git.sur5r.net Git - openocd/blob - src/jtag/zy1000/zy1000.c

   1 /***************************************************************************
   2  *   Copyright (C) 2007-2010 by Øyvind Harboe                              *
   3  *                                                                         *
   4  *   This program is free software; you can redistribute it and/or modify  *
   5  *   it under the terms of the GNU General Public License as published by  *
   6  *   the Free Software Foundation; either version 2 of the License, or     *
   7  *   (at your option) any later version.                                   *
   8  *                                                                         *
   9  *   This program is distributed in the hope that it will be useful,       *
  10  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  11  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  12  *   GNU General Public License for more details.                          *
  13  *                                                                         *
  14  *   You should have received a copy of the GNU General Public License     *
  15  *   along with this program; if not, write to the                         *
  16  *   Free Software Foundation, Inc.,                                       *
  17  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  18  ***************************************************************************/
  19
  20 /* This file supports the zy1000 debugger: http://www.zylin.com/zy1000.html
  21  *
  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.
  28  *
  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).
  32  *
  33  * The zy1000 revc hardware is using an Altera Nios CPU, whereas the
  34  * revb is using ARM7 + Xilinx.
  35  *
  36  * See Zylin web pages or contact Zylin for more information.
  37  *
  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
  42  * systems(PCs).
  43  */
  44 #ifdef HAVE_CONFIG_H
  45 #include "config.h"
  46 #endif
  47
  48 #include <target/embeddedice.h>
  49 #include <jtag/minidriver.h>
  50 #include <jtag/interface.h>
  51 #include "zy1000_version.h"
  52
  53 #include <cyg/hal/hal_io.h>             // low level i/o
  54 #include <cyg/hal/hal_diag.h>
  55
  56 #include <time.h>
  57
  58 #ifdef CYGPKG_HAL_NIOS2
  59 #include <cyg/hal/io.h>
  60 #include <cyg/firmwareutil/firmwareutil.h>
  61 #endif
  62
  63 #define ZYLIN_VERSION GIT_ZY1000_VERSION
  64 #define ZYLIN_DATE __DATE__
  65 #define ZYLIN_TIME __TIME__
  66 #define ZYLIN_OPENOCD GIT_OPENOCD_VERSION
  67 #define ZYLIN_OPENOCD_VERSION "ZY1000 " ZYLIN_VERSION " " ZYLIN_DATE
  68
  69
  70 static int zy1000_khz(int khz, int *jtag_speed)
  71 {
  72         if (khz == 0)
  73         {
  74                 *jtag_speed = 0;
  75         }
  76         else
  77         {
  78                 *jtag_speed = 64000/khz;
  79         }
  80         return ERROR_OK;
  81 }
  82
  83 static int zy1000_speed_div(int speed, int *khz)
  84 {
  85         if (speed == 0)
  86         {
  87                 *khz = 0;
  88         }
  89         else
  90         {
  91                 *khz = 64000/speed;
  92         }
  93
  94         return ERROR_OK;
  95 }
  96
  97 static bool readPowerDropout(void)
  98 {
  99         cyg_uint32 state;
 100         // sample and clear power dropout
 101         ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x80);
 102         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
 103         bool powerDropout;
 104         powerDropout = (state & 0x80) != 0;
 105         return powerDropout;
 106 }
 107
 108
 109 static bool readSRST(void)
 110 {
 111         cyg_uint32 state;
 112         // sample and clear SRST sensing
 113         ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000040);
 114         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
 115         bool srstAsserted;
 116         srstAsserted = (state & 0x40) != 0;
 117         return srstAsserted;
 118 }
 119
 120 static int zy1000_srst_asserted(int *srst_asserted)
 121 {
 122         *srst_asserted = readSRST();
 123         return ERROR_OK;
 124 }
 125
 126 static int zy1000_power_dropout(int *dropout)
 127 {
 128         *dropout = readPowerDropout();
 129         return ERROR_OK;
 130 }
 131
 132 void zy1000_reset(int trst, int srst)
 133 {
 134         LOG_DEBUG("zy1000 trst=%d, srst=%d", trst, srst);
 135
 136         /* flush the JTAG FIFO. Not flushing the queue before messing with
 137          * reset has such interesting bugs as causing hard to reproduce
 138          * RCLK bugs as RCLK will stop responding when TRST is asserted
 139          */
 140         waitIdle();
 141
 142         if (!srst)
 143         {
 144                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000001);
 145         }
 146         else
 147         {
 148                 /* Danger!!! if clk != 0 when in
 149                  * idle in TAP_IDLE, reset halt on str912 will fail.
 150                  */
 151                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000001);
 152         }
 153
 154         if (!trst)
 155         {
 156                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000002);
 157         }
 158         else
 159         {
 160                 /* assert reset */
 161                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000002);
 162         }
 163
 164         if (trst||(srst && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
 165         {
 166                 /* we're now in the RESET state until trst is deasserted */
 167                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_RESET);
 168         } else
 169         {
 170                 /* We'll get RCLK failure when we assert TRST, so clear any false positives here */
 171                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
 172         }
 173
 174         /* wait for srst to float back up */
 175         if (!srst)
 176         {
 177                 int i;
 178                 for (i = 0; i < 1000; i++)
 179                 {
 180                         // We don't want to sense our own reset, so we clear here.
 181                         // There is of course a timing hole where we could loose
 182                         // a "real" reset.
 183                         if (!readSRST())
 184                                 break;
 185
 186                         /* wait 1ms */
 187                         alive_sleep(1);
 188                 }
 189
 190                 if (i == 1000)
 191                 {
 192                         LOG_USER("SRST didn't deassert after %dms", i);
 193                 } else if (i > 1)
 194                 {
 195                         LOG_USER("SRST took %dms to deassert", i);
 196                 }
 197         }
 198 }
 199
 200 int zy1000_speed(int speed)
 201 {
 202         /* flush JTAG master FIFO before setting speed */
 203         waitIdle();
 204
 205         if (speed == 0)
 206         {
 207                 /*0 means RCLK*/
 208                 speed = 0;
 209                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x100);
 210                 LOG_DEBUG("jtag_speed using RCLK");
 211         }
 212         else
 213         {
 214                 if (speed > 8190 || speed < 2)
 215                 {
 216                         LOG_USER("valid ZY1000 jtag_speed=[8190,2]. Divisor is 64MHz / even values between 8190-2, i.e. min 7814Hz, max 32MHz");
 217                         return ERROR_INVALID_ARGUMENTS;
 218                 }
 219
 220                 LOG_USER("jtag_speed %d => JTAG clk=%f", speed, 64.0/(float)speed);
 221                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x100);
 222                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x1c, speed&~1);
 223         }
 224         return ERROR_OK;
 225 }
 226
 227 static bool savePower;
 228
 229
 230 static void setPower(bool power)
 231 {
 232         savePower = power;
 233         if (power)
 234         {
 235                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x8);
 236         } else
 237         {
 238                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x8);
 239         }
 240 }
 241
 242 COMMAND_HANDLER(handle_power_command)
 243 {
 244         switch (CMD_ARGC)
 245         {
 246         case 1: {
 247                 bool enable;
 248                 COMMAND_PARSE_ON_OFF(CMD_ARGV[0], enable);
 249                 setPower(enable);
 250                 // fall through
 251         }
 252         case 0:
 253                 LOG_INFO("Target power %s", savePower ? "on" : "off");
 254                 break;
 255         default:
 256                 return ERROR_INVALID_ARGUMENTS;
 257         }
 258
 259         return ERROR_OK;
 260 }
 261
 262
 263 /* Give TELNET a way to find out what version this is */
 264 static int jim_zy1000_version(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 265 {
 266         if ((argc < 1) || (argc > 3))
 267                 return JIM_ERR;
 268         const char *version_str = NULL;
 269
 270         if (argc == 1)
 271         {
 272                 version_str = ZYLIN_OPENOCD_VERSION;
 273         } else
 274         {
 275                 const char *str = Jim_GetString(argv[1], NULL);
 276                 const char *str2 = NULL;
 277                 if (argc > 2)
 278                         str2 = Jim_GetString(argv[2], NULL);
 279                 if (strcmp("openocd", str) == 0)
 280                 {
 281                         version_str = ZYLIN_OPENOCD;
 282                 }
 283                 else if (strcmp("zy1000", str) == 0)
 284                 {
 285                         version_str = ZYLIN_VERSION;
 286                 }
 287                 else if (strcmp("date", str) == 0)
 288                 {
 289                         version_str = ZYLIN_DATE;
 290                 }
 291                 else if (strcmp("time", str) == 0)
 292                 {
 293                         version_str = ZYLIN_TIME;
 294                 }
 295                 else if (strcmp("pcb", str) == 0)
 296                 {
 297 #ifdef CYGPKG_HAL_NIOS2
 298                         version_str="c";
 299 #else
 300                         version_str="b";
 301 #endif
 302                 }
 303 #ifdef CYGPKG_HAL_NIOS2
 304                 else if (strcmp("fpga", str) == 0)
 305                 {
 306
 307                         /* return a list of 32 bit integers to describe the expected
 308                          * and actual FPGA
 309                          */
 310                         static char *fpga_id = "0x12345678 0x12345678 0x12345678 0x12345678";
 311                         cyg_uint32 id, timestamp;
 312                         HAL_READ_UINT32(SYSID_BASE, id);
 313                         HAL_READ_UINT32(SYSID_BASE+4, timestamp);
 314                         sprintf(fpga_id, "0x%08x 0x%08x 0x%08x 0x%08x", id, timestamp, SYSID_ID, SYSID_TIMESTAMP);
 315                         version_str = fpga_id;
 316                         if ((argc>2) && (strcmp("time", str2) == 0))
 317                         {
 318                             time_t last_mod = timestamp;
 319                             char * t = ctime (&last_mod) ;
 320                             t[strlen(t)-1] = 0;
 321                             version_str = t;
 322                         }
 323                 }
 324 #endif
 325
 326                 else
 327                 {
 328                         return JIM_ERR;
 329                 }
 330         }
 331
 332         Jim_SetResult(interp, Jim_NewStringObj(interp, version_str, -1));
 333
 334         return JIM_OK;
 335 }
 336
 337
 338 #ifdef CYGPKG_HAL_NIOS2
 339
 340
 341 struct info_forward
 342 {
 343         void *data;
 344         struct cyg_upgrade_info *upgraded_file;
 345 };
 346
 347 static void report_info(void *data, const char * format, va_list args)
 348 {
 349         char *s = alloc_vprintf(format, args);
 350         LOG_USER_N("%s", s);
 351         free(s);
 352 }
 353
 354 struct cyg_upgrade_info firmware_info =
 355 {
 356                 (cyg_uint8 *)0x84000000,
 357                 "/ram/firmware.phi",
 358                 "Firmware",
 359                 0x0300000,
 360                 0x1f00000 -
 361                 0x0300000,
 362                 "ZylinNiosFirmware\n",
 363                 report_info,
 364 };
 365
 366 static int jim_zy1000_writefirmware(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 367 {
 368         if (argc != 2)
 369                 return JIM_ERR;
 370
 371         int length;
 372         const char *str = Jim_GetString(argv[1], &length);
 373
 374         /* */
 375         int tmpFile;
 376         if ((tmpFile = open(firmware_info.file, O_RDWR | O_CREAT | O_TRUNC)) <= 0)
 377         {
 378                 return JIM_ERR;
 379         }
 380         bool success;
 381         success = write(tmpFile, str, length) == length;
 382         close(tmpFile);
 383         if (!success)
 384                 return JIM_ERR;
 385
 386         if (!cyg_firmware_upgrade(NULL, firmware_info))
 387                 return JIM_ERR;
 388
 389         return JIM_OK;
 390 }
 391 #endif
 392
 393 static int
 394 zylinjtag_Jim_Command_powerstatus(Jim_Interp *interp,
 395                                                                    int argc,
 396                 Jim_Obj * const *argv)
 397 {
 398         if (argc != 1)
 399         {
 400                 Jim_WrongNumArgs(interp, 1, argv, "powerstatus");
 401                 return JIM_ERR;
 402         }
 403
 404         cyg_uint32 status;
 405         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, status);
 406
 407         Jim_SetResult(interp, Jim_NewIntObj(interp, (status&0x80) != 0));
 408
 409         return JIM_OK;
 410 }
 411
 412
 413
 414
 415 int zy1000_init(void)
 416 {
 417         LOG_USER("%s", ZYLIN_OPENOCD_VERSION);
 418
 419         ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x30); // Turn on LED1 & LED2
 420
 421         setPower(true); // on by default
 422
 423
 424          /* deassert resets. Important to avoid infinite loop waiting for SRST to deassert */
 425         zy1000_reset(0, 0);
 426         zy1000_speed(jtag_get_speed());
 427
 428         return ERROR_OK;
 429 }
 430
 431 int zy1000_quit(void)
 432 {
 433
 434         return ERROR_OK;
 435 }
 436
 437
 438
 439 int interface_jtag_execute_queue(void)
 440 {
 441         cyg_uint32 empty;
 442
 443         waitIdle();
 444         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, empty);
 445         /* clear JTAG error register */
 446         ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
 447
 448         if ((empty&0x400) != 0)
 449         {
 450                 LOG_WARNING("RCLK timeout");
 451                 /* the error is informative only as we don't want to break the firmware if there
 452                  * is a false positive.
 453                  */
 454 //              return ERROR_FAIL;
 455         }
 456         return ERROR_OK;
 457 }
 458
 459
 460
 461
 462
 463 static cyg_uint32 getShiftValue(void)
 464 {
 465         cyg_uint32 value;
 466         waitIdle();
 467         ZY1000_PEEK(ZY1000_JTAG_BASE + 0xc, value);
 468         VERBOSE(LOG_INFO("getShiftValue %08x", value));
 469         return value;
 470 }
 471 #if 0
 472 static cyg_uint32 getShiftValueFlip(void)
 473 {
 474         cyg_uint32 value;
 475         waitIdle();
 476         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x18, value);
 477         VERBOSE(LOG_INFO("getShiftValue %08x (flipped)", value));
 478         return value;
 479 }
 480 #endif
 481
 482 #if 0
 483 static void shiftValueInnerFlip(const tap_state_t state, const tap_state_t endState, int repeat, cyg_uint32 value)
 484 {
 485         VERBOSE(LOG_INFO("shiftValueInner %s %s %d %08x (flipped)", tap_state_name(state), tap_state_name(endState), repeat, value));
 486         cyg_uint32 a,b;
 487         a = state;
 488         b = endState;
 489         ZY1000_POKE(ZY1000_JTAG_BASE + 0xc, value);
 490         ZY1000_POKE(ZY1000_JTAG_BASE + 0x8, (1 << 15) | (repeat << 8) | (a << 4) | b);
 491         VERBOSE(getShiftValueFlip());
 492 }
 493 #endif
 494
 495 static void gotoEndState(tap_state_t end_state)
 496 {
 497         setCurrentState(end_state);
 498 }
 499
 500 static __inline void scanFields(int num_fields, const struct scan_field *fields, tap_state_t shiftState, int pause)
 501 {
 502         int i;
 503         int j;
 504         int k;
 505
 506         for (i = 0; i < num_fields; i++)
 507         {
 508                 cyg_uint32 value;
 509
 510                 uint8_t *inBuffer = NULL;
 511
 512
 513                 // figure out where to store the input data
 514                 int num_bits = fields[i].num_bits;
 515                 if (fields[i].in_value != NULL)
 516                 {
 517                         inBuffer = fields[i].in_value;
 518                 }
 519
 520                 // here we shuffle N bits out/in
 521                 j = 0;
 522                 while (j < num_bits)
 523                 {
 524                         tap_state_t pause_state;
 525                         int l;
 526                         k = num_bits-j;
 527                         pause_state = (shiftState == TAP_DRSHIFT)?TAP_DRSHIFT:TAP_IRSHIFT;
 528                         if (k > 32)
 529                         {
 530                                 k = 32;
 531                                 /* we have more to shift out */
 532                         } else if (pause&&(i == num_fields-1))
 533                         {
 534                                 /* this was the last to shift out this time */
 535                                 pause_state = (shiftState==TAP_DRSHIFT)?TAP_DRPAUSE:TAP_IRPAUSE;
 536                         }
 537
 538                         // we have (num_bits + 7)/8 bytes of bits to toggle out.
 539                         // bits are pushed out LSB to MSB
 540                         value = 0;
 541                         if (fields[i].out_value != NULL)
 542                         {
 543                                 for (l = 0; l < k; l += 8)
 544                                 {
 545                                         value|=fields[i].out_value[(j + l)/8]<<l;
 546                                 }
 547                         }
 548                         /* mask away unused bits for easier debugging */
 549                         if (k < 32)
 550                         {
 551                                 value&=~(((uint32_t)0xffffffff) << k);
 552                         } else
 553                         {
 554                                 /* Shifting by >= 32 is not defined by the C standard
 555                                  * and will in fact shift by &0x1f bits on nios */
 556                         }
 557
 558                         shiftValueInner(shiftState, pause_state, k, value);
 559
 560                         if (inBuffer != NULL)
 561                         {
 562                                 // data in, LSB to MSB
 563                                 value = getShiftValue();
 564                                 // we're shifting in data to MSB, shift data to be aligned for returning the value
 565                                 value >>= 32-k;
 566
 567                                 for (l = 0; l < k; l += 8)
 568                                 {
 569                                         inBuffer[(j + l)/8]=(value >> l)&0xff;
 570                                 }
 571                         }
 572                         j += k;
 573                 }
 574         }
 575 }
 576
 577 int interface_jtag_add_ir_scan(int num_fields, const struct scan_field *fields, tap_state_t state)
 578 {
 579
 580         int j;
 581         int scan_size = 0;
 582         struct jtag_tap *tap, *nextTap;
 583         for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
 584         {
 585                 nextTap = jtag_tap_next_enabled(tap);
 586                 int pause = (nextTap==NULL);
 587
 588                 int found = 0;
 589
 590                 scan_size = tap->ir_length;
 591
 592                 /* search the list */
 593                 for (j = 0; j < num_fields; j++)
 594                 {
 595                         if (tap == fields[j].tap)
 596                         {
 597                                 found = 1;
 598
 599                                 scanFields(1, fields + j, TAP_IRSHIFT, pause);
 600                                 /* update device information */
 601                                 buf_cpy(fields[j].out_value, tap->cur_instr, scan_size);
 602
 603                                 tap->bypass = 0;
 604                                 break;
 605                         }
 606                 }
 607
 608                 if (!found)
 609                 {
 610                         /* if a device isn't listed, set it to BYPASS */
 611                         uint8_t ones[]={0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff};
 612
 613                         struct scan_field tmp;
 614                         memset(&tmp, 0, sizeof(tmp));
 615                         tmp.out_value = ones;
 616                         tmp.num_bits = scan_size;
 617                         scanFields(1, &tmp, TAP_IRSHIFT, pause);
 618                         /* update device information */
 619                         buf_cpy(tmp.out_value, tap->cur_instr, scan_size);
 620                         tap->bypass = 1;
 621                 }
 622         }
 623         gotoEndState(state);
 624
 625         return ERROR_OK;
 626 }
 627
 628
 629
 630
 631
 632 int interface_jtag_add_plain_ir_scan(int num_fields, const struct scan_field *fields, tap_state_t state)
 633 {
 634         scanFields(num_fields, fields, TAP_IRSHIFT, 1);
 635         gotoEndState(state);
 636
 637         return ERROR_OK;
 638 }
 639
 640 int interface_jtag_add_dr_scan(int num_fields, const struct scan_field *fields, tap_state_t state)
 641 {
 642
 643         int j;
 644         struct jtag_tap *tap, *nextTap;
 645         for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
 646         {
 647                 nextTap = jtag_tap_next_enabled(tap);
 648                 int found = 0;
 649                 int pause = (nextTap==NULL);
 650
 651                 for (j = 0; j < num_fields; j++)
 652                 {
 653                         /* Find a range of fields to write to this tap */
 654                         if (tap == fields[j].tap)
 655                         {
 656                                 found = 1;
 657                                 int i;
 658                                 for (i = j + 1; i < num_fields; i++)
 659                                 {
 660                                         if (tap != fields[j].tap)
 661                                         {
 662                                                 break;
 663                                         }
 664                                 }
 665
 666                                 scanFields(i - j, fields + j, TAP_DRSHIFT, pause);
 667
 668                                 j = i;
 669                         }
 670                 }
 671
 672                 if (!found)
 673                 {
 674                         /* Shift out a 0 for disabled tap's */
 675                         shiftValueInner(TAP_DRSHIFT, pause?TAP_DRPAUSE:TAP_DRSHIFT, 1, 0);
 676                 }
 677                 else
 678                 {
 679                 }
 680         }
 681         gotoEndState(state);
 682         return ERROR_OK;
 683 }
 684
 685 int interface_jtag_add_plain_dr_scan(int num_fields, const struct scan_field *fields, tap_state_t state)
 686 {
 687         scanFields(num_fields, fields, TAP_DRSHIFT, 1);
 688         gotoEndState(state);
 689         return ERROR_OK;
 690 }
 691
 692
 693 int interface_jtag_add_tlr()
 694 {
 695         setCurrentState(TAP_RESET);
 696         return ERROR_OK;
 697 }
 698
 699
 700
 701
 702 int interface_jtag_add_reset(int req_trst, int req_srst)
 703 {
 704         zy1000_reset(req_trst, req_srst);
 705         return ERROR_OK;
 706 }
 707
 708 static int zy1000_jtag_add_clocks(int num_cycles, tap_state_t state, tap_state_t clockstate)
 709 {
 710         /* num_cycles can be 0 */
 711         setCurrentState(clockstate);
 712
 713         /* execute num_cycles, 32 at the time. */
 714         int i;
 715         for (i = 0; i < num_cycles; i += 32)
 716         {
 717                 int num;
 718                 num = 32;
 719                 if (num_cycles-i < num)
 720                 {
 721                         num = num_cycles-i;
 722                 }
 723                 shiftValueInner(clockstate, clockstate, num, 0);
 724         }
 725
 726 #if !TEST_MANUAL()
 727         /* finish in end_state */
 728         setCurrentState(state);
 729 #else
 730         tap_state_t t = TAP_IDLE;
 731         /* test manual drive code on any target */
 732         int tms;
 733         uint8_t tms_scan = tap_get_tms_path(t, state);
 734         int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 735
 736         for (i = 0; i < tms_count; i++)
 737         {
 738                 tms = (tms_scan >> i) & 1;
 739                 waitIdle();
 740                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28,  tms);
 741         }
 742         waitIdle();
 743         ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
 744 #endif
 745
 746
 747         return ERROR_OK;
 748 }
 749
 750 int interface_jtag_add_runtest(int num_cycles, tap_state_t state)
 751 {
 752         return zy1000_jtag_add_clocks(num_cycles, state, TAP_IDLE);
 753 }
 754
 755 int interface_jtag_add_clocks(int num_cycles)
 756 {
 757         return zy1000_jtag_add_clocks(num_cycles, cmd_queue_cur_state, cmd_queue_cur_state);
 758 }
 759
 760 int interface_jtag_add_sleep(uint32_t us)
 761 {
 762         jtag_sleep(us);
 763         return ERROR_OK;
 764 }
 765
 766 int interface_add_tms_seq(unsigned num_bits, const uint8_t *seq, enum tap_state state)
 767 {
 768         /*wait for the fifo to be empty*/
 769         waitIdle();
 770
 771         for (unsigned i = 0; i < num_bits; i++)
 772         {
 773                 int tms;
 774
 775                 if (((seq[i/8] >> (i % 8)) & 1) == 0)
 776                 {
 777                         tms = 0;
 778                 }
 779                 else
 780                 {
 781                         tms = 1;
 782                 }
 783
 784                 waitIdle();
 785                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, tms);
 786         }
 787
 788         waitIdle();
 789         if (state != TAP_INVALID)
 790         {
 791                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
 792         } else
 793         {
 794                 /* this would be normal if we are switching to SWD mode */
 795         }
 796         return ERROR_OK;
 797 }
 798
 799 int interface_jtag_add_pathmove(int num_states, const tap_state_t *path)
 800 {
 801         int state_count;
 802         int tms = 0;
 803
 804         state_count = 0;
 805
 806         tap_state_t cur_state = cmd_queue_cur_state;
 807
 808         uint8_t seq[16];
 809         memset(seq, 0, sizeof(seq));
 810         assert(num_states < (sizeof(seq) * 8));
 811
 812         while (num_states)
 813         {
 814                 if (tap_state_transition(cur_state, false) == path[state_count])
 815                 {
 816                         tms = 0;
 817                 }
 818                 else if (tap_state_transition(cur_state, true) == path[state_count])
 819                 {
 820                         tms = 1;
 821                 }
 822                 else
 823                 {
 824                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(cur_state), tap_state_name(path[state_count]));
 825                         exit(-1);
 826                 }
 827
 828                 seq[state_count/8] = seq[state_count/8] | (tms << (state_count % 8));
 829
 830                 cur_state = path[state_count];
 831                 state_count++;
 832                 num_states--;
 833         }
 834
 835         return interface_add_tms_seq(state_count, seq, cur_state);
 836 }
 837
 838 void embeddedice_write_dcc(struct jtag_tap *tap, int reg_addr, uint8_t *buffer, int little, int count)
 839 {
 840 //      static int const reg_addr = 0x5;
 841         tap_state_t end_state = jtag_get_end_state();
 842         if (jtag_tap_next_enabled(jtag_tap_next_enabled(NULL)) == NULL)
 843         {
 844                 /* better performance via code duplication */
 845                 if (little)
 846                 {
 847                         int i;
 848                         for (i = 0; i < count; i++)
 849                         {
 850                                 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, 1));
 851                                 shiftValueInner(TAP_DRSHIFT, end_state, 6, reg_addr | (1 << 5));
 852                                 buffer += 4;
 853                         }
 854                 } else
 855                 {
 856                         int i;
 857                         for (i = 0; i < count; i++)
 858                         {
 859                                 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, 0));
 860                                 shiftValueInner(TAP_DRSHIFT, end_state, 6, reg_addr | (1 << 5));
 861                                 buffer += 4;
 862                         }
 863                 }
 864         }
 865         else
 866         {
 867                 int i;
 868                 for (i = 0; i < count; i++)
 869                 {
 870                         embeddedice_write_reg_inner(tap, reg_addr, fast_target_buffer_get_u32(buffer, little));
 871                         buffer += 4;
 872                 }
 873         }
 874 }
 875
 876
 877
 878 int arm11_run_instr_data_to_core_noack_inner(struct jtag_tap * tap, uint32_t opcode, uint32_t * data, size_t count)
 879 {
 880 #if 0
 881         int arm11_run_instr_data_to_core_noack_inner_default(struct jtag_tap * tap, uint32_t opcode, uint32_t * data, size_t count);
 882         return arm11_run_instr_data_to_core_noack_inner_default(tap, opcode, data, count);
 883 #else
 884         static const int bits[] = {32, 2};
 885         uint32_t values[] = {0, 0};
 886
 887         /* FIX!!!!!! the target_write_memory() API started this nasty problem
 888          * with unaligned uint32_t * pointers... */
 889         const uint8_t *t = (const uint8_t *)data;
 890
 891
 892         /* bypass bits before and after */
 893         int pre_bits = 0;
 894         int post_bits = 0;
 895
 896         bool found = false;
 897         struct jtag_tap *cur_tap, *nextTap;
 898         for (cur_tap = jtag_tap_next_enabled(NULL); cur_tap!= NULL; cur_tap = nextTap)
 899         {
 900                 nextTap = jtag_tap_next_enabled(cur_tap);
 901                 if (cur_tap == tap)
 902                 {
 903                         found = true;
 904                 } else
 905                 {
 906                         if (found)
 907                         {
 908                                 post_bits++;
 909                         } else
 910                         {
 911                                 pre_bits++;
 912                         }
 913                 }
 914         }
 915
 916         post_bits+=2;
 917
 918
 919         while (--count > 0)
 920         {
 921                 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0);
 922
 923                 uint32_t value;
 924                 value = *t++;
 925                 value |= (*t++<<8);
 926                 value |= (*t++<<16);
 927                 value |= (*t++<<24);
 928
 929                 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, value);
 930                 shiftValueInner(TAP_DRSHIFT, TAP_DRPAUSE, post_bits, 0);
 931
 932 #if 1
 933                 /* copy & paste from arm11_dbgtap.c */
 934                 //TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT
 935
 936                 waitIdle();
 937                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
 938                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
 939                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 940                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 941                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 942                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
 943                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 944                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 945                 /* we don't have to wait for the queue to empty here. waitIdle();        */
 946                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_DRSHIFT);
 947 #else
 948                 static const tap_state_t arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay[] =
 949                 {
 950                         TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT
 951                 };
 952
 953                 jtag_add_pathmove(ARRAY_SIZE(arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay),
 954                         arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay);
 955 #endif
 956         }
 957
 958         values[0] = *t++;
 959         values[0] |= (*t++<<8);
 960         values[0] |= (*t++<<16);
 961         values[0] |= (*t++<<24);
 962
 963         /* This will happen on the last iteration updating the current tap state
 964          * so we don't have to track it during the common code path */
 965         jtag_add_dr_out(tap,
 966                 2,
 967                 bits,
 968                 values,
 969                 TAP_IDLE);
 970
 971         return jtag_execute_queue();
 972 #endif
 973 }
 974
 975
 976 static const struct command_registration zy1000_commands[] = {
 977         {
 978                 .name = "power",
 979                 .handler = handle_power_command,
 980                 .mode = COMMAND_ANY,
 981                 .help = "Turn power switch to target on/off. "
 982                         "With no arguments, prints status.",
 983                 .usage = "('on'|'off)",
 984         },
 985         {
 986                 .name = "zy1000_version",
 987                 .mode = COMMAND_ANY,
 988                 .jim_handler = jim_zy1000_version,
 989                 .help = "Print version info for zy1000.",
 990                 .usage = "['openocd'|'zy1000'|'date'|'time'|'pcb'|'fpga']",
 991         },
 992         {
 993                 .name = "powerstatus",
 994                 .mode = COMMAND_ANY,
 995                 .jim_handler = zylinjtag_Jim_Command_powerstatus,
 996                 .help = "Returns power status of target",
 997         },
 998 #ifdef CYGPKG_HAL_NIOS2
 999         {
1000                 .name = "updatezy1000firmware",
1001                 .mode = COMMAND_ANY,
1002                 .jim_handler = jim_zy1000_writefirmware,
1003                 .help = "writes firmware to flash",
1004                 /* .usage = "some_string", */
1005         },
1006 #endif
1007         COMMAND_REGISTRATION_DONE
1008 };
1009
1010
1011
1012 struct jtag_interface zy1000_interface =
1013 {
1014         .name = "ZY1000",
1015         .supported = DEBUG_CAP_TMS_SEQ,
1016         .execute_queue = NULL,
1017         .speed = zy1000_speed,
1018         .commands = zy1000_commands,
1019         .init = zy1000_init,
1020         .quit = zy1000_quit,
1021         .khz = zy1000_khz,
1022         .speed_div = zy1000_speed_div,
1023         .power_dropout = zy1000_power_dropout,
1024         .srst_asserted = zy1000_srst_asserted,
1025 };
1026