1 /***************************************************************************
2 * Copyright (C) 2007-2010 by Øyvind Harboe *
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. *
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. *
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 ***************************************************************************/
20 /* This file supports the zy1000 debugger: http://www.zylin.com/zy1000.html
22 * The zy1000 is a standalone debugger that has a web interface and
23 * requires no drivers on the developer host as all communication
24 * is via TCP/IP. The zy1000 gets it performance(~400-700kBytes/s
25 * DCC downloads @ 16MHz target) as it has an FPGA to hardware
26 * accelerate the JTAG commands, while offering *very* low latency
27 * between OpenOCD and the FPGA registers.
29 * The disadvantage of the zy1000 is that it has a feeble CPU compared to
30 * a PC(ca. 50-500 DMIPS depending on how one counts it), whereas a PC
31 * is on the order of 10000 DMIPS(i.e. at a factor of 20-200).
33 * The zy1000 revc hardware is using an Altera Nios CPU, whereas the
34 * revb is using ARM7 + Xilinx.
36 * See Zylin web pages or contact Zylin for more information.
38 * The reason this code is in OpenOCD rather than OpenOCD linked with the
39 * ZY1000 code is that OpenOCD is the long road towards getting
40 * libopenocd into place. libopenocd will support both low performance,
41 * low latency systems(embedded) and high performance high latency
48 #include <target/embeddedice.h>
49 #include <jtag/minidriver.h>
50 #include <jtag/interface.h>
52 #include <helper/time_support.h>
54 #include <netinet/tcp.h>
57 #include "zy1000_version.h"
59 #include <cyg/hal/hal_io.h> // low level i/o
60 #include <cyg/hal/hal_diag.h>
62 #ifdef CYGPKG_HAL_NIOS2
63 #include <cyg/hal/io.h>
64 #include <cyg/firmwareutil/firmwareutil.h>
65 #define ZYLIN_KHZ 60000
67 #define ZYLIN_KHZ 64000
70 #define ZYLIN_VERSION GIT_ZY1000_VERSION
71 #define ZYLIN_DATE __DATE__
72 #define ZYLIN_TIME __TIME__
73 #define ZYLIN_OPENOCD GIT_OPENOCD_VERSION
74 #define ZYLIN_OPENOCD_VERSION "ZY1000 " ZYLIN_VERSION " " ZYLIN_DATE
77 /* Assume we're connecting to a revc w/60MHz clock. */
78 #define ZYLIN_KHZ 60000
82 /* The software needs to check if it's in RCLK mode or not */
83 static bool zy1000_rclk
= false;
85 static int zy1000_khz(int khz
, int *jtag_speed
)
94 /* Round speed up to nearest divisor.
97 * (64000 + 15999) / 16000 = 4
104 * (64000 + 15998) / 15999 = 5
111 speed
= (ZYLIN_KHZ
+ (khz
-1)) / khz
;
112 speed
= (speed
+ 1 ) / 2;
116 /* maximum dividend */
124 static int zy1000_speed_div(int speed
, int *khz
)
132 *khz
= ZYLIN_KHZ
/ speed
;
138 static bool readPowerDropout(void)
141 // sample and clear power dropout
142 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x10, 0x80);
143 ZY1000_PEEK(ZY1000_JTAG_BASE
+ 0x10, state
);
145 powerDropout
= (state
& 0x80) != 0;
150 static bool readSRST(void)
153 // sample and clear SRST sensing
154 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x10, 0x00000040);
155 ZY1000_PEEK(ZY1000_JTAG_BASE
+ 0x10, state
);
157 srstAsserted
= (state
& 0x40) != 0;
161 static int zy1000_srst_asserted(int *srst_asserted
)
163 *srst_asserted
= readSRST();
167 static int zy1000_power_dropout(int *dropout
)
169 *dropout
= readPowerDropout();
173 void zy1000_reset(int trst
, int srst
)
175 LOG_DEBUG("zy1000 trst=%d, srst=%d", trst
, srst
);
177 /* flush the JTAG FIFO. Not flushing the queue before messing with
178 * reset has such interesting bugs as causing hard to reproduce
179 * RCLK bugs as RCLK will stop responding when TRST is asserted
185 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x14, 0x00000001);
189 /* Danger!!! if clk != 0 when in
190 * idle in TAP_IDLE, reset halt on str912 will fail.
192 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x10, 0x00000001);
197 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x14, 0x00000002);
202 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x10, 0x00000002);
205 if (trst
||(srst
&& (jtag_get_reset_config() & RESET_SRST_PULLS_TRST
)))
207 /* we're now in the RESET state until trst is deasserted */
208 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x20, TAP_RESET
);
211 /* We'll get RCLK failure when we assert TRST, so clear any false positives here */
212 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x14, 0x400);
215 /* wait for srst to float back up */
216 if ((!srst
&& ((jtag_get_reset_config() & RESET_TRST_PULLS_SRST
) == 0))||
217 (!srst
&& !trst
&& (jtag_get_reset_config() & RESET_TRST_PULLS_SRST
)))
224 // We don't want to sense our own reset, so we clear here.
225 // There is of course a timing hole where we could loose
231 LOG_USER("SRST took %dms to deassert", (int)total
);
239 start
= timeval_ms();
242 total
= timeval_ms() - start
;
248 LOG_ERROR("SRST took too long to deassert: %dms", (int)total
);
256 int zy1000_speed(int speed
)
258 /* flush JTAG master FIFO before setting speed */
266 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x10, 0x100);
268 LOG_DEBUG("jtag_speed using RCLK");
272 if (speed
> 8190 || speed
< 2)
274 LOG_USER("valid ZY1000 jtag_speed=[8190,2]. With divisor is %dkHz / even values between 8190-2, i.e. min %dHz, max %dMHz",
275 ZYLIN_KHZ
, (ZYLIN_KHZ
* 1000) / 8190, ZYLIN_KHZ
/ (2 * 1000));
276 return ERROR_INVALID_ARGUMENTS
;
281 zy1000_speed_div(speed
, &khz
);
282 LOG_USER("jtag_speed %d => JTAG clk=%d kHz", speed
, khz
);
283 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x14, 0x100);
284 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x1c, speed
);
289 static bool savePower
;
292 static void setPower(bool power
)
297 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x14, 0x8);
300 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x10, 0x8);
304 COMMAND_HANDLER(handle_power_command
)
310 COMMAND_PARSE_ON_OFF(CMD_ARGV
[0], enable
);
315 LOG_INFO("Target power %s", savePower
? "on" : "off");
318 return ERROR_INVALID_ARGUMENTS
;
324 #if !BUILD_ZY1000_MASTER
325 static char *tcp_server
= "notspecified";
326 static int jim_zy1000_server(Jim_Interp
*interp
, int argc
, Jim_Obj
*const *argv
)
331 tcp_server
= strdup(Jim_GetString(argv
[1], NULL
));
338 /* Give TELNET a way to find out what version this is */
339 static int jim_zy1000_version(Jim_Interp
*interp
, int argc
, Jim_Obj
*const *argv
)
341 if ((argc
< 1) || (argc
> 3))
343 const char *version_str
= NULL
;
347 version_str
= ZYLIN_OPENOCD_VERSION
;
350 const char *str
= Jim_GetString(argv
[1], NULL
);
351 const char *str2
= NULL
;
353 str2
= Jim_GetString(argv
[2], NULL
);
354 if (strcmp("openocd", str
) == 0)
356 version_str
= ZYLIN_OPENOCD
;
358 else if (strcmp("zy1000", str
) == 0)
360 version_str
= ZYLIN_VERSION
;
362 else if (strcmp("date", str
) == 0)
364 version_str
= ZYLIN_DATE
;
366 else if (strcmp("time", str
) == 0)
368 version_str
= ZYLIN_TIME
;
370 else if (strcmp("pcb", str
) == 0)
372 #ifdef CYGPKG_HAL_NIOS2
378 #ifdef CYGPKG_HAL_NIOS2
379 else if (strcmp("fpga", str
) == 0)
382 /* return a list of 32 bit integers to describe the expected
385 static char *fpga_id
= "0x12345678 0x12345678 0x12345678 0x12345678";
386 uint32_t id
, timestamp
;
387 HAL_READ_UINT32(SYSID_BASE
, id
);
388 HAL_READ_UINT32(SYSID_BASE
+4, timestamp
);
389 sprintf(fpga_id
, "0x%08x 0x%08x 0x%08x 0x%08x", id
, timestamp
, SYSID_ID
, SYSID_TIMESTAMP
);
390 version_str
= fpga_id
;
391 if ((argc
>2) && (strcmp("time", str2
) == 0))
393 time_t last_mod
= timestamp
;
394 char * t
= ctime (&last_mod
) ;
407 Jim_SetResult(interp
, Jim_NewStringObj(interp
, version_str
, -1));
413 #ifdef CYGPKG_HAL_NIOS2
419 struct cyg_upgrade_info
*upgraded_file
;
422 static void report_info(void *data
, const char * format
, va_list args
)
424 char *s
= alloc_vprintf(format
, args
);
429 struct cyg_upgrade_info firmware_info
=
431 (uint8_t *)0x84000000,
437 "ZylinNiosFirmware\n",
441 // File written to /ram/firmware.phi before arriving at this fn
442 static int jim_zy1000_writefirmware(Jim_Interp
*interp
, int argc
, Jim_Obj
*const *argv
)
447 if (!cyg_firmware_upgrade(NULL
, firmware_info
))
455 zylinjtag_Jim_Command_powerstatus(Jim_Interp
*interp
,
457 Jim_Obj
* const *argv
)
461 Jim_WrongNumArgs(interp
, 1, argv
, "powerstatus");
465 bool dropout
= readPowerDropout();
467 Jim_SetResult(interp
, Jim_NewIntObj(interp
, dropout
));
474 int zy1000_quit(void)
482 int interface_jtag_execute_queue(void)
488 /* We must make sure to write data read back to memory location before we return
491 zy1000_flush_readqueue();
493 /* and handle any callbacks... */
494 zy1000_flush_callbackqueue();
498 /* Only check for errors when using RCLK to speed up
501 ZY1000_PEEK(ZY1000_JTAG_BASE
+ 0x10, empty
);
502 /* clear JTAG error register */
503 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x14, 0x400);
505 if ((empty
&0x400) != 0)
507 LOG_WARNING("RCLK timeout");
508 /* the error is informative only as we don't want to break the firmware if there
509 * is a false positive.
511 // return ERROR_FAIL;
520 static void writeShiftValue(uint8_t *data
, int bits
);
522 // here we shuffle N bits out/in
523 static __inline
void scanBits(const uint8_t *out_value
, uint8_t *in_value
, int num_bits
, bool pause_now
, tap_state_t shiftState
, tap_state_t end_state
)
525 tap_state_t pause_state
= shiftState
;
526 for (int j
= 0; j
< num_bits
; j
+= 32)
528 int k
= num_bits
- j
;
532 /* we have more to shift out */
533 } else if (pause_now
)
535 /* this was the last to shift out this time */
536 pause_state
= end_state
;
539 // we have (num_bits + 7)/8 bytes of bits to toggle out.
540 // bits are pushed out LSB to MSB
543 if (out_value
!= NULL
)
545 for (int l
= 0; l
< k
; l
+= 8)
547 value
|=out_value
[(j
+ l
)/8]<<l
;
550 /* mask away unused bits for easier debugging */
553 value
&=~(((uint32_t)0xffffffff) << k
);
556 /* Shifting by >= 32 is not defined by the C standard
557 * and will in fact shift by &0x1f bits on nios */
560 shiftValueInner(shiftState
, pause_state
, k
, value
);
562 if (in_value
!= NULL
)
564 writeShiftValue(in_value
+ (j
/8), k
);
569 static __inline
void scanFields(int num_fields
, const struct scan_field
*fields
, tap_state_t shiftState
, tap_state_t end_state
)
571 for (int i
= 0; i
< num_fields
; i
++)
573 scanBits(fields
[i
].out_value
,
582 int interface_jtag_add_ir_scan(struct jtag_tap
*active
, const struct scan_field
*fields
, tap_state_t state
)
585 struct jtag_tap
*tap
, *nextTap
;
586 tap_state_t pause_state
= TAP_IRSHIFT
;
588 for (tap
= jtag_tap_next_enabled(NULL
); tap
!= NULL
; tap
= nextTap
)
590 nextTap
= jtag_tap_next_enabled(tap
);
595 scan_size
= tap
->ir_length
;
597 /* search the list */
600 scanFields(1, fields
, TAP_IRSHIFT
, pause_state
);
601 /* update device information */
602 buf_cpy(fields
[0].out_value
, tap
->cur_instr
, scan_size
);
607 /* if a device isn't listed, set it to BYPASS */
608 assert(scan_size
<= 32);
609 shiftValueInner(TAP_IRSHIFT
, pause_state
, scan_size
, 0xffffffff);
622 int interface_jtag_add_plain_ir_scan(int num_bits
, const uint8_t *out_bits
, uint8_t *in_bits
, tap_state_t state
)
624 scanBits(out_bits
, in_bits
, num_bits
, true, TAP_IRSHIFT
, state
);
628 int interface_jtag_add_dr_scan(struct jtag_tap
*active
, int num_fields
, const struct scan_field
*fields
, tap_state_t state
)
630 struct jtag_tap
*tap
, *nextTap
;
631 tap_state_t pause_state
= TAP_DRSHIFT
;
632 for (tap
= jtag_tap_next_enabled(NULL
); tap
!= NULL
; tap
= nextTap
)
634 nextTap
= jtag_tap_next_enabled(tap
);
640 /* Find a range of fields to write to this tap */
643 assert(!tap
->bypass
);
645 scanFields(num_fields
, fields
, TAP_DRSHIFT
, pause_state
);
648 /* Shift out a 0 for disabled tap's */
650 shiftValueInner(TAP_DRSHIFT
, pause_state
, 1, 0);
656 int interface_jtag_add_plain_dr_scan(int num_bits
, const uint8_t *out_bits
, uint8_t *in_bits
, tap_state_t state
)
658 scanBits(out_bits
, in_bits
, num_bits
, true, TAP_DRSHIFT
, state
);
662 int interface_jtag_add_tlr()
664 setCurrentState(TAP_RESET
);
669 int interface_jtag_add_reset(int req_trst
, int req_srst
)
671 zy1000_reset(req_trst
, req_srst
);
675 static int zy1000_jtag_add_clocks(int num_cycles
, tap_state_t state
, tap_state_t clockstate
)
677 /* num_cycles can be 0 */
678 setCurrentState(clockstate
);
680 /* execute num_cycles, 32 at the time. */
682 for (i
= 0; i
< num_cycles
; i
+= 32)
686 if (num_cycles
-i
< num
)
690 shiftValueInner(clockstate
, clockstate
, num
, 0);
694 /* finish in end_state */
695 setCurrentState(state
);
697 tap_state_t t
= TAP_IDLE
;
698 /* test manual drive code on any target */
700 uint8_t tms_scan
= tap_get_tms_path(t
, state
);
701 int tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
703 for (i
= 0; i
< tms_count
; i
++)
705 tms
= (tms_scan
>> i
) & 1;
707 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x28, tms
);
710 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x20, state
);
716 int interface_jtag_add_runtest(int num_cycles
, tap_state_t state
)
718 return zy1000_jtag_add_clocks(num_cycles
, state
, TAP_IDLE
);
721 int interface_jtag_add_clocks(int num_cycles
)
723 return zy1000_jtag_add_clocks(num_cycles
, cmd_queue_cur_state
, cmd_queue_cur_state
);
726 int interface_add_tms_seq(unsigned num_bits
, const uint8_t *seq
, enum tap_state state
)
728 /*wait for the fifo to be empty*/
731 for (unsigned i
= 0; i
< num_bits
; i
++)
735 if (((seq
[i
/8] >> (i
% 8)) & 1) == 0)
745 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x28, tms
);
749 if (state
!= TAP_INVALID
)
751 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x20, state
);
754 /* this would be normal if we are switching to SWD mode */
759 int interface_jtag_add_pathmove(int num_states
, const tap_state_t
*path
)
766 tap_state_t cur_state
= cmd_queue_cur_state
;
769 memset(seq
, 0, sizeof(seq
));
770 assert(num_states
< (int)((sizeof(seq
) * 8)));
774 if (tap_state_transition(cur_state
, false) == path
[state_count
])
778 else if (tap_state_transition(cur_state
, true) == path
[state_count
])
784 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(cur_state
), tap_state_name(path
[state_count
]));
788 seq
[state_count
/8] = seq
[state_count
/8] | (tms
<< (state_count
% 8));
790 cur_state
= path
[state_count
];
795 return interface_add_tms_seq(state_count
, seq
, cur_state
);
798 static void jtag_pre_post_bits(struct jtag_tap
*tap
, int *pre
, int *post
)
800 /* bypass bits before and after */
805 struct jtag_tap
*cur_tap
, *nextTap
;
806 for (cur_tap
= jtag_tap_next_enabled(NULL
); cur_tap
!= NULL
; cur_tap
= nextTap
)
808 nextTap
= jtag_tap_next_enabled(cur_tap
);
828 static const int embeddedice_num_bits[] = {32, 6};
832 values[1] = (1 << 5) | reg_addr;
836 embeddedice_num_bits,
841 void embeddedice_write_dcc(struct jtag_tap
*tap
, int reg_addr
, uint8_t *buffer
, int little
, int count
)
845 for (i
= 0; i
< count
; i
++)
847 embeddedice_write_reg_inner(tap
, reg_addr
, fast_target_buffer_get_u32(buffer
, little
));
853 jtag_pre_post_bits(tap
, &pre_bits
, &post_bits
);
855 if ((pre_bits
> 32) || (post_bits
+ 6 > 32))
858 for (i
= 0; i
< count
; i
++)
860 embeddedice_write_reg_inner(tap
, reg_addr
, fast_target_buffer_get_u32(buffer
, little
));
866 for (i
= 0; i
< count
; i
++)
868 /* Fewer pokes means we get to use the FIFO more efficiently */
869 shiftValueInner(TAP_DRSHIFT
, TAP_DRSHIFT
, pre_bits
, 0);
870 shiftValueInner(TAP_DRSHIFT
, TAP_DRSHIFT
, 32, fast_target_buffer_get_u32(buffer
, little
));
871 /* Danger! here we need to exit into the TAP_IDLE state to make
872 * DCC pick up this value.
874 shiftValueInner(TAP_DRSHIFT
, TAP_IDLE
, 6 + post_bits
, (reg_addr
| (1 << 5)));
883 int arm11_run_instr_data_to_core_noack_inner(struct jtag_tap
* tap
, uint32_t opcode
, uint32_t * data
, size_t count
)
885 /* bypass bits before and after */
888 jtag_pre_post_bits(tap
, &pre_bits
, &post_bits
);
891 if ((pre_bits
> 32) || (post_bits
> 32))
893 int arm11_run_instr_data_to_core_noack_inner_default(struct jtag_tap
*, uint32_t, uint32_t *, size_t);
894 return arm11_run_instr_data_to_core_noack_inner_default(tap
, opcode
, data
, count
);
897 static const int bits
[] = {32, 2};
898 uint32_t values
[] = {0, 0};
900 /* FIX!!!!!! the target_write_memory() API started this nasty problem
901 * with unaligned uint32_t * pointers... */
902 const uint8_t *t
= (const uint8_t *)data
;
907 /* Danger! This code doesn't update cmd_queue_cur_state, so
908 * invoking jtag_add_pathmove() before jtag_add_dr_out() after
909 * this loop would fail!
911 shiftValueInner(TAP_DRSHIFT
, TAP_DRSHIFT
, pre_bits
, 0);
919 shiftValueInner(TAP_DRSHIFT
, TAP_DRSHIFT
, 32, value
);
921 shiftValueInner(TAP_DRSHIFT
, TAP_DRPAUSE
, post_bits
, 0);
923 /* copy & paste from arm11_dbgtap.c */
924 //TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT
925 /* KLUDGE! we have to flush the fifo or the Nios CPU locks up.
926 * This is probably a bug in the Avalon bus(cross clocking bridge?)
927 * or in the jtag registers module.
930 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x28, 1);
931 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x28, 1);
932 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x28, 0);
933 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x28, 0);
934 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x28, 0);
935 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x28, 1);
936 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x28, 0);
937 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x28, 0);
938 /* we don't have to wait for the queue to empty here */
939 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x20, TAP_DRSHIFT
);
942 static const tap_state_t arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay
[] =
944 TAP_DREXIT2
, TAP_DRUPDATE
, TAP_IDLE
, TAP_IDLE
, TAP_IDLE
, TAP_DRSELECT
, TAP_DRCAPTURE
, TAP_DRSHIFT
948 values
[0] |= (*t
++<<8);
949 values
[0] |= (*t
++<<16);
950 values
[0] |= (*t
++<<24);
958 jtag_add_pathmove(ARRAY_SIZE(arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay
),
959 arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay
);
964 values
[0] |= (*t
++<<8);
965 values
[0] |= (*t
++<<16);
966 values
[0] |= (*t
++<<24);
968 /* This will happen on the last iteration updating cmd_queue_cur_state
969 * so we don't have to track it during the common code path
977 return jtag_execute_queue();
982 static const struct command_registration zy1000_commands
[] = {
985 .handler
= handle_power_command
,
987 .help
= "Turn power switch to target on/off. "
988 "With no arguments, prints status.",
989 .usage
= "('on'|'off)",
991 #if BUILD_ZY1000_MASTER
994 .name
= "zy1000_version",
996 .jim_handler
= jim_zy1000_version
,
997 .help
= "Print version info for zy1000.",
998 .usage
= "['openocd'|'zy1000'|'date'|'time'|'pcb'|'fpga']",
1003 .name
= "zy1000_server",
1004 .mode
= COMMAND_ANY
,
1005 .jim_handler
= jim_zy1000_server
,
1006 .help
= "Tcpip address for ZY1000 server.",
1011 .name
= "powerstatus",
1012 .mode
= COMMAND_ANY
,
1013 .jim_handler
= zylinjtag_Jim_Command_powerstatus
,
1014 .help
= "Returns power status of target",
1016 #ifdef CYGPKG_HAL_NIOS2
1018 .name
= "updatezy1000firmware",
1019 .mode
= COMMAND_ANY
,
1020 .jim_handler
= jim_zy1000_writefirmware
,
1021 .help
= "writes firmware to flash",
1022 /* .usage = "some_string", */
1025 COMMAND_REGISTRATION_DONE
1029 #if !BUILD_ZY1000_MASTER || BUILD_ECOSBOARD
1030 static int tcp_ip
= -1;
1032 /* Write large packets if we can */
1033 static size_t out_pos
;
1034 static uint8_t out_buffer
[16384];
1035 static size_t in_pos
;
1036 static size_t in_write
;
1037 static uint8_t in_buffer
[16384];
1039 static bool flush_writes(void)
1041 bool ok
= (write(tcp_ip
, out_buffer
, out_pos
) == (int)out_pos
);
1046 static bool writeLong(uint32_t l
)
1049 for (i
= 0; i
< 4; i
++)
1051 uint8_t c
= (l
>> (i
*8))&0xff;
1052 out_buffer
[out_pos
++] = c
;
1053 if (out_pos
>= sizeof(out_buffer
))
1055 if (!flush_writes())
1064 static bool readLong(uint32_t *out_data
)
1068 for (i
= 0; i
< 4; i
++)
1071 if (in_pos
== in_write
)
1073 /* If we have some data that we can send, send them before
1074 * we wait for more data
1078 if (!flush_writes())
1086 t
= read(tcp_ip
, in_buffer
, sizeof(in_buffer
));
1091 in_write
= (size_t) t
;
1094 c
= in_buffer
[in_pos
++];
1096 data
|= (c
<< (i
*8));
1105 ZY1000_CMD_POKE
= 0x0,
1106 ZY1000_CMD_PEEK
= 0x8,
1107 ZY1000_CMD_SLEEP
= 0x1,
1108 ZY1000_CMD_WAITIDLE
= 2
1112 #if !BUILD_ZY1000_MASTER
1114 #include <sys/socket.h> /* for socket(), connect(), send(), and recv() */
1115 #include <arpa/inet.h> /* for sockaddr_in and inet_addr() */
1117 /* We initialize this late since we need to know the server address
1120 static void tcpip_open(void)
1125 struct sockaddr_in echoServAddr
; /* Echo server address */
1127 /* Create a reliable, stream socket using TCP */
1128 if ((tcp_ip
= socket(PF_INET
, SOCK_STREAM
, IPPROTO_TCP
)) < 0)
1130 fprintf(stderr
, "Failed to connect to zy1000 server\n");
1134 /* Construct the server address structure */
1135 memset(&echoServAddr
, 0, sizeof(echoServAddr
)); /* Zero out structure */
1136 echoServAddr
.sin_family
= AF_INET
; /* Internet address family */
1137 echoServAddr
.sin_addr
.s_addr
= inet_addr(tcp_server
); /* Server IP address */
1138 echoServAddr
.sin_port
= htons(7777); /* Server port */
1140 /* Establish the connection to the echo server */
1141 if (connect(tcp_ip
, (struct sockaddr
*) &echoServAddr
, sizeof(echoServAddr
)) < 0)
1143 fprintf(stderr
, "Failed to connect to zy1000 server\n");
1148 setsockopt(tcp_ip
, /* socket affected */
1149 IPPROTO_TCP
, /* set option at TCP level */
1150 TCP_NODELAY
, /* name of option */
1151 (char *)&flag
, /* the cast is historical cruft */
1152 sizeof(int)); /* length of option value */
1158 void zy1000_tcpout(uint32_t address
, uint32_t data
)
1161 if (!writeLong((ZY1000_CMD_POKE
<< 24) | address
)||
1164 fprintf(stderr
, "Could not write to zy1000 server\n");
1169 /* By sending the wait to the server, we avoid a readback
1170 * of status. Radically improves performance for this operation
1171 * with long ping times.
1176 if (!writeLong((ZY1000_CMD_WAITIDLE
<< 24)))
1178 fprintf(stderr
, "Could not write to zy1000 server\n");
1183 uint32_t zy1000_tcpin(uint32_t address
)
1187 zy1000_flush_readqueue();
1190 if (!writeLong((ZY1000_CMD_PEEK
<< 24) | address
)||
1193 fprintf(stderr
, "Could not read from zy1000 server\n");
1199 int interface_jtag_add_sleep(uint32_t us
)
1202 if (!writeLong((ZY1000_CMD_SLEEP
<< 24))||
1205 fprintf(stderr
, "Could not read from zy1000 server\n");
1211 /* queue a readback */
1212 #define readqueue_size 16384
1217 } readqueue
[readqueue_size
];
1219 static int readqueue_pos
= 0;
1221 /* flush the readqueue, this means reading any data that
1222 * we're expecting and store them into the final position
1224 void zy1000_flush_readqueue(void)
1226 if (readqueue_pos
== 0)
1228 /* simply debugging by allowing easy breakpoints when there
1229 * is something to do. */
1234 for (i
= 0; i
< readqueue_pos
; i
++)
1237 if (!readLong(&value
))
1239 fprintf(stderr
, "Could not read from zy1000 server\n");
1243 uint8_t *in_value
= readqueue
[i
].dest
;
1244 int k
= readqueue
[i
].bits
;
1246 // we're shifting in data to MSB, shift data to be aligned for returning the value
1249 for (int l
= 0; l
< k
; l
+= 8)
1251 in_value
[l
/8]=(value
>> l
)&0xff;
1257 /* By queuing the callback's we avoid flushing the
1258 read queue until jtag_execute_queue(). This can
1259 reduce latency dramatically for cases where
1260 callbacks are used extensively.
1262 #define callbackqueue_size 128
1263 static struct callbackentry
1265 jtag_callback_t callback
;
1266 jtag_callback_data_t data0
;
1267 jtag_callback_data_t data1
;
1268 jtag_callback_data_t data2
;
1269 jtag_callback_data_t data3
;
1270 } callbackqueue
[callbackqueue_size
];
1272 static int callbackqueue_pos
= 0;
1274 void zy1000_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
)
1276 if (callbackqueue_pos
>= callbackqueue_size
)
1278 zy1000_flush_callbackqueue();
1281 callbackqueue
[callbackqueue_pos
].callback
= callback
;
1282 callbackqueue
[callbackqueue_pos
].data0
= data0
;
1283 callbackqueue
[callbackqueue_pos
].data1
= data1
;
1284 callbackqueue
[callbackqueue_pos
].data2
= data2
;
1285 callbackqueue
[callbackqueue_pos
].data3
= data3
;
1286 callbackqueue_pos
++;
1289 static int zy1000_jtag_convert_to_callback4(jtag_callback_data_t data0
, jtag_callback_data_t data1
, jtag_callback_data_t data2
, jtag_callback_data_t data3
)
1291 ((jtag_callback1_t
)data1
)(data0
);
1295 void zy1000_jtag_add_callback(jtag_callback1_t callback
, jtag_callback_data_t data0
)
1297 zy1000_jtag_add_callback4(zy1000_jtag_convert_to_callback4
, data0
, (jtag_callback_data_t
)callback
, 0, 0);
1300 void zy1000_flush_callbackqueue(void)
1302 /* we have to flush the read queue so we have access to
1303 the data the callbacks will use
1305 zy1000_flush_readqueue();
1307 for (i
= 0; i
< callbackqueue_pos
; i
++)
1309 struct callbackentry
*entry
= &callbackqueue
[i
];
1310 jtag_set_error(entry
->callback(entry
->data0
, entry
->data1
, entry
->data2
, entry
->data3
));
1312 callbackqueue_pos
= 0;
1315 static void writeShiftValue(uint8_t *data
, int bits
)
1319 if (!writeLong((ZY1000_CMD_PEEK
<< 24) | (ZY1000_JTAG_BASE
+ 0xc)))
1321 fprintf(stderr
, "Could not read from zy1000 server\n");
1325 if (readqueue_pos
>= readqueue_size
)
1327 zy1000_flush_readqueue();
1330 readqueue
[readqueue_pos
].dest
= data
;
1331 readqueue
[readqueue_pos
].bits
= bits
;
1337 static void writeShiftValue(uint8_t *data
, int bits
)
1341 ZY1000_PEEK(ZY1000_JTAG_BASE
+ 0xc, value
);
1342 VERBOSE(LOG_INFO("getShiftValue %08x", value
));
1344 // data in, LSB to MSB
1345 // we're shifting in data to MSB, shift data to be aligned for returning the value
1346 value
>>= 32 - bits
;
1348 for (int l
= 0; l
< bits
; l
+= 8)
1350 data
[l
/8]=(value
>> l
)&0xff;
1357 static char tcpip_stack
[2048];
1358 static cyg_thread tcpip_thread_object
;
1359 static cyg_handle_t tcpip_thread_handle
;
1361 static char watchdog_stack
[2048];
1362 static cyg_thread watchdog_thread_object
;
1363 static cyg_handle_t watchdog_thread_handle
;
1365 /* Infinite loop peeking & poking */
1366 static void tcpipserver(void)
1371 if (!readLong(&address
))
1373 enum ZY1000_CMD c
= (address
>> 24) & 0xff;
1374 address
&= 0xffffff;
1377 case ZY1000_CMD_POKE
:
1380 if (!readLong(&data
))
1382 address
&= ~0x80000000;
1383 ZY1000_POKE(address
+ ZY1000_JTAG_BASE
, data
);
1386 case ZY1000_CMD_PEEK
:
1389 ZY1000_PEEK(address
+ ZY1000_JTAG_BASE
, data
);
1390 if (!writeLong(data
))
1394 case ZY1000_CMD_SLEEP
:
1397 if (!readLong(&data
))
1399 /* Wait for some us */
1403 case ZY1000_CMD_WAITIDLE
:
1415 static void tcpip_server(cyg_addrword_t data
)
1417 int so_reuseaddr_option
= 1;
1420 if ((fd
= socket(AF_INET
, SOCK_STREAM
, 0)) == -1)
1422 LOG_ERROR("error creating socket: %s", strerror(errno
));
1426 setsockopt(fd
, SOL_SOCKET
, SO_REUSEADDR
, (void*) &so_reuseaddr_option
,
1429 struct sockaddr_in sin
;
1430 unsigned int address_size
;
1431 address_size
= sizeof(sin
);
1432 memset(&sin
, 0, sizeof(sin
));
1433 sin
.sin_family
= AF_INET
;
1434 sin
.sin_addr
.s_addr
= INADDR_ANY
;
1435 sin
.sin_port
= htons(7777);
1437 if (bind(fd
, (struct sockaddr
*) &sin
, sizeof(sin
)) == -1)
1439 LOG_ERROR("couldn't bind to socket: %s", strerror(errno
));
1443 if (listen(fd
, 1) == -1)
1445 LOG_ERROR("couldn't listen on socket: %s", strerror(errno
));
1452 tcp_ip
= accept(fd
, (struct sockaddr
*) &sin
, &address_size
);
1459 setsockopt(tcp_ip
, /* socket affected */
1460 IPPROTO_TCP
, /* set option at TCP level */
1461 TCP_NODELAY
, /* name of option */
1462 (char *)&flag
, /* the cast is historical cruft */
1463 sizeof(int)); /* length of option value */
1465 bool save_poll
= jtag_poll_get_enabled();
1467 /* polling will screw up the "connection" */
1468 jtag_poll_set_enabled(false);
1472 jtag_poll_set_enabled(save_poll
);
1481 #ifdef WATCHDOG_BASE
1482 /* If we connect to port 8888 we must send a char every 10s or the board resets itself */
1483 static void watchdog_server(cyg_addrword_t data
)
1485 int so_reuseaddr_option
= 1;
1488 if ((fd
= socket(AF_INET
, SOCK_STREAM
, 0)) == -1)
1490 LOG_ERROR("error creating socket: %s", strerror(errno
));
1494 setsockopt(fd
, SOL_SOCKET
, SO_REUSEADDR
, (void*) &so_reuseaddr_option
,
1497 struct sockaddr_in sin
;
1498 unsigned int address_size
;
1499 address_size
= sizeof(sin
);
1500 memset(&sin
, 0, sizeof(sin
));
1501 sin
.sin_family
= AF_INET
;
1502 sin
.sin_addr
.s_addr
= INADDR_ANY
;
1503 sin
.sin_port
= htons(8888);
1505 if (bind(fd
, (struct sockaddr
*) &sin
, sizeof(sin
)) == -1)
1507 LOG_ERROR("couldn't bind to socket: %s", strerror(errno
));
1511 if (listen(fd
, 1) == -1)
1513 LOG_ERROR("couldn't listen on socket: %s", strerror(errno
));
1520 int watchdog_ip
= accept(fd
, (struct sockaddr
*) &sin
, &address_size
);
1522 /* Start watchdog, must be reset every 10 seconds. */
1523 HAL_WRITE_UINT32(WATCHDOG_BASE
+ 4, 4);
1525 if (watchdog_ip
< 0)
1527 LOG_ERROR("couldn't open watchdog socket: %s", strerror(errno
));
1532 setsockopt(watchdog_ip
, /* socket affected */
1533 IPPROTO_TCP
, /* set option at TCP level */
1534 TCP_NODELAY
, /* name of option */
1535 (char *)&flag
, /* the cast is historical cruft */
1536 sizeof(int)); /* length of option value */
1542 if (read(watchdog_ip
, &buf
, 1) == 1)
1545 HAL_WRITE_UINT32(WATCHDOG_BASE
+ 8, 0x1234);
1546 /* Echo so we can telnet in and see that resetting works */
1547 write(watchdog_ip
, &buf
, 1);
1550 /* Stop tickling the watchdog, the CPU will reset in < 10 seconds
1565 #if BUILD_ZY1000_MASTER
1566 int interface_jtag_add_sleep(uint32_t us
)
1573 #if BUILD_ZY1000_MASTER && !BUILD_ECOSBOARD
1574 volatile void *zy1000_jtag_master
;
1575 #include <sys/mman.h>
1578 int zy1000_init(void)
1581 LOG_USER("%s", ZYLIN_OPENOCD_VERSION
);
1582 #elif BUILD_ZY1000_MASTER
1584 if((fd
= open("/dev/mem", O_RDWR
| O_SYNC
)) == -1)
1586 LOG_ERROR("No access to /dev/mem");
1589 #ifndef REGISTERS_BASE
1590 #define REGISTERS_BASE 0x9002000
1591 #define REGISTERS_SPAN 128
1594 zy1000_jtag_master
= mmap(0, REGISTERS_SPAN
, PROT_READ
| PROT_WRITE
, MAP_SHARED
, fd
, REGISTERS_BASE
);
1596 if(zy1000_jtag_master
== (void *) -1)
1599 LOG_ERROR("No access to /dev/mem");
1606 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x10, 0x30); // Turn on LED1 & LED2
1608 setPower(true); // on by default
1611 /* deassert resets. Important to avoid infinite loop waiting for SRST to deassert */
1614 int retval
= jtag_get_speed(&jtag_speed_var
);
1615 if (retval
!= ERROR_OK
)
1617 zy1000_speed(jtag_speed_var
);
1621 cyg_thread_create(1, tcpip_server
, (cyg_addrword_t
) 0, "tcip/ip server",
1622 (void *) tcpip_stack
, sizeof(tcpip_stack
),
1623 &tcpip_thread_handle
, &tcpip_thread_object
);
1624 cyg_thread_resume(tcpip_thread_handle
);
1625 #ifdef WATCHDOG_BASE
1626 cyg_thread_create(1, watchdog_server
, (cyg_addrword_t
) 0, "watchdog tcip/ip server",
1627 (void *) watchdog_stack
, sizeof(watchdog_stack
),
1628 &watchdog_thread_handle
, &watchdog_thread_object
);
1629 cyg_thread_resume(watchdog_thread_handle
);
1638 struct jtag_interface zy1000_interface
=
1641 .supported
= DEBUG_CAP_TMS_SEQ
,
1642 .execute_queue
= NULL
,
1643 .speed
= zy1000_speed
,
1644 .commands
= zy1000_commands
,
1645 .init
= zy1000_init
,
1646 .quit
= zy1000_quit
,
1648 .speed_div
= zy1000_speed_div
,
1649 .power_dropout
= zy1000_power_dropout
,
1650 .srst_asserted
= zy1000_srst_asserted
,
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