Laurentiu Cocanu - blinking led app for PIC32.

[openocd.git] / src / jtag / zy1000.c

/***************************************************************************
 *   Copyright (C) 2007-2008 by Øyvind Harboe                              *
 *                                                                         *
 *   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 "log.h"
#include "jtag.h"
#include "bitbang.h"
#include "../target/embeddedice.h"


#include <cyg/hal/hal_io.h>             // low level i/o
#include <cyg/hal/var_io.h>             // common registers
#include <cyg/hal/plf_io.h>             // platform registers
#include <cyg/hal/hal_diag.h>

#include <stdlib.h>


extern int jtag_error;

/* low level command set
 */
int zy1000_read(void);
static void zy1000_write(int tck, int tms, int tdi);
void zy1000_reset(int trst, int srst);


int zy1000_speed(int speed);
int zy1000_register_commands(struct command_context_s *cmd_ctx);
int zy1000_init(void);
int zy1000_quit(void);

/* interface commands */
int zy1000_handle_zy1000_port_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);

static int zy1000_khz(int khz, int *jtag_speed)
{
        if (khz==0)
        {
                *jtag_speed=0;
        }
        else
        {
                *jtag_speed=64000/khz;
        }
        return ERROR_OK;
}

static int zy1000_speed_div(int speed, int *khz)
{
        if (speed==0)
        {
                *khz = 0;
        }
        else
        {
                *khz=64000/speed;
        }

        return ERROR_OK;
}

static bool readPowerDropout()
{
        cyg_uint32 state;
        // sample and clear power dropout
        HAL_WRITE_UINT32(0x08000010, 0x80);
        HAL_READ_UINT32(0x08000010, state);
        bool powerDropout;
        powerDropout = (state & 0x80) != 0;
        return powerDropout;
}


static bool readSRST()
{
        cyg_uint32 state;
        // sample and clear SRST sensing
        HAL_WRITE_UINT32(0x08000010, 0x00000040);
        HAL_READ_UINT32(0x08000010, state);
        bool srstAsserted;
        srstAsserted = (state & 0x40) != 0;
        return srstAsserted;
}

static int zy1000_srst_asserted(int *srst_asserted)
{
        *srst_asserted=readSRST();
        return ERROR_OK;
}

static int zy1000_power_dropout(int *dropout)
{
        *dropout=readPowerDropout();
        return ERROR_OK;
}


jtag_interface_t zy1000_interface =
{
        .name = "ZY1000",
        .execute_queue = bitbang_execute_queue,
        .speed = zy1000_speed,
        .register_commands = zy1000_register_commands,
        .init = zy1000_init,
        .quit = zy1000_quit,
        .khz = zy1000_khz,
        .speed_div = zy1000_speed_div,
        .power_dropout = zy1000_power_dropout,
        .srst_asserted = zy1000_srst_asserted,
};

bitbang_interface_t zy1000_bitbang =
{
        .read = zy1000_read,
        .write = zy1000_write,
        .reset = zy1000_reset
};



static void zy1000_write(int tck, int tms, int tdi)
{

}

int zy1000_read(void)
{
        return -1;
}

extern bool readSRST();

void zy1000_reset(int trst, int srst)
{
        LOG_DEBUG("zy1000 trst=%d, srst=%d", trst, srst);
        if(!srst)
        {
                ZY1000_POKE(0x08000014, 0x00000001);
        }
        else
        {
                /* Danger!!! if clk!=0 when in
                 * idle in TAP_RTI, reset halt on str912 will fail.
                 */
                ZY1000_POKE(0x08000010, 0x00000001);
        }

        if(!trst)
        {
                ZY1000_POKE(0x08000014, 0x00000002);
        }
        else
        {
                /* assert reset */
                ZY1000_POKE(0x08000010, 0x00000002);
        }

        if (trst||(srst&&(jtag_reset_config & RESET_SRST_PULLS_TRST)))
        {
                waitIdle();
                /* we're now in the TLR state until trst is deasserted */
                ZY1000_POKE(0x08000020, TAP_TLR);
        } else
        {
                /* We'll get RCLK failure when we assert TRST, so clear any false positives here */
                ZY1000_POKE(0x08000014, 0x400);
        }

        /* wait for srst to float back up */
        if (!srst)
        {
                int i;
                for (i=0; i<1000; i++)
                {
                        // We don't want to sense our own reset, so we clear here.
                        // There is of course a timing hole where we could loose
                        // a "real" reset.
                        if (!readSRST())
                                break;

                        /* wait 1ms */
                        alive_sleep(1);
                }

                if (i==1000)
                {
                        LOG_USER("SRST didn't deassert after %dms", i);
                } else if (i>1)
                {
                        LOG_USER("SRST took %dms to deassert", i);
                }
        }
}

int zy1000_speed(int speed)
{
        if(speed == 0)
        {
                /*0 means RCLK*/
                speed = 0;
                ZY1000_POKE(0x08000010, 0x100);
                LOG_DEBUG("jtag_speed using RCLK");
        }
        else
        {
                if(speed > 8190 || speed < 2)
                {
                        LOG_ERROR("valid ZY1000 jtag_speed=[8190,2]. Divisor is 64MHz / even values between 8190-2, i.e. min 7814Hz, max 32MHz");
                        return ERROR_INVALID_ARGUMENTS;
                }

                LOG_USER("jtag_speed %d => JTAG clk=%f", speed, 64.0/(float)speed);
                ZY1000_POKE(0x08000014, 0x100);
                ZY1000_POKE(0x0800001c, speed&~1);
        }
        return ERROR_OK;
}

int zy1000_register_commands(struct command_context_s *cmd_ctx)
{
        return ERROR_OK;
}


int zy1000_init(void)
{
        ZY1000_POKE(0x08000010, 0x30); // Turn on LED1 & LED2

         /* deassert resets. Important to avoid infinite loop waiting for SRST to deassert */
        zy1000_reset(0, 0);
        zy1000_speed(jtag_speed);

        bitbang_interface = &zy1000_bitbang;

        return ERROR_OK;
}

int zy1000_quit(void)
{

        return ERROR_OK;
}



/* loads a file and returns a pointer to it in memory. The file contains
 * a 0 byte(sentinel) after len bytes - the length of the file. */
int loadFile(const char *fileName, void **data, int *len)
{
        FILE * pFile;
        pFile = fopen (fileName,"rb");
        if (pFile==NULL)
        {
                LOG_ERROR("Can't open %s\n", fileName);
                return ERROR_JTAG_DEVICE_ERROR;
        }
    if (fseek (pFile, 0, SEEK_END)!=0)
    {
                LOG_ERROR("Can't open %s\n", fileName);
                fclose(pFile);
                return ERROR_JTAG_DEVICE_ERROR;
    }
    *len=ftell (pFile);
    if (*len==-1)
    {
                LOG_ERROR("Can't open %s\n", fileName);
                fclose(pFile);
                return ERROR_JTAG_DEVICE_ERROR;
    }

    if (fseek (pFile, 0, SEEK_SET)!=0)
    {
                LOG_ERROR("Can't open %s\n", fileName);
                fclose(pFile);
                return ERROR_JTAG_DEVICE_ERROR;
    }
    *data=malloc(*len+1);
    if (*data==NULL)
    {
                LOG_ERROR("Can't open %s\n", fileName);
                fclose(pFile);
                return ERROR_JTAG_DEVICE_ERROR;
    }

    if (fread(*data, 1, *len, pFile)!=*len)
    {
                fclose(pFile);
        free(*data);
                LOG_ERROR("Can't open %s\n", fileName);
                return ERROR_JTAG_DEVICE_ERROR;
    }
    fclose (pFile);
    *(((char *)(*data))+*len)=0; /* sentinel */

    return ERROR_OK;



}




int interface_jtag_execute_queue(void)
{
        cyg_uint32 empty;

        waitIdle();
        ZY1000_PEEK(0x08000010, empty);
        /* clear JTAG error register */
        ZY1000_POKE(0x08000014, 0x400);

        if ((empty&0x400)!=0)
        {
                LOG_WARNING("RCLK timeout");
                /* the error is informative only as we don't want to break the firmware if there
                 * is a false positive.
                 */
//              return ERROR_FAIL;
        }
        return ERROR_OK;
}





static cyg_uint32 getShiftValue()
{
        cyg_uint32 value;
        waitIdle();
        ZY1000_PEEK(0x0800000c, value);
        VERBOSE(LOG_INFO("getShiftValue %08x", value));
        return value;
}
#if 0
static cyg_uint32 getShiftValueFlip()
{
        cyg_uint32 value;
        waitIdle();
        ZY1000_PEEK(0x08000018, value);
        VERBOSE(LOG_INFO("getShiftValue %08x (flipped)", value));
        return value;
}
#endif

#if 0
static void shiftValueInnerFlip(const enum tap_state state, const enum tap_state endState, int repeat, cyg_uint32 value)
{
        VERBOSE(LOG_INFO("shiftValueInner %s %s %d %08x (flipped)", tap_state_strings[state], tap_state_strings[endState], repeat, value));
        cyg_uint32 a,b;
        a=state;
        b=endState;
        ZY1000_POKE(0x0800000c, value);
        ZY1000_POKE(0x08000008, (1<<15)|(repeat<<8)|(a<<4)|b);
        VERBOSE(getShiftValueFlip());
}
#endif

extern int jtag_check_value(u8 *captured, void *priv);

static void gotoEndState()
{
        setCurrentState(cmd_queue_end_state);
}

static __inline void scanFields(int num_fields, scan_field_t *fields, enum tap_state shiftState, int pause)
{
        int i;
        int j;
        int k;

        for (i = 0; i < num_fields; i++)
        {
                cyg_uint32 value;

                static u8 *in_buff=NULL; /* pointer to buffer for scanned data */
                static int in_buff_size=0;
                u8 *inBuffer=NULL;


                // figure out where to store the input data
                int num_bits=fields[i].num_bits;
                if (fields[i].in_value!=NULL)
                {
                        inBuffer=fields[i].in_value;
                } else if (fields[i].in_handler!=NULL)
                {
                        if (in_buff_size*8<num_bits)
                        {
                                // we need more space
                                if (in_buff!=NULL)
                                        free(in_buff);
                                in_buff=NULL;
                                in_buff_size=(num_bits+7)/8;
                                in_buff=malloc(in_buff_size);
                                if (in_buff==NULL)
                                {
                                        LOG_ERROR("Out of memory");
                                        jtag_error=ERROR_JTAG_QUEUE_FAILED;
                                        return;
                                }
                        }
                        inBuffer=in_buff;
                }

                // here we shuffle N bits out/in
                j=0;
                while (j<num_bits)
                {
                        enum tap_state pause_state;
                        int l;
                        k=num_bits-j;
                        pause_state=(shiftState==TAP_SD)?TAP_SD:TAP_SI;
                        if (k>32)
                        {
                                k=32;
                                /* we have more to shift out */
                        } else if (pause&&(i == num_fields-1))
                        {
                                /* this was the last to shift out this time */
                                pause_state=(shiftState==TAP_SD)?TAP_PD:TAP_PI;
                        }

                        // we have (num_bits+7)/8 bytes of bits to toggle out.
                        // bits are pushed out LSB to MSB
                        value=0;
                        if (fields[i].out_value!=NULL)
                        {
                                for (l=0; l<k; l+=8)
                                {
                                        value|=fields[i].out_value[(j+l)/8]<<l;
                                }
                        }
                        /* mask away unused bits for easier debugging */
                        value&=~(((u32)0xffffffff)<<k);

                        shiftValueInner(shiftState, pause_state, k, value);

                        if (inBuffer!=NULL)
                        {
                                // data in, LSB to MSB
                                value=getShiftValue();
                                // we're shifting in data to MSB, shift data to be aligned for returning the value
                                value >>= 32-k;

                                for (l=0; l<k; l+=8)
                                {
                                        inBuffer[(j+l)/8]=(value>>l)&0xff;
                                }
                        }
                        j+=k;
                }

                if (fields[i].in_handler!=NULL)
                {
                        // invoke callback
                        int r=fields[i].in_handler(inBuffer, fields[i].in_handler_priv, fields+i);
                        if (r!=ERROR_OK)
                        {
                            /* this will cause jtag_execute_queue() to return an error */
                                jtag_error=r;
                        }
                }
        }
}

int interface_jtag_add_end_state(enum tap_state state)
{
        return ERROR_OK;
}


int interface_jtag_add_ir_scan(int num_fields, scan_field_t *fields, enum tap_state state)
{

        int i, j;
        int scan_size = 0;
        jtag_device_t *device;

        for (i=0; i < jtag_num_devices; i++)
        {
                int pause=i==(jtag_num_devices-1);
                int found = 0;
                device = jtag_get_device(i);
                scan_size = device->ir_length;

                /* search the list */
                for (j=0; j < num_fields; j++)
                {
                        if (i == fields[j].device)
                        {
                                found = 1;

                                if ((jtag_verify_capture_ir)&&(fields[j].in_handler==NULL))
                                {
                                        jtag_set_check_value(fields+j, device->expected, device->expected_mask, NULL);
                                } else if (jtag_verify_capture_ir)
                                {
                                        fields[j].in_check_value = device->expected;
                                        fields[j].in_check_mask = device->expected_mask;
                                }

                                scanFields(1, fields+j, TAP_SI, pause);
                                /* update device information */
                                buf_cpy(fields[j].out_value, jtag_get_device(i)->cur_instr, scan_size);

                                device->bypass = 0;
                                break;
                        }
                }

                if (!found)
                {
                        /* if a device isn't listed, set it to BYPASS */
                        u8 ones[]={0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff};

                        scan_field_t tmp;
                        memset(&tmp, 0, sizeof(tmp));
                        tmp.out_value = ones;
                        tmp.num_bits = scan_size;
                        scanFields(1, &tmp, TAP_SI, pause);
                        /* update device information */
                        buf_cpy(tmp.out_value, jtag_get_device(i)->cur_instr, scan_size);
                        device->bypass = 1;
                }
        }
        gotoEndState();

        return ERROR_OK;
}





int interface_jtag_add_plain_ir_scan(int num_fields, scan_field_t *fields, enum tap_state state)
{
        scanFields(num_fields, fields, TAP_SI, 1);
        gotoEndState();

        return ERROR_OK;
}

/*extern jtag_command_t **jtag_get_last_command_p(void);*/

int interface_jtag_add_dr_scan(int num_fields, scan_field_t *fields, enum tap_state state)
{
        int i, j;
        for (i=0; i < jtag_num_devices; i++)
        {
                int found = 0;
                int pause = (i==(jtag_num_devices-1));

                for (j=0; j < num_fields; j++)
                {
                        if (i == fields[j].device)
                        {
                                found = 1;

                                scanFields(1, fields+j, TAP_SD, pause);
                        }
                }
                if (!found)
                {
#ifdef _DEBUG_JTAG_IO_
                        /* if a device isn't listed, the BYPASS register should be selected */
                        if (!jtag_get_device(i)->bypass)
                        {
                                LOG_ERROR("BUG: no scan data for a device not in BYPASS");
                                exit(-1);
                        }
#endif

                        scan_field_t tmp;
                        /* program the scan field to 1 bit length, and ignore it's value */
                        tmp.num_bits = 1;
                        tmp.out_value = NULL;
                        tmp.out_mask = NULL;
                        tmp.in_value = NULL;
                        tmp.in_check_value = NULL;
                        tmp.in_check_mask = NULL;
                        tmp.in_handler = NULL;
                        tmp.in_handler_priv = NULL;

                        scanFields(1, &tmp, TAP_SD, pause);
                }
                else
                {
#ifdef _DEBUG_JTAG_IO_
                        /* if a device is listed, the BYPASS register must not be selected */
                        if (jtag_get_device(i)->bypass)
                        {
                                LOG_WARNING("scan data for a device in BYPASS");
                        }
#endif
                }
        }
        gotoEndState();
        return ERROR_OK;
}

int interface_jtag_add_plain_dr_scan(int num_fields, scan_field_t *fields, enum tap_state state)
{
        scanFields(num_fields, fields, TAP_SD, 1);
        gotoEndState();
        return ERROR_OK;
}


int interface_jtag_add_tlr()
{
        setCurrentState(TAP_TLR);
        return ERROR_OK;
}




extern int jtag_nsrst_delay;
extern int jtag_ntrst_delay;

int interface_jtag_add_reset(int req_trst, int req_srst)
{
        zy1000_reset(req_trst, req_srst);
        return ERROR_OK;
}

int interface_jtag_add_runtest(int num_cycles, enum tap_state state)
{
        /* num_cycles can be 0 */
        setCurrentState(TAP_RTI);

        /* execute num_cycles, 32 at the time. */
        int i;
        for (i=0; i<num_cycles; i+=32)
        {
                int num;
                num=32;
                if (num_cycles-i<num)
                {
                        num=num_cycles-i;
                }
                shiftValueInner(TAP_RTI, TAP_RTI, num, 0);
        }

#if !TEST_MANUAL()
        /* finish in end_state */
        setCurrentState(state);
#else
        enum tap_state t=TAP_RTI;
        /* test manual drive code on any target */
        int tms;
        u8 tms_scan = TAP_MOVE(t, state);

        for (i = 0; i < 7; i++)
        {
                tms = (tms_scan >> i) & 1;
                waitIdle();
                ZY1000_POKE(0x08000028,  tms);
        }
        waitIdle();
        ZY1000_POKE(0x08000020, state);
#endif


        return ERROR_OK;
}

int interface_jtag_add_sleep(u32 us)
{
        jtag_sleep(us);
        return ERROR_OK;
}

int interface_jtag_add_pathmove(int num_states, enum tap_state *path)
{
        int state_count;
        int tms = 0;

        /*wait for the fifo to be empty*/
        waitIdle();

        state_count = 0;

        enum tap_state cur_state=cmd_queue_cur_state;

        while (num_states)
        {
                if (tap_transitions[cur_state].low == path[state_count])
                {
                        tms = 0;
                }
                else if (tap_transitions[cur_state].high == path[state_count])
                {
                        tms = 1;
                }
                else
                {
                        LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_strings[cur_state], tap_state_strings[path[state_count]]);
                        exit(-1);
                }

                waitIdle();
                ZY1000_POKE(0x08000028,  tms);

                cur_state = path[state_count];
                state_count++;
                num_states--;
        }

        waitIdle();
        ZY1000_POKE(0x08000020,  cur_state);
        return ERROR_OK;
}



void embeddedice_write_dcc(int chain_pos, int reg_addr, u8 *buffer, int little, int count)
{
//      static int const reg_addr=0x5;
        enum tap_state end_state=cmd_queue_end_state;
        if (jtag_num_devices==1)
        {
                /* better performance via code duplication */
                if (little)
                {
                        int i;
                        for (i = 0; i < count; i++)
                        {
                                shiftValueInner(TAP_SD, TAP_SD, 32, fast_target_buffer_get_u32(buffer, 1));
                                shiftValueInner(TAP_SD, end_state, 6, reg_addr|(1<<5));
                                buffer+=4;
                        }
                } else
                {
                        int i;
                        for (i = 0; i < count; i++)
                        {
                                shiftValueInner(TAP_SD, TAP_SD, 32, fast_target_buffer_get_u32(buffer, 0));
                                shiftValueInner(TAP_SD, end_state, 6, reg_addr|(1<<5));
                                buffer+=4;
                        }
                }
        }
        else
        {
                int i;
                for (i = 0; i < count; i++)
                {
                        embeddedice_write_reg_inner(chain_pos, reg_addr, fast_target_buffer_get_u32(buffer, little));
                        buffer += 4;
                }
        }
}