jtag_tap_t -> struct jtag_tap
[openocd.git] / src / jtag / zy1000 / zy1000.c
1 /***************************************************************************
2 * Copyright (C) 2007-2008 by √ėyvind Harboe *
3 * *
4 * This program is free software; you can redistribute it and/or modify *
5 * it under the terms of the GNU General Public License as published by *
6 * the Free Software Foundation; either version 2 of the License, or *
7 * (at your option) any later version. *
8 * *
9 * This program is distributed in the hope that it will be useful, *
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
12 * GNU General Public License for more details. *
13 * *
14 * You should have received a copy of the GNU General Public License *
15 * along with this program; if not, write to the *
16 * Free Software Foundation, Inc., *
17 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
18 ***************************************************************************/
19 #ifdef HAVE_CONFIG_H
20 #include "config.h"
21 #endif
22
23 #include "embeddedice.h"
24 #include "minidriver.h"
25 #include "interface.h"
26 #include "zy1000_version.h"
27
28 #include <cyg/hal/hal_io.h> // low level i/o
29 #include <cyg/hal/hal_diag.h>
30
31 #define ZYLIN_VERSION GIT_ZY1000_VERSION
32 #define ZYLIN_DATE __DATE__
33 #define ZYLIN_TIME __TIME__
34 #define ZYLIN_OPENOCD GIT_OPENOCD_VERSION
35 #define ZYLIN_OPENOCD_VERSION "ZY1000 " ZYLIN_VERSION " " ZYLIN_DATE
36
37 /* low level command set
38 */
39 void zy1000_reset(int trst, int srst);
40
41
42 int zy1000_speed(int speed);
43 int zy1000_register_commands(struct command_context_s *cmd_ctx);
44 int zy1000_init(void);
45 int zy1000_quit(void);
46
47 /* interface commands */
48 int zy1000_handle_zy1000_port_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
49
50 static int zy1000_khz(int khz, int *jtag_speed)
51 {
52 if (khz == 0)
53 {
54 *jtag_speed = 0;
55 }
56 else
57 {
58 *jtag_speed = 64000/khz;
59 }
60 return ERROR_OK;
61 }
62
63 static int zy1000_speed_div(int speed, int *khz)
64 {
65 if (speed == 0)
66 {
67 *khz = 0;
68 }
69 else
70 {
71 *khz = 64000/speed;
72 }
73
74 return ERROR_OK;
75 }
76
77 static bool readPowerDropout(void)
78 {
79 cyg_uint32 state;
80 // sample and clear power dropout
81 HAL_WRITE_UINT32(ZY1000_JTAG_BASE + 0x10, 0x80);
82 HAL_READ_UINT32(ZY1000_JTAG_BASE + 0x10, state);
83 bool powerDropout;
84 powerDropout = (state & 0x80) != 0;
85 return powerDropout;
86 }
87
88
89 static bool readSRST(void)
90 {
91 cyg_uint32 state;
92 // sample and clear SRST sensing
93 HAL_WRITE_UINT32(ZY1000_JTAG_BASE + 0x10, 0x00000040);
94 HAL_READ_UINT32(ZY1000_JTAG_BASE + 0x10, state);
95 bool srstAsserted;
96 srstAsserted = (state & 0x40) != 0;
97 return srstAsserted;
98 }
99
100 static int zy1000_srst_asserted(int *srst_asserted)
101 {
102 *srst_asserted = readSRST();
103 return ERROR_OK;
104 }
105
106 static int zy1000_power_dropout(int *dropout)
107 {
108 *dropout = readPowerDropout();
109 return ERROR_OK;
110 }
111
112
113 jtag_interface_t zy1000_interface =
114 {
115 .name = "ZY1000",
116 .execute_queue = NULL,
117 .speed = zy1000_speed,
118 .register_commands = zy1000_register_commands,
119 .init = zy1000_init,
120 .quit = zy1000_quit,
121 .khz = zy1000_khz,
122 .speed_div = zy1000_speed_div,
123 .power_dropout = zy1000_power_dropout,
124 .srst_asserted = zy1000_srst_asserted,
125 };
126
127 void zy1000_reset(int trst, int srst)
128 {
129 LOG_DEBUG("zy1000 trst=%d, srst=%d", trst, srst);
130 if (!srst)
131 {
132 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000001);
133 }
134 else
135 {
136 /* Danger!!! if clk != 0 when in
137 * idle in TAP_IDLE, reset halt on str912 will fail.
138 */
139 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000001);
140 }
141
142 if (!trst)
143 {
144 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000002);
145 }
146 else
147 {
148 /* assert reset */
149 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000002);
150 }
151
152 if (trst||(srst && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
153 {
154 waitIdle();
155 /* we're now in the RESET state until trst is deasserted */
156 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_RESET);
157 } else
158 {
159 /* We'll get RCLK failure when we assert TRST, so clear any false positives here */
160 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
161 }
162
163 /* wait for srst to float back up */
164 if (!srst)
165 {
166 int i;
167 for (i = 0; i < 1000; i++)
168 {
169 // We don't want to sense our own reset, so we clear here.
170 // There is of course a timing hole where we could loose
171 // a "real" reset.
172 if (!readSRST())
173 break;
174
175 /* wait 1ms */
176 alive_sleep(1);
177 }
178
179 if (i == 1000)
180 {
181 LOG_USER("SRST didn't deassert after %dms", i);
182 } else if (i > 1)
183 {
184 LOG_USER("SRST took %dms to deassert", i);
185 }
186 }
187 }
188
189 int zy1000_speed(int speed)
190 {
191 if (speed == 0)
192 {
193 /*0 means RCLK*/
194 speed = 0;
195 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x100);
196 LOG_DEBUG("jtag_speed using RCLK");
197 }
198 else
199 {
200 if (speed > 8190 || speed < 2)
201 {
202 LOG_USER("valid ZY1000 jtag_speed=[8190,2]. Divisor is 64MHz / even values between 8190-2, i.e. min 7814Hz, max 32MHz");
203 return ERROR_INVALID_ARGUMENTS;
204 }
205
206 LOG_USER("jtag_speed %d => JTAG clk=%f", speed, 64.0/(float)speed);
207 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x100);
208 ZY1000_POKE(ZY1000_JTAG_BASE + 0x1c, speed&~1);
209 }
210 return ERROR_OK;
211 }
212
213 static bool savePower;
214
215
216 static void setPower(bool power)
217 {
218 savePower = power;
219 if (power)
220 {
221 HAL_WRITE_UINT32(ZY1000_JTAG_BASE + 0x14, 0x8);
222 } else
223 {
224 HAL_WRITE_UINT32(ZY1000_JTAG_BASE + 0x10, 0x8);
225 }
226 }
227
228 int handle_power_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
229 {
230 if (argc > 1)
231 {
232 return ERROR_INVALID_ARGUMENTS;
233 }
234
235 if (argc == 1)
236 {
237 if (strcmp(args[0], "on") == 0)
238 {
239 setPower(1);
240 }
241 else if (strcmp(args[0], "off") == 0)
242 {
243 setPower(0);
244 } else
245 {
246 command_print(cmd_ctx, "arg is \"on\" or \"off\"");
247 return ERROR_INVALID_ARGUMENTS;
248 }
249 }
250
251 command_print(cmd_ctx, "Target power %s", savePower ? "on" : "off");
252
253 return ERROR_OK;
254 }
255
256
257 /* Give TELNET a way to find out what version this is */
258 static int jim_zy1000_version(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
259 {
260 if ((argc < 1) || (argc > 2))
261 return JIM_ERR;
262 char buff[128];
263 const char *version_str = NULL;
264
265 if (argc == 1)
266 {
267 version_str = ZYLIN_OPENOCD_VERSION;
268 } else
269 {
270 const char *str = Jim_GetString(argv[1], NULL);
271 if (strcmp("openocd", str) == 0)
272 {
273 version_str = ZYLIN_OPENOCD;
274 }
275 else if (strcmp("zy1000", str) == 0)
276 {
277 version_str = ZYLIN_VERSION;
278 }
279 else if (strcmp("date", str) == 0)
280 {
281 version_str = ZYLIN_DATE;
282 }
283 else if (strcmp("time", str) == 0)
284 {
285 version_str = ZYLIN_TIME;
286 }
287 else if (strcmp("pcb", str) == 0)
288 {
289 #ifdef CYGPKG_HAL_NIOS2
290 version_str="c";
291 #else
292 version_str="b";
293 #endif
294 }
295 else
296 {
297 return JIM_ERR;
298 }
299 }
300
301 Jim_SetResult(interp, Jim_NewStringObj(interp, version_str, -1));
302
303 return JIM_OK;
304 }
305
306
307 #ifdef CYGPKG_HAL_NIOS2
308 static int jim_zy1000_writefirmware(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
309 {
310 if (argc != 2)
311 return JIM_ERR;
312
313 int length;
314 int stat;
315 const char *str = Jim_GetString(argv[1], &length);
316
317 /* BUG!!!! skip header! */
318 void *firmware_address=0x4000000;
319 int firmware_length=0x100000;
320
321 if (length>firmware_length)
322 return JIM_ERR;
323
324 void *err_addr;
325
326 if ((stat = flash_erase((void *)firmware_address, firmware_length, (void **)&err_addr)) != 0)
327 {
328 return JIM_ERR;
329 }
330
331 if ((stat = flash_program(firmware_address, str, length, (void **)&err_addr)) != 0)
332 return JIM_ERR;
333
334 return JIM_OK;
335 }
336 #endif
337
338 static int
339 zylinjtag_Jim_Command_powerstatus(Jim_Interp *interp,
340 int argc,
341 Jim_Obj * const *argv)
342 {
343 if (argc != 1)
344 {
345 Jim_WrongNumArgs(interp, 1, argv, "powerstatus");
346 return JIM_ERR;
347 }
348
349 cyg_uint32 status;
350 ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, status);
351
352 Jim_SetResult(interp, Jim_NewIntObj(interp, (status&0x80) != 0));
353
354 return JIM_OK;
355 }
356
357 int zy1000_register_commands(struct command_context_s *cmd_ctx)
358 {
359 register_command(cmd_ctx, NULL, "power", handle_power_command, COMMAND_ANY,
360 "power <on/off> - turn power switch to target on/off. No arguments - print status.");
361
362 Jim_CreateCommand(interp, "zy1000_version", jim_zy1000_version, NULL, NULL);
363
364
365 Jim_CreateCommand(interp, "powerstatus", zylinjtag_Jim_Command_powerstatus, NULL, NULL);
366
367 #ifdef CYGPKG_HAL_NIOS2
368 Jim_CreateCommand(interp, "updatezy1000firmware", jim_zy1000_writefirmware, NULL, NULL);
369 #endif
370
371
372 return ERROR_OK;
373 }
374
375
376
377
378 int zy1000_init(void)
379 {
380 LOG_USER("%s", ZYLIN_OPENOCD_VERSION);
381
382 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x30); // Turn on LED1 & LED2
383
384 setPower(true); // on by default
385
386
387 /* deassert resets. Important to avoid infinite loop waiting for SRST to deassert */
388 zy1000_reset(0, 0);
389 zy1000_speed(jtag_get_speed());
390
391 return ERROR_OK;
392 }
393
394 int zy1000_quit(void)
395 {
396
397 return ERROR_OK;
398 }
399
400
401
402 int interface_jtag_execute_queue(void)
403 {
404 cyg_uint32 empty;
405
406 waitIdle();
407 ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, empty);
408 /* clear JTAG error register */
409 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
410
411 if ((empty&0x400) != 0)
412 {
413 LOG_WARNING("RCLK timeout");
414 /* the error is informative only as we don't want to break the firmware if there
415 * is a false positive.
416 */
417 // return ERROR_FAIL;
418 }
419 return ERROR_OK;
420 }
421
422
423
424
425
426 static cyg_uint32 getShiftValue(void)
427 {
428 cyg_uint32 value;
429 waitIdle();
430 ZY1000_PEEK(ZY1000_JTAG_BASE + 0xc, value);
431 VERBOSE(LOG_INFO("getShiftValue %08x", value));
432 return value;
433 }
434 #if 0
435 static cyg_uint32 getShiftValueFlip(void)
436 {
437 cyg_uint32 value;
438 waitIdle();
439 ZY1000_PEEK(ZY1000_JTAG_BASE + 0x18, value);
440 VERBOSE(LOG_INFO("getShiftValue %08x (flipped)", value));
441 return value;
442 }
443 #endif
444
445 #if 0
446 static void shiftValueInnerFlip(const tap_state_t state, const tap_state_t endState, int repeat, cyg_uint32 value)
447 {
448 VERBOSE(LOG_INFO("shiftValueInner %s %s %d %08x (flipped)", tap_state_name(state), tap_state_name(endState), repeat, value));
449 cyg_uint32 a,b;
450 a = state;
451 b = endState;
452 ZY1000_POKE(ZY1000_JTAG_BASE + 0xc, value);
453 ZY1000_POKE(ZY1000_JTAG_BASE + 0x8, (1 << 15) | (repeat << 8) | (a << 4) | b);
454 VERBOSE(getShiftValueFlip());
455 }
456 #endif
457
458 extern int jtag_check_value(uint8_t *captured, void *priv);
459
460 static void gotoEndState(tap_state_t end_state)
461 {
462 setCurrentState(end_state);
463 }
464
465 static __inline void scanFields(int num_fields, const scan_field_t *fields, tap_state_t shiftState, int pause)
466 {
467 int i;
468 int j;
469 int k;
470
471 for (i = 0; i < num_fields; i++)
472 {
473 cyg_uint32 value;
474
475 uint8_t *inBuffer = NULL;
476
477
478 // figure out where to store the input data
479 int num_bits = fields[i].num_bits;
480 if (fields[i].in_value != NULL)
481 {
482 inBuffer = fields[i].in_value;
483 }
484
485 // here we shuffle N bits out/in
486 j = 0;
487 while (j < num_bits)
488 {
489 tap_state_t pause_state;
490 int l;
491 k = num_bits-j;
492 pause_state = (shiftState == TAP_DRSHIFT)?TAP_DRSHIFT:TAP_IRSHIFT;
493 if (k > 32)
494 {
495 k = 32;
496 /* we have more to shift out */
497 } else if (pause&&(i == num_fields-1))
498 {
499 /* this was the last to shift out this time */
500 pause_state = (shiftState==TAP_DRSHIFT)?TAP_DRPAUSE:TAP_IRPAUSE;
501 }
502
503 // we have (num_bits + 7)/8 bytes of bits to toggle out.
504 // bits are pushed out LSB to MSB
505 value = 0;
506 if (fields[i].out_value != NULL)
507 {
508 for (l = 0; l < k; l += 8)
509 {
510 value|=fields[i].out_value[(j + l)/8]<<l;
511 }
512 }
513 /* mask away unused bits for easier debugging */
514 value&=~(((uint32_t)0xffffffff) << k);
515
516 shiftValueInner(shiftState, pause_state, k, value);
517
518 if (inBuffer != NULL)
519 {
520 // data in, LSB to MSB
521 value = getShiftValue();
522 // we're shifting in data to MSB, shift data to be aligned for returning the value
523 value >>= 32-k;
524
525 for (l = 0; l < k; l += 8)
526 {
527 inBuffer[(j + l)/8]=(value >> l)&0xff;
528 }
529 }
530 j += k;
531 }
532 }
533 }
534
535 int interface_jtag_add_ir_scan(int num_fields, const scan_field_t *fields, tap_state_t state)
536 {
537
538 int j;
539 int scan_size = 0;
540 struct jtag_tap *tap, *nextTap;
541 for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
542 {
543 nextTap = jtag_tap_next_enabled(tap);
544 int pause = (nextTap==NULL);
545
546 int found = 0;
547
548 scan_size = tap->ir_length;
549
550 /* search the list */
551 for (j = 0; j < num_fields; j++)
552 {
553 if (tap == fields[j].tap)
554 {
555 found = 1;
556
557 scanFields(1, fields + j, TAP_IRSHIFT, pause);
558 /* update device information */
559 buf_cpy(fields[j].out_value, tap->cur_instr, scan_size);
560
561 tap->bypass = 0;
562 break;
563 }
564 }
565
566 if (!found)
567 {
568 /* if a device isn't listed, set it to BYPASS */
569 uint8_t ones[]={0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff};
570
571 scan_field_t tmp;
572 memset(&tmp, 0, sizeof(tmp));
573 tmp.out_value = ones;
574 tmp.num_bits = scan_size;
575 scanFields(1, &tmp, TAP_IRSHIFT, pause);
576 /* update device information */
577 buf_cpy(tmp.out_value, tap->cur_instr, scan_size);
578 tap->bypass = 1;
579 }
580 }
581 gotoEndState(state);
582
583 return ERROR_OK;
584 }
585
586
587
588
589
590 int interface_jtag_add_plain_ir_scan(int num_fields, const scan_field_t *fields, tap_state_t state)
591 {
592 scanFields(num_fields, fields, TAP_IRSHIFT, 1);
593 gotoEndState(state);
594
595 return ERROR_OK;
596 }
597
598 /*extern jtag_command_t **jtag_get_last_command_p(void);*/
599
600 int interface_jtag_add_dr_scan(int num_fields, const scan_field_t *fields, tap_state_t state)
601 {
602
603 int j;
604 struct jtag_tap *tap, *nextTap;
605 for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
606 {
607 nextTap = jtag_tap_next_enabled(tap);
608 int found = 0;
609 int pause = (nextTap==NULL);
610
611 for (j = 0; j < num_fields; j++)
612 {
613 if (tap == fields[j].tap)
614 {
615 found = 1;
616
617 scanFields(1, fields+j, TAP_DRSHIFT, pause);
618 }
619 }
620 if (!found)
621 {
622 scan_field_t tmp;
623 /* program the scan field to 1 bit length, and ignore it's value */
624 tmp.num_bits = 1;
625 tmp.out_value = NULL;
626 tmp.in_value = NULL;
627
628 scanFields(1, &tmp, TAP_DRSHIFT, pause);
629 }
630 else
631 {
632 }
633 }
634 gotoEndState(state);
635 return ERROR_OK;
636 }
637
638 int interface_jtag_add_plain_dr_scan(int num_fields, const scan_field_t *fields, tap_state_t state)
639 {
640 scanFields(num_fields, fields, TAP_DRSHIFT, 1);
641 gotoEndState(state);
642 return ERROR_OK;
643 }
644
645
646 int interface_jtag_add_tlr()
647 {
648 setCurrentState(TAP_RESET);
649 return ERROR_OK;
650 }
651
652
653
654
655 int interface_jtag_add_reset(int req_trst, int req_srst)
656 {
657 zy1000_reset(req_trst, req_srst);
658 return ERROR_OK;
659 }
660
661 static int zy1000_jtag_add_clocks(int num_cycles, tap_state_t state, tap_state_t clockstate)
662 {
663 /* num_cycles can be 0 */
664 setCurrentState(clockstate);
665
666 /* execute num_cycles, 32 at the time. */
667 int i;
668 for (i = 0; i < num_cycles; i += 32)
669 {
670 int num;
671 num = 32;
672 if (num_cycles-i < num)
673 {
674 num = num_cycles-i;
675 }
676 shiftValueInner(clockstate, clockstate, num, 0);
677 }
678
679 #if !TEST_MANUAL()
680 /* finish in end_state */
681 setCurrentState(state);
682 #else
683 tap_state_t t = TAP_IDLE;
684 /* test manual drive code on any target */
685 int tms;
686 uint8_t tms_scan = tap_get_tms_path(t, state);
687 int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
688
689 for (i = 0; i < tms_count; i++)
690 {
691 tms = (tms_scan >> i) & 1;
692 waitIdle();
693 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, tms);
694 }
695 waitIdle();
696 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
697 #endif
698
699
700 return ERROR_OK;
701 }
702
703 int interface_jtag_add_runtest(int num_cycles, tap_state_t state)
704 {
705 return zy1000_jtag_add_clocks(num_cycles, state, TAP_IDLE);
706 }
707
708 int interface_jtag_add_clocks(int num_cycles)
709 {
710 return zy1000_jtag_add_clocks(num_cycles, cmd_queue_cur_state, cmd_queue_cur_state);
711 }
712
713 int interface_jtag_add_sleep(uint32_t us)
714 {
715 jtag_sleep(us);
716 return ERROR_OK;
717 }
718
719 int interface_jtag_add_pathmove(int num_states, const tap_state_t *path)
720 {
721 int state_count;
722 int tms = 0;
723
724 /*wait for the fifo to be empty*/
725 waitIdle();
726
727 state_count = 0;
728
729 tap_state_t cur_state = cmd_queue_cur_state;
730
731 while (num_states)
732 {
733 if (tap_state_transition(cur_state, false) == path[state_count])
734 {
735 tms = 0;
736 }
737 else if (tap_state_transition(cur_state, true) == path[state_count])
738 {
739 tms = 1;
740 }
741 else
742 {
743 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(cur_state), tap_state_name(path[state_count]));
744 exit(-1);
745 }
746
747 waitIdle();
748 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, tms);
749
750 cur_state = path[state_count];
751 state_count++;
752 num_states--;
753 }
754
755 waitIdle();
756 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, cur_state);
757 return ERROR_OK;
758 }
759
760
761
762 void embeddedice_write_dcc(struct jtag_tap *tap, int reg_addr, uint8_t *buffer, int little, int count)
763 {
764 // static int const reg_addr = 0x5;
765 tap_state_t end_state = jtag_get_end_state();
766 if (jtag_tap_next_enabled(jtag_tap_next_enabled(NULL)) == NULL)
767 {
768 /* better performance via code duplication */
769 if (little)
770 {
771 int i;
772 for (i = 0; i < count; i++)
773 {
774 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, 1));
775 shiftValueInner(TAP_DRSHIFT, end_state, 6, reg_addr | (1 << 5));
776 buffer += 4;
777 }
778 } else
779 {
780 int i;
781 for (i = 0; i < count; i++)
782 {
783 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, 0));
784 shiftValueInner(TAP_DRSHIFT, end_state, 6, reg_addr | (1 << 5));
785 buffer += 4;
786 }
787 }
788 }
789 else
790 {
791 int i;
792 for (i = 0; i < count; i++)
793 {
794 embeddedice_write_reg_inner(tap, reg_addr, fast_target_buffer_get_u32(buffer, little));
795 buffer += 4;
796 }
797 }
798 }
799
800