1 /***************************************************************************
2 * Copyright (C) 2007-2010 by Øyvind Harboe *
4 * This program is free software; you can redistribute it and/or modify *
5 * it under the terms of the GNU General Public License as published by *
6 * the Free Software Foundation; either version 2 of the License, or *
7 * (at your option) any later version. *
9 * This program is distributed in the hope that it will be useful, *
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
12 * GNU General Public License for more details. *
14 * You should have received a copy of the GNU General Public License *
15 * along with this program; if not, write to the *
16 * Free Software Foundation, Inc., *
17 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
18 ***************************************************************************/
20 /* This file supports the zy1000 debugger: http://www.zylin.com/zy1000.html
22 * The zy1000 is a standalone debugger that has a web interface and
23 * requires no drivers on the developer host as all communication
24 * is via TCP/IP. The zy1000 gets it performance(~400-700kBytes/s
25 * DCC downloads @ 16MHz target) as it has an FPGA to hardware
26 * accelerate the JTAG commands, while offering *very* low latency
27 * between OpenOCD and the FPGA registers.
29 * The disadvantage of the zy1000 is that it has a feeble CPU compared to
30 * a PC(ca. 50-500 DMIPS depending on how one counts it), whereas a PC
31 * is on the order of 10000 DMIPS(i.e. at a factor of 20-200).
33 * The zy1000 revc hardware is using an Altera Nios CPU, whereas the
34 * revb is using ARM7 + Xilinx.
36 * See Zylin web pages or contact Zylin for more information.
38 * The reason this code is in OpenOCD rather than OpenOCD linked with the
39 * ZY1000 code is that OpenOCD is the long road towards getting
40 * libopenocd into place. libopenocd will support both low performance,
41 * low latency systems(embedded) and high performance high latency
48 #include <target/embeddedice.h>
49 #include <jtag/minidriver.h>
50 #include <jtag/interface.h>
52 #include <helper/time_support.h>
54 #include <netinet/tcp.h>
57 #include "zy1000_version.h"
59 #include <cyg/hal/hal_io.h> // low level i/o
60 #include <cyg/hal/hal_diag.h>
62 #ifdef CYGPKG_HAL_NIOS2
63 #include <cyg/hal/io.h>
64 #include <cyg/firmwareutil/firmwareutil.h>
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
76 /* The software needs to check if it's in RCLK mode or not */
77 static bool zy1000_rclk = false;
79 static int zy1000_khz(int khz, int *jtag_speed)
87 *jtag_speed = 64000/khz;
92 static int zy1000_speed_div(int speed, int *khz)
106 static bool readPowerDropout(void)
109 // sample and clear power dropout
110 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x80);
111 ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
113 powerDropout = (state & 0x80) != 0;
118 static bool readSRST(void)
121 // sample and clear SRST sensing
122 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000040);
123 ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
125 srstAsserted = (state & 0x40) != 0;
129 static int zy1000_srst_asserted(int *srst_asserted)
131 *srst_asserted = readSRST();
135 static int zy1000_power_dropout(int *dropout)
137 *dropout = readPowerDropout();
141 void zy1000_reset(int trst, int srst)
143 LOG_DEBUG("zy1000 trst=%d, srst=%d", trst, srst);
145 /* flush the JTAG FIFO. Not flushing the queue before messing with
146 * reset has such interesting bugs as causing hard to reproduce
147 * RCLK bugs as RCLK will stop responding when TRST is asserted
153 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000001);
157 /* Danger!!! if clk != 0 when in
158 * idle in TAP_IDLE, reset halt on str912 will fail.
160 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000001);
165 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000002);
170 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000002);
173 if (trst||(srst && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
175 /* we're now in the RESET state until trst is deasserted */
176 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_RESET);
179 /* We'll get RCLK failure when we assert TRST, so clear any false positives here */
180 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
183 /* wait for srst to float back up */
184 if ((!srst && ((jtag_get_reset_config() & RESET_TRST_PULLS_SRST) == 0))||
185 (!srst && !trst && (jtag_get_reset_config() & RESET_TRST_PULLS_SRST)))
192 // We don't want to sense our own reset, so we clear here.
193 // There is of course a timing hole where we could loose
199 LOG_USER("SRST took %dms to deassert", (int)total);
207 start = timeval_ms();
210 total = timeval_ms() - start;
216 LOG_ERROR("SRST took too long to deassert: %dms", (int)total);
224 int zy1000_speed(int speed)
226 /* flush JTAG master FIFO before setting speed */
234 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x100);
236 LOG_DEBUG("jtag_speed using RCLK");
240 if (speed > 8190 || speed < 2)
242 LOG_USER("valid ZY1000 jtag_speed=[8190,2]. Divisor is 64MHz / even values between 8190-2, i.e. min 7814Hz, max 32MHz");
243 return ERROR_INVALID_ARGUMENTS;
246 LOG_USER("jtag_speed %d => JTAG clk=%f", speed, 64.0/(float)speed);
247 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x100);
248 ZY1000_POKE(ZY1000_JTAG_BASE + 0x1c, speed&~1);
253 static bool savePower;
256 static void setPower(bool power)
261 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x8);
264 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x8);
268 COMMAND_HANDLER(handle_power_command)
274 COMMAND_PARSE_ON_OFF(CMD_ARGV[0], enable);
279 LOG_INFO("Target power %s", savePower ? "on" : "off");
282 return ERROR_INVALID_ARGUMENTS;
289 static char *tcp_server = "notspecified";
290 static int jim_zy1000_server(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
295 tcp_server = strdup(Jim_GetString(argv[1], NULL));
302 /* Give TELNET a way to find out what version this is */
303 static int jim_zy1000_version(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
305 if ((argc < 1) || (argc > 3))
307 const char *version_str = NULL;
311 version_str = ZYLIN_OPENOCD_VERSION;
314 const char *str = Jim_GetString(argv[1], NULL);
315 const char *str2 = NULL;
317 str2 = Jim_GetString(argv[2], NULL);
318 if (strcmp("openocd", str) == 0)
320 version_str = ZYLIN_OPENOCD;
322 else if (strcmp("zy1000", str) == 0)
324 version_str = ZYLIN_VERSION;
326 else if (strcmp("date", str) == 0)
328 version_str = ZYLIN_DATE;
330 else if (strcmp("time", str) == 0)
332 version_str = ZYLIN_TIME;
334 else if (strcmp("pcb", str) == 0)
336 #ifdef CYGPKG_HAL_NIOS2
342 #ifdef CYGPKG_HAL_NIOS2
343 else if (strcmp("fpga", str) == 0)
346 /* return a list of 32 bit integers to describe the expected
349 static char *fpga_id = "0x12345678 0x12345678 0x12345678 0x12345678";
350 uint32_t id, timestamp;
351 HAL_READ_UINT32(SYSID_BASE, id);
352 HAL_READ_UINT32(SYSID_BASE+4, timestamp);
353 sprintf(fpga_id, "0x%08x 0x%08x 0x%08x 0x%08x", id, timestamp, SYSID_ID, SYSID_TIMESTAMP);
354 version_str = fpga_id;
355 if ((argc>2) && (strcmp("time", str2) == 0))
357 time_t last_mod = timestamp;
358 char * t = ctime (&last_mod) ;
371 Jim_SetResult(interp, Jim_NewStringObj(interp, version_str, -1));
377 #ifdef CYGPKG_HAL_NIOS2
383 struct cyg_upgrade_info *upgraded_file;
386 static void report_info(void *data, const char * format, va_list args)
388 char *s = alloc_vprintf(format, args);
393 struct cyg_upgrade_info firmware_info =
395 (uint8_t *)0x84000000,
401 "ZylinNiosFirmware\n",
405 static int jim_zy1000_writefirmware(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
411 const char *str = Jim_GetString(argv[1], &length);
415 if ((tmpFile = open(firmware_info.file, O_RDWR | O_CREAT | O_TRUNC)) <= 0)
420 success = write(tmpFile, str, length) == length;
425 if (!cyg_firmware_upgrade(NULL, firmware_info))
433 zylinjtag_Jim_Command_powerstatus(Jim_Interp *interp,
435 Jim_Obj * const *argv)
439 Jim_WrongNumArgs(interp, 1, argv, "powerstatus");
443 bool dropout = readPowerDropout();
445 Jim_SetResult(interp, Jim_NewIntObj(interp, dropout));
452 int zy1000_quit(void)
460 int interface_jtag_execute_queue(void)
466 /* We must make sure to write data read back to memory location before we return
469 zy1000_flush_readqueue();
471 /* and handle any callbacks... */
472 zy1000_flush_callbackqueue();
476 /* Only check for errors when using RCLK to speed up
479 ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, empty);
480 /* clear JTAG error register */
481 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
483 if ((empty&0x400) != 0)
485 LOG_WARNING("RCLK timeout");
486 /* the error is informative only as we don't want to break the firmware if there
487 * is a false positive.
489 // return ERROR_FAIL;
498 static void writeShiftValue(uint8_t *data, int bits);
500 // here we shuffle N bits out/in
501 static __inline void scanBits(const uint8_t *out_value, uint8_t *in_value, int num_bits, bool pause_now, tap_state_t shiftState, tap_state_t end_state)
503 tap_state_t pause_state = shiftState;
504 for (int j = 0; j < num_bits; j += 32)
506 int k = num_bits - j;
510 /* we have more to shift out */
511 } else if (pause_now)
513 /* this was the last to shift out this time */
514 pause_state = end_state;
517 // we have (num_bits + 7)/8 bytes of bits to toggle out.
518 // bits are pushed out LSB to MSB
521 if (out_value != NULL)
523 for (int l = 0; l < k; l += 8)
525 value|=out_value[(j + l)/8]<<l;
528 /* mask away unused bits for easier debugging */
531 value&=~(((uint32_t)0xffffffff) << k);
534 /* Shifting by >= 32 is not defined by the C standard
535 * and will in fact shift by &0x1f bits on nios */
538 shiftValueInner(shiftState, pause_state, k, value);
540 if (in_value != NULL)
542 writeShiftValue(in_value + (j/8), k);
547 static __inline void scanFields(int num_fields, const struct scan_field *fields, tap_state_t shiftState, tap_state_t end_state)
549 for (int i = 0; i < num_fields; i++)
551 scanBits(fields[i].out_value,
560 int interface_jtag_add_ir_scan(struct jtag_tap *active, const struct scan_field *fields, tap_state_t state)
563 struct jtag_tap *tap, *nextTap;
564 tap_state_t pause_state = TAP_IRSHIFT;
566 for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
568 nextTap = jtag_tap_next_enabled(tap);
573 scan_size = tap->ir_length;
575 /* search the list */
578 scanFields(1, fields, TAP_IRSHIFT, pause_state);
579 /* update device information */
580 buf_cpy(fields[0].out_value, tap->cur_instr, scan_size);
585 /* if a device isn't listed, set it to BYPASS */
586 assert(scan_size <= 32);
587 shiftValueInner(TAP_IRSHIFT, pause_state, scan_size, 0xffffffff);
600 int interface_jtag_add_plain_ir_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state)
602 scanBits(out_bits, in_bits, num_bits, true, TAP_IRSHIFT, state);
606 int interface_jtag_add_dr_scan(struct jtag_tap *active, int num_fields, const struct scan_field *fields, tap_state_t state)
608 struct jtag_tap *tap, *nextTap;
609 tap_state_t pause_state = TAP_DRSHIFT;
610 for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
612 nextTap = jtag_tap_next_enabled(tap);
618 /* Find a range of fields to write to this tap */
621 assert(!tap->bypass);
623 scanFields(num_fields, fields, TAP_DRSHIFT, pause_state);
626 /* Shift out a 0 for disabled tap's */
628 shiftValueInner(TAP_DRSHIFT, pause_state, 1, 0);
634 int interface_jtag_add_plain_dr_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state)
636 scanBits(out_bits, in_bits, num_bits, true, TAP_DRSHIFT, state);
640 int interface_jtag_add_tlr()
642 setCurrentState(TAP_RESET);
647 int interface_jtag_add_reset(int req_trst, int req_srst)
649 zy1000_reset(req_trst, req_srst);
653 static int zy1000_jtag_add_clocks(int num_cycles, tap_state_t state, tap_state_t clockstate)
655 /* num_cycles can be 0 */
656 setCurrentState(clockstate);
658 /* execute num_cycles, 32 at the time. */
660 for (i = 0; i < num_cycles; i += 32)
664 if (num_cycles-i < num)
668 shiftValueInner(clockstate, clockstate, num, 0);
672 /* finish in end_state */
673 setCurrentState(state);
675 tap_state_t t = TAP_IDLE;
676 /* test manual drive code on any target */
678 uint8_t tms_scan = tap_get_tms_path(t, state);
679 int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
681 for (i = 0; i < tms_count; i++)
683 tms = (tms_scan >> i) & 1;
685 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, tms);
688 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
694 int interface_jtag_add_runtest(int num_cycles, tap_state_t state)
696 return zy1000_jtag_add_clocks(num_cycles, state, TAP_IDLE);
699 int interface_jtag_add_clocks(int num_cycles)
701 return zy1000_jtag_add_clocks(num_cycles, cmd_queue_cur_state, cmd_queue_cur_state);
704 int interface_add_tms_seq(unsigned num_bits, const uint8_t *seq, enum tap_state state)
706 /*wait for the fifo to be empty*/
709 for (unsigned i = 0; i < num_bits; i++)
713 if (((seq[i/8] >> (i % 8)) & 1) == 0)
723 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, tms);
727 if (state != TAP_INVALID)
729 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
732 /* this would be normal if we are switching to SWD mode */
737 int interface_jtag_add_pathmove(int num_states, const tap_state_t *path)
744 tap_state_t cur_state = cmd_queue_cur_state;
747 memset(seq, 0, sizeof(seq));
748 assert(num_states < (int)((sizeof(seq) * 8)));
752 if (tap_state_transition(cur_state, false) == path[state_count])
756 else if (tap_state_transition(cur_state, true) == path[state_count])
762 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(cur_state), tap_state_name(path[state_count]));
766 seq[state_count/8] = seq[state_count/8] | (tms << (state_count % 8));
768 cur_state = path[state_count];
773 return interface_add_tms_seq(state_count, seq, cur_state);
776 static void jtag_pre_post_bits(struct jtag_tap *tap, int *pre, int *post)
778 /* bypass bits before and after */
783 struct jtag_tap *cur_tap, *nextTap;
784 for (cur_tap = jtag_tap_next_enabled(NULL); cur_tap!= NULL; cur_tap = nextTap)
786 nextTap = jtag_tap_next_enabled(cur_tap);
806 static const int embeddedice_num_bits[] = {32, 6};
810 values[1] = (1 << 5) | reg_addr;
814 embeddedice_num_bits,
819 void embeddedice_write_dcc(struct jtag_tap *tap, int reg_addr, uint8_t *buffer, int little, int count)
823 for (i = 0; i < count; i++)
825 embeddedice_write_reg_inner(tap, reg_addr, fast_target_buffer_get_u32(buffer, little));
831 jtag_pre_post_bits(tap, &pre_bits, &post_bits);
833 if ((pre_bits > 32) || (post_bits + 6 > 32))
836 for (i = 0; i < count; i++)
838 embeddedice_write_reg_inner(tap, reg_addr, fast_target_buffer_get_u32(buffer, little));
844 for (i = 0; i < count; i++)
846 /* Fewer pokes means we get to use the FIFO more efficiently */
847 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0);
848 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, little));
849 /* Danger! here we need to exit into the TAP_IDLE state to make
850 * DCC pick up this value.
852 shiftValueInner(TAP_DRSHIFT, TAP_IDLE, 6 + post_bits, (reg_addr | (1 << 5)));
861 int arm11_run_instr_data_to_core_noack_inner(struct jtag_tap * tap, uint32_t opcode, uint32_t * data, size_t count)
863 /* bypass bits before and after */
866 jtag_pre_post_bits(tap, &pre_bits, &post_bits);
869 if ((pre_bits > 32) || (post_bits > 32))
871 int arm11_run_instr_data_to_core_noack_inner_default(struct jtag_tap *, uint32_t, uint32_t *, size_t);
872 return arm11_run_instr_data_to_core_noack_inner_default(tap, opcode, data, count);
875 static const int bits[] = {32, 2};
876 uint32_t values[] = {0, 0};
878 /* FIX!!!!!! the target_write_memory() API started this nasty problem
879 * with unaligned uint32_t * pointers... */
880 const uint8_t *t = (const uint8_t *)data;
885 /* Danger! This code doesn't update cmd_queue_cur_state, so
886 * invoking jtag_add_pathmove() before jtag_add_dr_out() after
887 * this loop would fail!
889 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0);
897 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, value);
899 shiftValueInner(TAP_DRSHIFT, TAP_DRPAUSE, post_bits, 0);
901 /* copy & paste from arm11_dbgtap.c */
902 //TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT
903 /* KLUDGE! we have to flush the fifo or the Nios CPU locks up.
904 * This is probably a bug in the Avalon bus(cross clocking bridge?)
905 * or in the jtag registers module.
908 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
909 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
910 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
911 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
912 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
913 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
914 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
915 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
916 /* we don't have to wait for the queue to empty here */
917 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_DRSHIFT);
920 static const tap_state_t arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay[] =
922 TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT
926 values[0] |= (*t++<<8);
927 values[0] |= (*t++<<16);
928 values[0] |= (*t++<<24);
936 jtag_add_pathmove(ARRAY_SIZE(arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay),
937 arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay);
942 values[0] |= (*t++<<8);
943 values[0] |= (*t++<<16);
944 values[0] |= (*t++<<24);
946 /* This will happen on the last iteration updating cmd_queue_cur_state
947 * so we don't have to track it during the common code path
955 return jtag_execute_queue();
960 static const struct command_registration zy1000_commands[] = {
963 .handler = handle_power_command,
965 .help = "Turn power switch to target on/off. "
966 "With no arguments, prints status.",
967 .usage = "('on'|'off)",
971 .name = "zy1000_version",
973 .jim_handler = jim_zy1000_version,
974 .help = "Print version info for zy1000.",
975 .usage = "['openocd'|'zy1000'|'date'|'time'|'pcb'|'fpga']",
979 .name = "zy1000_server",
981 .jim_handler = jim_zy1000_server,
982 .help = "Tcpip address for ZY1000 server.",
987 .name = "powerstatus",
989 .jim_handler = zylinjtag_Jim_Command_powerstatus,
990 .help = "Returns power status of target",
992 #ifdef CYGPKG_HAL_NIOS2
994 .name = "updatezy1000firmware",
996 .jim_handler = jim_zy1000_writefirmware,
997 .help = "writes firmware to flash",
998 /* .usage = "some_string", */
1001 COMMAND_REGISTRATION_DONE
1005 static int tcp_ip = -1;
1007 /* Write large packets if we can */
1008 static size_t out_pos;
1009 static uint8_t out_buffer[16384];
1010 static size_t in_pos;
1011 static size_t in_write;
1012 static uint8_t in_buffer[16384];
1014 static bool flush_writes(void)
1016 bool ok = (write(tcp_ip, out_buffer, out_pos) == (int)out_pos);
1021 static bool writeLong(uint32_t l)
1024 for (i = 0; i < 4; i++)
1026 uint8_t c = (l >> (i*8))&0xff;
1027 out_buffer[out_pos++] = c;
1028 if (out_pos >= sizeof(out_buffer))
1030 if (!flush_writes())
1039 static bool readLong(uint32_t *out_data)
1043 if (!flush_writes())
1051 for (i = 0; i < 4; i++)
1054 if (in_pos == in_write)
1058 t = read(tcp_ip, in_buffer, sizeof(in_buffer));
1063 in_write = (size_t) t;
1066 c = in_buffer[in_pos++];
1068 data |= (c << (i*8));
1076 ZY1000_CMD_POKE = 0x0,
1077 ZY1000_CMD_PEEK = 0x8,
1078 ZY1000_CMD_SLEEP = 0x1,
1079 ZY1000_CMD_WAITIDLE = 2
1083 #if !BUILD_ECOSBOARD
1085 #include <sys/socket.h> /* for socket(), connect(), send(), and recv() */
1086 #include <arpa/inet.h> /* for sockaddr_in and inet_addr() */
1088 /* We initialize this late since we need to know the server address
1091 static void tcpip_open(void)
1096 struct sockaddr_in echoServAddr; /* Echo server address */
1098 /* Create a reliable, stream socket using TCP */
1099 if ((tcp_ip = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP)) < 0)
1101 fprintf(stderr, "Failed to connect to zy1000 server\n");
1105 /* Construct the server address structure */
1106 memset(&echoServAddr, 0, sizeof(echoServAddr)); /* Zero out structure */
1107 echoServAddr.sin_family = AF_INET; /* Internet address family */
1108 echoServAddr.sin_addr.s_addr = inet_addr(tcp_server); /* Server IP address */
1109 echoServAddr.sin_port = htons(7777); /* Server port */
1111 /* Establish the connection to the echo server */
1112 if (connect(tcp_ip, (struct sockaddr *) &echoServAddr, sizeof(echoServAddr)) < 0)
1114 fprintf(stderr, "Failed to connect to zy1000 server\n");
1119 setsockopt(tcp_ip, /* socket affected */
1120 IPPROTO_TCP, /* set option at TCP level */
1121 TCP_NODELAY, /* name of option */
1122 (char *)&flag, /* the cast is historical cruft */
1123 sizeof(int)); /* length of option value */
1129 void zy1000_tcpout(uint32_t address, uint32_t data)
1132 if (!writeLong((ZY1000_CMD_POKE << 24) | address)||
1135 fprintf(stderr, "Could not write to zy1000 server\n");
1140 /* By sending the wait to the server, we avoid a readback
1141 * of status. Radically improves performance for this operation
1142 * with long ping times.
1147 if (!writeLong((ZY1000_CMD_WAITIDLE << 24)))
1149 fprintf(stderr, "Could not write to zy1000 server\n");
1154 uint32_t zy1000_tcpin(uint32_t address)
1158 zy1000_flush_readqueue();
1161 if (!writeLong((ZY1000_CMD_PEEK << 24) | address)||
1164 fprintf(stderr, "Could not read from zy1000 server\n");
1170 int interface_jtag_add_sleep(uint32_t us)
1173 if (!writeLong((ZY1000_CMD_SLEEP << 24))||
1176 fprintf(stderr, "Could not read from zy1000 server\n");
1182 /* queue a readback */
1183 #define readqueue_size 16384
1188 } readqueue[readqueue_size];
1190 static int readqueue_pos = 0;
1192 /* flush the readqueue, this means reading any data that
1193 * we're expecting and store them into the final position
1195 void zy1000_flush_readqueue(void)
1197 if (readqueue_pos == 0)
1199 /* simply debugging by allowing easy breakpoints when there
1200 * is something to do. */
1205 for (i = 0; i < readqueue_pos; i++)
1208 if (!readLong(&value))
1210 fprintf(stderr, "Could not read from zy1000 server\n");
1214 uint8_t *in_value = readqueue[i].dest;
1215 int k = readqueue[i].bits;
1217 // we're shifting in data to MSB, shift data to be aligned for returning the value
1220 for (int l = 0; l < k; l += 8)
1222 in_value[l/8]=(value >> l)&0xff;
1228 /* By queuing the callback's we avoid flushing the
1229 read queue until jtag_execute_queue(). This can
1230 reduce latency dramatically for cases where
1231 callbacks are used extensively.
1233 #define callbackqueue_size 128
1234 static struct callbackentry
1236 jtag_callback_t callback;
1237 jtag_callback_data_t data0;
1238 jtag_callback_data_t data1;
1239 jtag_callback_data_t data2;
1240 jtag_callback_data_t data3;
1241 } callbackqueue[callbackqueue_size];
1243 static int callbackqueue_pos = 0;
1245 void zy1000_jtag_add_callback4(jtag_callback_t callback, jtag_callback_data_t data0, jtag_callback_data_t data1, jtag_callback_data_t data2, jtag_callback_data_t data3)
1247 if (callbackqueue_pos >= callbackqueue_size)
1249 zy1000_flush_callbackqueue();
1252 callbackqueue[callbackqueue_pos].callback = callback;
1253 callbackqueue[callbackqueue_pos].data0 = data0;
1254 callbackqueue[callbackqueue_pos].data1 = data1;
1255 callbackqueue[callbackqueue_pos].data2 = data2;
1256 callbackqueue[callbackqueue_pos].data3 = data3;
1257 callbackqueue_pos++;
1260 static int zy1000_jtag_convert_to_callback4(jtag_callback_data_t data0, jtag_callback_data_t data1, jtag_callback_data_t data2, jtag_callback_data_t data3)
1262 ((jtag_callback1_t)data1)(data0);
1266 void zy1000_jtag_add_callback(jtag_callback1_t callback, jtag_callback_data_t data0)
1268 zy1000_jtag_add_callback4(zy1000_jtag_convert_to_callback4, data0, (jtag_callback_data_t)callback, 0, 0);
1271 void zy1000_flush_callbackqueue(void)
1273 /* we have to flush the read queue so we have access to
1274 the data the callbacks will use
1276 zy1000_flush_readqueue();
1278 for (i = 0; i < callbackqueue_pos; i++)
1280 struct callbackentry *entry = &callbackqueue[i];
1281 jtag_set_error(entry->callback(entry->data0, entry->data1, entry->data2, entry->data3));
1283 callbackqueue_pos = 0;
1286 static void writeShiftValue(uint8_t *data, int bits)
1290 if (!writeLong((ZY1000_CMD_PEEK << 24) | (ZY1000_JTAG_BASE + 0xc)))
1292 fprintf(stderr, "Could not read from zy1000 server\n");
1296 if (readqueue_pos >= readqueue_size)
1298 zy1000_flush_readqueue();
1301 readqueue[readqueue_pos].dest = data;
1302 readqueue[readqueue_pos].bits = bits;
1308 static void writeShiftValue(uint8_t *data, int bits)
1312 ZY1000_PEEK(ZY1000_JTAG_BASE + 0xc, value);
1313 VERBOSE(LOG_INFO("getShiftValue %08x", value));
1315 // data in, LSB to MSB
1316 // we're shifting in data to MSB, shift data to be aligned for returning the value
1317 value >>= 32 - bits;
1319 for (int l = 0; l < bits; l += 8)
1321 data[l/8]=(value >> l)&0xff;
1328 static char tcpip_stack[2048];
1329 static cyg_thread tcpip_thread_object;
1330 static cyg_handle_t tcpip_thread_handle;
1332 static char watchdog_stack[2048];
1333 static cyg_thread watchdog_thread_object;
1334 static cyg_handle_t watchdog_thread_handle;
1336 /* Infinite loop peeking & poking */
1337 static void tcpipserver(void)
1342 if (!readLong(&address))
1344 enum ZY1000_CMD c = (address >> 24) & 0xff;
1345 address &= 0xffffff;
1348 case ZY1000_CMD_POKE:
1351 if (!readLong(&data))
1353 address &= ~0x80000000;
1354 ZY1000_POKE(address + ZY1000_JTAG_BASE, data);
1357 case ZY1000_CMD_PEEK:
1360 ZY1000_PEEK(address + ZY1000_JTAG_BASE, data);
1361 if (!writeLong(data))
1365 case ZY1000_CMD_SLEEP:
1368 if (!readLong(&data))
1373 case ZY1000_CMD_WAITIDLE:
1385 static void tcpip_server(cyg_addrword_t data)
1387 int so_reuseaddr_option = 1;
1390 if ((fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
1392 LOG_ERROR("error creating socket: %s", strerror(errno));
1396 setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, (void*) &so_reuseaddr_option,
1399 struct sockaddr_in sin;
1400 unsigned int address_size;
1401 address_size = sizeof(sin);
1402 memset(&sin, 0, sizeof(sin));
1403 sin.sin_family = AF_INET;
1404 sin.sin_addr.s_addr = INADDR_ANY;
1405 sin.sin_port = htons(7777);
1407 if (bind(fd, (struct sockaddr *) &sin, sizeof(sin)) == -1)
1409 LOG_ERROR("couldn't bind to socket: %s", strerror(errno));
1413 if (listen(fd, 1) == -1)
1415 LOG_ERROR("couldn't listen on socket: %s", strerror(errno));
1422 tcp_ip = accept(fd, (struct sockaddr *) &sin, &address_size);
1429 setsockopt(tcp_ip, /* socket affected */
1430 IPPROTO_TCP, /* set option at TCP level */
1431 TCP_NODELAY, /* name of option */
1432 (char *)&flag, /* the cast is historical cruft */
1433 sizeof(int)); /* length of option value */
1435 bool save_poll = jtag_poll_get_enabled();
1437 /* polling will screw up the "connection" */
1438 jtag_poll_set_enabled(false);
1442 jtag_poll_set_enabled(save_poll);
1451 #ifdef WATCHDOG_BASE
1452 /* If we connect to port 8888 we must send a char every 10s or the board resets itself */
1453 static void watchdog_server(cyg_addrword_t data)
1455 int so_reuseaddr_option = 1;
1458 if ((fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
1460 LOG_ERROR("error creating socket: %s", strerror(errno));
1464 setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, (void*) &so_reuseaddr_option,
1467 struct sockaddr_in sin;
1468 unsigned int address_size;
1469 address_size = sizeof(sin);
1470 memset(&sin, 0, sizeof(sin));
1471 sin.sin_family = AF_INET;
1472 sin.sin_addr.s_addr = INADDR_ANY;
1473 sin.sin_port = htons(8888);
1475 if (bind(fd, (struct sockaddr *) &sin, sizeof(sin)) == -1)
1477 LOG_ERROR("couldn't bind to socket: %s", strerror(errno));
1481 if (listen(fd, 1) == -1)
1483 LOG_ERROR("couldn't listen on socket: %s", strerror(errno));
1490 int watchdog_ip = accept(fd, (struct sockaddr *) &sin, &address_size);
1492 /* Start watchdog, must be reset every 10 seconds. */
1493 HAL_WRITE_UINT32(WATCHDOG_BASE + 4, 4);
1495 if (watchdog_ip < 0)
1497 LOG_ERROR("couldn't open watchdog socket: %s", strerror(errno));
1502 setsockopt(watchdog_ip, /* socket affected */
1503 IPPROTO_TCP, /* set option at TCP level */
1504 TCP_NODELAY, /* name of option */
1505 (char *)&flag, /* the cast is historical cruft */
1506 sizeof(int)); /* length of option value */
1512 if (read(watchdog_ip, &buf, 1) == 1)
1515 HAL_WRITE_UINT32(WATCHDOG_BASE + 8, 0x1234);
1516 /* Echo so we can telnet in and see that resetting works */
1517 write(watchdog_ip, &buf, 1);
1520 /* Stop tickling the watchdog, the CPU will reset in < 10 seconds
1533 int interface_jtag_add_sleep(uint32_t us)
1542 int zy1000_init(void)
1545 LOG_USER("%s", ZYLIN_OPENOCD_VERSION);
1548 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x30); // Turn on LED1 & LED2
1550 setPower(true); // on by default
1553 /* deassert resets. Important to avoid infinite loop waiting for SRST to deassert */
1555 zy1000_speed(jtag_get_speed());
1559 cyg_thread_create(1, tcpip_server, (cyg_addrword_t) 0, "tcip/ip server",
1560 (void *) tcpip_stack, sizeof(tcpip_stack),
1561 &tcpip_thread_handle, &tcpip_thread_object);
1562 cyg_thread_resume(tcpip_thread_handle);
1563 #ifdef WATCHDOG_BASE
1564 cyg_thread_create(1, watchdog_server, (cyg_addrword_t) 0, "watchdog tcip/ip server",
1565 (void *) watchdog_stack, sizeof(watchdog_stack),
1566 &watchdog_thread_handle, &watchdog_thread_object);
1567 cyg_thread_resume(watchdog_thread_handle);
1576 struct jtag_interface zy1000_interface =
1579 .supported = DEBUG_CAP_TMS_SEQ,
1580 .execute_queue = NULL,
1581 .speed = zy1000_speed,
1582 .commands = zy1000_commands,
1583 .init = zy1000_init,
1584 .quit = zy1000_quit,
1586 .speed_div = zy1000_speed_div,
1587 .power_dropout = zy1000_power_dropout,
1588 .srst_asserted = zy1000_srst_asserted,