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