1 /***************************************************************************
2 * Copyright (C) 2007-2009 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>
51 #include "zy1000_version.h"
53 #include <cyg/hal/hal_io.h> // low level i/o
54 #include <cyg/hal/hal_diag.h>
58 #define ZYLIN_VERSION GIT_ZY1000_VERSION
59 #define ZYLIN_DATE __DATE__
60 #define ZYLIN_TIME __TIME__
61 #define ZYLIN_OPENOCD GIT_OPENOCD_VERSION
62 #define ZYLIN_OPENOCD_VERSION "ZY1000 " ZYLIN_VERSION " " ZYLIN_DATE
65 static int zy1000_khz(int khz, int *jtag_speed)
73 *jtag_speed = 64000/khz;
78 static int zy1000_speed_div(int speed, int *khz)
92 static bool readPowerDropout(void)
95 // sample and clear power dropout
96 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x80);
97 ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
99 powerDropout = (state & 0x80) != 0;
104 static bool readSRST(void)
107 // sample and clear SRST sensing
108 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000040);
109 ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
111 srstAsserted = (state & 0x40) != 0;
115 static int zy1000_srst_asserted(int *srst_asserted)
117 *srst_asserted = readSRST();
121 static int zy1000_power_dropout(int *dropout)
123 *dropout = readPowerDropout();
127 void zy1000_reset(int trst, int srst)
129 LOG_DEBUG("zy1000 trst=%d, srst=%d", trst, srst);
132 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000001);
136 /* Danger!!! if clk != 0 when in
137 * idle in TAP_IDLE, reset halt on str912 will fail.
139 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000001);
144 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000002);
149 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000002);
152 if (trst||(srst && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
155 /* we're now in the RESET state until trst is deasserted */
156 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_RESET);
159 /* We'll get RCLK failure when we assert TRST, so clear any false positives here */
160 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
163 /* wait for srst to float back up */
167 for (i = 0; i < 1000; i++)
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
181 LOG_USER("SRST didn't deassert after %dms", i);
184 LOG_USER("SRST took %dms to deassert", i);
189 int zy1000_speed(int speed)
195 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x100);
196 LOG_DEBUG("jtag_speed using RCLK");
200 if (speed > 8190 || speed < 2)
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;
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);
213 static bool savePower;
216 static void setPower(bool power)
221 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x8);
224 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x8);
228 COMMAND_HANDLER(handle_power_command)
234 COMMAND_PARSE_ON_OFF(CMD_ARGV[0], enable);
239 LOG_INFO("Target power %s", savePower ? "on" : "off");
242 return ERROR_INVALID_ARGUMENTS;
249 /* Give TELNET a way to find out what version this is */
250 static int jim_zy1000_version(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
252 if ((argc < 1) || (argc > 3))
254 const char *version_str = NULL;
258 version_str = ZYLIN_OPENOCD_VERSION;
261 const char *str = Jim_GetString(argv[1], NULL);
262 const char *str2 = NULL;
264 str2 = Jim_GetString(argv[2], NULL);
265 if (strcmp("openocd", str) == 0)
267 version_str = ZYLIN_OPENOCD;
269 else if (strcmp("zy1000", str) == 0)
271 version_str = ZYLIN_VERSION;
273 else if (strcmp("date", str) == 0)
275 version_str = ZYLIN_DATE;
277 else if (strcmp("time", str) == 0)
279 version_str = ZYLIN_TIME;
281 else if (strcmp("pcb", str) == 0)
283 #ifdef CYGPKG_HAL_NIOS2
289 #ifdef CYGPKG_HAL_NIOS2
290 else if (strcmp("fpga", str) == 0)
293 /* return a list of 32 bit integers to describe the expected
296 static char *fpga_id = "0x12345678 0x12345678 0x12345678 0x12345678";
297 cyg_uint32 id, timestamp;
298 HAL_READ_UINT32(SYSID_BASE, id);
299 HAL_READ_UINT32(SYSID_BASE+4, timestamp);
300 sprintf(fpga_id, "0x%08x 0x%08x 0x%08x 0x%08x", id, timestamp, SYSID_ID, SYSID_TIMESTAMP);
301 version_str = fpga_id;
302 if ((argc>2) && (strcmp("time", str2) == 0))
304 time_t last_mod = timestamp;
305 char * t = ctime (&last_mod) ;
318 Jim_SetResult(interp, Jim_NewStringObj(interp, version_str, -1));
324 #ifdef CYGPKG_HAL_NIOS2
325 static int jim_zy1000_writefirmware(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
332 const char *str = Jim_GetString(argv[1], &length);
334 /* BUG!!!! skip header! */
335 void *firmware_address=0x4000000;
336 int firmware_length=0x100000;
338 if (length>firmware_length)
343 if ((stat = flash_erase((void *)firmware_address, firmware_length, (void **)&err_addr)) != 0)
348 if ((stat = flash_program(firmware_address, str, length, (void **)&err_addr)) != 0)
356 zylinjtag_Jim_Command_powerstatus(Jim_Interp *interp,
358 Jim_Obj * const *argv)
362 Jim_WrongNumArgs(interp, 1, argv, "powerstatus");
367 ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, status);
369 Jim_SetResult(interp, Jim_NewIntObj(interp, (status&0x80) != 0));
377 int zy1000_init(void)
379 LOG_USER("%s", ZYLIN_OPENOCD_VERSION);
381 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x30); // Turn on LED1 & LED2
383 setPower(true); // on by default
386 /* deassert resets. Important to avoid infinite loop waiting for SRST to deassert */
388 zy1000_speed(jtag_get_speed());
393 int zy1000_quit(void)
401 int interface_jtag_execute_queue(void)
406 ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, empty);
407 /* clear JTAG error register */
408 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
410 if ((empty&0x400) != 0)
412 LOG_WARNING("RCLK timeout");
413 /* the error is informative only as we don't want to break the firmware if there
414 * is a false positive.
416 // return ERROR_FAIL;
425 static cyg_uint32 getShiftValue(void)
429 ZY1000_PEEK(ZY1000_JTAG_BASE + 0xc, value);
430 VERBOSE(LOG_INFO("getShiftValue %08x", value));
434 static cyg_uint32 getShiftValueFlip(void)
438 ZY1000_PEEK(ZY1000_JTAG_BASE + 0x18, value);
439 VERBOSE(LOG_INFO("getShiftValue %08x (flipped)", value));
445 static void shiftValueInnerFlip(const tap_state_t state, const tap_state_t endState, int repeat, cyg_uint32 value)
447 VERBOSE(LOG_INFO("shiftValueInner %s %s %d %08x (flipped)", tap_state_name(state), tap_state_name(endState), repeat, value));
451 ZY1000_POKE(ZY1000_JTAG_BASE + 0xc, value);
452 ZY1000_POKE(ZY1000_JTAG_BASE + 0x8, (1 << 15) | (repeat << 8) | (a << 4) | b);
453 VERBOSE(getShiftValueFlip());
457 static void gotoEndState(tap_state_t end_state)
459 setCurrentState(end_state);
462 static __inline void scanFields(int num_fields, const struct scan_field *fields, tap_state_t shiftState, int pause)
468 for (i = 0; i < num_fields; i++)
472 uint8_t *inBuffer = NULL;
475 // figure out where to store the input data
476 int num_bits = fields[i].num_bits;
477 if (fields[i].in_value != NULL)
479 inBuffer = fields[i].in_value;
482 // here we shuffle N bits out/in
486 tap_state_t pause_state;
489 pause_state = (shiftState == TAP_DRSHIFT)?TAP_DRSHIFT:TAP_IRSHIFT;
493 /* we have more to shift out */
494 } else if (pause&&(i == num_fields-1))
496 /* this was the last to shift out this time */
497 pause_state = (shiftState==TAP_DRSHIFT)?TAP_DRPAUSE:TAP_IRPAUSE;
500 // we have (num_bits + 7)/8 bytes of bits to toggle out.
501 // bits are pushed out LSB to MSB
503 if (fields[i].out_value != NULL)
505 for (l = 0; l < k; l += 8)
507 value|=fields[i].out_value[(j + l)/8]<<l;
510 /* mask away unused bits for easier debugging */
513 value&=~(((uint32_t)0xffffffff) << k);
516 /* Shifting by >= 32 is not defined by the C standard
517 * and will in fact shift by &0x1f bits on nios */
520 shiftValueInner(shiftState, pause_state, k, value);
522 if (inBuffer != NULL)
524 // data in, LSB to MSB
525 value = getShiftValue();
526 // we're shifting in data to MSB, shift data to be aligned for returning the value
529 for (l = 0; l < k; l += 8)
531 inBuffer[(j + l)/8]=(value >> l)&0xff;
539 int interface_jtag_add_ir_scan(int num_fields, const struct scan_field *fields, tap_state_t state)
544 struct jtag_tap *tap, *nextTap;
545 for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
547 nextTap = jtag_tap_next_enabled(tap);
548 int pause = (nextTap==NULL);
552 scan_size = tap->ir_length;
554 /* search the list */
555 for (j = 0; j < num_fields; j++)
557 if (tap == fields[j].tap)
561 scanFields(1, fields + j, TAP_IRSHIFT, pause);
562 /* update device information */
563 buf_cpy(fields[j].out_value, tap->cur_instr, scan_size);
572 /* if a device isn't listed, set it to BYPASS */
573 uint8_t ones[]={0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff};
575 struct scan_field tmp;
576 memset(&tmp, 0, sizeof(tmp));
577 tmp.out_value = ones;
578 tmp.num_bits = scan_size;
579 scanFields(1, &tmp, TAP_IRSHIFT, pause);
580 /* update device information */
581 buf_cpy(tmp.out_value, tap->cur_instr, scan_size);
594 int interface_jtag_add_plain_ir_scan(int num_fields, const struct scan_field *fields, tap_state_t state)
596 scanFields(num_fields, fields, TAP_IRSHIFT, 1);
602 int interface_jtag_add_dr_scan(int num_fields, const struct scan_field *fields, tap_state_t state)
606 struct jtag_tap *tap, *nextTap;
607 for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
609 nextTap = jtag_tap_next_enabled(tap);
611 int pause = (nextTap==NULL);
613 for (j = 0; j < num_fields; j++)
615 if (tap == fields[j].tap)
619 scanFields(1, fields+j, TAP_DRSHIFT, pause);
624 struct scan_field tmp;
625 /* program the scan field to 1 bit length, and ignore it's value */
627 tmp.out_value = NULL;
630 scanFields(1, &tmp, TAP_DRSHIFT, pause);
640 int interface_jtag_add_plain_dr_scan(int num_fields, const struct scan_field *fields, tap_state_t state)
642 scanFields(num_fields, fields, TAP_DRSHIFT, 1);
648 int interface_jtag_add_tlr()
650 setCurrentState(TAP_RESET);
657 int interface_jtag_add_reset(int req_trst, int req_srst)
659 zy1000_reset(req_trst, req_srst);
663 static int zy1000_jtag_add_clocks(int num_cycles, tap_state_t state, tap_state_t clockstate)
665 /* num_cycles can be 0 */
666 setCurrentState(clockstate);
668 /* execute num_cycles, 32 at the time. */
670 for (i = 0; i < num_cycles; i += 32)
674 if (num_cycles-i < num)
678 shiftValueInner(clockstate, clockstate, num, 0);
682 /* finish in end_state */
683 setCurrentState(state);
685 tap_state_t t = TAP_IDLE;
686 /* test manual drive code on any target */
688 uint8_t tms_scan = tap_get_tms_path(t, state);
689 int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
691 for (i = 0; i < tms_count; i++)
693 tms = (tms_scan >> i) & 1;
695 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, tms);
698 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
705 int interface_jtag_add_runtest(int num_cycles, tap_state_t state)
707 return zy1000_jtag_add_clocks(num_cycles, state, TAP_IDLE);
710 int interface_jtag_add_clocks(int num_cycles)
712 return zy1000_jtag_add_clocks(num_cycles, cmd_queue_cur_state, cmd_queue_cur_state);
715 int interface_jtag_add_sleep(uint32_t us)
721 int interface_jtag_add_pathmove(int num_states, const tap_state_t *path)
726 /*wait for the fifo to be empty*/
731 tap_state_t cur_state = cmd_queue_cur_state;
735 if (tap_state_transition(cur_state, false) == path[state_count])
739 else if (tap_state_transition(cur_state, true) == path[state_count])
745 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(cur_state), tap_state_name(path[state_count]));
750 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, tms);
752 cur_state = path[state_count];
758 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, cur_state);
764 void embeddedice_write_dcc(struct jtag_tap *tap, int reg_addr, uint8_t *buffer, int little, int count)
766 // static int const reg_addr = 0x5;
767 tap_state_t end_state = jtag_get_end_state();
768 if (jtag_tap_next_enabled(jtag_tap_next_enabled(NULL)) == NULL)
770 /* better performance via code duplication */
774 for (i = 0; i < count; i++)
776 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, 1));
777 shiftValueInner(TAP_DRSHIFT, end_state, 6, reg_addr | (1 << 5));
783 for (i = 0; i < count; i++)
785 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, 0));
786 shiftValueInner(TAP_DRSHIFT, end_state, 6, reg_addr | (1 << 5));
794 for (i = 0; i < count; i++)
796 embeddedice_write_reg_inner(tap, reg_addr, fast_target_buffer_get_u32(buffer, little));
803 static const struct command_registration zy1000_commands[] = {
806 .handler = &handle_power_command,
808 .help = "turn power switch to target on/off. No arguments - print status.",
809 .usage = "power <on/off>",
812 .name = "zy1000_version",
814 .jim_handler = &jim_zy1000_version,
815 .help = "print version info for zy1000",
818 .name = "powerstatus",
820 .jim_handler = & zylinjtag_Jim_Command_powerstatus,
821 .help = "print power status of target",
823 #ifdef CYGPKG_HAL_NIOS2
825 .name = "updatezy1000firmware",
827 .jim_handler = &jim_zy1000_writefirmware,
828 .help = "writes firmware to flash",
831 COMMAND_REGISTRATION_DONE
836 struct jtag_interface zy1000_interface =
839 .execute_queue = NULL,
840 .speed = zy1000_speed,
841 .commands = zy1000_commands,
845 .speed_div = zy1000_speed_div,
846 .power_dropout = zy1000_power_dropout,
847 .srst_asserted = zy1000_srst_asserted,