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 <time.h>
  52 #include <helper/time_support.h>
  53
  54 #include <netinet/tcp.h>
  55
  56 #if BUILD_ECOSBOARD
  57 #include "zy1000_version.h"
  58
  59 #include <cyg/hal/hal_io.h>             // low level i/o
  60 #include <cyg/hal/hal_diag.h>
  61
  62 #ifdef CYGPKG_HAL_NIOS2
  63 #include <cyg/hal/io.h>
  64 #include <cyg/firmwareutil/firmwareutil.h>
  65 #endif
  66
  67 #define ZYLIN_VERSION GIT_ZY1000_VERSION
  68 #define ZYLIN_DATE __DATE__
  69 #define ZYLIN_TIME __TIME__
  70 #define ZYLIN_OPENOCD GIT_OPENOCD_VERSION
  71 #define ZYLIN_OPENOCD_VERSION "ZY1000 " ZYLIN_VERSION " " ZYLIN_DATE
  72
  73 #endif
  74
  75 static int zy1000_khz(int khz, int *jtag_speed)
  76 {
  77         if (khz == 0)
  78         {
  79                 *jtag_speed = 0;
  80         }
  81         else
  82         {
  83                 *jtag_speed = 64000/khz;
  84         }
  85         return ERROR_OK;
  86 }
  87
  88 static int zy1000_speed_div(int speed, int *khz)
  89 {
  90         if (speed == 0)
  91         {
  92                 *khz = 0;
  93         }
  94         else
  95         {
  96                 *khz = 64000/speed;
  97         }
  98
  99         return ERROR_OK;
 100 }
 101
 102 static bool readPowerDropout(void)
 103 {
 104         uint32_t state;
 105         // sample and clear power dropout
 106         ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x80);
 107         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
 108         bool powerDropout;
 109         powerDropout = (state & 0x80) != 0;
 110         return powerDropout;
 111 }
 112
 113
 114 static bool readSRST(void)
 115 {
 116         uint32_t state;
 117         // sample and clear SRST sensing
 118         ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000040);
 119         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
 120         bool srstAsserted;
 121         srstAsserted = (state & 0x40) != 0;
 122         return srstAsserted;
 123 }
 124
 125 static int zy1000_srst_asserted(int *srst_asserted)
 126 {
 127         *srst_asserted = readSRST();
 128         return ERROR_OK;
 129 }
 130
 131 static int zy1000_power_dropout(int *dropout)
 132 {
 133         *dropout = readPowerDropout();
 134         return ERROR_OK;
 135 }
 136
 137 void zy1000_reset(int trst, int srst)
 138 {
 139         LOG_DEBUG("zy1000 trst=%d, srst=%d", trst, srst);
 140
 141         /* flush the JTAG FIFO. Not flushing the queue before messing with
 142          * reset has such interesting bugs as causing hard to reproduce
 143          * RCLK bugs as RCLK will stop responding when TRST is asserted
 144          */
 145         waitIdle();
 146
 147         if (!srst)
 148         {
 149                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000001);
 150         }
 151         else
 152         {
 153                 /* Danger!!! if clk != 0 when in
 154                  * idle in TAP_IDLE, reset halt on str912 will fail.
 155                  */
 156                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000001);
 157         }
 158
 159         if (!trst)
 160         {
 161                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000002);
 162         }
 163         else
 164         {
 165                 /* assert reset */
 166                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000002);
 167         }
 168
 169         if (trst||(srst && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
 170         {
 171                 /* we're now in the RESET state until trst is deasserted */
 172                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_RESET);
 173         } else
 174         {
 175                 /* We'll get RCLK failure when we assert TRST, so clear any false positives here */
 176                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
 177         }
 178
 179         /* wait for srst to float back up */
 180         if ((!srst && ((jtag_get_reset_config() & RESET_TRST_PULLS_SRST) == 0))||
 181                 (!srst && !trst && (jtag_get_reset_config() & RESET_TRST_PULLS_SRST)))
 182         {
 183                 bool first = true;
 184                 long long start = 0;
 185                 long total = 0;
 186                 for (;;)
 187                 {
 188                         // We don't want to sense our own reset, so we clear here.
 189                         // There is of course a timing hole where we could loose
 190                         // a "real" reset.
 191                         if (!readSRST())
 192                         {
 193                                 if (total > 1)
 194                                 {
 195                                   LOG_USER("SRST took %dms to deassert", (int)total);
 196                                 }
 197                                 break;
 198                         }
 199
 200                         if (first)
 201                         {
 202                             first = false;
 203                             start = timeval_ms();
 204                         }
 205
 206                         total = timeval_ms() - start;
 207
 208                         keep_alive();
 209
 210                         if (total > 5000)
 211                         {
 212                                 LOG_ERROR("SRST took too long to deassert: %dms", (int)total);
 213                             break;
 214                         }
 215                 }
 216
 217         }
 218 }
 219
 220 int zy1000_speed(int speed)
 221 {
 222         /* flush JTAG master FIFO before setting speed */
 223         waitIdle();
 224
 225         if (speed == 0)
 226         {
 227                 /*0 means RCLK*/
 228                 speed = 0;
 229                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x100);
 230                 LOG_DEBUG("jtag_speed using RCLK");
 231         }
 232         else
 233         {
 234                 if (speed > 8190 || speed < 2)
 235                 {
 236                         LOG_USER("valid ZY1000 jtag_speed=[8190,2]. Divisor is 64MHz / even values between 8190-2, i.e. min 7814Hz, max 32MHz");
 237                         return ERROR_INVALID_ARGUMENTS;
 238                 }
 239
 240                 LOG_USER("jtag_speed %d => JTAG clk=%f", speed, 64.0/(float)speed);
 241                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x100);
 242                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x1c, speed&~1);
 243         }
 244         return ERROR_OK;
 245 }
 246
 247 static bool savePower;
 248
 249
 250 static void setPower(bool power)
 251 {
 252         savePower = power;
 253         if (power)
 254         {
 255                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x8);
 256         } else
 257         {
 258                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x8);
 259         }
 260 }
 261
 262 COMMAND_HANDLER(handle_power_command)
 263 {
 264         switch (CMD_ARGC)
 265         {
 266         case 1: {
 267                 bool enable;
 268                 COMMAND_PARSE_ON_OFF(CMD_ARGV[0], enable);
 269                 setPower(enable);
 270                 // fall through
 271         }
 272         case 0:
 273                 LOG_INFO("Target power %s", savePower ? "on" : "off");
 274                 break;
 275         default:
 276                 return ERROR_INVALID_ARGUMENTS;
 277         }
 278
 279         return ERROR_OK;
 280 }
 281
 282 #if !BUILD_ECOSBOARD
 283 static char *tcp_server = "notspecified";
 284 static int jim_zy1000_server(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 285 {
 286         if (argc != 2)
 287                 return JIM_ERR;
 288
 289         tcp_server = strdup(Jim_GetString(argv[1], NULL));
 290
 291         return JIM_OK;
 292 }
 293 #endif
 294
 295 #if BUILD_ECOSBOARD
 296 /* Give TELNET a way to find out what version this is */
 297 static int jim_zy1000_version(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 298 {
 299         if ((argc < 1) || (argc > 3))
 300                 return JIM_ERR;
 301         const char *version_str = NULL;
 302
 303         if (argc == 1)
 304         {
 305                 version_str = ZYLIN_OPENOCD_VERSION;
 306         } else
 307         {
 308                 const char *str = Jim_GetString(argv[1], NULL);
 309                 const char *str2 = NULL;
 310                 if (argc > 2)
 311                         str2 = Jim_GetString(argv[2], NULL);
 312                 if (strcmp("openocd", str) == 0)
 313                 {
 314                         version_str = ZYLIN_OPENOCD;
 315                 }
 316                 else if (strcmp("zy1000", str) == 0)
 317                 {
 318                         version_str = ZYLIN_VERSION;
 319                 }
 320                 else if (strcmp("date", str) == 0)
 321                 {
 322                         version_str = ZYLIN_DATE;
 323                 }
 324                 else if (strcmp("time", str) == 0)
 325                 {
 326                         version_str = ZYLIN_TIME;
 327                 }
 328                 else if (strcmp("pcb", str) == 0)
 329                 {
 330 #ifdef CYGPKG_HAL_NIOS2
 331                         version_str="c";
 332 #else
 333                         version_str="b";
 334 #endif
 335                 }
 336 #ifdef CYGPKG_HAL_NIOS2
 337                 else if (strcmp("fpga", str) == 0)
 338                 {
 339
 340                         /* return a list of 32 bit integers to describe the expected
 341                          * and actual FPGA
 342                          */
 343                         static char *fpga_id = "0x12345678 0x12345678 0x12345678 0x12345678";
 344                         uint32_t id, timestamp;
 345                         HAL_READ_UINT32(SYSID_BASE, id);
 346                         HAL_READ_UINT32(SYSID_BASE+4, timestamp);
 347                         sprintf(fpga_id, "0x%08x 0x%08x 0x%08x 0x%08x", id, timestamp, SYSID_ID, SYSID_TIMESTAMP);
 348                         version_str = fpga_id;
 349                         if ((argc>2) && (strcmp("time", str2) == 0))
 350                         {
 351                             time_t last_mod = timestamp;
 352                             char * t = ctime (&last_mod) ;
 353                             t[strlen(t)-1] = 0;
 354                             version_str = t;
 355                         }
 356                 }
 357 #endif
 358
 359                 else
 360                 {
 361                         return JIM_ERR;
 362                 }
 363         }
 364
 365         Jim_SetResult(interp, Jim_NewStringObj(interp, version_str, -1));
 366
 367         return JIM_OK;
 368 }
 369 #endif
 370
 371 #ifdef CYGPKG_HAL_NIOS2
 372
 373
 374 struct info_forward
 375 {
 376         void *data;
 377         struct cyg_upgrade_info *upgraded_file;
 378 };
 379
 380 static void report_info(void *data, const char * format, va_list args)
 381 {
 382         char *s = alloc_vprintf(format, args);
 383         LOG_USER_N("%s", s);
 384         free(s);
 385 }
 386
 387 struct cyg_upgrade_info firmware_info =
 388 {
 389                 (uint8_t *)0x84000000,
 390                 "/ram/firmware.phi",
 391                 "Firmware",
 392                 0x0300000,
 393                 0x1f00000 -
 394                 0x0300000,
 395                 "ZylinNiosFirmware\n",
 396                 report_info,
 397 };
 398
 399 static int jim_zy1000_writefirmware(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 400 {
 401         if (argc != 2)
 402                 return JIM_ERR;
 403
 404         int length;
 405         const char *str = Jim_GetString(argv[1], &length);
 406
 407         /* */
 408         int tmpFile;
 409         if ((tmpFile = open(firmware_info.file, O_RDWR | O_CREAT | O_TRUNC)) <= 0)
 410         {
 411                 return JIM_ERR;
 412         }
 413         bool success;
 414         success = write(tmpFile, str, length) == length;
 415         close(tmpFile);
 416         if (!success)
 417                 return JIM_ERR;
 418
 419         if (!cyg_firmware_upgrade(NULL, firmware_info))
 420                 return JIM_ERR;
 421
 422         return JIM_OK;
 423 }
 424 #endif
 425
 426 static int
 427 zylinjtag_Jim_Command_powerstatus(Jim_Interp *interp,
 428                                                                    int argc,
 429                 Jim_Obj * const *argv)
 430 {
 431         if (argc != 1)
 432         {
 433                 Jim_WrongNumArgs(interp, 1, argv, "powerstatus");
 434                 return JIM_ERR;
 435         }
 436
 437         bool dropout = readPowerDropout();
 438
 439         Jim_SetResult(interp, Jim_NewIntObj(interp, dropout));
 440
 441         return JIM_OK;
 442 }
 443
 444
 445
 446 int zy1000_quit(void)
 447 {
 448
 449         return ERROR_OK;
 450 }
 451
 452
 453
 454 int interface_jtag_execute_queue(void)
 455 {
 456         uint32_t empty;
 457
 458         waitIdle();
 459         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, empty);
 460         /* clear JTAG error register */
 461         ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
 462
 463         if ((empty&0x400) != 0)
 464         {
 465                 LOG_WARNING("RCLK timeout");
 466                 /* the error is informative only as we don't want to break the firmware if there
 467                  * is a false positive.
 468                  */
 469 //              return ERROR_FAIL;
 470         }
 471         return ERROR_OK;
 472 }
 473
 474
 475
 476
 477
 478 static uint32_t getShiftValue(void)
 479 {
 480         uint32_t value;
 481         waitIdle();
 482         ZY1000_PEEK(ZY1000_JTAG_BASE + 0xc, value);
 483         VERBOSE(LOG_INFO("getShiftValue %08x", value));
 484         return value;
 485 }
 486 #if 0
 487 static uint32_t getShiftValueFlip(void)
 488 {
 489         uint32_t value;
 490         waitIdle();
 491         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x18, value);
 492         VERBOSE(LOG_INFO("getShiftValue %08x (flipped)", value));
 493         return value;
 494 }
 495 #endif
 496
 497 #if 0
 498 static void shiftValueInnerFlip(const tap_state_t state, const tap_state_t endState, int repeat, uint32_t value)
 499 {
 500         VERBOSE(LOG_INFO("shiftValueInner %s %s %d %08x (flipped)", tap_state_name(state), tap_state_name(endState), repeat, value));
 501         uint32_t a,b;
 502         a = state;
 503         b = endState;
 504         ZY1000_POKE(ZY1000_JTAG_BASE + 0xc, value);
 505         ZY1000_POKE(ZY1000_JTAG_BASE + 0x8, (1 << 15) | (repeat << 8) | (a << 4) | b);
 506         VERBOSE(getShiftValueFlip());
 507 }
 508 #endif
 509
 510 // here we shuffle N bits out/in
 511 static __inline void scanBits(const uint8_t *out_value, uint8_t *in_value, int num_bits, bool pause, tap_state_t shiftState, tap_state_t end_state)
 512 {
 513         tap_state_t pause_state = shiftState;
 514         for (int j = 0; j < num_bits; j += 32)
 515         {
 516                 int k = num_bits - j;
 517                 if (k > 32)
 518                 {
 519                         k = 32;
 520                         /* we have more to shift out */
 521                 } else if (pause)
 522                 {
 523                         /* this was the last to shift out this time */
 524                         pause_state = end_state;
 525                 }
 526
 527                 // we have (num_bits + 7)/8 bytes of bits to toggle out.
 528                 // bits are pushed out LSB to MSB
 529                 uint32_t value;
 530                 value = 0;
 531                 if (out_value != NULL)
 532                 {
 533                         for (int l = 0; l < k; l += 8)
 534                         {
 535                                 value|=out_value[(j + l)/8]<<l;
 536                         }
 537                 }
 538                 /* mask away unused bits for easier debugging */
 539                 if (k < 32)
 540                 {
 541                         value&=~(((uint32_t)0xffffffff) << k);
 542                 } else
 543                 {
 544                         /* Shifting by >= 32 is not defined by the C standard
 545                          * and will in fact shift by &0x1f bits on nios */
 546                 }
 547
 548                 shiftValueInner(shiftState, pause_state, k, value);
 549
 550                 if (in_value != NULL)
 551                 {
 552                         // data in, LSB to MSB
 553                         value = getShiftValue();
 554                         // we're shifting in data to MSB, shift data to be aligned for returning the value
 555                         value >>= 32-k;
 556
 557                         for (int l = 0; l < k; l += 8)
 558                         {
 559                                 in_value[(j + l)/8]=(value >> l)&0xff;
 560                         }
 561                 }
 562         }
 563 }
 564
 565 static __inline void scanFields(int num_fields, const struct scan_field *fields, tap_state_t shiftState, tap_state_t end_state)
 566 {
 567         for (int i = 0; i < num_fields; i++)
 568         {
 569                 scanBits(fields[i].out_value,
 570                                 fields[i].in_value,
 571                                 fields[i].num_bits,
 572                                 (i == num_fields-1),
 573                                 shiftState,
 574                                 end_state);
 575         }
 576 }
 577
 578 int interface_jtag_add_ir_scan(struct jtag_tap *active, const struct scan_field *fields, tap_state_t state)
 579 {
 580         int scan_size = 0;
 581         struct jtag_tap *tap, *nextTap;
 582         tap_state_t pause_state = TAP_IRSHIFT;
 583
 584         for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
 585         {
 586                 nextTap = jtag_tap_next_enabled(tap);
 587                 if (nextTap==NULL)
 588                 {
 589                         pause_state = state;
 590                 }
 591                 scan_size = tap->ir_length;
 592
 593                 /* search the list */
 594                 if (tap == active)
 595                 {
 596                         scanFields(1, fields, TAP_IRSHIFT, pause_state);
 597                         /* update device information */
 598                         buf_cpy(fields[0].out_value, tap->cur_instr, scan_size);
 599
 600                         tap->bypass = 0;
 601                 } else
 602                 {
 603                         /* if a device isn't listed, set it to BYPASS */
 604                         assert(scan_size <= 32);
 605                         shiftValueInner(TAP_IRSHIFT, pause_state, scan_size, 0xffffffff);
 606
 607                         tap->bypass = 1;
 608                 }
 609         }
 610
 611         return ERROR_OK;
 612 }
 613
 614
 615
 616
 617
 618 int interface_jtag_add_plain_ir_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state)
 619 {
 620         scanBits(out_bits, in_bits, num_bits, true, TAP_IRSHIFT, state);
 621         return ERROR_OK;
 622 }
 623
 624 int interface_jtag_add_dr_scan(struct jtag_tap *active, int num_fields, const struct scan_field *fields, tap_state_t state)
 625 {
 626         struct jtag_tap *tap, *nextTap;
 627         tap_state_t pause_state = TAP_DRSHIFT;
 628         for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
 629         {
 630                 nextTap = jtag_tap_next_enabled(tap);
 631                 if (nextTap==NULL)
 632                 {
 633                         pause_state = state;
 634                 }
 635
 636                 /* Find a range of fields to write to this tap */
 637                 if (tap == active)
 638                 {
 639                         assert(!tap->bypass);
 640
 641                         scanFields(num_fields, fields, TAP_DRSHIFT, pause_state);
 642                 } else
 643                 {
 644                         /* Shift out a 0 for disabled tap's */
 645                         assert(tap->bypass);
 646                         shiftValueInner(TAP_DRSHIFT, pause_state, 1, 0);
 647                 }
 648         }
 649         return ERROR_OK;
 650 }
 651
 652 int interface_jtag_add_plain_dr_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state)
 653 {
 654         scanBits(out_bits, in_bits, num_bits, true, TAP_DRSHIFT, state);
 655         return ERROR_OK;
 656 }
 657
 658 int interface_jtag_add_tlr()
 659 {
 660         setCurrentState(TAP_RESET);
 661         return ERROR_OK;
 662 }
 663
 664
 665 int interface_jtag_add_reset(int req_trst, int req_srst)
 666 {
 667         zy1000_reset(req_trst, req_srst);
 668         return ERROR_OK;
 669 }
 670
 671 static int zy1000_jtag_add_clocks(int num_cycles, tap_state_t state, tap_state_t clockstate)
 672 {
 673         /* num_cycles can be 0 */
 674         setCurrentState(clockstate);
 675
 676         /* execute num_cycles, 32 at the time. */
 677         int i;
 678         for (i = 0; i < num_cycles; i += 32)
 679         {
 680                 int num;
 681                 num = 32;
 682                 if (num_cycles-i < num)
 683                 {
 684                         num = num_cycles-i;
 685                 }
 686                 shiftValueInner(clockstate, clockstate, num, 0);
 687         }
 688
 689 #if !TEST_MANUAL()
 690         /* finish in end_state */
 691         setCurrentState(state);
 692 #else
 693         tap_state_t t = TAP_IDLE;
 694         /* test manual drive code on any target */
 695         int tms;
 696         uint8_t tms_scan = tap_get_tms_path(t, state);
 697         int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 698
 699         for (i = 0; i < tms_count; i++)
 700         {
 701                 tms = (tms_scan >> i) & 1;
 702                 waitIdle();
 703                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28,  tms);
 704         }
 705         waitIdle();
 706         ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
 707 #endif
 708
 709         return ERROR_OK;
 710 }
 711
 712 int interface_jtag_add_runtest(int num_cycles, tap_state_t state)
 713 {
 714         return zy1000_jtag_add_clocks(num_cycles, state, TAP_IDLE);
 715 }
 716
 717 int interface_jtag_add_clocks(int num_cycles)
 718 {
 719         return zy1000_jtag_add_clocks(num_cycles, cmd_queue_cur_state, cmd_queue_cur_state);
 720 }
 721
 722 int interface_add_tms_seq(unsigned num_bits, const uint8_t *seq, enum tap_state state)
 723 {
 724         /*wait for the fifo to be empty*/
 725         waitIdle();
 726
 727         for (unsigned i = 0; i < num_bits; i++)
 728         {
 729                 int tms;
 730
 731                 if (((seq[i/8] >> (i % 8)) & 1) == 0)
 732                 {
 733                         tms = 0;
 734                 }
 735                 else
 736                 {
 737                         tms = 1;
 738                 }
 739
 740                 waitIdle();
 741                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, tms);
 742         }
 743
 744         waitIdle();
 745         if (state != TAP_INVALID)
 746         {
 747                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
 748         } else
 749         {
 750                 /* this would be normal if we are switching to SWD mode */
 751         }
 752         return ERROR_OK;
 753 }
 754
 755 int interface_jtag_add_pathmove(int num_states, const tap_state_t *path)
 756 {
 757         int state_count;
 758         int tms = 0;
 759
 760         state_count = 0;
 761
 762         tap_state_t cur_state = cmd_queue_cur_state;
 763
 764         uint8_t seq[16];
 765         memset(seq, 0, sizeof(seq));
 766         assert(num_states < (int)((sizeof(seq) * 8)));
 767
 768         while (num_states)
 769         {
 770                 if (tap_state_transition(cur_state, false) == path[state_count])
 771                 {
 772                         tms = 0;
 773                 }
 774                 else if (tap_state_transition(cur_state, true) == path[state_count])
 775                 {
 776                         tms = 1;
 777                 }
 778                 else
 779                 {
 780                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(cur_state), tap_state_name(path[state_count]));
 781                         exit(-1);
 782                 }
 783
 784                 seq[state_count/8] = seq[state_count/8] | (tms << (state_count % 8));
 785
 786                 cur_state = path[state_count];
 787                 state_count++;
 788                 num_states--;
 789         }
 790
 791         return interface_add_tms_seq(state_count, seq, cur_state);
 792 }
 793
 794 static void jtag_pre_post_bits(struct jtag_tap *tap, int *pre, int *post)
 795 {
 796         /* bypass bits before and after */
 797         int pre_bits = 0;
 798         int post_bits = 0;
 799
 800         bool found = false;
 801         struct jtag_tap *cur_tap, *nextTap;
 802         for (cur_tap = jtag_tap_next_enabled(NULL); cur_tap!= NULL; cur_tap = nextTap)
 803         {
 804                 nextTap = jtag_tap_next_enabled(cur_tap);
 805                 if (cur_tap == tap)
 806                 {
 807                         found = true;
 808                 } else
 809                 {
 810                         if (found)
 811                         {
 812                                 post_bits++;
 813                         } else
 814                         {
 815                                 pre_bits++;
 816                         }
 817                 }
 818         }
 819         *pre = pre_bits;
 820         *post = post_bits;
 821 }
 822
 823 void embeddedice_write_dcc(struct jtag_tap *tap, int reg_addr, uint8_t *buffer, int little, int count)
 824 {
 825
 826         int pre_bits;
 827         int post_bits;
 828         jtag_pre_post_bits(tap, &pre_bits, &post_bits);
 829
 830         if (pre_bits + post_bits + 6 > 32)
 831         {
 832                 int i;
 833                 for (i = 0; i < count; i++)
 834                 {
 835                         embeddedice_write_reg_inner(tap, reg_addr, fast_target_buffer_get_u32(buffer, little));
 836                         buffer += 4;
 837                 }
 838         } else
 839         {
 840                 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0);
 841                 int i;
 842                 for (i = 0; i < count - 1; i++)
 843                 {
 844                         /* Fewer pokes means we get to use the FIFO more efficiently */
 845                         shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, little));
 846                         shiftValueInner(TAP_DRSHIFT, TAP_IDLE, 6 + post_bits + pre_bits, (reg_addr | (1 << 5)));
 847                         buffer += 4;
 848                 }
 849                 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, little));
 850                 shiftValueInner(TAP_DRSHIFT, TAP_IDLE, 6 + post_bits, (reg_addr | (1 << 5)));
 851         }
 852 }
 853
 854
 855
 856 int arm11_run_instr_data_to_core_noack_inner(struct jtag_tap * tap, uint32_t opcode, uint32_t * data, size_t count)
 857 {
 858 #if 0
 859         int arm11_run_instr_data_to_core_noack_inner_default(struct jtag_tap * tap, uint32_t opcode, uint32_t * data, size_t count);
 860         return arm11_run_instr_data_to_core_noack_inner_default(tap, opcode, data, count);
 861 #else
 862         static const int bits[] = {32, 2};
 863         uint32_t values[] = {0, 0};
 864
 865         /* FIX!!!!!! the target_write_memory() API started this nasty problem
 866          * with unaligned uint32_t * pointers... */
 867         const uint8_t *t = (const uint8_t *)data;
 868
 869
 870         /* bypass bits before and after */
 871         int pre_bits;
 872         int post_bits;
 873         jtag_pre_post_bits(tap, &pre_bits, &post_bits);
 874
 875         bool found = false;
 876         struct jtag_tap *cur_tap, *nextTap;
 877         for (cur_tap = jtag_tap_next_enabled(NULL); cur_tap!= NULL; cur_tap = nextTap)
 878         {
 879                 nextTap = jtag_tap_next_enabled(cur_tap);
 880                 if (cur_tap == tap)
 881                 {
 882                         found = true;
 883                 } else
 884                 {
 885                         if (found)
 886                         {
 887                                 post_bits++;
 888                         } else
 889                         {
 890                                 pre_bits++;
 891                         }
 892                 }
 893         }
 894
 895         post_bits+=2;
 896
 897
 898         while (--count > 0)
 899         {
 900                 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0);
 901
 902                 uint32_t value;
 903                 value = *t++;
 904                 value |= (*t++<<8);
 905                 value |= (*t++<<16);
 906                 value |= (*t++<<24);
 907
 908                 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, value);
 909                 /* minimum 2 bits */
 910                 shiftValueInner(TAP_DRSHIFT, TAP_DRPAUSE, post_bits, 0);
 911
 912 #if 1
 913                 /* copy & paste from arm11_dbgtap.c */
 914                 //TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT
 915
 916                 waitIdle();
 917                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
 918                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
 919                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 920                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 921                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 922                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
 923                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 924                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 925                 /* we don't have to wait for the queue to empty here. waitIdle();        */
 926                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_DRSHIFT);
 927 #else
 928                 static const tap_state_t arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay[] =
 929                 {
 930                         TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT
 931                 };
 932
 933                 jtag_add_pathmove(ARRAY_SIZE(arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay),
 934                         arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay);
 935 #endif
 936         }
 937
 938         values[0] = *t++;
 939         values[0] |= (*t++<<8);
 940         values[0] |= (*t++<<16);
 941         values[0] |= (*t++<<24);
 942
 943         /* This will happen on the last iteration updating the current tap state
 944          * so we don't have to track it during the common code path */
 945         jtag_add_dr_out(tap,
 946                 2,
 947                 bits,
 948                 values,
 949                 TAP_IDLE);
 950
 951         return jtag_execute_queue();
 952 #endif
 953 }
 954
 955
 956 static const struct command_registration zy1000_commands[] = {
 957         {
 958                 .name = "power",
 959                 .handler = handle_power_command,
 960                 .mode = COMMAND_ANY,
 961                 .help = "Turn power switch to target on/off. "
 962                         "With no arguments, prints status.",
 963                 .usage = "('on'|'off)",
 964         },
 965 #if BUILD_ECOSBOARD
 966         {
 967                 .name = "zy1000_version",
 968                 .mode = COMMAND_ANY,
 969                 .jim_handler = jim_zy1000_version,
 970                 .help = "Print version info for zy1000.",
 971                 .usage = "['openocd'|'zy1000'|'date'|'time'|'pcb'|'fpga']",
 972         },
 973 #else
 974         {
 975                 .name = "zy1000_server",
 976                 .mode = COMMAND_ANY,
 977                 .jim_handler = jim_zy1000_server,
 978                 .help = "Tcpip address for ZY1000 server.",
 979                 .usage = "address",
 980         },
 981 #endif
 982         {
 983                 .name = "powerstatus",
 984                 .mode = COMMAND_ANY,
 985                 .jim_handler = zylinjtag_Jim_Command_powerstatus,
 986                 .help = "Returns power status of target",
 987         },
 988 #ifdef CYGPKG_HAL_NIOS2
 989         {
 990                 .name = "updatezy1000firmware",
 991                 .mode = COMMAND_ANY,
 992                 .jim_handler = jim_zy1000_writefirmware,
 993                 .help = "writes firmware to flash",
 994                 /* .usage = "some_string", */
 995         },
 996 #endif
 997         COMMAND_REGISTRATION_DONE
 998 };
 999
1000
1001 static int tcp_ip = -1;
1002
1003 /* Write large packets if we can */
1004 static size_t out_pos;
1005 static uint8_t out_buffer[16384];
1006 static size_t in_pos;
1007 static size_t in_write;
1008 static uint8_t in_buffer[16384];
1009
1010 static bool flush_writes(void)
1011 {
1012         bool ok = (write(tcp_ip, out_buffer, out_pos) == (int)out_pos);
1013         out_pos = 0;
1014         return ok;
1015 }
1016
1017 static bool writeLong(uint32_t l)
1018 {
1019         int i;
1020         for (i = 0; i < 4; i++)
1021         {
1022                 uint8_t c = (l >> (i*8))&0xff;
1023                 out_buffer[out_pos++] = c;
1024                 if (out_pos >= sizeof(out_buffer))
1025                 {
1026                         if (!flush_writes())
1027                         {
1028                                 return false;
1029                         }
1030                 }
1031         }
1032         return true;
1033 }
1034
1035 static bool readLong(uint32_t *out_data)
1036 {
1037         if (out_pos > 0)
1038         {
1039                 if (!flush_writes())
1040                 {
1041                         return false;
1042                 }
1043         }
1044
1045         uint32_t data = 0;
1046         int i;
1047         for (i = 0; i < 4; i++)
1048         {
1049                 uint8_t c;
1050                 if (in_pos == in_write)
1051                 {
1052                         /* read more */
1053                         int t;
1054                         t = read(tcp_ip, in_buffer, sizeof(in_buffer));
1055                         if (t < 1)
1056                         {
1057                                 return false;
1058                         }
1059                         in_write = (size_t) t;
1060                         in_pos = 0;
1061                 }
1062                 c = in_buffer[in_pos++];
1063
1064                 data |= (c << (i*8));
1065         }
1066         *out_data = data;
1067         return true;
1068 }
1069
1070 enum ZY1000_CMD
1071 {
1072         ZY1000_CMD_POKE = 0x0,
1073         ZY1000_CMD_PEEK = 0x8,
1074         ZY1000_CMD_SLEEP = 0x1,
1075 };
1076
1077
1078 #if !BUILD_ECOSBOARD
1079
1080 #include <sys/socket.h> /* for socket(), connect(), send(), and recv() */
1081 #include <arpa/inet.h>  /* for sockaddr_in and inet_addr() */
1082
1083 /* We initialize this late since we need to know the server address
1084  * first.
1085  */
1086 static void tcpip_open(void)
1087 {
1088         if (tcp_ip >= 0)
1089                 return;
1090
1091         struct sockaddr_in echoServAddr; /* Echo server address */
1092
1093         /* Create a reliable, stream socket using TCP */
1094         if ((tcp_ip = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP)) < 0)
1095         {
1096                 fprintf(stderr, "Failed to connect to zy1000 server\n");
1097                 exit(-1);
1098         }
1099
1100         /* Construct the server address structure */
1101         memset(&echoServAddr, 0, sizeof(echoServAddr)); /* Zero out structure */
1102         echoServAddr.sin_family = AF_INET; /* Internet address family */
1103         echoServAddr.sin_addr.s_addr = inet_addr(tcp_server); /* Server IP address */
1104         echoServAddr.sin_port = htons(7777); /* Server port */
1105
1106         /* Establish the connection to the echo server */
1107         if (connect(tcp_ip, (struct sockaddr *) &echoServAddr, sizeof(echoServAddr)) < 0)
1108         {
1109                 fprintf(stderr, "Failed to connect to zy1000 server\n");
1110                 exit(-1);
1111         }
1112
1113         int flag = 1;
1114         setsockopt(tcp_ip,      /* socket affected */
1115                         IPPROTO_TCP,            /* set option at TCP level */
1116                         TCP_NODELAY,            /* name of option */
1117                         (char *)&flag,          /* the cast is historical cruft */
1118                         sizeof(int));           /* length of option value */
1119
1120 }
1121
1122
1123 /* send a poke */
1124 void zy1000_tcpout(uint32_t address, uint32_t data)
1125 {
1126         tcpip_open();
1127         if (!writeLong((ZY1000_CMD_POKE << 24) | address)||
1128                         !writeLong(data))
1129         {
1130                 fprintf(stderr, "Could not write to zy1000 server\n");
1131                 exit(-1);
1132         }
1133 }
1134
1135 uint32_t zy1000_tcpin(uint32_t address)
1136 {
1137         tcpip_open();
1138         uint32_t data;
1139         if (!writeLong((ZY1000_CMD_PEEK << 24) | address)||
1140                         !readLong(&data))
1141         {
1142                 fprintf(stderr, "Could not read from zy1000 server\n");
1143                 exit(-1);
1144         }
1145         return data;
1146 }
1147
1148 int interface_jtag_add_sleep(uint32_t us)
1149 {
1150         tcpip_open();
1151         if (!writeLong((ZY1000_CMD_SLEEP << 24))||
1152                         !writeLong(us))
1153         {
1154                 fprintf(stderr, "Could not read from zy1000 server\n");
1155                 exit(-1);
1156         }
1157         return ERROR_OK;
1158 }
1159
1160
1161 #endif
1162
1163 #if BUILD_ECOSBOARD
1164 static char tcpip_stack[2048];
1165
1166 static cyg_thread tcpip_thread_object;
1167 static cyg_handle_t tcpip_thread_handle;
1168
1169 /* Infinite loop peeking & poking */
1170 static void tcpipserver(void)
1171 {
1172         for (;;)
1173         {
1174                 uint32_t address;
1175                 if (!readLong(&address))
1176                         return;
1177                 enum ZY1000_CMD c = (address >> 24) & 0xff;
1178                 address &= 0xffffff;
1179                 switch (c)
1180                 {
1181                         case ZY1000_CMD_POKE:
1182                         {
1183                                 uint32_t data;
1184                                 if (!readLong(&data))
1185                                         return;
1186                                 address &= ~0x80000000;
1187                                 ZY1000_POKE(address + ZY1000_JTAG_BASE, data);
1188                                 break;
1189                         }
1190                         case ZY1000_CMD_PEEK:
1191                         {
1192                                 uint32_t data;
1193                                 ZY1000_PEEK(address + ZY1000_JTAG_BASE, data);
1194                                 if (!writeLong(data))
1195                                         return;
1196                                 break;
1197                         }
1198                         case ZY1000_CMD_SLEEP:
1199                         {
1200                                 uint32_t data;
1201                                 if (!readLong(&data))
1202                                         return;
1203                                 jtag_sleep(data);
1204                                 break;
1205                         }
1206                         default:
1207                                 return;
1208                 }
1209         }
1210 }
1211
1212
1213 static void tcpip_server(cyg_addrword_t data)
1214 {
1215         int so_reuseaddr_option = 1;
1216
1217         int fd;
1218         if ((fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
1219         {
1220                 LOG_ERROR("error creating socket: %s", strerror(errno));
1221                 exit(-1);
1222         }
1223
1224         setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, (void*) &so_reuseaddr_option,
1225                         sizeof(int));
1226
1227         struct sockaddr_in sin;
1228         unsigned int address_size;
1229         address_size = sizeof(sin);
1230         memset(&sin, 0, sizeof(sin));
1231         sin.sin_family = AF_INET;
1232         sin.sin_addr.s_addr = INADDR_ANY;
1233         sin.sin_port = htons(7777);
1234
1235         if (bind(fd, (struct sockaddr *) &sin, sizeof(sin)) == -1)
1236         {
1237                 LOG_ERROR("couldn't bind to socket: %s", strerror(errno));
1238                 exit(-1);
1239         }
1240
1241         if (listen(fd, 1) == -1)
1242         {
1243                 LOG_ERROR("couldn't listen on socket: %s", strerror(errno));
1244                 exit(-1);
1245         }
1246
1247
1248         for (;;)
1249         {
1250                 tcp_ip = accept(fd, (struct sockaddr *) &sin, &address_size);
1251                 if (tcp_ip < 0)
1252                 {
1253                         continue;
1254                 }
1255
1256                 int flag = 1;
1257                 setsockopt(tcp_ip,      /* socket affected */
1258                                 IPPROTO_TCP,            /* set option at TCP level */
1259                                 TCP_NODELAY,            /* name of option */
1260                                 (char *)&flag,          /* the cast is historical cruft */
1261                                 sizeof(int));           /* length of option value */
1262
1263                 bool save_poll = jtag_poll_get_enabled();
1264
1265                 /* polling will screw up the "connection" */
1266                 jtag_poll_set_enabled(false);
1267
1268                 tcpipserver();
1269
1270                 jtag_poll_set_enabled(save_poll);
1271
1272                 close(tcp_ip);
1273
1274         }
1275         close(fd);
1276
1277 }
1278
1279 int interface_jtag_add_sleep(uint32_t us)
1280 {
1281         jtag_sleep(us);
1282         return ERROR_OK;
1283 }
1284
1285 #endif
1286
1287
1288 int zy1000_init(void)
1289 {
1290 #if BUILD_ECOSBOARD
1291         LOG_USER("%s", ZYLIN_OPENOCD_VERSION);
1292 #endif
1293
1294         ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x30); // Turn on LED1 & LED2
1295
1296         setPower(true); // on by default
1297
1298
1299          /* deassert resets. Important to avoid infinite loop waiting for SRST to deassert */
1300         zy1000_reset(0, 0);
1301         zy1000_speed(jtag_get_speed());
1302
1303
1304 #if BUILD_ECOSBOARD
1305         cyg_thread_create(1, tcpip_server, (cyg_addrword_t) 0, "tcip/ip server",
1306                         (void *) tcpip_stack, sizeof(tcpip_stack),
1307                         &tcpip_thread_handle, &tcpip_thread_object);
1308         cyg_thread_resume(tcpip_thread_handle);
1309 #endif
1310
1311         return ERROR_OK;
1312 }
1313
1314
1315
1316 struct jtag_interface zy1000_interface =
1317 {
1318         .name = "ZY1000",
1319         .supported = DEBUG_CAP_TMS_SEQ,
1320         .execute_queue = NULL,
1321         .speed = zy1000_speed,
1322         .commands = zy1000_commands,
1323         .init = zy1000_init,
1324         .quit = zy1000_quit,
1325         .khz = zy1000_khz,
1326         .speed_div = zy1000_speed_div,
1327         .power_dropout = zy1000_power_dropout,
1328         .srst_asserted = zy1000_srst_asserted,
1329 };
1330