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