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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                         keep_alive();
 209
 210                         if (total > 5000)
 211                         {
 212                                 LOG_ERROR("SRST took too long to deassert: %dms", (int)total);
 213                             break;
 214                         }
 215                 }
 216
 217         }
 218 }
 219
 220 int zy1000_speed(int speed)
 221 {
 222         /* flush JTAG master FIFO before setting speed */
 223         waitIdle();
 224
 225         if (speed == 0)
 226         {
 227                 /*0 means RCLK*/
 228                 speed = 0;
 229                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x100);
 230                 LOG_DEBUG("jtag_speed using RCLK");
 231         }
 232         else
 233         {
 234                 if (speed > 8190 || speed < 2)
 235                 {
 236                         LOG_USER("valid ZY1000 jtag_speed=[8190,2]. Divisor is 64MHz / even values between 8190-2, i.e. min 7814Hz, max 32MHz");
 237                         return ERROR_INVALID_ARGUMENTS;
 238                 }
 239
 240                 LOG_USER("jtag_speed %d => JTAG clk=%f", speed, 64.0/(float)speed);
 241                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x100);
 242                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x1c, speed&~1);
 243         }
 244         return ERROR_OK;
 245 }
 246
 247 static bool savePower;
 248
 249
 250 static void setPower(bool power)
 251 {
 252         savePower = power;
 253         if (power)
 254         {
 255                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x8);
 256         } else
 257         {
 258                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x8);
 259         }
 260 }
 261
 262 COMMAND_HANDLER(handle_power_command)
 263 {
 264         switch (CMD_ARGC)
 265         {
 266         case 1: {
 267                 bool enable;
 268                 COMMAND_PARSE_ON_OFF(CMD_ARGV[0], enable);
 269                 setPower(enable);
 270                 // fall through
 271         }
 272         case 0:
 273                 LOG_INFO("Target power %s", savePower ? "on" : "off");
 274                 break;
 275         default:
 276                 return ERROR_INVALID_ARGUMENTS;
 277         }
 278
 279         return ERROR_OK;
 280 }
 281
 282 #if !BUILD_ECOSBOARD
 283 static char *tcp_server = "notspecified";
 284 static int jim_zy1000_server(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 285 {
 286         if (argc != 2)
 287                 return JIM_ERR;
 288
 289         tcp_server = strdup(Jim_GetString(argv[1], NULL));
 290
 291         return JIM_OK;
 292 }
 293 #endif
 294
 295 #if BUILD_ECOSBOARD
 296 /* Give TELNET a way to find out what version this is */
 297 static int jim_zy1000_version(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 298 {
 299         if ((argc < 1) || (argc > 3))
 300                 return JIM_ERR;
 301         const char *version_str = NULL;
 302
 303         if (argc == 1)
 304         {
 305                 version_str = ZYLIN_OPENOCD_VERSION;
 306         } else
 307         {
 308                 const char *str = Jim_GetString(argv[1], NULL);
 309                 const char *str2 = NULL;
 310                 if (argc > 2)
 311                         str2 = Jim_GetString(argv[2], NULL);
 312                 if (strcmp("openocd", str) == 0)
 313                 {
 314                         version_str = ZYLIN_OPENOCD;
 315                 }
 316                 else if (strcmp("zy1000", str) == 0)
 317                 {
 318                         version_str = ZYLIN_VERSION;
 319                 }
 320                 else if (strcmp("date", str) == 0)
 321                 {
 322                         version_str = ZYLIN_DATE;
 323                 }
 324                 else if (strcmp("time", str) == 0)
 325                 {
 326                         version_str = ZYLIN_TIME;
 327                 }
 328                 else if (strcmp("pcb", str) == 0)
 329                 {
 330 #ifdef CYGPKG_HAL_NIOS2
 331                         version_str="c";
 332 #else
 333                         version_str="b";
 334 #endif
 335                 }
 336 #ifdef CYGPKG_HAL_NIOS2
 337                 else if (strcmp("fpga", str) == 0)
 338                 {
 339
 340                         /* return a list of 32 bit integers to describe the expected
 341                          * and actual FPGA
 342                          */
 343                         static char *fpga_id = "0x12345678 0x12345678 0x12345678 0x12345678";
 344                         uint32_t id, timestamp;
 345                         HAL_READ_UINT32(SYSID_BASE, id);
 346                         HAL_READ_UINT32(SYSID_BASE+4, timestamp);
 347                         sprintf(fpga_id, "0x%08x 0x%08x 0x%08x 0x%08x", id, timestamp, SYSID_ID, SYSID_TIMESTAMP);
 348                         version_str = fpga_id;
 349                         if ((argc>2) && (strcmp("time", str2) == 0))
 350                         {
 351                             time_t last_mod = timestamp;
 352                             char * t = ctime (&last_mod) ;
 353                             t[strlen(t)-1] = 0;
 354                             version_str = t;
 355                         }
 356                 }
 357 #endif
 358
 359                 else
 360                 {
 361                         return JIM_ERR;
 362                 }
 363         }
 364
 365         Jim_SetResult(interp, Jim_NewStringObj(interp, version_str, -1));
 366
 367         return JIM_OK;
 368 }
 369 #endif
 370
 371 #ifdef CYGPKG_HAL_NIOS2
 372
 373
 374 struct info_forward
 375 {
 376         void *data;
 377         struct cyg_upgrade_info *upgraded_file;
 378 };
 379
 380 static void report_info(void *data, const char * format, va_list args)
 381 {
 382         char *s = alloc_vprintf(format, args);
 383         LOG_USER_N("%s", s);
 384         free(s);
 385 }
 386
 387 struct cyg_upgrade_info firmware_info =
 388 {
 389                 (uint8_t *)0x84000000,
 390                 "/ram/firmware.phi",
 391                 "Firmware",
 392                 0x0300000,
 393                 0x1f00000 -
 394                 0x0300000,
 395                 "ZylinNiosFirmware\n",
 396                 report_info,
 397 };
 398
 399 static int jim_zy1000_writefirmware(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 400 {
 401         if (argc != 2)
 402                 return JIM_ERR;
 403
 404         int length;
 405         const char *str = Jim_GetString(argv[1], &length);
 406
 407         /* */
 408         int tmpFile;
 409         if ((tmpFile = open(firmware_info.file, O_RDWR | O_CREAT | O_TRUNC)) <= 0)
 410         {
 411                 return JIM_ERR;
 412         }
 413         bool success;
 414         success = write(tmpFile, str, length) == length;
 415         close(tmpFile);
 416         if (!success)
 417                 return JIM_ERR;
 418
 419         if (!cyg_firmware_upgrade(NULL, firmware_info))
 420                 return JIM_ERR;
 421
 422         return JIM_OK;
 423 }
 424 #endif
 425
 426 static int
 427 zylinjtag_Jim_Command_powerstatus(Jim_Interp *interp,
 428                                                                    int argc,
 429                 Jim_Obj * const *argv)
 430 {
 431         if (argc != 1)
 432         {
 433                 Jim_WrongNumArgs(interp, 1, argv, "powerstatus");
 434                 return JIM_ERR;
 435         }
 436
 437         uint32_t status;
 438         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, status);
 439
 440         Jim_SetResult(interp, Jim_NewIntObj(interp, (status&0x80) != 0));
 441
 442         return JIM_OK;
 443 }
 444
 445
 446
 447 int zy1000_quit(void)
 448 {
 449
 450         return ERROR_OK;
 451 }
 452
 453
 454
 455 int interface_jtag_execute_queue(void)
 456 {
 457         uint32_t empty;
 458
 459         waitIdle();
 460         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, empty);
 461         /* clear JTAG error register */
 462         ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
 463
 464         if ((empty&0x400) != 0)
 465         {
 466                 LOG_WARNING("RCLK timeout");
 467                 /* the error is informative only as we don't want to break the firmware if there
 468                  * is a false positive.
 469                  */
 470 //              return ERROR_FAIL;
 471         }
 472         return ERROR_OK;
 473 }
 474
 475
 476
 477
 478
 479 static uint32_t getShiftValue(void)
 480 {
 481         uint32_t value;
 482         waitIdle();
 483         ZY1000_PEEK(ZY1000_JTAG_BASE + 0xc, value);
 484         VERBOSE(LOG_INFO("getShiftValue %08x", value));
 485         return value;
 486 }
 487 #if 0
 488 static uint32_t getShiftValueFlip(void)
 489 {
 490         uint32_t value;
 491         waitIdle();
 492         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x18, value);
 493         VERBOSE(LOG_INFO("getShiftValue %08x (flipped)", value));
 494         return value;
 495 }
 496 #endif
 497
 498 #if 0
 499 static void shiftValueInnerFlip(const tap_state_t state, const tap_state_t endState, int repeat, uint32_t value)
 500 {
 501         VERBOSE(LOG_INFO("shiftValueInner %s %s %d %08x (flipped)", tap_state_name(state), tap_state_name(endState), repeat, value));
 502         uint32_t a,b;
 503         a = state;
 504         b = endState;
 505         ZY1000_POKE(ZY1000_JTAG_BASE + 0xc, value);
 506         ZY1000_POKE(ZY1000_JTAG_BASE + 0x8, (1 << 15) | (repeat << 8) | (a << 4) | b);
 507         VERBOSE(getShiftValueFlip());
 508 }
 509 #endif
 510
 511 // here we shuffle N bits out/in
 512 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)
 513 {
 514         tap_state_t pause_state = shiftState;
 515         for (int j = 0; j < num_bits; j += 32)
 516         {
 517                 int k = num_bits - j;
 518                 if (k > 32)
 519                 {
 520                         k = 32;
 521                         /* we have more to shift out */
 522                 } else if (pause)
 523                 {
 524                         /* this was the last to shift out this time */
 525                         pause_state = end_state;
 526                 }
 527
 528                 // we have (num_bits + 7)/8 bytes of bits to toggle out.
 529                 // bits are pushed out LSB to MSB
 530                 uint32_t value;
 531                 value = 0;
 532                 if (out_value != NULL)
 533                 {
 534                         for (int l = 0; l < k; l += 8)
 535                         {
 536                                 value|=out_value[(j + l)/8]<<l;
 537                         }
 538                 }
 539                 /* mask away unused bits for easier debugging */
 540                 if (k < 32)
 541                 {
 542                         value&=~(((uint32_t)0xffffffff) << k);
 543                 } else
 544                 {
 545                         /* Shifting by >= 32 is not defined by the C standard
 546                          * and will in fact shift by &0x1f bits on nios */
 547                 }
 548
 549                 shiftValueInner(shiftState, pause_state, k, value);
 550
 551                 if (in_value != NULL)
 552                 {
 553                         // data in, LSB to MSB
 554                         value = getShiftValue();
 555                         // we're shifting in data to MSB, shift data to be aligned for returning the value
 556                         value >>= 32-k;
 557
 558                         for (int l = 0; l < k; l += 8)
 559                         {
 560                                 in_value[(j + l)/8]=(value >> l)&0xff;
 561                         }
 562                 }
 563         }
 564 }
 565
 566 static __inline void scanFields(int num_fields, const struct scan_field *fields, tap_state_t shiftState, tap_state_t end_state)
 567 {
 568         for (int i = 0; i < num_fields; i++)
 569         {
 570                 scanBits(fields[i].out_value,
 571                                 fields[i].in_value,
 572                                 fields[i].num_bits,
 573                                 (i == num_fields-1),
 574                                 shiftState,
 575                                 end_state);
 576         }
 577 }
 578
 579 int interface_jtag_add_ir_scan(struct jtag_tap *active, const struct scan_field *fields, tap_state_t state)
 580 {
 581         int scan_size = 0;
 582         struct jtag_tap *tap, *nextTap;
 583         tap_state_t pause_state = TAP_IRSHIFT;
 584
 585         for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
 586         {
 587                 nextTap = jtag_tap_next_enabled(tap);
 588                 if (nextTap==NULL)
 589                 {
 590                         pause_state = state;
 591                 }
 592                 scan_size = tap->ir_length;
 593
 594                 /* search the list */
 595                 if (tap == active)
 596                 {
 597                         scanFields(1, fields, TAP_IRSHIFT, pause_state);
 598                         /* update device information */
 599                         buf_cpy(fields[0].out_value, tap->cur_instr, scan_size);
 600
 601                         tap->bypass = 0;
 602                 } else
 603                 {
 604                         /* if a device isn't listed, set it to BYPASS */
 605                         assert(scan_size <= 32);
 606                         shiftValueInner(TAP_IRSHIFT, pause_state, scan_size, 0xffffffff);
 607
 608                         tap->bypass = 1;
 609                 }
 610         }
 611
 612         return ERROR_OK;
 613 }
 614
 615
 616
 617
 618
 619 int interface_jtag_add_plain_ir_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state)
 620 {
 621         scanBits(out_bits, in_bits, num_bits, true, TAP_IRSHIFT, state);
 622         return ERROR_OK;
 623 }
 624
 625 int interface_jtag_add_dr_scan(struct jtag_tap *active, int num_fields, const struct scan_field *fields, tap_state_t state)
 626 {
 627         struct jtag_tap *tap, *nextTap;
 628         tap_state_t pause_state = TAP_DRSHIFT;
 629         for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
 630         {
 631                 nextTap = jtag_tap_next_enabled(tap);
 632                 if (nextTap==NULL)
 633                 {
 634                         pause_state = state;
 635                 }
 636
 637                 /* Find a range of fields to write to this tap */
 638                 if (tap == active)
 639                 {
 640                         assert(!tap->bypass);
 641
 642                         scanFields(num_fields, fields, TAP_DRSHIFT, pause_state);
 643                 } else
 644                 {
 645                         /* Shift out a 0 for disabled tap's */
 646                         assert(tap->bypass);
 647                         shiftValueInner(TAP_DRSHIFT, pause_state, 1, 0);
 648                 }
 649         }
 650         return ERROR_OK;
 651 }
 652
 653 int interface_jtag_add_plain_dr_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state)
 654 {
 655         scanBits(out_bits, in_bits, num_bits, true, TAP_DRSHIFT, state);
 656         return ERROR_OK;
 657 }
 658
 659 int interface_jtag_add_tlr()
 660 {
 661         setCurrentState(TAP_RESET);
 662         return ERROR_OK;
 663 }
 664
 665
 666 int interface_jtag_add_reset(int req_trst, int req_srst)
 667 {
 668         zy1000_reset(req_trst, req_srst);
 669         return ERROR_OK;
 670 }
 671
 672 static int zy1000_jtag_add_clocks(int num_cycles, tap_state_t state, tap_state_t clockstate)
 673 {
 674         /* num_cycles can be 0 */
 675         setCurrentState(clockstate);
 676
 677         /* execute num_cycles, 32 at the time. */
 678         int i;
 679         for (i = 0; i < num_cycles; i += 32)
 680         {
 681                 int num;
 682                 num = 32;
 683                 if (num_cycles-i < num)
 684                 {
 685                         num = num_cycles-i;
 686                 }
 687                 shiftValueInner(clockstate, clockstate, num, 0);
 688         }
 689
 690 #if !TEST_MANUAL()
 691         /* finish in end_state */
 692         setCurrentState(state);
 693 #else
 694         tap_state_t t = TAP_IDLE;
 695         /* test manual drive code on any target */
 696         int tms;
 697         uint8_t tms_scan = tap_get_tms_path(t, state);
 698         int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 699
 700         for (i = 0; i < tms_count; i++)
 701         {
 702                 tms = (tms_scan >> i) & 1;
 703                 waitIdle();
 704                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28,  tms);
 705         }
 706         waitIdle();
 707         ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
 708 #endif
 709
 710         return ERROR_OK;
 711 }
 712
 713 int interface_jtag_add_runtest(int num_cycles, tap_state_t state)
 714 {
 715         return zy1000_jtag_add_clocks(num_cycles, state, TAP_IDLE);
 716 }
 717
 718 int interface_jtag_add_clocks(int num_cycles)
 719 {
 720         return zy1000_jtag_add_clocks(num_cycles, cmd_queue_cur_state, cmd_queue_cur_state);
 721 }
 722
 723 int interface_add_tms_seq(unsigned num_bits, const uint8_t *seq, enum tap_state state)
 724 {
 725         /*wait for the fifo to be empty*/
 726         waitIdle();
 727
 728         for (unsigned i = 0; i < num_bits; i++)
 729         {
 730                 int tms;
 731
 732                 if (((seq[i/8] >> (i % 8)) & 1) == 0)
 733                 {
 734                         tms = 0;
 735                 }
 736                 else
 737                 {
 738                         tms = 1;
 739                 }
 740
 741                 waitIdle();
 742                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, tms);
 743         }
 744
 745         waitIdle();
 746         if (state != TAP_INVALID)
 747         {
 748                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
 749         } else
 750         {
 751                 /* this would be normal if we are switching to SWD mode */
 752         }
 753         return ERROR_OK;
 754 }
 755
 756 int interface_jtag_add_pathmove(int num_states, const tap_state_t *path)
 757 {
 758         int state_count;
 759         int tms = 0;
 760
 761         state_count = 0;
 762
 763         tap_state_t cur_state = cmd_queue_cur_state;
 764
 765         uint8_t seq[16];
 766         memset(seq, 0, sizeof(seq));
 767         assert(num_states < (int)((sizeof(seq) * 8)));
 768
 769         while (num_states)
 770         {
 771                 if (tap_state_transition(cur_state, false) == path[state_count])
 772                 {
 773                         tms = 0;
 774                 }
 775                 else if (tap_state_transition(cur_state, true) == path[state_count])
 776                 {
 777                         tms = 1;
 778                 }
 779                 else
 780                 {
 781                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(cur_state), tap_state_name(path[state_count]));
 782                         exit(-1);
 783                 }
 784
 785                 seq[state_count/8] = seq[state_count/8] | (tms << (state_count % 8));
 786
 787                 cur_state = path[state_count];
 788                 state_count++;
 789                 num_states--;
 790         }
 791
 792         return interface_add_tms_seq(state_count, seq, cur_state);
 793 }
 794
 795 static void jtag_pre_post_bits(struct jtag_tap *tap, int *pre, int *post)
 796 {
 797         /* bypass bits before and after */
 798         int pre_bits = 0;
 799         int post_bits = 0;
 800
 801         bool found = false;
 802         struct jtag_tap *cur_tap, *nextTap;
 803         for (cur_tap = jtag_tap_next_enabled(NULL); cur_tap!= NULL; cur_tap = nextTap)
 804         {
 805                 nextTap = jtag_tap_next_enabled(cur_tap);
 806                 if (cur_tap == tap)
 807                 {
 808                         found = true;
 809                 } else
 810                 {
 811                         if (found)
 812                         {
 813                                 post_bits++;
 814                         } else
 815                         {
 816                                 pre_bits++;
 817                         }
 818                 }
 819         }
 820         *pre = pre_bits;
 821         *post = post_bits;
 822 }
 823
 824 void embeddedice_write_dcc(struct jtag_tap *tap, int reg_addr, uint8_t *buffer, int little, int count)
 825 {
 826
 827         int pre_bits;
 828         int post_bits;
 829         jtag_pre_post_bits(tap, &pre_bits, &post_bits);
 830
 831         if (pre_bits + post_bits + 6 > 32)
 832         {
 833                 int i;
 834                 for (i = 0; i < count; i++)
 835                 {
 836                         embeddedice_write_reg_inner(tap, reg_addr, fast_target_buffer_get_u32(buffer, little));
 837                         buffer += 4;
 838                 }
 839         } else
 840         {
 841                 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0);
 842                 int i;
 843                 for (i = 0; i < count - 1; i++)
 844                 {
 845                         /* Fewer pokes means we get to use the FIFO more efficiently */
 846                         shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, little));
 847                         shiftValueInner(TAP_DRSHIFT, TAP_IDLE, 6 + post_bits + pre_bits, (reg_addr | (1 << 5)));
 848                         buffer += 4;
 849                 }
 850                 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, little));
 851                 shiftValueInner(TAP_DRSHIFT, TAP_IDLE, 6 + post_bits, (reg_addr | (1 << 5)));
 852         }
 853 }
 854
 855
 856
 857 int arm11_run_instr_data_to_core_noack_inner(struct jtag_tap * tap, uint32_t opcode, uint32_t * data, size_t count)
 858 {
 859 #if 0
 860         int arm11_run_instr_data_to_core_noack_inner_default(struct jtag_tap * tap, uint32_t opcode, uint32_t * data, size_t count);
 861         return arm11_run_instr_data_to_core_noack_inner_default(tap, opcode, data, count);
 862 #else
 863         static const int bits[] = {32, 2};
 864         uint32_t values[] = {0, 0};
 865
 866         /* FIX!!!!!! the target_write_memory() API started this nasty problem
 867          * with unaligned uint32_t * pointers... */
 868         const uint8_t *t = (const uint8_t *)data;
 869
 870
 871         /* bypass bits before and after */
 872         int pre_bits;
 873         int post_bits;
 874         jtag_pre_post_bits(tap, &pre_bits, &post_bits);
 875
 876         bool found = false;
 877         struct jtag_tap *cur_tap, *nextTap;
 878         for (cur_tap = jtag_tap_next_enabled(NULL); cur_tap!= NULL; cur_tap = nextTap)
 879         {
 880                 nextTap = jtag_tap_next_enabled(cur_tap);
 881                 if (cur_tap == tap)
 882                 {
 883                         found = true;
 884                 } else
 885                 {
 886                         if (found)
 887                         {
 888                                 post_bits++;
 889                         } else
 890                         {
 891                                 pre_bits++;
 892                         }
 893                 }
 894         }
 895
 896         post_bits+=2;
 897
 898
 899         while (--count > 0)
 900         {
 901                 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0);
 902
 903                 uint32_t value;
 904                 value = *t++;
 905                 value |= (*t++<<8);
 906                 value |= (*t++<<16);
 907                 value |= (*t++<<24);
 908
 909                 shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, value);
 910                 /* minimum 2 bits */
 911                 shiftValueInner(TAP_DRSHIFT, TAP_DRPAUSE, post_bits, 0);
 912
 913 #if 1
 914                 /* copy & paste from arm11_dbgtap.c */
 915                 //TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT
 916
 917                 waitIdle();
 918                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
 919                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
 920                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 921                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 922                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 923                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
 924                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 925                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 926                 /* we don't have to wait for the queue to empty here. waitIdle();        */
 927                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_DRSHIFT);
 928 #else
 929                 static const tap_state_t arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay[] =
 930                 {
 931                         TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT
 932                 };
 933
 934                 jtag_add_pathmove(ARRAY_SIZE(arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay),
 935                         arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay);
 936 #endif
 937         }
 938
 939         values[0] = *t++;
 940         values[0] |= (*t++<<8);
 941         values[0] |= (*t++<<16);
 942         values[0] |= (*t++<<24);
 943
 944         /* This will happen on the last iteration updating the current tap state
 945          * so we don't have to track it during the common code path */
 946         jtag_add_dr_out(tap,
 947                 2,
 948                 bits,
 949                 values,
 950                 TAP_IDLE);
 951
 952         return jtag_execute_queue();
 953 #endif
 954 }
 955
 956
 957 static const struct command_registration zy1000_commands[] = {
 958         {
 959                 .name = "power",
 960                 .handler = handle_power_command,
 961                 .mode = COMMAND_ANY,
 962                 .help = "Turn power switch to target on/off. "
 963                         "With no arguments, prints status.",
 964                 .usage = "('on'|'off)",
 965         },
 966 #if BUILD_ECOSBOARD
 967         {
 968                 .name = "zy1000_version",
 969                 .mode = COMMAND_ANY,
 970                 .jim_handler = jim_zy1000_version,
 971                 .help = "Print version info for zy1000.",
 972                 .usage = "['openocd'|'zy1000'|'date'|'time'|'pcb'|'fpga']",
 973         },
 974 #else
 975         {
 976                 .name = "zy1000_server",
 977                 .mode = COMMAND_ANY,
 978                 .jim_handler = jim_zy1000_server,
 979                 .help = "Tcpip address for ZY1000 server.",
 980                 .usage = "address",
 981         },
 982 #endif
 983         {
 984                 .name = "powerstatus",
 985                 .mode = COMMAND_ANY,
 986                 .jim_handler = zylinjtag_Jim_Command_powerstatus,
 987                 .help = "Returns power status of target",
 988         },
 989 #ifdef CYGPKG_HAL_NIOS2
 990         {
 991                 .name = "updatezy1000firmware",
 992                 .mode = COMMAND_ANY,
 993                 .jim_handler = jim_zy1000_writefirmware,
 994                 .help = "writes firmware to flash",
 995                 /* .usage = "some_string", */
 996         },
 997 #endif
 998         COMMAND_REGISTRATION_DONE
 999 };
1000
1001
1002 static int tcp_ip = -1;
1003
1004 /* Write large packets if we can */
1005 static size_t out_pos;
1006 static uint8_t out_buffer[16384];
1007 static size_t in_pos;
1008 static size_t in_write;
1009 static uint8_t in_buffer[16384];
1010
1011 static bool flush_writes(void)
1012 {
1013         bool ok = (write(tcp_ip, out_buffer, out_pos) == (int)out_pos);
1014         out_pos = 0;
1015         return ok;
1016 }
1017
1018 static bool writeLong(uint32_t l)
1019 {
1020         int i;
1021         for (i = 0; i < 4; i++)
1022         {
1023                 uint8_t c = (l >> (i*8))&0xff;
1024                 out_buffer[out_pos++] = c;
1025                 if (out_pos >= sizeof(out_buffer))
1026                 {
1027                         if (!flush_writes())
1028                         {
1029                                 return false;
1030                         }
1031                 }
1032         }
1033         return true;
1034 }
1035
1036 static bool readLong(uint32_t *out_data)
1037 {
1038         if (out_pos > 0)
1039         {
1040                 if (!flush_writes())
1041                 {
1042                         return false;
1043                 }
1044         }
1045
1046         uint32_t data = 0;
1047         int i;
1048         for (i = 0; i < 4; i++)
1049         {
1050                 uint8_t c;
1051                 if (in_pos == in_write)
1052                 {
1053                         /* read more */
1054                         int t;
1055                         t = read(tcp_ip, in_buffer, sizeof(in_buffer));
1056                         if (t < 1)
1057                         {
1058                                 return false;
1059                         }
1060                         in_write = (size_t) t;
1061                         in_pos = 0;
1062                 }
1063                 c = in_buffer[in_pos++];
1064
1065                 data |= (c << (i*8));
1066         }
1067         *out_data = data;
1068         return true;
1069 }
1070
1071 enum ZY1000_CMD
1072 {
1073         ZY1000_CMD_POKE = 0x0,
1074         ZY1000_CMD_PEEK = 0x8,
1075         ZY1000_CMD_SLEEP = 0x1,
1076 };
1077
1078
1079 #if !BUILD_ECOSBOARD
1080
1081 #include <sys/socket.h> /* for socket(), connect(), send(), and recv() */
1082 #include <arpa/inet.h>  /* for sockaddr_in and inet_addr() */
1083
1084 /* We initialize this late since we need to know the server address
1085  * first.
1086  */
1087 static void tcpip_open(void)
1088 {
1089         if (tcp_ip >= 0)
1090                 return;
1091
1092         struct sockaddr_in echoServAddr; /* Echo server address */
1093
1094         /* Create a reliable, stream socket using TCP */
1095         if ((tcp_ip = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP)) < 0)
1096         {
1097                 fprintf(stderr, "Failed to connect to zy1000 server\n");
1098                 exit(-1);
1099         }
1100
1101         /* Construct the server address structure */
1102         memset(&echoServAddr, 0, sizeof(echoServAddr)); /* Zero out structure */
1103         echoServAddr.sin_family = AF_INET; /* Internet address family */
1104         echoServAddr.sin_addr.s_addr = inet_addr(tcp_server); /* Server IP address */
1105         echoServAddr.sin_port = htons(7777); /* Server port */
1106
1107         /* Establish the connection to the echo server */
1108         if (connect(tcp_ip, (struct sockaddr *) &echoServAddr, sizeof(echoServAddr)) < 0)
1109         {
1110                 fprintf(stderr, "Failed to connect to zy1000 server\n");
1111                 exit(-1);
1112         }
1113
1114         int flag = 1;
1115         setsockopt(tcp_ip,      /* socket affected */
1116                         IPPROTO_TCP,            /* set option at TCP level */
1117                         TCP_NODELAY,            /* name of option */
1118                         (char *)&flag,          /* the cast is historical cruft */
1119                         sizeof(int));           /* length of option value */
1120
1121 }
1122
1123
1124 /* send a poke */
1125 void zy1000_tcpout(uint32_t address, uint32_t data)
1126 {
1127         tcpip_open();
1128         if (!writeLong((ZY1000_CMD_POKE << 24) | address)||
1129                         !writeLong(data))
1130         {
1131                 fprintf(stderr, "Could not write to zy1000 server\n");
1132                 exit(-1);
1133         }
1134 }
1135
1136 uint32_t zy1000_tcpin(uint32_t address)
1137 {
1138         tcpip_open();
1139         uint32_t data;
1140         if (!writeLong((ZY1000_CMD_PEEK << 24) | address)||
1141                         !readLong(&data))
1142         {
1143                 fprintf(stderr, "Could not read from zy1000 server\n");
1144                 exit(-1);
1145         }
1146         return data;
1147 }
1148
1149 int interface_jtag_add_sleep(uint32_t us)
1150 {
1151         tcpip_open();
1152         if (!writeLong((ZY1000_CMD_SLEEP << 24))||
1153                         !writeLong(us))
1154         {
1155                 fprintf(stderr, "Could not read from zy1000 server\n");
1156                 exit(-1);
1157         }
1158         return ERROR_OK;
1159 }
1160
1161
1162 #endif
1163
1164 #if BUILD_ECOSBOARD
1165 static char tcpip_stack[2048];
1166
1167 static cyg_thread tcpip_thread_object;
1168 static cyg_handle_t tcpip_thread_handle;
1169
1170 /* Infinite loop peeking & poking */
1171 static void tcpipserver(void)
1172 {
1173         for (;;)
1174         {
1175                 uint32_t address;
1176                 if (!readLong(&address))
1177                         return;
1178                 enum ZY1000_CMD c = (address >> 24) & 0xff;
1179                 address &= 0xffffff;
1180                 switch (c)
1181                 {
1182                         case ZY1000_CMD_POKE:
1183                         {
1184                                 uint32_t data;
1185                                 if (!readLong(&data))
1186                                         return;
1187                                 address &= ~0x80000000;
1188                                 ZY1000_POKE(address + ZY1000_JTAG_BASE, data);
1189                                 break;
1190                         }
1191                         case ZY1000_CMD_PEEK:
1192                         {
1193                                 uint32_t data;
1194                                 ZY1000_PEEK(address + ZY1000_JTAG_BASE, data);
1195                                 if (!writeLong(data))
1196                                         return;
1197                                 break;
1198                         }
1199                         case ZY1000_CMD_SLEEP:
1200                         {
1201                                 uint32_t data;
1202                                 if (!readLong(&data))
1203                                         return;
1204                                 jtag_sleep(data);
1205                                 break;
1206                         }
1207                         default:
1208                                 return;
1209                 }
1210         }
1211 }
1212
1213
1214 static void tcpip_server(cyg_addrword_t data)
1215 {
1216         int so_reuseaddr_option = 1;
1217
1218         int fd;
1219         if ((fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
1220         {
1221                 LOG_ERROR("error creating socket: %s", strerror(errno));
1222                 exit(-1);
1223         }
1224
1225         setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, (void*) &so_reuseaddr_option,
1226                         sizeof(int));
1227
1228         struct sockaddr_in sin;
1229         unsigned int address_size;
1230         address_size = sizeof(sin);
1231         memset(&sin, 0, sizeof(sin));
1232         sin.sin_family = AF_INET;
1233         sin.sin_addr.s_addr = INADDR_ANY;
1234         sin.sin_port = htons(7777);
1235
1236         if (bind(fd, (struct sockaddr *) &sin, sizeof(sin)) == -1)
1237         {
1238                 LOG_ERROR("couldn't bind to socket: %s", strerror(errno));
1239                 exit(-1);
1240         }
1241
1242         if (listen(fd, 1) == -1)
1243         {
1244                 LOG_ERROR("couldn't listen on socket: %s", strerror(errno));
1245                 exit(-1);
1246         }
1247
1248
1249         for (;;)
1250         {
1251                 tcp_ip = accept(fd, (struct sockaddr *) &sin, &address_size);
1252                 if (tcp_ip < 0)
1253                 {
1254                         continue;
1255                 }
1256
1257                 int flag = 1;
1258                 setsockopt(tcp_ip,      /* socket affected */
1259                                 IPPROTO_TCP,            /* set option at TCP level */
1260                                 TCP_NODELAY,            /* name of option */
1261                                 (char *)&flag,          /* the cast is historical cruft */
1262                                 sizeof(int));           /* length of option value */
1263
1264                 bool save_poll = jtag_poll_get_enabled();
1265
1266                 /* polling will screw up the "connection" */
1267                 jtag_poll_set_enabled(false);
1268
1269                 tcpipserver();
1270
1271                 jtag_poll_set_enabled(save_poll);
1272
1273                 close(tcp_ip);
1274
1275         }
1276         close(fd);
1277
1278 }
1279
1280 int interface_jtag_add_sleep(uint32_t us)
1281 {
1282         jtag_sleep(us);
1283         return ERROR_OK;
1284 }
1285
1286 #endif
1287
1288
1289 int zy1000_init(void)
1290 {
1291 #if BUILD_ECOSBOARD
1292         LOG_USER("%s", ZYLIN_OPENOCD_VERSION);
1293 #endif
1294
1295         ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x30); // Turn on LED1 & LED2
1296
1297         setPower(true); // on by default
1298
1299
1300          /* deassert resets. Important to avoid infinite loop waiting for SRST to deassert */
1301         zy1000_reset(0, 0);
1302         zy1000_speed(jtag_get_speed());
1303
1304
1305 #if BUILD_ECOSBOARD
1306         cyg_thread_create(1, tcpip_server, (cyg_addrword_t) 0, "tcip/ip server",
1307                         (void *) tcpip_stack, sizeof(tcpip_stack),
1308                         &tcpip_thread_handle, &tcpip_thread_object);
1309         cyg_thread_resume(tcpip_thread_handle);
1310 #endif
1311
1312         return ERROR_OK;
1313 }
1314
1315
1316
1317 struct jtag_interface zy1000_interface =
1318 {
1319         .name = "ZY1000",
1320         .supported = DEBUG_CAP_TMS_SEQ,
1321         .execute_queue = NULL,
1322         .speed = zy1000_speed,
1323         .commands = zy1000_commands,
1324         .init = zy1000_init,
1325         .quit = zy1000_quit,
1326         .khz = zy1000_khz,
1327         .speed_div = zy1000_speed_div,
1328         .power_dropout = zy1000_power_dropout,
1329         .srst_asserted = zy1000_srst_asserted,
1330 };
1331