; break; } /* Now look at IR values. Problems here will prevent real * communication. They mostly mean that the IR length is * wrong ... or that the IR capture value is wrong. (The * latter is uncommon, but easily worked around: provide * ircapture/irmask values during TAP setup.) */ retval = jtag_validate_ircapture(); if (retval != ERROR_OK) { /* The target might be powered down. The user * can power it up and reset it after firing * up OpenOCD. */ issue_setup = false; } if (issue_setup) jtag_notify_event(JTAG_TAP_EVENT_SETUP); else LOG_WARNING("Bypassing JTAG setup events due to errors"); return ERROR_OK; } int adapter_quit(void) { if (!jtag || !jtag->quit) return ERROR_OK; // close the JTAG interface int result = jtag->quit(); if (ERROR_OK != result) LOG_ERROR("failed: %d", result); return ERROR_OK; } int jtag_init_reset(struct command_context *cmd_ctx) { int retval; if ((retval = adapter_init(cmd_ctx)) != ERROR_OK) return retval; LOG_DEBUG("Initializing with hard TRST+SRST reset"); /* * This procedure is used by default when OpenOCD triggers a reset. * It's now done through an overridable Tcl "init_reset" wrapper. * * This started out as a more powerful "get JTAG working" reset than * jtag_init_inner(), applying TRST because some chips won't activate * JTAG without a TRST cycle (presumed to be async, though some of * those chips synchronize JTAG activation using TCK). * * But some chips only activate JTAG as part of an SRST cycle; SRST * got mixed in. So it became a hard reset routine, which got used * in more places, and which coped with JTAG reset being forced as * part of SRST (srst_pulls_trst). * * And even more corner cases started to surface: TRST and/or SRST * assertion timings matter; some chips need other JTAG operations; * TRST/SRST sequences can need to be different from these, etc. * * Systems should override that wrapper to support system-specific * requirements that this not-fully-generic code doesn't handle. * * REVISIT once Tcl code can read the reset_config modes, this won't * need to be a C routine at all... */ jtag_add_reset(1, 0); /* TAP_RESET, using TMS+TCK or TRST */ if (jtag_reset_config & RESET_HAS_SRST) { jtag_add_reset(1, 1); if ((jtag_reset_config & RESET_SRST_PULLS_TRST) == 0) jtag_add_reset(0, 1); } jtag_add_reset(0, 0); if ((retval = jtag_execute_queue()) != ERROR_OK) return retval; /* Check that we can communication on the JTAG chain + eventually we want to * be able to perform enumeration only after OpenOCD has started * telnet and GDB server * * That would allow users to more easily perform any magic they need to before * reset happens. */ return jtag_init_inner(cmd_ctx); } int jtag_init(struct command_context *cmd_ctx) { int retval; if ((retval = adapter_init(cmd_ctx)) != ERROR_OK) return retval; /* guard against oddball hardware: force resets to be inactive */ jtag_add_reset(0, 0); if ((retval = jtag_execute_queue()) != ERROR_OK) return retval; if (Jim_Eval_Named(cmd_ctx->interp, "jtag_init", __FILE__, __LINE__) != JIM_OK) return ERROR_FAIL; return ERROR_OK; } unsigned jtag_get_speed_khz(void) { return speed_khz; } static int adapter_khz_to_speed(unsigned khz, int* speed) { LOG_DEBUG("convert khz to interface specific speed value"); speed_khz = khz; if (jtag != NULL) { LOG_DEBUG("have interface set up"); int speed_div1; int retval = jtag->khz(jtag_get_speed_khz(), &speed_div1); if (ERROR_OK != retval) { return retval; } *speed = speed_div1; } return ERROR_OK; } static int jtag_rclk_to_speed(unsigned fallback_speed_khz, int* speed) { int retval = adapter_khz_to_speed(0, speed); if ((ERROR_OK != retval) && fallback_speed_khz) { LOG_DEBUG("trying fallback speed..."); retval = adapter_khz_to_speed(fallback_speed_khz, speed); } return retval; } static int jtag_set_speed(int speed) { jtag_speed = speed; /* this command can be called during CONFIG, * in which case jtag isn't initialized */ return jtag ? jtag->speed(speed) : ERROR_OK; } int jtag_config_khz(unsigned khz) { LOG_DEBUG("handle jtag khz"); clock_mode = CLOCK_MODE_KHZ; int speed = 0; int retval = adapter_khz_to_speed(khz, &speed); return (ERROR_OK != retval) ? retval : jtag_set_speed(speed); } int jtag_config_rclk(unsigned fallback_speed_khz) { LOG_DEBUG("handle jtag rclk"); clock_mode = CLOCK_MODE_RCLK; rclk_fallback_speed_khz = fallback_speed_khz; int speed = 0; int retval = jtag_rclk_to_speed(fallback_speed_khz, &speed); return (ERROR_OK != retval) ? retval : jtag_set_speed(speed); } int jtag_get_speed(int *speed) { switch(clock_mode) { case CLOCK_MODE_SPEED: *speed = jtag_speed; break; case CLOCK_MODE_KHZ: adapter_khz_to_speed(jtag_get_speed_khz(), speed); break; case CLOCK_MODE_RCLK: jtag_rclk_to_speed(rclk_fallback_speed_khz, speed); break; default: LOG_ERROR("BUG: unknown jtag clock mode"); return ERROR_FAIL; } return ERROR_OK; } int jtag_get_speed_readable(int *khz) { int jtag_speed_var; int retval = jtag_get_speed(&jtag_speed_var); if (retval != ERROR_OK) return retval; return jtag ? jtag->speed_div(jtag_speed_var, khz) : ERROR_OK; } void jtag_set_verify(bool enable) { jtag_verify = enable; } bool jtag_will_verify() { return jtag_verify; } void jtag_set_verify_capture_ir(bool enable) { jtag_verify_capture_ir = enable; } bool jtag_will_verify_capture_ir() { return jtag_verify_capture_ir; } int jtag_power_dropout(int *dropout) { if (jtag == NULL) { /* TODO: as the jtag interface is not valid all * we can do at the moment is exit OpenOCD */ LOG_ERROR("No Valid JTAG Interface Configured."); exit(-1); } return jtag->power_dropout(dropout); } int jtag_srst_asserted(int *srst_asserted) { return jtag->srst_asserted(srst_asserted); } enum reset_types jtag_get_reset_config(void) { return jtag_reset_config; } void jtag_set_reset_config(enum reset_types type) { jtag_reset_config = type; } int jtag_get_trst(void) { return jtag_trst; } int jtag_get_srst(void) { return jtag_srst; } void jtag_set_nsrst_delay(unsigned delay) { adapter_nsrst_delay = delay; } unsigned jtag_get_nsrst_delay(void) { return adapter_nsrst_delay; } void jtag_set_ntrst_delay(unsigned delay) { jtag_ntrst_delay = delay; } unsigned jtag_get_ntrst_delay(void) { return jtag_ntrst_delay; } void jtag_set_nsrst_assert_width(unsigned delay) { adapter_nsrst_assert_width = delay; } unsigned jtag_get_nsrst_assert_width(void) { return adapter_nsrst_assert_width; } void jtag_set_ntrst_assert_width(unsigned delay) { jtag_ntrst_assert_width = delay; } unsigned jtag_get_ntrst_assert_width(void) { return jtag_ntrst_assert_width; } static int jtag_select(struct command_context *ctx) { int retval; /* NOTE: interface init must already have been done. * That works with only C code ... no Tcl glue required. */ retval = jtag_register_commands(ctx); if (retval != ERROR_OK) return retval; retval = svf_register_commands(ctx); if (retval != ERROR_OK) return retval; return xsvf_register_commands(ctx); } static struct transport jtag_transport = { .name = "jtag", .select = jtag_select, .init = jtag_init, }; static void jtag_constructor(void) __attribute__((constructor)); static void jtag_constructor(void) { transport_register(&jtag_transport); } /** Returns true if the current debug session * is using JTAG as its transport. */ bool transport_is_jtag(void) { return get_current_transport() == &jtag_transport; } 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 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