/***************************************************************************
- * Copyright (C) 2007-2008 by Øyvind Harboe *
+ * Copyright (C) 2007-2010 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 *
* Free Software Foundation, Inc., *
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
***************************************************************************/
+
+/* This file supports the zy1000 debugger: http://www.zylin.com/zy1000.html
+ *
+ * The zy1000 is a standalone debugger that has a web interface and
+ * requires no drivers on the developer host as all communication
+ * is via TCP/IP. The zy1000 gets it performance(~400-700kBytes/s
+ * DCC downloads @ 16MHz target) as it has an FPGA to hardware
+ * accelerate the JTAG commands, while offering *very* low latency
+ * between OpenOCD and the FPGA registers.
+ *
+ * The disadvantage of the zy1000 is that it has a feeble CPU compared to
+ * a PC(ca. 50-500 DMIPS depending on how one counts it), whereas a PC
+ * is on the order of 10000 DMIPS(i.e. at a factor of 20-200).
+ *
+ * The zy1000 revc hardware is using an Altera Nios CPU, whereas the
+ * revb is using ARM7 + Xilinx.
+ *
+ * See Zylin web pages or contact Zylin for more information.
+ *
+ * The reason this code is in OpenOCD rather than OpenOCD linked with the
+ * ZY1000 code is that OpenOCD is the long road towards getting
+ * libopenocd into place. libopenocd will support both low performance,
+ * low latency systems(embedded) and high performance high latency
+ * systems(PCs).
+ */
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
-#include "embeddedice.h"
-#include "minidriver.h"
-#include "interface.h"
+#include <target/embeddedice.h>
+#include <jtag/minidriver.h>
+#include <jtag/interface.h>
#include "zy1000_version.h"
#include <cyg/hal/hal_io.h> // low level i/o
#include <time.h>
+#ifdef CYGPKG_HAL_NIOS2
+#include <cyg/hal/io.h>
+#include <cyg/firmwareutil/firmwareutil.h>
+#endif
+
#define ZYLIN_VERSION GIT_ZY1000_VERSION
#define ZYLIN_DATE __DATE__
#define ZYLIN_TIME __TIME__
#define ZYLIN_OPENOCD GIT_OPENOCD_VERSION
#define ZYLIN_OPENOCD_VERSION "ZY1000 " ZYLIN_VERSION " " ZYLIN_DATE
-/* low level command set
- */
-void zy1000_reset(int trst, int srst);
-
-
-int zy1000_speed(int speed);
-int zy1000_register_commands(struct command_context *cmd_ctx);
-int zy1000_init(void);
-int zy1000_quit(void);
static int zy1000_khz(int khz, int *jtag_speed)
{
{
cyg_uint32 state;
// sample and clear power dropout
- HAL_WRITE_UINT32(ZY1000_JTAG_BASE + 0x10, 0x80);
- HAL_READ_UINT32(ZY1000_JTAG_BASE + 0x10, state);
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x80);
+ ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
bool powerDropout;
powerDropout = (state & 0x80) != 0;
return powerDropout;
{
cyg_uint32 state;
// sample and clear SRST sensing
- HAL_WRITE_UINT32(ZY1000_JTAG_BASE + 0x10, 0x00000040);
- HAL_READ_UINT32(ZY1000_JTAG_BASE + 0x10, state);
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000040);
+ ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
bool srstAsserted;
srstAsserted = (state & 0x40) != 0;
return srstAsserted;
return ERROR_OK;
}
-
-struct jtag_interface zy1000_interface =
-{
- .name = "ZY1000",
- .execute_queue = NULL,
- .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,
-};
-
void zy1000_reset(int trst, int srst)
{
LOG_DEBUG("zy1000 trst=%d, srst=%d", trst, srst);
+
+ /* flush the JTAG FIFO. Not flushing the queue before messing with
+ * reset has such interesting bugs as causing hard to reproduce
+ * RCLK bugs as RCLK will stop responding when TRST is asserted
+ */
+ waitIdle();
+
if (!srst)
{
ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000001);
if (trst||(srst && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
{
- waitIdle();
/* we're now in the RESET state until trst is deasserted */
ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_RESET);
} else
int zy1000_speed(int speed)
{
+ /* flush JTAG master FIFO before setting speed */
+ waitIdle();
+
if (speed == 0)
{
/*0 means RCLK*/
savePower = power;
if (power)
{
- HAL_WRITE_UINT32(ZY1000_JTAG_BASE + 0x14, 0x8);
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x8);
} else
{
- HAL_WRITE_UINT32(ZY1000_JTAG_BASE + 0x10, 0x8);
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x8);
}
}
#ifdef CYGPKG_HAL_NIOS2
+
+
+struct info_forward
+{
+ void *data;
+ struct cyg_upgrade_info *upgraded_file;
+};
+
+static void report_info(void *data, const char * format, va_list args)
+{
+ char *s = alloc_vprintf(format, args);
+ LOG_USER_N("%s", s);
+ free(s);
+}
+
+struct cyg_upgrade_info firmware_info =
+{
+ (cyg_uint8 *)0x84000000,
+ "/ram/firmware.phi",
+ "Firmware",
+ 0x0300000,
+ 0x1f00000 -
+ 0x0300000,
+ "ZylinNiosFirmware\n",
+ report_info,
+};
+
static int jim_zy1000_writefirmware(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
{
if (argc != 2)
return JIM_ERR;
int length;
- int stat;
const char *str = Jim_GetString(argv[1], &length);
- /* BUG!!!! skip header! */
- void *firmware_address=0x4000000;
- int firmware_length=0x100000;
-
- if (length>firmware_length)
+ /* */
+ int tmpFile;
+ if ((tmpFile = open(firmware_info.file, O_RDWR | O_CREAT | O_TRUNC)) <= 0)
+ {
+ return JIM_ERR;
+ }
+ bool success;
+ success = write(tmpFile, str, length) == length;
+ close(tmpFile);
+ if (!success)
return JIM_ERR;
- void *err_addr;
-
- if ((stat = flash_erase((void *)firmware_address, firmware_length, (void **)&err_addr)) != 0)
- {
- return JIM_ERR;
- }
-
- if ((stat = flash_program(firmware_address, str, length, (void **)&err_addr)) != 0)
- return JIM_ERR;
+ if (!cyg_firmware_upgrade(NULL, firmware_info))
+ return JIM_ERR;
- return JIM_OK;
+ return JIM_OK;
}
#endif
return JIM_OK;
}
-int zy1000_register_commands(struct command_context *cmd_ctx)
-{
- COMMAND_REGISTER(cmd_ctx, NULL, "power", handle_power_command, COMMAND_ANY,
- "power <on/off> - turn power switch to target on/off. No arguments - print status.");
-
- Jim_CreateCommand(interp, "zy1000_version", jim_zy1000_version, NULL, NULL);
-
-
- Jim_CreateCommand(interp, "powerstatus", zylinjtag_Jim_Command_powerstatus, NULL, NULL);
-
-#ifdef CYGPKG_HAL_NIOS2
- Jim_CreateCommand(interp, "updatezy1000firmware", jim_zy1000_writefirmware, NULL, NULL);
-#endif
-
-
- return ERROR_OK;
-}
-
}
}
-int interface_jtag_add_ir_scan(int num_fields, const struct scan_field *fields, tap_state_t state)
+int interface_jtag_add_ir_scan(struct jtag_tap *active, const struct scan_field *fields, tap_state_t state)
{
-
- int j;
int scan_size = 0;
struct jtag_tap *tap, *nextTap;
+
for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
{
nextTap = jtag_tap_next_enabled(tap);
- int pause = (nextTap==NULL);
-
- int found = 0;
-
+ bool pause = (nextTap==NULL);
scan_size = tap->ir_length;
/* search the list */
- for (j = 0; j < num_fields; j++)
+ if (tap == active)
{
- if (tap == fields[j].tap)
- {
- found = 1;
-
- scanFields(1, fields + j, TAP_IRSHIFT, pause);
- /* update device information */
- buf_cpy(fields[j].out_value, tap->cur_instr, scan_size);
-
- tap->bypass = 0;
- break;
- }
- }
+ scanFields(1, fields, TAP_IRSHIFT, pause);
+ /* update device information */
+ buf_cpy(fields[0].out_value, tap->cur_instr, scan_size);
- if (!found)
+ tap->bypass = 0;
+ } else
{
/* if a device isn't listed, set it to BYPASS */
- uint8_t ones[]={0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff};
+ assert(scan_size <= 32);
+ shiftValueInner(TAP_IRSHIFT, pause?TAP_IRPAUSE:TAP_IRSHIFT, scan_size, 0xffffffff);
- struct scan_field tmp;
- memset(&tmp, 0, sizeof(tmp));
- tmp.out_value = ones;
- tmp.num_bits = scan_size;
- scanFields(1, &tmp, TAP_IRSHIFT, pause);
- /* update device information */
- buf_cpy(tmp.out_value, tap->cur_instr, scan_size);
tap->bypass = 1;
}
}
-int interface_jtag_add_plain_ir_scan(int num_fields, const struct scan_field *fields, tap_state_t state)
+int interface_jtag_add_plain_ir_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state)
{
- scanFields(num_fields, fields, TAP_IRSHIFT, 1);
+ struct scan_field field;
+ field.num_bits = num_bits;
+ field.out_value = out_bits;
+ field.in_value = in_bits;
+
+ scanFields(1, &field, TAP_IRSHIFT, 1);
gotoEndState(state);
return ERROR_OK;
}
-int interface_jtag_add_dr_scan(int num_fields, const struct scan_field *fields, tap_state_t state)
+int interface_jtag_add_dr_scan(struct jtag_tap *active, int num_fields, const struct scan_field *fields, tap_state_t state)
{
-
- int j;
struct jtag_tap *tap, *nextTap;
for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
{
nextTap = jtag_tap_next_enabled(tap);
- int found = 0;
- int pause = (nextTap==NULL);
+ bool pause = (nextTap==NULL);
- for (j = 0; j < num_fields; j++)
+ /* Find a range of fields to write to this tap */
+ if (tap == active)
{
- if (tap == fields[j].tap)
- {
- found = 1;
+ assert(!tap->bypass);
- scanFields(1, fields+j, TAP_DRSHIFT, pause);
- }
- }
- if (!found)
- {
- struct scan_field tmp;
- /* program the scan field to 1 bit length, and ignore it's value */
- tmp.num_bits = 1;
- tmp.out_value = NULL;
- tmp.in_value = NULL;
-
- scanFields(1, &tmp, TAP_DRSHIFT, pause);
- }
- else
+ scanFields(num_fields, fields, TAP_DRSHIFT, pause);
+ } else
{
+ /* Shift out a 0 for disabled tap's */
+ assert(tap->bypass);
+ shiftValueInner(TAP_DRSHIFT, pause?TAP_DRPAUSE:TAP_DRSHIFT, 1, 0);
}
}
gotoEndState(state);
return ERROR_OK;
}
-int interface_jtag_add_plain_dr_scan(int num_fields, const struct scan_field *fields, tap_state_t state)
+int interface_jtag_add_plain_dr_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state)
{
- scanFields(num_fields, fields, TAP_DRSHIFT, 1);
+ struct scan_field field;
+ field.num_bits = num_bits;
+ field.out_value = out_bits;
+ field.in_value = in_bits;
+
+ scanFields(1, &field, TAP_DRSHIFT, 1);
gotoEndState(state);
return ERROR_OK;
}
-
int interface_jtag_add_tlr()
{
setCurrentState(TAP_RESET);
}
-
-
int interface_jtag_add_reset(int req_trst, int req_srst)
{
zy1000_reset(req_trst, req_srst);
ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
#endif
-
return ERROR_OK;
}
return ERROR_OK;
}
+int interface_add_tms_seq(unsigned num_bits, const uint8_t *seq, enum tap_state state)
+{
+ /*wait for the fifo to be empty*/
+ waitIdle();
+
+ for (unsigned i = 0; i < num_bits; i++)
+ {
+ int tms;
+
+ if (((seq[i/8] >> (i % 8)) & 1) == 0)
+ {
+ tms = 0;
+ }
+ else
+ {
+ tms = 1;
+ }
+
+ waitIdle();
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, tms);
+ }
+
+ waitIdle();
+ if (state != TAP_INVALID)
+ {
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
+ } else
+ {
+ /* this would be normal if we are switching to SWD mode */
+ }
+ return ERROR_OK;
+}
+
int interface_jtag_add_pathmove(int num_states, const tap_state_t *path)
{
int state_count;
int tms = 0;
- /*wait for the fifo to be empty*/
- waitIdle();
-
state_count = 0;
tap_state_t cur_state = cmd_queue_cur_state;
+ uint8_t seq[16];
+ memset(seq, 0, sizeof(seq));
+ assert(num_states < (sizeof(seq) * 8));
+
while (num_states)
{
if (tap_state_transition(cur_state, false) == path[state_count])
exit(-1);
}
- waitIdle();
- ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, tms);
+ seq[state_count/8] = seq[state_count/8] | (tms << (state_count % 8));
cur_state = path[state_count];
state_count++;
num_states--;
}
- waitIdle();
- ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, cur_state);
- return ERROR_OK;
+ return interface_add_tms_seq(state_count, seq, cur_state);
}
-
-
-void embeddedice_write_dcc(struct jtag_tap *tap, int reg_addr, uint8_t *buffer, int little, int count)
+static void jtag_pre_post_bits(struct jtag_tap *tap, int *pre, int *post)
{
-// static int const reg_addr = 0x5;
- tap_state_t end_state = jtag_get_end_state();
- if (jtag_tap_next_enabled(jtag_tap_next_enabled(NULL)) == NULL)
+ /* bypass bits before and after */
+ int pre_bits = 0;
+ int post_bits = 0;
+
+ bool found = false;
+ struct jtag_tap *cur_tap, *nextTap;
+ for (cur_tap = jtag_tap_next_enabled(NULL); cur_tap!= NULL; cur_tap = nextTap)
{
- /* better performance via code duplication */
- if (little)
+ nextTap = jtag_tap_next_enabled(cur_tap);
+ if (cur_tap == tap)
{
- int i;
- for (i = 0; i < count; i++)
- {
- shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, 1));
- shiftValueInner(TAP_DRSHIFT, end_state, 6, reg_addr | (1 << 5));
- buffer += 4;
- }
+ found = true;
} else
{
- int i;
- for (i = 0; i < count; i++)
+ if (found)
+ {
+ post_bits++;
+ } else
{
- shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, 0));
- shiftValueInner(TAP_DRSHIFT, end_state, 6, reg_addr | (1 << 5));
- buffer += 4;
+ pre_bits++;
}
}
}
- else
+ *pre = pre_bits;
+ *post = post_bits;
+}
+
+void embeddedice_write_dcc(struct jtag_tap *tap, int reg_addr, uint8_t *buffer, int little, int count)
+{
+
+ int pre_bits;
+ int post_bits;
+ jtag_pre_post_bits(tap, &pre_bits, &post_bits);
+
+ if (pre_bits + post_bits + 6 > 32)
{
int i;
for (i = 0; i < count; i++)
embeddedice_write_reg_inner(tap, reg_addr, fast_target_buffer_get_u32(buffer, little));
buffer += 4;
}
+ } else
+ {
+ tap_state_t end_state = TAP_IDLE;
+ tap_state_t shift_end_state;
+ if (post_bits == 0)
+ shift_end_state = end_state;
+
+ shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0);
+ int i;
+ for (i = 0; i < count - 1; i++)
+ {
+ /* Fewer pokes means we get to use the FIFO more efficiently */
+ shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, little));
+ shiftValueInner(TAP_DRSHIFT, shift_end_state, 6 + post_bits + pre_bits, (reg_addr | (1 << 5)));
+ buffer += 4;
+ }
+ shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, little));
+ shiftValueInner(TAP_DRSHIFT, shift_end_state, 6, reg_addr | (1 << 5));
+ shiftValueInner(shift_end_state, end_state, post_bits, 0);
}
}
+
+int arm11_run_instr_data_to_core_noack_inner(struct jtag_tap * tap, uint32_t opcode, uint32_t * data, size_t count)
+{
+#if 0
+ int arm11_run_instr_data_to_core_noack_inner_default(struct jtag_tap * tap, uint32_t opcode, uint32_t * data, size_t count);
+ return arm11_run_instr_data_to_core_noack_inner_default(tap, opcode, data, count);
+#else
+ static const int bits[] = {32, 2};
+ uint32_t values[] = {0, 0};
+
+ /* FIX!!!!!! the target_write_memory() API started this nasty problem
+ * with unaligned uint32_t * pointers... */
+ const uint8_t *t = (const uint8_t *)data;
+
+
+ /* bypass bits before and after */
+ int pre_bits;
+ int post_bits;
+ jtag_pre_post_bits(tap, &pre_bits, &post_bits);
+
+ bool found = false;
+ struct jtag_tap *cur_tap, *nextTap;
+ for (cur_tap = jtag_tap_next_enabled(NULL); cur_tap!= NULL; cur_tap = nextTap)
+ {
+ nextTap = jtag_tap_next_enabled(cur_tap);
+ if (cur_tap == tap)
+ {
+ found = true;
+ } else
+ {
+ if (found)
+ {
+ post_bits++;
+ } else
+ {
+ pre_bits++;
+ }
+ }
+ }
+
+ post_bits+=2;
+
+
+ while (--count > 0)
+ {
+ shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0);
+
+ uint32_t value;
+ value = *t++;
+ value |= (*t++<<8);
+ value |= (*t++<<16);
+ value |= (*t++<<24);
+
+ shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, value);
+ /* minimum 2 bits */
+ shiftValueInner(TAP_DRSHIFT, TAP_DRPAUSE, post_bits, 0);
+
+#if 1
+ /* copy & paste from arm11_dbgtap.c */
+ //TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT
+
+ waitIdle();
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
+ /* we don't have to wait for the queue to empty here. waitIdle(); */
+ ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_DRSHIFT);
+#else
+ static const tap_state_t arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay[] =
+ {
+ TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT
+ };
+
+ jtag_add_pathmove(ARRAY_SIZE(arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay),
+ arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay);
+#endif
+ }
+
+ values[0] = *t++;
+ values[0] |= (*t++<<8);
+ values[0] |= (*t++<<16);
+ values[0] |= (*t++<<24);
+
+ /* This will happen on the last iteration updating the current tap state
+ * so we don't have to track it during the common code path */
+ jtag_add_dr_out(tap,
+ 2,
+ bits,
+ values,
+ TAP_IDLE);
+
+ return jtag_execute_queue();
+#endif
+}
+
+
+static const struct command_registration zy1000_commands[] = {
+ {
+ .name = "power",
+ .handler = handle_power_command,
+ .mode = COMMAND_ANY,
+ .help = "Turn power switch to target on/off. "
+ "With no arguments, prints status.",
+ .usage = "('on'|'off)",
+ },
+ {
+ .name = "zy1000_version",
+ .mode = COMMAND_ANY,
+ .jim_handler = jim_zy1000_version,
+ .help = "Print version info for zy1000.",
+ .usage = "['openocd'|'zy1000'|'date'|'time'|'pcb'|'fpga']",
+ },
+ {
+ .name = "powerstatus",
+ .mode = COMMAND_ANY,
+ .jim_handler = zylinjtag_Jim_Command_powerstatus,
+ .help = "Returns power status of target",
+ },
+#ifdef CYGPKG_HAL_NIOS2
+ {
+ .name = "updatezy1000firmware",
+ .mode = COMMAND_ANY,
+ .jim_handler = jim_zy1000_writefirmware,
+ .help = "writes firmware to flash",
+ /* .usage = "some_string", */
+ },
+#endif
+ COMMAND_REGISTRATION_DONE
+};
+
+
+
+struct jtag_interface zy1000_interface =
+{
+ .name = "ZY1000",
+ .supported = DEBUG_CAP_TMS_SEQ,
+ .execute_queue = NULL,
+ .speed = zy1000_speed,
+ .commands = zy1000_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,
+};
+
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