X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fzy1000%2Fzy1000.c;h=b50e96a8a00c2e9178be5111a77ff14f54a6baec;hp=33947332bb563a5dfd1fda94e0f0c97d320c74c3;hb=9161b5fc5c4655b5320b16d52f1ab3311d69e97d;hpb=6d1d58a1fc3dfd60e9cac89460b5a6e438d11efa diff --git a/src/jtag/zy1000/zy1000.c b/src/jtag/zy1000/zy1000.c index 33947332bb..b50e96a8a0 100644 --- a/src/jtag/zy1000/zy1000.c +++ b/src/jtag/zy1000/zy1000.c @@ -1,5 +1,5 @@ /*************************************************************************** - * 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 * @@ -16,36 +16,61 @@ * 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 +#include +#include +#include +#include + +#include + +#if BUILD_ECOSBOARD +#include "zy1000_version.h" #include // low level i/o #include +#ifdef CYGPKG_HAL_NIOS2 +#include +#include +#endif -#define ZYLIN_VERSION "1.52" +#define ZYLIN_VERSION GIT_ZY1000_VERSION #define ZYLIN_DATE __DATE__ #define ZYLIN_TIME __TIME__ -#define ZYLIN_OPENOCD "$Revision$" -#define ZYLIN_OPENOCD_VERSION "Zylin JTAG ZY1000 " ZYLIN_VERSION " " ZYLIN_DATE " " ZYLIN_TIME - -/* low level command set - */ -void zy1000_reset(int trst, int srst); - +#define ZYLIN_OPENOCD GIT_OPENOCD_VERSION +#define ZYLIN_OPENOCD_VERSION "ZY1000 " ZYLIN_VERSION " " ZYLIN_DATE -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); +#endif static int zy1000_khz(int khz, int *jtag_speed) { @@ -76,10 +101,10 @@ static int zy1000_speed_div(int speed, int *khz) static bool readPowerDropout(void) { - cyg_uint32 state; + uint32_t 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; @@ -88,10 +113,10 @@ static bool readPowerDropout(void) static bool readSRST(void) { - cyg_uint32 state; + uint32_t 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; @@ -109,24 +134,16 @@ static int zy1000_power_dropout(int *dropout) return ERROR_OK; } - -jtag_interface_t 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); @@ -151,7 +168,6 @@ void zy1000_reset(int trst, int srst) 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 @@ -161,33 +177,51 @@ void zy1000_reset(int trst, int srst) } /* wait for srst to float back up */ - if (!srst) + if ((!srst && ((jtag_get_reset_config() & RESET_TRST_PULLS_SRST) == 0))|| + (!srst && !trst && (jtag_get_reset_config() & RESET_TRST_PULLS_SRST))) { - int i; - for (i = 0; i < 1000; i++) - { + bool first = true; + long long start = 0; + long total = 0; + for (;;) + { // 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()) + { + if (total > 1) + { + LOG_USER("SRST took %dms to deassert", (int)total); + } break; + } - /* wait 1ms */ - alive_sleep(1); - } + if (first) + { + first = false; + start = timeval_ms(); + } - if (i == 1000) - { - LOG_USER("SRST didn't deassert after %dms", i); - } else if (i > 1) - { - LOG_USER("SRST took %dms to deassert", i); + total = timeval_ms() - start; + + keep_alive(); + + if (total > 5000) + { + LOG_ERROR("SRST took too long to deassert: %dms", (int)total); + break; + } } + } } int zy1000_speed(int speed) { + /* flush JTAG master FIFO before setting speed */ + waitIdle(); + if (speed == 0) { /*0 means RCLK*/ @@ -218,48 +252,52 @@ static void setPower(bool power) 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); } } -int handle_power_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc) +COMMAND_HANDLER(handle_power_command) { - if (argc > 1) + switch (CMD_ARGC) { - return ERROR_INVALID_ARGUMENTS; + case 1: { + bool enable; + COMMAND_PARSE_ON_OFF(CMD_ARGV[0], enable); + setPower(enable); + // fall through } - - if (argc == 1) - { - if (strcmp(args[0], "on") == 0) - { - setPower(1); - } - else if (strcmp(args[0], "off") == 0) - { - setPower(0); - } else - { - command_print(cmd_ctx, "arg is \"on\" or \"off\""); - return ERROR_INVALID_ARGUMENTS; - } + case 0: + LOG_INFO("Target power %s", savePower ? "on" : "off"); + break; + default: + return ERROR_INVALID_ARGUMENTS; } - command_print(cmd_ctx, "Target power %s", savePower ? "on" : "off"); - return ERROR_OK; } +#if !BUILD_ECOSBOARD +static char *tcp_server = "notspecified"; +static int jim_zy1000_server(Jim_Interp *interp, int argc, Jim_Obj *const *argv) +{ + if (argc != 2) + return JIM_ERR; + + tcp_server = strdup(Jim_GetString(argv[1], NULL)); + return JIM_OK; +} +#endif + +#if BUILD_ECOSBOARD /* Give TELNET a way to find out what version this is */ static int jim_zy1000_version(Jim_Interp *interp, int argc, Jim_Obj *const *argv) { - if ((argc < 1) || (argc > 2)) + if ((argc < 1) || (argc > 3)) return JIM_ERR; - char buff[128]; const char *version_str = NULL; if (argc == 1) @@ -268,12 +306,12 @@ static int jim_zy1000_version(Jim_Interp *interp, int argc, Jim_Obj *const *argv } else { const char *str = Jim_GetString(argv[1], NULL); + const char *str2 = NULL; + if (argc > 2) + str2 = Jim_GetString(argv[2], NULL); if (strcmp("openocd", str) == 0) { - int revision; - revision = atol(ZYLIN_OPENOCD + strlen("XRevision: ")); - sprintf(buff, "%d", revision); - version_str = buff; + version_str = ZYLIN_OPENOCD; } else if (strcmp("zy1000", str) == 0) { @@ -283,6 +321,41 @@ static int jim_zy1000_version(Jim_Interp *interp, int argc, Jim_Obj *const *argv { version_str = ZYLIN_DATE; } + else if (strcmp("time", str) == 0) + { + version_str = ZYLIN_TIME; + } + else if (strcmp("pcb", str) == 0) + { +#ifdef CYGPKG_HAL_NIOS2 + version_str="c"; +#else + version_str="b"; +#endif + } +#ifdef CYGPKG_HAL_NIOS2 + else if (strcmp("fpga", str) == 0) + { + + /* return a list of 32 bit integers to describe the expected + * and actual FPGA + */ + static char *fpga_id = "0x12345678 0x12345678 0x12345678 0x12345678"; + uint32_t id, timestamp; + HAL_READ_UINT32(SYSID_BASE, id); + HAL_READ_UINT32(SYSID_BASE+4, timestamp); + sprintf(fpga_id, "0x%08x 0x%08x 0x%08x 0x%08x", id, timestamp, SYSID_ID, SYSID_TIMESTAMP); + version_str = fpga_id; + if ((argc>2) && (strcmp("time", str2) == 0)) + { + time_t last_mod = timestamp; + char * t = ctime (&last_mod) ; + t[strlen(t)-1] = 0; + version_str = t; + } + } +#endif + else { return JIM_ERR; @@ -293,58 +366,82 @@ static int jim_zy1000_version(Jim_Interp *interp, int argc, Jim_Obj *const *argv return JIM_OK; } +#endif +#ifdef CYGPKG_HAL_NIOS2 -static int -zylinjtag_Jim_Command_powerstatus(Jim_Interp *interp, - int argc, - Jim_Obj * const *argv) -{ - if (argc != 1) - { - Jim_WrongNumArgs(interp, 1, argv, "powerstatus"); - return JIM_ERR; - } - cyg_uint32 status; - ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, status); - - Jim_SetResult(interp, Jim_NewIntObj(interp, (status&0x80) != 0)); +struct info_forward +{ + void *data; + struct cyg_upgrade_info *upgraded_file; +}; - return JIM_OK; +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); } -int zy1000_register_commands(struct command_context_s *cmd_ctx) +struct cyg_upgrade_info firmware_info = { - register_command(cmd_ctx, NULL, "power", handle_power_command, COMMAND_ANY, - "power - turn power switch to target on/off. No arguments - print status."); - - Jim_CreateCommand(interp, "zy1000_version", jim_zy1000_version, NULL, NULL); - + (uint8_t *)0x84000000, + "/ram/firmware.phi", + "Firmware", + 0x0300000, + 0x1f00000 - + 0x0300000, + "ZylinNiosFirmware\n", + report_info, +}; - Jim_CreateCommand(interp, "powerstatus", zylinjtag_Jim_Command_powerstatus, NULL, NULL); +static int jim_zy1000_writefirmware(Jim_Interp *interp, int argc, Jim_Obj *const *argv) +{ + if (argc != 2) + return JIM_ERR; - return ERROR_OK; -} + int length; + const char *str = Jim_GetString(argv[1], &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; + if (!cyg_firmware_upgrade(NULL, firmware_info)) + return JIM_ERR; + return JIM_OK; +} +#endif -int zy1000_init(void) +static int +zylinjtag_Jim_Command_powerstatus(Jim_Interp *interp, + int argc, + Jim_Obj * const *argv) { - LOG_USER("%s", ZYLIN_OPENOCD_VERSION); + if (argc != 1) + { + Jim_WrongNumArgs(interp, 1, argv, "powerstatus"); + return JIM_ERR; + } - ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x30); // Turn on LED1 & LED2 + bool dropout = readPowerDropout(); - setPower(true); // on by default + Jim_SetResult(interp, Jim_NewIntObj(interp, dropout)); + return JIM_OK; +} - /* deassert resets. Important to avoid infinite loop waiting for SRST to deassert */ - zy1000_reset(0, 0); - zy1000_speed(jtag_get_speed()); - return ERROR_OK; -} int zy1000_quit(void) { @@ -356,7 +453,7 @@ int zy1000_quit(void) int interface_jtag_execute_queue(void) { - cyg_uint32 empty; + uint32_t empty; waitIdle(); ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, empty); @@ -378,18 +475,18 @@ int interface_jtag_execute_queue(void) -static cyg_uint32 getShiftValue(void) +static uint32_t getShiftValue(void) { - cyg_uint32 value; + uint32_t value; waitIdle(); ZY1000_PEEK(ZY1000_JTAG_BASE + 0xc, value); VERBOSE(LOG_INFO("getShiftValue %08x", value)); return value; } #if 0 -static cyg_uint32 getShiftValueFlip(void) +static uint32_t getShiftValueFlip(void) { - cyg_uint32 value; + uint32_t value; waitIdle(); ZY1000_PEEK(ZY1000_JTAG_BASE + 0x18, value); VERBOSE(LOG_INFO("getShiftValue %08x (flipped)", value)); @@ -398,10 +495,10 @@ static cyg_uint32 getShiftValueFlip(void) #endif #if 0 -static void shiftValueInnerFlip(const tap_state_t state, const tap_state_t endState, int repeat, cyg_uint32 value) +static void shiftValueInnerFlip(const tap_state_t state, const tap_state_t endState, int repeat, uint32_t value) { VERBOSE(LOG_INFO("shiftValueInner %s %s %d %08x (flipped)", tap_state_name(state), tap_state_name(endState), repeat, value)); - cyg_uint32 a,b; + uint32_t a,b; a = state; b = endState; ZY1000_POKE(ZY1000_JTAG_BASE + 0xc, value); @@ -410,134 +507,103 @@ static void shiftValueInnerFlip(const tap_state_t state, const tap_state_t endSt } #endif -extern int jtag_check_value(uint8_t *captured, void *priv); - -static __inline void scanFields(int num_fields, const scan_field_t *fields, tap_state_t shiftState, tap_state_t end_state) +// here we shuffle N bits out/in +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) { - int i; - int j; - int k; - - for (i = 0; i < num_fields; i++) + tap_state_t pause_state = shiftState; + for (int j = 0; j < num_bits; j += 32) { - cyg_uint32 value; - - uint8_t *inBuffer = NULL; - - - // figure out where to store the input data - int num_bits = fields[i].num_bits; - if (fields[i].in_value != NULL) + int k = num_bits - j; + if (k > 32) { - inBuffer = fields[i].in_value; + k = 32; + /* we have more to shift out */ + } else if (pause_now) + { + /* this was the last to shift out this time */ + pause_state = end_state; } - // here we shuffle N bits out/in - j = 0; - while (j < num_bits) + // we have (num_bits + 7)/8 bytes of bits to toggle out. + // bits are pushed out LSB to MSB + uint32_t value; + value = 0; + if (out_value != NULL) { - tap_state_t pause_state; - int l; - k = num_bits-j; - pause_state = (shiftState == TAP_DRSHIFT)?TAP_DRSHIFT:TAP_IRSHIFT; - if (k > 32) - { - k = 32; - /* we have more to shift out */ - } else if (i == num_fields-1) + for (int l = 0; l < k; l += 8) { - /* this was the last to shift out this time */ - pause_state = end_state; + value|=out_value[(j + l)/8]<= 32 is not defined by the C standard + * and will in fact shift by &0x1f bits on nios */ + } - shiftValueInner(shiftState, pause_state, k, value); + 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; + if (in_value != 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; - } + for (int l = 0; l < k; l += 8) + { + in_value[(j + l)/8]=(value >> l)&0xff; } - j += k; } } } -int interface_jtag_set_end_state(tap_state_t state) +static __inline void scanFields(int num_fields, const struct scan_field *fields, tap_state_t shiftState, tap_state_t end_state) { - return ERROR_OK; + for (int i = 0; i < num_fields; i++) + { + scanBits(fields[i].out_value, + fields[i].in_value, + fields[i].num_bits, + (i == num_fields-1), + shiftState, + end_state); + } } - -int interface_jtag_add_ir_scan(int num_fields, const scan_field_t *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; - jtag_tap_t *tap, *nextTap; + struct jtag_tap *tap, *nextTap; + tap_state_t pause_state = TAP_IRSHIFT; + for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap) { nextTap = jtag_tap_next_enabled(tap); - tap_state_t end_state; - if (nextTap == NULL) + if (nextTap==NULL) { - end_state = state; - } else - { - end_state = TAP_IRSHIFT; + pause_state = state; } - - int found = 0; - 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, end_state); - /* update device information */ - buf_cpy(fields[j].out_value, tap->cur_instr, scan_size); - - tap->bypass = 0; - break; - } - } + scanFields(1, fields, TAP_IRSHIFT, pause_state); + /* 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_state, scan_size, 0xffffffff); - scan_field_t tmp; - memset(&tmp, 0, sizeof(tmp)); - tmp.out_value = ones; - tmp.num_bits = scan_size; - scanFields(1, &tmp, TAP_IRSHIFT, end_state); - /* update device information */ - buf_cpy(tmp.out_value, tap->cur_instr, scan_size); tap->bypass = 1; } } @@ -549,66 +615,46 @@ int interface_jtag_add_ir_scan(int num_fields, const scan_field_t *fields, tap_s -int interface_jtag_add_plain_ir_scan(int num_fields, const scan_field_t *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, state); - + scanBits(out_bits, in_bits, num_bits, true, TAP_IRSHIFT, state); return ERROR_OK; } -/*extern jtag_command_t **jtag_get_last_command_p(void);*/ - -int interface_jtag_add_dr_scan(int num_fields, const scan_field_t *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; - jtag_tap_t *tap, *nextTap; + struct jtag_tap *tap, *nextTap; + tap_state_t pause_state = TAP_DRSHIFT; for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap) { nextTap = jtag_tap_next_enabled(tap); - int found = 0; - tap_state_t end_state; - if (nextTap == NULL) + if (nextTap==NULL) { - end_state = state; - } else - { - end_state = TAP_DRSHIFT; + pause_state = state; } - 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, end_state); - } - } - if (!found) - { - 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.in_value = NULL; - - scanFields(1, &tmp, TAP_DRSHIFT, end_state); - } - else + scanFields(num_fields, fields, TAP_DRSHIFT, pause_state); + } else { + /* Shift out a 0 for disabled tap's */ + assert(tap->bypass); + shiftValueInner(TAP_DRSHIFT, pause_state, 1, 0); } } return ERROR_OK; } -int interface_jtag_add_plain_dr_scan(int num_fields, const scan_field_t *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, state); + scanBits(out_bits, in_bits, num_bits, true, TAP_DRSHIFT, state); return ERROR_OK; } - int interface_jtag_add_tlr() { setCurrentState(TAP_RESET); @@ -616,11 +662,6 @@ int interface_jtag_add_tlr() } - - -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); @@ -665,7 +706,6 @@ static int zy1000_jtag_add_clocks(int num_cycles, tap_state_t state, tap_state_t ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state); #endif - return ERROR_OK; } @@ -679,9 +719,36 @@ int interface_jtag_add_clocks(int num_cycles) return zy1000_jtag_add_clocks(num_cycles, cmd_queue_cur_state, cmd_queue_cur_state); } -int interface_jtag_add_sleep(uint32_t us) +int interface_add_tms_seq(unsigned num_bits, const uint8_t *seq, enum tap_state state) { - jtag_sleep(us); + /*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; } @@ -690,13 +757,14 @@ 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 < (int)((sizeof(seq) * 8))); + while (num_states) { if (tap_state_transition(cur_state, false) == path[state_count]) @@ -713,49 +781,74 @@ int interface_jtag_add_pathmove(int num_states, const tap_state_t *path) 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(jtag_tap_t *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; +} + +/* + static const int embeddedice_num_bits[] = {32, 6}; + uint32_t values[2]; + + values[0] = value; + values[1] = (1 << 5) | reg_addr; + + jtag_add_dr_out(tap, + 2, + embeddedice_num_bits, + values, + TAP_IDLE); +*/ + +void embeddedice_write_dcc(struct jtag_tap *tap, int reg_addr, uint8_t *buffer, int little, int count) +{ +#if 0 + 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 + int pre_bits; + int post_bits; + jtag_pre_post_bits(tap, &pre_bits, &post_bits); + + if ((pre_bits > 32) || (post_bits + 6 > 32)) { int i; for (i = 0; i < count; i++) @@ -763,7 +856,589 @@ void embeddedice_write_dcc(jtag_tap_t *tap, int reg_addr, uint8_t *buffer, int l embeddedice_write_reg_inner(tap, reg_addr, fast_target_buffer_get_u32(buffer, little)); buffer += 4; } + } else + { + int i; + for (i = 0; i < count; i++) + { + /* Fewer pokes means we get to use the FIFO more efficiently */ + shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0); + shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, little)); + /* Danger! here we need to exit into the TAP_IDLE state to make + * DCC pick up this value. + */ + shiftValueInner(TAP_DRSHIFT, TAP_IDLE, 6 + post_bits, (reg_addr | (1 << 5))); + buffer += 4; + } + } +#endif +} + + + +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)", + }, +#if BUILD_ECOSBOARD + { + .name = "zy1000_version", + .mode = COMMAND_ANY, + .jim_handler = jim_zy1000_version, + .help = "Print version info for zy1000.", + .usage = "['openocd'|'zy1000'|'date'|'time'|'pcb'|'fpga']", + }, +#else + { + .name = "zy1000_server", + .mode = COMMAND_ANY, + .jim_handler = jim_zy1000_server, + .help = "Tcpip address for ZY1000 server.", + .usage = "address", + }, +#endif + { + .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 +}; + + +static int tcp_ip = -1; + +/* Write large packets if we can */ +static size_t out_pos; +static uint8_t out_buffer[16384]; +static size_t in_pos; +static size_t in_write; +static uint8_t in_buffer[16384]; + +static bool flush_writes(void) +{ + bool ok = (write(tcp_ip, out_buffer, out_pos) == (int)out_pos); + out_pos = 0; + return ok; +} + +static bool writeLong(uint32_t l) +{ + int i; + for (i = 0; i < 4; i++) + { + uint8_t c = (l >> (i*8))&0xff; + out_buffer[out_pos++] = c; + if (out_pos >= sizeof(out_buffer)) + { + if (!flush_writes()) + { + return false; + } + } + } + return true; +} + +static bool readLong(uint32_t *out_data) +{ + if (out_pos > 0) + { + if (!flush_writes()) + { + return false; + } + } + + uint32_t data = 0; + int i; + for (i = 0; i < 4; i++) + { + uint8_t c; + if (in_pos == in_write) + { + /* read more */ + int t; + t = read(tcp_ip, in_buffer, sizeof(in_buffer)); + if (t < 1) + { + return false; + } + in_write = (size_t) t; + in_pos = 0; + } + c = in_buffer[in_pos++]; + + data |= (c << (i*8)); + } + *out_data = data; + return true; +} + +enum ZY1000_CMD +{ + ZY1000_CMD_POKE = 0x0, + ZY1000_CMD_PEEK = 0x8, + ZY1000_CMD_SLEEP = 0x1, +}; + + +#if !BUILD_ECOSBOARD + +#include /* for socket(), connect(), send(), and recv() */ +#include /* for sockaddr_in and inet_addr() */ + +/* We initialize this late since we need to know the server address + * first. + */ +static void tcpip_open(void) +{ + if (tcp_ip >= 0) + return; + + struct sockaddr_in echoServAddr; /* Echo server address */ + + /* Create a reliable, stream socket using TCP */ + if ((tcp_ip = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP)) < 0) + { + fprintf(stderr, "Failed to connect to zy1000 server\n"); + exit(-1); + } + + /* Construct the server address structure */ + memset(&echoServAddr, 0, sizeof(echoServAddr)); /* Zero out structure */ + echoServAddr.sin_family = AF_INET; /* Internet address family */ + echoServAddr.sin_addr.s_addr = inet_addr(tcp_server); /* Server IP address */ + echoServAddr.sin_port = htons(7777); /* Server port */ + + /* Establish the connection to the echo server */ + if (connect(tcp_ip, (struct sockaddr *) &echoServAddr, sizeof(echoServAddr)) < 0) + { + fprintf(stderr, "Failed to connect to zy1000 server\n"); + exit(-1); + } + + int flag = 1; + setsockopt(tcp_ip, /* socket affected */ + IPPROTO_TCP, /* set option at TCP level */ + TCP_NODELAY, /* name of option */ + (char *)&flag, /* the cast is historical cruft */ + sizeof(int)); /* length of option value */ + +} + + +/* send a poke */ +void zy1000_tcpout(uint32_t address, uint32_t data) +{ + tcpip_open(); + if (!writeLong((ZY1000_CMD_POKE << 24) | address)|| + !writeLong(data)) + { + fprintf(stderr, "Could not write to zy1000 server\n"); + exit(-1); } } +uint32_t zy1000_tcpin(uint32_t address) +{ + tcpip_open(); + uint32_t data; + if (!writeLong((ZY1000_CMD_PEEK << 24) | address)|| + !readLong(&data)) + { + fprintf(stderr, "Could not read from zy1000 server\n"); + exit(-1); + } + return data; +} + +int interface_jtag_add_sleep(uint32_t us) +{ + tcpip_open(); + if (!writeLong((ZY1000_CMD_SLEEP << 24))|| + !writeLong(us)) + { + fprintf(stderr, "Could not read from zy1000 server\n"); + exit(-1); + } + return ERROR_OK; +} + + +#endif + +#if BUILD_ECOSBOARD +static char tcpip_stack[2048]; +static cyg_thread tcpip_thread_object; +static cyg_handle_t tcpip_thread_handle; + +static char watchdog_stack[2048]; +static cyg_thread watchdog_thread_object; +static cyg_handle_t watchdog_thread_handle; + +/* Infinite loop peeking & poking */ +static void tcpipserver(void) +{ + for (;;) + { + uint32_t address; + if (!readLong(&address)) + return; + enum ZY1000_CMD c = (address >> 24) & 0xff; + address &= 0xffffff; + switch (c) + { + case ZY1000_CMD_POKE: + { + uint32_t data; + if (!readLong(&data)) + return; + address &= ~0x80000000; + ZY1000_POKE(address + ZY1000_JTAG_BASE, data); + break; + } + case ZY1000_CMD_PEEK: + { + uint32_t data; + ZY1000_PEEK(address + ZY1000_JTAG_BASE, data); + if (!writeLong(data)) + return; + break; + } + case ZY1000_CMD_SLEEP: + { + uint32_t data; + if (!readLong(&data)) + return; + jtag_sleep(data); + break; + } + default: + return; + } + } +} + + +static void tcpip_server(cyg_addrword_t data) +{ + int so_reuseaddr_option = 1; + + int fd; + if ((fd = socket(AF_INET, SOCK_STREAM, 0)) == -1) + { + LOG_ERROR("error creating socket: %s", strerror(errno)); + exit(-1); + } + + setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, (void*) &so_reuseaddr_option, + sizeof(int)); + + struct sockaddr_in sin; + unsigned int address_size; + address_size = sizeof(sin); + memset(&sin, 0, sizeof(sin)); + sin.sin_family = AF_INET; + sin.sin_addr.s_addr = INADDR_ANY; + sin.sin_port = htons(7777); + + if (bind(fd, (struct sockaddr *) &sin, sizeof(sin)) == -1) + { + LOG_ERROR("couldn't bind to socket: %s", strerror(errno)); + exit(-1); + } + + if (listen(fd, 1) == -1) + { + LOG_ERROR("couldn't listen on socket: %s", strerror(errno)); + exit(-1); + } + + + for (;;) + { + tcp_ip = accept(fd, (struct sockaddr *) &sin, &address_size); + if (tcp_ip < 0) + { + continue; + } + + int flag = 1; + setsockopt(tcp_ip, /* socket affected */ + IPPROTO_TCP, /* set option at TCP level */ + TCP_NODELAY, /* name of option */ + (char *)&flag, /* the cast is historical cruft */ + sizeof(int)); /* length of option value */ + + bool save_poll = jtag_poll_get_enabled(); + + /* polling will screw up the "connection" */ + jtag_poll_set_enabled(false); + + tcpipserver(); + + jtag_poll_set_enabled(save_poll); + + close(tcp_ip); + + } + close(fd); + +} + +#ifdef WATCHDOG_BASE +/* If we connect to port 8888 we must send a char every 10s or the board resets itself */ +static void watchdog_server(cyg_addrword_t data) +{ + int so_reuseaddr_option = 1; + + int fd; + if ((fd = socket(AF_INET, SOCK_STREAM, 0)) == -1) + { + LOG_ERROR("error creating socket: %s", strerror(errno)); + exit(-1); + } + + setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, (void*) &so_reuseaddr_option, + sizeof(int)); + + struct sockaddr_in sin; + unsigned int address_size; + address_size = sizeof(sin); + memset(&sin, 0, sizeof(sin)); + sin.sin_family = AF_INET; + sin.sin_addr.s_addr = INADDR_ANY; + sin.sin_port = htons(8888); + + if (bind(fd, (struct sockaddr *) &sin, sizeof(sin)) == -1) + { + LOG_ERROR("couldn't bind to socket: %s", strerror(errno)); + exit(-1); + } + + if (listen(fd, 1) == -1) + { + LOG_ERROR("couldn't listen on socket: %s", strerror(errno)); + exit(-1); + } + + + for (;;) + { + int watchdog_ip = accept(fd, (struct sockaddr *) &sin, &address_size); + + /* Start watchdog, must be reset every 10 seconds. */ + HAL_WRITE_UINT32(WATCHDOG_BASE + 4, 4); + + if (watchdog_ip < 0) + { + LOG_ERROR("couldn't open watchdog socket: %s", strerror(errno)); + exit(-1); + } + + int flag = 1; + setsockopt(watchdog_ip, /* socket affected */ + IPPROTO_TCP, /* set option at TCP level */ + TCP_NODELAY, /* name of option */ + (char *)&flag, /* the cast is historical cruft */ + sizeof(int)); /* length of option value */ + + + char buf; + for (;;) + { + if (read(watchdog_ip, &buf, 1) == 1) + { + /* Reset timer */ + HAL_WRITE_UINT32(WATCHDOG_BASE + 8, 0x1234); + /* Echo so we can telnet in and see that resetting works */ + write(watchdog_ip, &buf, 1); + } else + { + /* Stop tickling the watchdog, the CPU will reset in < 10 seconds + * now. + */ + return; + } + + } + + /* Never reached */ + } +} +#endif + +int interface_jtag_add_sleep(uint32_t us) +{ + jtag_sleep(us); + return ERROR_OK; +} + +#endif + + +int zy1000_init(void) +{ +#if BUILD_ECOSBOARD + LOG_USER("%s", ZYLIN_OPENOCD_VERSION); +#endif + + ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x30); // Turn on LED1 & LED2 + + setPower(true); // on by default + + + /* deassert resets. Important to avoid infinite loop waiting for SRST to deassert */ + zy1000_reset(0, 0); + zy1000_speed(jtag_get_speed()); + + +#if BUILD_ECOSBOARD + cyg_thread_create(1, tcpip_server, (cyg_addrword_t) 0, "tcip/ip server", + (void *) tcpip_stack, sizeof(tcpip_stack), + &tcpip_thread_handle, &tcpip_thread_object); + cyg_thread_resume(tcpip_thread_handle); +#ifdef WATCHDOG_BASE + cyg_thread_create(1, watchdog_server, (cyg_addrword_t) 0, "watchdog tcip/ip server", + (void *) watchdog_stack, sizeof(watchdog_stack), + &watchdog_thread_handle, &watchdog_thread_object); + cyg_thread_resume(watchdog_thread_handle); +#endif +#endif + + return ERROR_OK; +} + + + +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, +};