[openocd.git] / src / jtag / drivers / driver.c

/***************************************************************************
 *   Copyright (C) 2005 by Dominic Rath                                    *
 *   Dominic.Rath@gmx.de                                                   *
 *                                                                         *
 *   Copyright (C) 2007-2009 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/jtag.h>
#include <jtag/interface.h>
#include <jtag/commands.h>
#include <jtag/minidriver.h>
#include <helper/command.h>

struct jtag_callback_entry
{
        struct jtag_callback_entry *next;

        jtag_callback_t callback;
        jtag_callback_data_t data0;
        jtag_callback_data_t data1;
        jtag_callback_data_t data2;
        jtag_callback_data_t data3;
};

static struct jtag_callback_entry *jtag_callback_queue_head = NULL;
static struct jtag_callback_entry *jtag_callback_queue_tail = NULL;

static void jtag_callback_queue_reset(void)
{
        jtag_callback_queue_head = NULL;
        jtag_callback_queue_tail = NULL;
}

/**
 * Copy a struct scan_field for insertion into the queue.
 *
 * This allocates a new copy of out_value using cmd_queue_alloc.
 */
static void cmd_queue_scan_field_clone(struct scan_field * dst, const struct scan_field * src)
{
        dst->num_bits   = src->num_bits;
        dst->out_value  = buf_cpy(src->out_value, cmd_queue_alloc(DIV_ROUND_UP(src->num_bits, 8)), src->num_bits);
        dst->in_value   = src->in_value;
}


/**
 * see jtag_add_ir_scan()
 *
 */
int interface_jtag_add_ir_scan(struct jtag_tap* active, const struct scan_field *in_fields, tap_state_t state)
{
        size_t num_taps = jtag_tap_count_enabled();

        struct jtag_command * cmd               = cmd_queue_alloc(sizeof(struct jtag_command));
        struct scan_command * scan              = cmd_queue_alloc(sizeof(struct scan_command));
        struct scan_field * out_fields  = cmd_queue_alloc(num_taps  * sizeof(struct scan_field));

        jtag_queue_command(cmd);

        cmd->type                               = JTAG_SCAN;
        cmd->cmd.scan                   = scan;

        scan->ir_scan                   = true;
        scan->num_fields                = num_taps;     /* one field per device */
        scan->fields                    = out_fields;
        scan->end_state                 = state;


        struct scan_field * field = out_fields; /* keep track where we insert data */

        /* loop over all enabled TAPs */

        for (struct jtag_tap * tap = jtag_tap_next_enabled(NULL); tap != NULL; tap = jtag_tap_next_enabled(tap))
        {
                /* search the input field list for fields for the current TAP */

                if (tap == active)
                {
                        /* if TAP is listed in input fields, copy the value */
                        tap->bypass = 0;

                        cmd_queue_scan_field_clone(field, in_fields);
                } else
                {
                        /* if a TAP isn't listed in input fields, set it to BYPASS */

                        tap->bypass = 1;

                        field->num_bits         = tap->ir_length;
                        field->out_value        = buf_set_ones(cmd_queue_alloc(DIV_ROUND_UP(tap->ir_length, 8)), tap->ir_length);
                        field->in_value         = NULL; /* do not collect input for tap's in bypass */
                }

                /* update device information */
                buf_cpy(field->out_value, tap->cur_instr, tap->ir_length);

                field++;
        }

        assert(field == out_fields + num_taps); /* paranoia: jtag_tap_count_enabled() and jtag_tap_next_enabled() not in sync */

        return ERROR_OK;
}

/**
 * see jtag_add_plain_ir_scan()
 *
 */
int interface_jtag_add_plain_ir_scan(int in_num_fields, const struct scan_field *in_fields, tap_state_t state)
{

        struct jtag_command * cmd               = cmd_queue_alloc(sizeof(struct jtag_command));
        struct scan_command * scan              = cmd_queue_alloc(sizeof(struct scan_command));
        struct scan_field * out_fields  = cmd_queue_alloc(in_num_fields * sizeof(struct scan_field));

        jtag_queue_command(cmd);

        cmd->type                               = JTAG_SCAN;
        cmd->cmd.scan                   = scan;

        scan->ir_scan                   = true;
        scan->num_fields                = in_num_fields;
        scan->fields                    = out_fields;
        scan->end_state                 = state;

        for (int i = 0; i < in_num_fields; i++)
                cmd_queue_scan_field_clone(out_fields + i, in_fields + i);

        return ERROR_OK;
}



/**
 * see jtag_add_dr_scan()
 *
 */
int interface_jtag_add_dr_scan(struct jtag_tap* active, int in_num_fields, const struct scan_field *in_fields, tap_state_t state)
{
        /* count devices in bypass */

        size_t bypass_devices = 0;

        for (struct jtag_tap * tap = jtag_tap_next_enabled(NULL); tap != NULL; tap = jtag_tap_next_enabled(tap))
        {
                if (tap->bypass)
                        bypass_devices++;
        }

        struct jtag_command * cmd               = cmd_queue_alloc(sizeof(struct jtag_command));
        struct scan_command * scan              = cmd_queue_alloc(sizeof(struct scan_command));
        struct scan_field * out_fields  = cmd_queue_alloc((in_num_fields + bypass_devices) * sizeof(struct scan_field));

        jtag_queue_command(cmd);

        cmd->type                               = JTAG_SCAN;
        cmd->cmd.scan                   = scan;

        scan->ir_scan                   = false;
        scan->num_fields                = in_num_fields + bypass_devices;
        scan->fields                    = out_fields;
        scan->end_state                 = state;


        struct scan_field * field = out_fields; /* keep track where we insert data */

        /* loop over all enabled TAPs */

        for (struct jtag_tap * tap = jtag_tap_next_enabled(NULL); tap != NULL; tap = jtag_tap_next_enabled(tap))
        {
                /* if TAP is not bypassed insert matching input fields */

                if (!tap->bypass)
                {
                        assert(active == tap);
#ifndef NDEBUG
                        /* remember initial position for assert() */
                        struct scan_field *start_field = field;
#endif /* NDEBUG */

                        for (int j = 0; j < in_num_fields; j++)
                        {
                                cmd_queue_scan_field_clone(field, in_fields + j);

                                field++;
                        }

                        assert(field > start_field);    /* must have at least one input field per not bypassed TAP */
                }

                /* if a TAP is bypassed, generated a dummy bit*/
                else
                {
                        field->num_bits         = 1;
                        field->out_value        = NULL;
                        field->in_value         = NULL;

                        field++;
                }
        }

        assert(field == out_fields + scan->num_fields); /* no superfluous input fields permitted */

        return ERROR_OK;
}



/**
 * Generate a DR SCAN using the array of output values passed to the function
 *
 * This function assumes that the parameter target_tap specifies the one TAP
 * that is not bypassed. All other TAPs must be bypassed and the function will
 * generate a dummy 1bit field for them.
 *
 * For the target_tap a sequence of output-only fields will be generated where
 * each field has the size num_bits and the field's values are taken from
 * the array value.
 *
 * The bypass status of TAPs is set by jtag_add_ir_scan().
 *
 */
void interface_jtag_add_dr_out(struct jtag_tap *target_tap,
                int in_num_fields,
                const int *num_bits,
                const uint32_t *value,
                tap_state_t end_state)
{
        /* count devices in bypass */

        size_t bypass_devices = 0;

        for (struct jtag_tap * tap = jtag_tap_next_enabled(NULL); tap != NULL; tap = jtag_tap_next_enabled(tap))
        {
                if (tap->bypass)
                        bypass_devices++;
        }


        struct jtag_command * cmd               = cmd_queue_alloc(sizeof(struct jtag_command));
        struct scan_command * scan              = cmd_queue_alloc(sizeof(struct scan_command));
        struct scan_field * out_fields  = cmd_queue_alloc((in_num_fields + bypass_devices) * sizeof(struct scan_field));

        jtag_queue_command(cmd);

        cmd->type                               = JTAG_SCAN;
        cmd->cmd.scan                   = scan;

        scan->ir_scan                   = false;
        scan->num_fields                = in_num_fields + bypass_devices;
        scan->fields                    = out_fields;
        scan->end_state                 = end_state;


        bool target_tap_match   = false;

        struct scan_field * field = out_fields; /* keep track where we insert data */

        /* loop over all enabled TAPs */

        for (struct jtag_tap * tap = jtag_tap_next_enabled(NULL); tap != NULL; tap = jtag_tap_next_enabled(tap))
        {
                /* if TAP is not bypassed insert matching input fields */

                if (!tap->bypass)
                {
                        assert(tap == target_tap); /* target_tap must match the one not bypassed TAP */

                        target_tap_match = true;

                        for (int j = 0; j < in_num_fields; j++)
                        {
                                uint8_t out_value[4];
                                size_t scan_size = num_bits[j];
                                buf_set_u32(out_value, 0, scan_size, value[j]);

                                field->num_bits         = scan_size;
                                field->out_value        = buf_cpy(out_value, cmd_queue_alloc(DIV_ROUND_UP(scan_size, 8)), scan_size);
                                field->in_value         = NULL;

                                field++;
                        }
                }

                /* if a TAP is bypassed, generated a dummy bit*/
                else
                {

                        field->num_bits                 = 1;
                        field->out_value                = NULL;
                        field->in_value                 = NULL;

                        field++;
                }
        }

        assert(target_tap_match);       /* target_tap should be enabled and not bypassed */
}

/**
 * see jtag_add_plain_dr_scan()
 *
 */
int interface_jtag_add_plain_dr_scan(int in_num_fields, const struct scan_field *in_fields, tap_state_t state)
{
        struct jtag_command * cmd               = cmd_queue_alloc(sizeof(struct jtag_command));
        struct scan_command * scan              = cmd_queue_alloc(sizeof(struct scan_command));
        struct scan_field * out_fields  = cmd_queue_alloc(in_num_fields * sizeof(struct scan_field));

        jtag_queue_command(cmd);

        cmd->type                               = JTAG_SCAN;
        cmd->cmd.scan                   = scan;

        scan->ir_scan                   = false;
        scan->num_fields                = in_num_fields;
        scan->fields                    = out_fields;
        scan->end_state                 = state;

        for (int i = 0; i < in_num_fields; i++)
                cmd_queue_scan_field_clone(out_fields + i, in_fields + i);

        return ERROR_OK;
}

int interface_jtag_add_tlr(void)
{
        tap_state_t state = TAP_RESET;

        /* allocate memory for a new list member */
        struct jtag_command * cmd = cmd_queue_alloc(sizeof(struct jtag_command));

        jtag_queue_command(cmd);

        cmd->type = JTAG_STATEMOVE;

        cmd->cmd.statemove = cmd_queue_alloc(sizeof(struct statemove_command));
        cmd->cmd.statemove->end_state = state;

        return ERROR_OK;
}

int interface_add_tms_seq(unsigned num_bits, const uint8_t *seq, enum tap_state state)
{
        struct jtag_command *cmd;

        cmd = cmd_queue_alloc(sizeof(struct jtag_command));
        if (cmd == NULL)
                return ERROR_FAIL;

        cmd->type = JTAG_TMS;
        cmd->cmd.tms = cmd_queue_alloc(sizeof(*cmd->cmd.tms));
        if (!cmd->cmd.tms)
                return ERROR_FAIL;

        /* copy the bits; our caller doesn't guarantee they'll persist */
        cmd->cmd.tms->num_bits = num_bits;
        cmd->cmd.tms->bits = buf_cpy(seq,
                        cmd_queue_alloc(DIV_ROUND_UP(num_bits, 8)), num_bits);
        if (!cmd->cmd.tms->bits)
                return ERROR_FAIL;

        jtag_queue_command(cmd);

        return ERROR_OK;
}

int interface_jtag_add_pathmove(int num_states, const tap_state_t *path)
{
        /* allocate memory for a new list member */
        struct jtag_command * cmd = cmd_queue_alloc(sizeof(struct jtag_command));

        jtag_queue_command(cmd);

        cmd->type = JTAG_PATHMOVE;

        cmd->cmd.pathmove = cmd_queue_alloc(sizeof(struct pathmove_command));
        cmd->cmd.pathmove->num_states = num_states;
        cmd->cmd.pathmove->path = cmd_queue_alloc(sizeof(tap_state_t) * num_states);

        for (int i = 0; i < num_states; i++)
                cmd->cmd.pathmove->path[i] = path[i];

        return ERROR_OK;
}

int interface_jtag_add_runtest(int num_cycles, tap_state_t state)
{
        /* allocate memory for a new list member */
        struct jtag_command * cmd = cmd_queue_alloc(sizeof(struct jtag_command));

        jtag_queue_command(cmd);

        cmd->type = JTAG_RUNTEST;

        cmd->cmd.runtest = cmd_queue_alloc(sizeof(struct runtest_command));
        cmd->cmd.runtest->num_cycles = num_cycles;
        cmd->cmd.runtest->end_state = state;

        return ERROR_OK;
}

int interface_jtag_add_clocks(int num_cycles)
{
        /* allocate memory for a new list member */
        struct jtag_command * cmd = cmd_queue_alloc(sizeof(struct jtag_command));

        jtag_queue_command(cmd);

        cmd->type = JTAG_STABLECLOCKS;

        cmd->cmd.stableclocks = cmd_queue_alloc(sizeof(struct stableclocks_command));
        cmd->cmd.stableclocks->num_cycles = num_cycles;

        return ERROR_OK;
}

int interface_jtag_add_reset(int req_trst, int req_srst)
{
        /* allocate memory for a new list member */
        struct jtag_command * cmd = cmd_queue_alloc(sizeof(struct jtag_command));

        jtag_queue_command(cmd);

        cmd->type = JTAG_RESET;

        cmd->cmd.reset = cmd_queue_alloc(sizeof(struct reset_command));
        cmd->cmd.reset->trst = req_trst;
        cmd->cmd.reset->srst = req_srst;

        return ERROR_OK;
}

int interface_jtag_add_sleep(uint32_t us)
{
        /* allocate memory for a new list member */
        struct jtag_command * cmd = cmd_queue_alloc(sizeof(struct jtag_command));

        jtag_queue_command(cmd);

        cmd->type = JTAG_SLEEP;

        cmd->cmd.sleep = cmd_queue_alloc(sizeof(struct sleep_command));
        cmd->cmd.sleep->us = us;

        return ERROR_OK;
}

/* add callback to end of queue */
void interface_jtag_add_callback4(jtag_callback_t callback, jtag_callback_data_t data0, jtag_callback_data_t data1, jtag_callback_data_t data2, jtag_callback_data_t data3)
{
        struct jtag_callback_entry *entry = cmd_queue_alloc(sizeof(struct jtag_callback_entry));

        entry->next = NULL;
        entry->callback = callback;
        entry->data0 = data0;
        entry->data1 = data1;
        entry->data2 = data2;
        entry->data3 = data3;

        if (jtag_callback_queue_head == NULL)
        {
                jtag_callback_queue_head = entry;
                jtag_callback_queue_tail = entry;
        } else
        {
                jtag_callback_queue_tail->next = entry;
                jtag_callback_queue_tail = entry;
        }
}

int interface_jtag_execute_queue(void)
{
        static int reentry = 0;

        assert(reentry==0);
        reentry++;

        int retval = default_interface_jtag_execute_queue();
        if (retval == ERROR_OK)
        {
                struct jtag_callback_entry *entry;
                for (entry = jtag_callback_queue_head; entry != NULL; entry = entry->next)
                {
                        retval = entry->callback(entry->data0, entry->data1, entry->data2, entry->data3);
                        if (retval != ERROR_OK)
                                break;
                }
        }

        jtag_command_queue_reset();
        jtag_callback_queue_reset();

        reentry--;

        return retval;
}

static int jtag_convert_to_callback4(jtag_callback_data_t data0, jtag_callback_data_t data1, jtag_callback_data_t data2, jtag_callback_data_t data3)
{
        ((jtag_callback1_t)data1)(data0);
        return ERROR_OK;
}

void interface_jtag_add_callback(jtag_callback1_t callback, jtag_callback_data_t data0)
{
        jtag_add_callback4(jtag_convert_to_callback4, data0, (jtag_callback_data_t)callback, 0, 0);
}


/* A minidriver can use use an inline versions of this API level fn */
void jtag_add_dr_out(struct jtag_tap* tap,
                int num_fields, const int* num_bits, const uint32_t* value,
                tap_state_t end_state)
{
        assert(end_state != TAP_RESET);
        assert(end_state != TAP_INVALID);

        cmd_queue_cur_state = end_state;

        interface_jtag_add_dr_out(tap,
                        num_fields, num_bits, value,
                        end_state);
}

void jtag_add_callback(jtag_callback1_t f, jtag_callback_data_t data0)
{
        interface_jtag_add_callback(f, data0);
}

void jtag_add_callback4(jtag_callback_t f, jtag_callback_data_t data0,
                jtag_callback_data_t data1, jtag_callback_data_t data2,
                jtag_callback_data_t data3)
{
        interface_jtag_add_callback4(f, data0, data1, data2, data3);
}