openocd/src/jtag/drivers/OpenULINK/src/jtag.c

/***************************************************************************
 *   Copyright (C) 2011 by Martin Schmoelzer                               *
 *   <martin.schmoelzer@student.tuwien.ac.at>                              *
 *                                                                         *
 *   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.             *
 ***************************************************************************/

#include "jtag.h"

#include "io.h"
#include "msgtypes.h"
#include "common.h"

#include <stdbool.h>

/** Delay value for SCAN_IN operations with less than maximum TCK frequency */
uint8_t delay_scan_in;

/** Delay value for SCAN_OUT operations with less than maximum TCK frequency */
uint8_t delay_scan_out;

/** Delay value for SCAN_IO operations with less than maximum TCK frequency */
uint8_t delay_scan_io;

/** Delay value for CLOCK_TCK operations with less than maximum frequency */
uint8_t delay_tck;

/** Delay value for CLOCK_TMS operations with less than maximum frequency */
uint8_t delay_tms;

/**
 * Perform JTAG SCAN-IN operation at maximum TCK frequency.
 *
 * Dummy data is shifted into the JTAG chain via TDI, TDO data is sampled and
 * stored in the EP2 IN buffer.
 *
 * Maximum achievable TCK frequency is 182 kHz for ULINK clocked at 24 MHz.
 *
 * @param out_offset offset in OUT2BUF where payload data starts
 */
void jtag_scan_in(uint8_t out_offset, uint8_t in_offset)
{
	uint8_t scan_size_bytes, bits_last_byte;
	uint8_t tms_count_start, tms_count_end;
	uint8_t tms_sequence_start, tms_sequence_end;
	uint8_t tdo_data, i, j;

	uint8_t outb_buffer;

	/* Get parameters from OUT2BUF */
	scan_size_bytes = OUT2BUF[out_offset];
	bits_last_byte = OUT2BUF[out_offset + 1];
	tms_count_start = (OUT2BUF[out_offset + 2] >> 4) & 0x0F;
	tms_count_end = OUT2BUF[out_offset + 2] & 0x0F;
	tms_sequence_start = OUT2BUF[out_offset + 3];
	tms_sequence_end = OUT2BUF[out_offset + 4];

	if (tms_count_start > 0)
		jtag_clock_tms(tms_count_start, tms_sequence_start);

	outb_buffer = OUTB & ~(PIN_TDI | PIN_TCK | PIN_TMS);

	/* Shift all bytes except the last byte */
	for (i = 0; i < scan_size_bytes - 1; i++) {
		tdo_data = 0;

		for (j = 0; j < 8; j++) {
			OUTB = outb_buffer;	/* TCK changes here */
			tdo_data = tdo_data >> 1;
			OUTB = (outb_buffer | PIN_TCK);

			if (GET_TDO())
				tdo_data |= 0x80;
		}

		/* Copy TDO data to IN2BUF */
		IN2BUF[i + in_offset] = tdo_data;
	}

	tdo_data = 0;

	/* Shift the last byte */
	for (j = 0; j < bits_last_byte; j++) {
		/* Assert TMS signal if requested and this is the last bit */
		if ((j == bits_last_byte - 1) && (tms_count_end > 0)) {
			outb_buffer |= PIN_TMS;
			tms_count_end--;
			tms_sequence_end = tms_sequence_end >> 1;
		}

		OUTB = outb_buffer;	/* TCK change here */
		tdo_data = tdo_data >> 1;
		OUTB = (outb_buffer | PIN_TCK);

		if (GET_TDO())
			tdo_data |= 0x80;
	}
	tdo_data = tdo_data >> (8 - bits_last_byte);

	/* Copy TDO data to IN2BUF */
	IN2BUF[i + in_offset] = tdo_data;

	/* Move to correct end state */
	if (tms_count_end > 0)
		jtag_clock_tms(tms_count_end, tms_sequence_end);
}

/**
 * Perform JTAG SCAN-IN operation at variable TCK frequency.
 *
 * Dummy data is shifted into the JTAG chain via TDI, TDO data is sampled and
 * stored in the EP2 IN buffer.
 *
 * Maximum achievable TCK frequency is 113 kHz for ULINK clocked at 24 MHz.
 *
 * @param out_offset offset in OUT2BUF where payload data starts
 */
void jtag_slow_scan_in(uint8_t out_offset, uint8_t in_offset)
{
	uint8_t scan_size_bytes, bits_last_byte;
	uint8_t tms_count_start, tms_count_end;
	uint8_t tms_sequence_start, tms_sequence_end;
	uint8_t tdo_data, i, j, k;

	uint8_t outb_buffer;

	/* Get parameters from OUT2BUF */
	scan_size_bytes = OUT2BUF[out_offset];
	bits_last_byte = OUT2BUF[out_offset + 1];
	tms_count_start = (OUT2BUF[out_offset + 2] >> 4) & 0x0F;
	tms_count_end = OUT2BUF[out_offset + 2] & 0x0F;
	tms_sequence_start = OUT2BUF[out_offset + 3];
	tms_sequence_end = OUT2BUF[out_offset + 4];

	if (tms_count_start > 0)
		jtag_slow_clock_tms(tms_count_start, tms_sequence_start);

	outb_buffer = OUTB & ~(PIN_TDI | PIN_TCK | PIN_TMS);

	/* Shift all bytes except the last byte */
	for (i = 0; i < scan_size_bytes - 1; i++) {
		tdo_data = 0;

		for (j = 0; j < 8; j++) {
			OUTB = outb_buffer;	/* TCK changes here */
			for (k = 0; k < delay_scan_in; k++)
				;
			tdo_data = tdo_data >> 1;

			OUTB = (outb_buffer | PIN_TCK);
			for (k = 0; k < delay_scan_in; k++)
				;

			if (GET_TDO())
				tdo_data |= 0x80;
		}

		/* Copy TDO data to IN2BUF */
		IN2BUF[i + in_offset] = tdo_data;
	}

	tdo_data = 0;

	/* Shift the last byte */
	for (j = 0; j < bits_last_byte; j++) {
		/* Assert TMS signal if requested and this is the last bit */
		if ((j == bits_last_byte - 1) && (tms_count_end > 0)) {
			outb_buffer |= PIN_TMS;
			tms_count_end--;
			tms_sequence_end = tms_sequence_end >> 1;
		}

		OUTB = outb_buffer;	/* TCK change here */
		for (k = 0; k < delay_scan_in; k++)
			;
		tdo_data = tdo_data >> 1;

		OUTB = (outb_buffer | PIN_TCK);
		for (k = 0; k < delay_scan_in; k++)
			;

		if (GET_TDO())
			tdo_data |= 0x80;
	}
	tdo_data = tdo_data >> (8 - bits_last_byte);

	/* Copy TDO data to IN2BUF */
	IN2BUF[i + in_offset] = tdo_data;

	/* Move to correct end state */
	if (tms_count_end > 0)
		jtag_slow_clock_tms(tms_count_end, tms_sequence_end);
}

/**
 * Perform JTAG SCAN-OUT operation at maximum TCK frequency.
 *
 * Data stored in EP2 OUT buffer is shifted into the JTAG chain via TDI, TDO
 * data is not sampled.
 * The TAP-FSM state is alyways left in the PAUSE-DR/PAUSE-IR state.
 *
 * Maximum achievable TCK frequency is 142 kHz for ULINK clocked at 24 MHz.
 *
 * @param out_offset offset in OUT2BUF where payload data starts
 */
void jtag_scan_out(uint8_t out_offset)
{
	uint8_t scan_size_bytes, bits_last_byte;
	uint8_t tms_count_start, tms_count_end;
	uint8_t tms_sequence_start, tms_sequence_end;
	uint8_t tdi_data, i, j;

	uint8_t outb_buffer;

	/* Get parameters from OUT2BUF */
	scan_size_bytes = OUT2BUF[out_offset];
	bits_last_byte = OUT2BUF[out_offset + 1];
	tms_count_start = (OUT2BUF[out_offset + 2] >> 4) & 0x0F;
	tms_count_end = OUT2BUF[out_offset + 2] & 0x0F;
	tms_sequence_start = OUT2BUF[out_offset + 3];
	tms_sequence_end = OUT2BUF[out_offset + 4];

	if (tms_count_start > 0)
		jtag_clock_tms(tms_count_start, tms_sequence_start);

	outb_buffer = OUTB & ~(PIN_TCK | PIN_TMS);

	/* Shift all bytes except the last byte */
	for (i = 0; i < scan_size_bytes - 1; i++) {
		tdi_data = OUT2BUF[i + out_offset + 5];

		for (j = 0; j < 8; j++) {
			if (tdi_data & 0x01)
				outb_buffer |= PIN_TDI;
			else
				outb_buffer &= ~PIN_TDI;

			OUTB = outb_buffer;	/* TDI and TCK change here */
			tdi_data = tdi_data >> 1;
			OUTB = (outb_buffer | PIN_TCK);
		}
	}

	tdi_data = OUT2BUF[i + out_offset + 5];

	/* Shift the last byte */
	for (j = 0; j < bits_last_byte; j++) {
		if (tdi_data & 0x01)
			outb_buffer |= PIN_TDI;
		else
			outb_buffer &= ~PIN_TDI;

		/* Assert TMS signal if requested and this is the last bit */
		if ((j == bits_last_byte - 1) && (tms_count_end > 0)) {
			outb_buffer |= PIN_TMS;
			tms_count_end--;
			tms_sequence_end = tms_sequence_end >> 1;
		}

		OUTB = outb_buffer;	/* TDI and TCK change here */
		tdi_data = tdi_data >> 1;
		OUTB = (outb_buffer | PIN_TCK);
	}

	/* Move to correct end state */
	if (tms_count_end > 0)
		jtag_clock_tms(tms_count_end, tms_sequence_end);
}

/**
 * Perform JTAG SCAN-OUT operation at maximum TCK frequency.
 *
 * Data stored in EP2 OUT buffer is shifted into the JTAG chain via TDI, TDO
 * data is not sampled.
 * The TAP-FSM state is alyways left in the PAUSE-DR/PAUSE-IR state.
 *
 * Maximum achievable TCK frequency is 97 kHz for ULINK clocked at 24 MHz.
 *
 * @param out_offset offset in OUT2BUF where payload data starts
 */
void jtag_slow_scan_out(uint8_t out_offset)
{
	uint8_t scan_size_bytes, bits_last_byte;
	uint8_t tms_count_start, tms_count_end;
	uint8_t tms_sequence_start, tms_sequence_end;
	uint8_t tdi_data, i, j, k;

	uint8_t outb_buffer;

	/* Get parameters from OUT2BUF */
	scan_size_bytes = OUT2BUF[out_offset];
	bits_last_byte = OUT2BUF[out_offset + 1];
	tms_count_start = (OUT2BUF[out_offset + 2] >> 4) & 0x0F;
	tms_count_end = OUT2BUF[out_offset + 2] & 0x0F;
	tms_sequence_start = OUT2BUF[out_offset + 3];
	tms_sequence_end = OUT2BUF[out_offset + 4];

	if (tms_count_start > 0)
		jtag_slow_clock_tms(tms_count_start, tms_sequence_start);

	outb_buffer = OUTB & ~(PIN_TCK | PIN_TMS);

	/* Shift all bytes except the last byte */
	for (i = 0; i < scan_size_bytes - 1; i++) {
		tdi_data = OUT2BUF[i + out_offset + 5];

		for (j = 0; j < 8; j++) {
			if (tdi_data & 0x01)
				outb_buffer |= PIN_TDI;
			else
				outb_buffer &= ~PIN_TDI;

			OUTB = outb_buffer;	/* TDI and TCK change here */
			for (k = 0; k < delay_scan_out; k++)
				;
			tdi_data = tdi_data >> 1;

			OUTB = (outb_buffer | PIN_TCK);
			for (k = 0; k < delay_scan_out; k++)
				;
		}
	}

	tdi_data = OUT2BUF[i + out_offset + 5];

	/* Shift the last byte */
	for (j = 0; j < bits_last_byte; j++) {
		if (tdi_data & 0x01)
			outb_buffer |= PIN_TDI;
		else
			outb_buffer &= ~PIN_TDI;

		/* Assert TMS signal if requested and this is the last bit */
		if ((j == bits_last_byte - 1) && (tms_count_end > 0)) {
			outb_buffer |= PIN_TMS;
			tms_count_end--;
			tms_sequence_end = tms_sequence_end >> 1;
		}

		OUTB = outb_buffer;	/* TDI and TCK change here */
		for (k = 0; k < delay_scan_out; k++)
			;
		tdi_data = tdi_data >> 1;

		OUTB = (outb_buffer | PIN_TCK);
		for (k = 0; k < delay_scan_out; k++)
			;
	}

	/* Move to correct end state */
	if (tms_count_end > 0)
		jtag_slow_clock_tms(tms_count_end, tms_sequence_end);
}

/**
 * Perform bidirectional JTAG SCAN operation at maximum TCK frequency.
 *
 * Data stored in EP2 OUT buffer is shifted into the JTAG chain via TDI, TDO
 * data is sampled and stored in the EP2 IN buffer.
 * The TAP-FSM state is alyways left in the PAUSE-DR/PAUSE-IR state.
 *
 * Maximum achievable TCK frequency is 100 kHz for ULINK clocked at 24 MHz.
 *
 * @param out_offset offset in OUT2BUF where payload data starts
 */
void jtag_scan_io(uint8_t out_offset, uint8_t in_offset)
{
	uint8_t scan_size_bytes, bits_last_byte;
	uint8_t tms_count_start, tms_count_end;
	uint8_t tms_sequence_start, tms_sequence_end;
	uint8_t tdi_data, tdo_data, i, j;

	uint8_t outb_buffer;

	/* Get parameters from OUT2BUF */
	scan_size_bytes = OUT2BUF[out_offset];
	bits_last_byte = OUT2BUF[out_offset + 1];
	tms_count_start = (OUT2BUF[out_offset + 2] >> 4) & 0x0F;
	tms_count_end = OUT2BUF[out_offset + 2] & 0x0F;
	tms_sequence_start = OUT2BUF[out_offset + 3];
	tms_sequence_end = OUT2BUF[out_offset + 4];

	if (tms_count_start > 0)
		jtag_clock_tms(tms_count_start, tms_sequence_start);

	outb_buffer = OUTB & ~(PIN_TCK | PIN_TMS);

	/* Shift all bytes except the last byte */
	for (i = 0; i < scan_size_bytes - 1; i++) {
		tdi_data = OUT2BUF[i + out_offset + 5];
		tdo_data = 0;

		for (j = 0; j < 8; j++) {
			if (tdi_data & 0x01)
				outb_buffer |= PIN_TDI;
			else
				outb_buffer &= ~PIN_TDI;

			OUTB = outb_buffer;	/* TDI and TCK change here */
			tdi_data = tdi_data >> 1;
			OUTB = (outb_buffer | PIN_TCK);
			tdo_data = tdo_data >> 1;

			if (GET_TDO())
				tdo_data |= 0x80;
		}

		/* Copy TDO data to IN2BUF */
		IN2BUF[i + in_offset] = tdo_data;
	}

	tdi_data = OUT2BUF[i + out_offset + 5];
	tdo_data = 0;

	/* Shift the last byte */
	for (j = 0; j < bits_last_byte; j++) {
		if (tdi_data & 0x01)
			outb_buffer |= PIN_TDI;
		else
			outb_buffer &= ~PIN_TDI;

		/* Assert TMS signal if requested and this is the last bit */
		if ((j == bits_last_byte - 1) && (tms_count_end > 0)) {
			outb_buffer |= PIN_TMS;
			tms_count_end--;
			tms_sequence_end = tms_sequence_end >> 1;
		}

		OUTB = outb_buffer;	/* TDI and TCK change here */
		tdi_data = tdi_data >> 1;
		OUTB = (outb_buffer | PIN_TCK);
		tdo_data = tdo_data >> 1;

		if (GET_TDO())
			tdo_data |= 0x80;
	}
	tdo_data = tdo_data >> (8 - bits_last_byte);

	/* Copy TDO data to IN2BUF */
	IN2BUF[i + in_offset] = tdo_data;

	/* Move to correct end state */
	if (tms_count_end > 0)
		jtag_clock_tms(tms_count_end, tms_sequence_end);
}

/**
 * Perform bidirectional JTAG SCAN operation at maximum TCK frequency.
 *
 * Data stored in EP2 OUT buffer is shifted into the JTAG chain via TDI, TDO
 * data is sampled and stored in the EP2 IN buffer.
 * The TAP-FSM state is alyways left in the PAUSE-DR/PAUSE-IR state.
 *
 * Maximum achievable TCK frequency is 78 kHz for ULINK clocked at 24 MHz.
 *
 * @param out_offset offset in OUT2BUF where payload data starts
 */
void jtag_slow_scan_io(uint8_t out_offset, uint8_t in_offset)
{
	uint8_t scan_size_bytes, bits_last_byte;
	uint8_t tms_count_start, tms_count_end;
	uint8_t tms_sequence_start, tms_sequence_end;
	uint8_t tdi_data, tdo_data, i, j, k;

	uint8_t outb_buffer;

	/* Get parameters from OUT2BUF */
	scan_size_bytes = OUT2BUF[out_offset];
	bits_last_byte = OUT2BUF[out_offset + 1];
	tms_count_start = (OUT2BUF[out_offset + 2] >> 4) & 0x0F;
	tms_count_end = OUT2BUF[out_offset + 2] & 0x0F;
	tms_sequence_start = OUT2BUF[out_offset + 3];
	tms_sequence_end = OUT2BUF[out_offset + 4];

	if (tms_count_start > 0)
		jtag_slow_clock_tms(tms_count_start, tms_sequence_start);

	outb_buffer = OUTB & ~(PIN_TCK | PIN_TMS);

	/* Shift all bytes except the last byte */
	for (i = 0; i < scan_size_bytes - 1; i++) {
		tdi_data = OUT2BUF[i + out_offset + 5];
		tdo_data = 0;

		for (j = 0; j < 8; j++) {
			if (tdi_data & 0x01)
				outb_buffer |= PIN_TDI;
			else
				outb_buffer &= ~PIN_TDI;

			OUTB = outb_buffer;	/* TDI and TCK change here */
			for (k = 0; k < delay_scan_io; k++)
				;
			tdi_data = tdi_data >> 1;

			OUTB = (outb_buffer | PIN_TCK);
			for (k = 0; k < delay_scan_io; k++)
				;
			tdo_data = tdo_data >> 1;

			if (GET_TDO())
				tdo_data |= 0x80;
		}

		/* Copy TDO data to IN2BUF */
		IN2BUF[i + in_offset] = tdo_data;
	}

	tdi_data = OUT2BUF[i + out_offset + 5];
	tdo_data = 0;

	/* Shift the last byte */
	for (j = 0; j < bits_last_byte; j++) {
		if (tdi_data & 0x01)
			outb_buffer |= PIN_TDI;
		else
			outb_buffer &= ~PIN_TDI;

		/* Assert TMS signal if requested and this is the last bit */
		if ((j == bits_last_byte - 1) && (tms_count_end > 0)) {
			outb_buffer |= PIN_TMS;
			tms_count_end--;
			tms_sequence_end = tms_sequence_end >> 1;
		}

		OUTB = outb_buffer;	/* TDI and TCK change here */
		for (k = 0; k < delay_scan_io; k++)
			;
		tdi_data = tdi_data >> 1;

		OUTB = (outb_buffer | PIN_TCK);
		for (k = 0; k < delay_scan_io; k++)
			;
		tdo_data = tdo_data >> 1;

		if (GET_TDO())
			tdo_data |= 0x80;
	}
	tdo_data = tdo_data >> (8 - bits_last_byte);

	/* Copy TDO data to IN2BUF */
	IN2BUF[i + in_offset] = tdo_data;

	/* Move to correct end state */
	if (tms_count_end > 0)
		jtag_slow_clock_tms(tms_count_end, tms_sequence_end);
}

/**
 * Generate TCK clock cycles.
 *
 * Maximum achievable TCK frequency is 375 kHz for ULINK clocked at 24 MHz.
 *
 * @param count number of TCK clock cyclces to generate.
 */
void jtag_clock_tck(uint16_t count)
{
	uint16_t i;
	uint8_t outb_buffer = OUTB & ~(PIN_TCK);

	for (i = 0; i < count; i++) {
		OUTB = outb_buffer;
		OUTB = outb_buffer | PIN_TCK;
	}
}

/**
 * Generate TCK clock cycles at variable frequency.
 *
 * Maximum achieveable TCK frequency is 166.6 kHz for ULINK clocked at 24 MHz.
 *
 * @param count number of TCK clock cyclces to generate.
 */
void jtag_slow_clock_tck(uint16_t count)
{
	uint16_t i;
	uint8_t j;
	uint8_t outb_buffer = OUTB & ~(PIN_TCK);

	for (i = 0; i < count; i++) {
		OUTB = outb_buffer;
		for (j = 0; j < delay_tck; j++)
			;
		OUTB = outb_buffer | PIN_TCK;
		for (j = 0; j < delay_tck; j++)
			;
	}
}

/**
 * Perform TAP FSM state transitions at maximum TCK frequency.
 *
 * Maximum achievable TCK frequency is 176 kHz for ULINK clocked at 24 MHz.
 *
 * @param count the number of state transitions to perform.
 * @param sequence the TMS pin levels for each state transition, starting with
 *  the least-significant bit.
 */
void jtag_clock_tms(uint8_t count, uint8_t sequence)
{
	uint8_t outb_buffer = OUTB & ~(PIN_TCK);
	uint8_t i;

	for (i = 0; i < count; i++) {
		/* Set TMS pin according to sequence parameter */
		if (sequence & 0x1)
			outb_buffer |= PIN_TMS;
		else
			outb_buffer &= ~PIN_TMS;

		OUTB = outb_buffer;
		sequence = sequence >> 1;
		OUTB = outb_buffer | PIN_TCK;
	}
}

/**
 * Perform TAP-FSM state transitions at less than maximum TCK frequency.
 *
 * Maximum achievable TCK frequency is 117 kHz for ULINK clocked at 24 MHz.
 *
 * @param count the number of state transitions to perform.
 * @param sequence the TMS pin levels for each state transition, starting with
 *  the least-significant bit.
 */
void jtag_slow_clock_tms(uint8_t count, uint8_t sequence)
{
	uint8_t outb_buffer = OUTB & ~(PIN_TCK);
	uint8_t i, j;

	for (i = 0; i < count; i++) {
		/* Set TMS pin according to sequence parameter */
		if (sequence & 0x1)
			outb_buffer |= PIN_TMS;
		else
			outb_buffer &= ~PIN_TMS;

		OUTB = outb_buffer;
		for (j = 0; j < delay_tms; j++)
			;
		sequence = sequence >> 1;
		OUTB = outb_buffer | PIN_TCK;
		for (j = 0; j < delay_tms; j++)
			;
	}
}

/**
 * Get current JTAG signal states.
 *
 * @return a 16-bit integer where the most-significant byte contains the state
 *  of the JTAG input signals and the least-significant byte cotains the state
 *  of the JTAG output signals.
 */
uint16_t jtag_get_signals(void)
{
	uint8_t input_signal_state, output_signal_state;

	input_signal_state = 0;
	output_signal_state = 0;

	/* Get states of input pins */
	if (GET_TDO())
		input_signal_state |= SIGNAL_TDO;
	if (GET_BRKOUT())
		input_signal_state |= SIGNAL_BRKOUT;
	if (GET_TRAP())
		input_signal_state |= SIGNAL_TRAP;
	if (GET_RTCK()) {
		/* Using RTCK this way would be extremely slow,
		 * implemented only for the sake of completeness */
		input_signal_state |= SIGNAL_RTCK;
	}

	/* Get states of output pins */
	output_signal_state = PINSB & MASK_PORTB_DIRECTION_OUT;

	return ((uint16_t)input_signal_state << 8) | ((uint16_t)output_signal_state);
}

/**
 * Set state of JTAG output signals.
 *
 * @param low signals which should be de-asserted.
 * @param high signals which should be asserted.
 */
void jtag_set_signals(uint8_t low, uint8_t high)
{
	OUTB &= ~(low & MASK_PORTB_DIRECTION_OUT);
	OUTB |= (high & MASK_PORTB_DIRECTION_OUT);
}

/**
 * Configure TCK delay parameters.
 *
 * @param scan_in number of delay cycles in scan_in operations.
 * @param scan_out number of delay cycles in scan_out operations.
 * @param scan_io number of delay cycles in scan_io operations.
 * @param tck number of delay cycles in clock_tck operations.
 * @param tms number of delay cycles in clock_tms operations.
 */
void jtag_configure_tck_delay(uint8_t scan_in, uint8_t scan_out,
	uint8_t scan_io, uint8_t tck, uint8_t tms)
{
	delay_scan_in = scan_in;
	delay_scan_out = scan_out;
	delay_scan_io = scan_io;
	delay_tck = tck;
	delay_tms = tms;
}