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