1 /***************************************************************************
2 * Copyright (C) 2007-2009 by Øyvind Harboe *
4 * This program is free software; you can redistribute it and/or modify *
5 * it under the terms of the GNU General Public License as published by *
6 * the Free Software Foundation; either version 2 of the License, or *
7 * (at your option) any later version. *
9 * This program is distributed in the hope that it will be useful, *
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
12 * GNU General Public License for more details. *
14 * You should have received a copy of the GNU General Public License *
15 * along with this program; if not, write to the *
16 * Free Software Foundation, Inc., *
17 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
18 ***************************************************************************/
20 /* This file supports the zy1000 debugger: http://www.zylin.com/zy1000.html
22 * The zy1000 is a standalone debugger that has a web interface and
23 * requires no drivers on the developer host as all communication
24 * is via TCP/IP. The zy1000 gets it performance(~400-700kBytes/s
25 * DCC downloads @ 16MHz target) as it has an FPGA to hardware
26 * accelerate the JTAG commands, while offering *very* low latency
27 * between OpenOCD and the FPGA registers.
29 * The disadvantage of the zy1000 is that it has a feeble CPU compared to
30 * a PC(ca. 50-500 DMIPS depending on how one counts it), whereas a PC
31 * is on the order of 10000 DMIPS(i.e. at a factor of 20-200).
33 * The zy1000 revc hardware is using an Altera Nios CPU, whereas the
34 * revb is using ARM7 + Xilinx.
36 * See Zylin web pages or contact Zylin for more information.
38 * The reason this code is in OpenOCD rather than OpenOCD linked with the
39 * ZY1000 code is that OpenOCD is the long road towards getting
40 * libopenocd into place. libopenocd will support both low performance,
41 * low latency systems(embedded) and high performance high latency
48 #include <target/embeddedice.h>
49 #include <jtag/minidriver.h>
50 #include <jtag/interface.h>
51 #include "zy1000_version.h"
53 #include <cyg/hal/hal_io.h> // low level i/o
54 #include <cyg/hal/hal_diag.h>
58 #define ZYLIN_VERSION GIT_ZY1000_VERSION
59 #define ZYLIN_DATE __DATE__
60 #define ZYLIN_TIME __TIME__
61 #define ZYLIN_OPENOCD GIT_OPENOCD_VERSION
62 #define ZYLIN_OPENOCD_VERSION "ZY1000 " ZYLIN_VERSION " " ZYLIN_DATE
65 static int zy1000_khz(int khz
, int *jtag_speed
)
73 *jtag_speed
= 64000/khz
;
78 static int zy1000_speed_div(int speed
, int *khz
)
92 static bool readPowerDropout(void)
95 // sample and clear power dropout
96 HAL_WRITE_UINT32(ZY1000_JTAG_BASE
+ 0x10, 0x80);
97 HAL_READ_UINT32(ZY1000_JTAG_BASE
+ 0x10, state
);
99 powerDropout
= (state
& 0x80) != 0;
104 static bool readSRST(void)
107 // sample and clear SRST sensing
108 HAL_WRITE_UINT32(ZY1000_JTAG_BASE
+ 0x10, 0x00000040);
109 HAL_READ_UINT32(ZY1000_JTAG_BASE
+ 0x10, state
);
111 srstAsserted
= (state
& 0x40) != 0;
115 static int zy1000_srst_asserted(int *srst_asserted
)
117 *srst_asserted
= readSRST();
121 static int zy1000_power_dropout(int *dropout
)
123 *dropout
= readPowerDropout();
127 void zy1000_reset(int trst
, int srst
)
129 LOG_DEBUG("zy1000 trst=%d, srst=%d", trst
, srst
);
132 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x14, 0x00000001);
136 /* Danger!!! if clk != 0 when in
137 * idle in TAP_IDLE, reset halt on str912 will fail.
139 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x10, 0x00000001);
144 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x14, 0x00000002);
149 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x10, 0x00000002);
152 if (trst
||(srst
&& (jtag_get_reset_config() & RESET_SRST_PULLS_TRST
)))
155 /* we're now in the RESET state until trst is deasserted */
156 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x20, TAP_RESET
);
159 /* We'll get RCLK failure when we assert TRST, so clear any false positives here */
160 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x14, 0x400);
163 /* wait for srst to float back up */
167 for (i
= 0; i
< 1000; i
++)
169 // We don't want to sense our own reset, so we clear here.
170 // There is of course a timing hole where we could loose
181 LOG_USER("SRST didn't deassert after %dms", i
);
184 LOG_USER("SRST took %dms to deassert", i
);
189 int zy1000_speed(int speed
)
195 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x10, 0x100);
196 LOG_DEBUG("jtag_speed using RCLK");
200 if (speed
> 8190 || speed
< 2)
202 LOG_USER("valid ZY1000 jtag_speed=[8190,2]. Divisor is 64MHz / even values between 8190-2, i.e. min 7814Hz, max 32MHz");
203 return ERROR_INVALID_ARGUMENTS
;
206 LOG_USER("jtag_speed %d => JTAG clk=%f", speed
, 64.0/(float)speed
);
207 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x14, 0x100);
208 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x1c, speed
&~1);
213 static bool savePower
;
216 static void setPower(bool power
)
221 HAL_WRITE_UINT32(ZY1000_JTAG_BASE
+ 0x14, 0x8);
224 HAL_WRITE_UINT32(ZY1000_JTAG_BASE
+ 0x10, 0x8);
228 COMMAND_HANDLER(handle_power_command
)
234 COMMAND_PARSE_ON_OFF(CMD_ARGV
[0], enable
);
239 LOG_INFO("Target power %s", savePower
? "on" : "off");
242 return ERROR_INVALID_ARGUMENTS
;
249 /* Give TELNET a way to find out what version this is */
250 static int jim_zy1000_version(Jim_Interp
*interp
, int argc
, Jim_Obj
*const *argv
)
252 if ((argc
< 1) || (argc
> 3))
254 const char *version_str
= NULL
;
258 version_str
= ZYLIN_OPENOCD_VERSION
;
261 const char *str
= Jim_GetString(argv
[1], NULL
);
262 const char *str2
= NULL
;
264 str2
= Jim_GetString(argv
[2], NULL
);
265 if (strcmp("openocd", str
) == 0)
267 version_str
= ZYLIN_OPENOCD
;
269 else if (strcmp("zy1000", str
) == 0)
271 version_str
= ZYLIN_VERSION
;
273 else if (strcmp("date", str
) == 0)
275 version_str
= ZYLIN_DATE
;
277 else if (strcmp("time", str
) == 0)
279 version_str
= ZYLIN_TIME
;
281 else if (strcmp("pcb", str
) == 0)
283 #ifdef CYGPKG_HAL_NIOS2
289 #ifdef CYGPKG_HAL_NIOS2
290 else if (strcmp("fpga", str
) == 0)
293 /* return a list of 32 bit integers to describe the expected
296 static char *fpga_id
= "0x12345678 0x12345678 0x12345678 0x12345678";
297 cyg_uint32 id
, timestamp
;
298 HAL_READ_UINT32(SYSID_BASE
, id
);
299 HAL_READ_UINT32(SYSID_BASE
+4, timestamp
);
300 sprintf(fpga_id
, "0x%08x 0x%08x 0x%08x 0x%08x", id
, timestamp
, SYSID_ID
, SYSID_TIMESTAMP
);
301 version_str
= fpga_id
;
302 if ((argc
>2) && (strcmp("time", str2
) == 0))
304 time_t last_mod
= timestamp
;
305 char * t
= ctime (&last_mod
) ;
318 Jim_SetResult(interp
, Jim_NewStringObj(interp
, version_str
, -1));
324 #ifdef CYGPKG_HAL_NIOS2
325 static int jim_zy1000_writefirmware(Jim_Interp
*interp
, int argc
, Jim_Obj
*const *argv
)
332 const char *str
= Jim_GetString(argv
[1], &length
);
334 /* BUG!!!! skip header! */
335 void *firmware_address
=0x4000000;
336 int firmware_length
=0x100000;
338 if (length
>firmware_length
)
343 if ((stat
= flash_erase((void *)firmware_address
, firmware_length
, (void **)&err_addr
)) != 0)
348 if ((stat
= flash_program(firmware_address
, str
, length
, (void **)&err_addr
)) != 0)
356 zylinjtag_Jim_Command_powerstatus(Jim_Interp
*interp
,
358 Jim_Obj
* const *argv
)
362 Jim_WrongNumArgs(interp
, 1, argv
, "powerstatus");
367 ZY1000_PEEK(ZY1000_JTAG_BASE
+ 0x10, status
);
369 Jim_SetResult(interp
, Jim_NewIntObj(interp
, (status
&0x80) != 0));
377 int zy1000_init(void)
379 LOG_USER("%s", ZYLIN_OPENOCD_VERSION
);
381 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x10, 0x30); // Turn on LED1 & LED2
383 setPower(true); // on by default
386 /* deassert resets. Important to avoid infinite loop waiting for SRST to deassert */
388 zy1000_speed(jtag_get_speed());
393 int zy1000_quit(void)
401 int interface_jtag_execute_queue(void)
406 ZY1000_PEEK(ZY1000_JTAG_BASE
+ 0x10, empty
);
407 /* clear JTAG error register */
408 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x14, 0x400);
410 if ((empty
&0x400) != 0)
412 LOG_WARNING("RCLK timeout");
413 /* the error is informative only as we don't want to break the firmware if there
414 * is a false positive.
416 // return ERROR_FAIL;
425 static cyg_uint32
getShiftValue(void)
429 ZY1000_PEEK(ZY1000_JTAG_BASE
+ 0xc, value
);
430 VERBOSE(LOG_INFO("getShiftValue %08x", value
));
434 static cyg_uint32
getShiftValueFlip(void)
438 ZY1000_PEEK(ZY1000_JTAG_BASE
+ 0x18, value
);
439 VERBOSE(LOG_INFO("getShiftValue %08x (flipped)", value
));
445 static void shiftValueInnerFlip(const tap_state_t state
, const tap_state_t endState
, int repeat
, cyg_uint32 value
)
447 VERBOSE(LOG_INFO("shiftValueInner %s %s %d %08x (flipped)", tap_state_name(state
), tap_state_name(endState
), repeat
, value
));
451 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0xc, value
);
452 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x8, (1 << 15) | (repeat
<< 8) | (a
<< 4) | b
);
453 VERBOSE(getShiftValueFlip());
457 static void gotoEndState(tap_state_t end_state
)
459 setCurrentState(end_state
);
462 static __inline
void scanFields(int num_fields
, const struct scan_field
*fields
, tap_state_t shiftState
, int pause
)
468 for (i
= 0; i
< num_fields
; i
++)
472 uint8_t *inBuffer
= NULL
;
475 // figure out where to store the input data
476 int num_bits
= fields
[i
].num_bits
;
477 if (fields
[i
].in_value
!= NULL
)
479 inBuffer
= fields
[i
].in_value
;
482 // here we shuffle N bits out/in
486 tap_state_t pause_state
;
489 pause_state
= (shiftState
== TAP_DRSHIFT
)?TAP_DRSHIFT
:TAP_IRSHIFT
;
493 /* we have more to shift out */
494 } else if (pause
&&(i
== num_fields
-1))
496 /* this was the last to shift out this time */
497 pause_state
= (shiftState
==TAP_DRSHIFT
)?TAP_DRPAUSE
:TAP_IRPAUSE
;
500 // we have (num_bits + 7)/8 bytes of bits to toggle out.
501 // bits are pushed out LSB to MSB
503 if (fields
[i
].out_value
!= NULL
)
505 for (l
= 0; l
< k
; l
+= 8)
507 value
|=fields
[i
].out_value
[(j
+ l
)/8]<<l
;
510 /* mask away unused bits for easier debugging */
513 value
&=~(((uint32_t)0xffffffff) << k
);
516 /* Shifting by >= 32 is not defined by the C standard
517 * and will in fact shift by &0x1f bits on nios */
520 shiftValueInner(shiftState
, pause_state
, k
, value
);
522 if (inBuffer
!= NULL
)
524 // data in, LSB to MSB
525 value
= getShiftValue();
526 // we're shifting in data to MSB, shift data to be aligned for returning the value
529 for (l
= 0; l
< k
; l
+= 8)
531 inBuffer
[(j
+ l
)/8]=(value
>> l
)&0xff;
539 int interface_jtag_add_ir_scan(int num_fields
, const struct scan_field
*fields
, tap_state_t state
)
544 struct jtag_tap
*tap
, *nextTap
;
545 for (tap
= jtag_tap_next_enabled(NULL
); tap
!= NULL
; tap
= nextTap
)
547 nextTap
= jtag_tap_next_enabled(tap
);
548 int pause
= (nextTap
==NULL
);
552 scan_size
= tap
->ir_length
;
554 /* search the list */
555 for (j
= 0; j
< num_fields
; j
++)
557 if (tap
== fields
[j
].tap
)
561 scanFields(1, fields
+ j
, TAP_IRSHIFT
, pause
);
562 /* update device information */
563 buf_cpy(fields
[j
].out_value
, tap
->cur_instr
, scan_size
);
572 /* if a device isn't listed, set it to BYPASS */
573 uint8_t ones
[]={0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff};
575 struct scan_field tmp
;
576 memset(&tmp
, 0, sizeof(tmp
));
577 tmp
.out_value
= ones
;
578 tmp
.num_bits
= scan_size
;
579 scanFields(1, &tmp
, TAP_IRSHIFT
, pause
);
580 /* update device information */
581 buf_cpy(tmp
.out_value
, tap
->cur_instr
, scan_size
);
594 int interface_jtag_add_plain_ir_scan(int num_fields
, const struct scan_field
*fields
, tap_state_t state
)
596 scanFields(num_fields
, fields
, TAP_IRSHIFT
, 1);
602 int interface_jtag_add_dr_scan(int num_fields
, const struct scan_field
*fields
, tap_state_t state
)
606 struct jtag_tap
*tap
, *nextTap
;
607 for (tap
= jtag_tap_next_enabled(NULL
); tap
!= NULL
; tap
= nextTap
)
609 nextTap
= jtag_tap_next_enabled(tap
);
611 int pause
= (nextTap
==NULL
);
613 for (j
= 0; j
< num_fields
; j
++)
615 if (tap
== fields
[j
].tap
)
619 scanFields(1, fields
+j
, TAP_DRSHIFT
, pause
);
624 struct scan_field tmp
;
625 /* program the scan field to 1 bit length, and ignore it's value */
627 tmp
.out_value
= NULL
;
630 scanFields(1, &tmp
, TAP_DRSHIFT
, pause
);
640 int interface_jtag_add_plain_dr_scan(int num_fields
, const struct scan_field
*fields
, tap_state_t state
)
642 scanFields(num_fields
, fields
, TAP_DRSHIFT
, 1);
648 int interface_jtag_add_tlr()
650 setCurrentState(TAP_RESET
);
657 int interface_jtag_add_reset(int req_trst
, int req_srst
)
659 zy1000_reset(req_trst
, req_srst
);
663 static int zy1000_jtag_add_clocks(int num_cycles
, tap_state_t state
, tap_state_t clockstate
)
665 /* num_cycles can be 0 */
666 setCurrentState(clockstate
);
668 /* execute num_cycles, 32 at the time. */
670 for (i
= 0; i
< num_cycles
; i
+= 32)
674 if (num_cycles
-i
< num
)
678 shiftValueInner(clockstate
, clockstate
, num
, 0);
682 /* finish in end_state */
683 setCurrentState(state
);
685 tap_state_t t
= TAP_IDLE
;
686 /* test manual drive code on any target */
688 uint8_t tms_scan
= tap_get_tms_path(t
, state
);
689 int tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
691 for (i
= 0; i
< tms_count
; i
++)
693 tms
= (tms_scan
>> i
) & 1;
695 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x28, tms
);
698 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x20, state
);
705 int interface_jtag_add_runtest(int num_cycles
, tap_state_t state
)
707 return zy1000_jtag_add_clocks(num_cycles
, state
, TAP_IDLE
);
710 int interface_jtag_add_clocks(int num_cycles
)
712 return zy1000_jtag_add_clocks(num_cycles
, cmd_queue_cur_state
, cmd_queue_cur_state
);
715 int interface_jtag_add_sleep(uint32_t us
)
721 int interface_jtag_add_pathmove(int num_states
, const tap_state_t
*path
)
726 /*wait for the fifo to be empty*/
731 tap_state_t cur_state
= cmd_queue_cur_state
;
735 if (tap_state_transition(cur_state
, false) == path
[state_count
])
739 else if (tap_state_transition(cur_state
, true) == path
[state_count
])
745 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(cur_state
), tap_state_name(path
[state_count
]));
750 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x28, tms
);
752 cur_state
= path
[state_count
];
758 ZY1000_POKE(ZY1000_JTAG_BASE
+ 0x20, cur_state
);
764 void embeddedice_write_dcc(struct jtag_tap
*tap
, int reg_addr
, uint8_t *buffer
, int little
, int count
)
766 // static int const reg_addr = 0x5;
767 tap_state_t end_state
= jtag_get_end_state();
768 if (jtag_tap_next_enabled(jtag_tap_next_enabled(NULL
)) == NULL
)
770 /* better performance via code duplication */
774 for (i
= 0; i
< count
; i
++)
776 shiftValueInner(TAP_DRSHIFT
, TAP_DRSHIFT
, 32, fast_target_buffer_get_u32(buffer
, 1));
777 shiftValueInner(TAP_DRSHIFT
, end_state
, 6, reg_addr
| (1 << 5));
783 for (i
= 0; i
< count
; i
++)
785 shiftValueInner(TAP_DRSHIFT
, TAP_DRSHIFT
, 32, fast_target_buffer_get_u32(buffer
, 0));
786 shiftValueInner(TAP_DRSHIFT
, end_state
, 6, reg_addr
| (1 << 5));
794 for (i
= 0; i
< count
; i
++)
796 embeddedice_write_reg_inner(tap
, reg_addr
, fast_target_buffer_get_u32(buffer
, little
));
803 static const struct command_registration zy1000_commands
[] = {
806 .handler
= &handle_power_command
,
808 .help
= "turn power switch to target on/off. No arguments - print status.",
809 .usage
= "power <on/off>",
812 .name
= "zy1000_version",
814 .jim_handler
= &jim_zy1000_version
,
815 .help
= "print version info for zy1000",
818 .name
= "powerstatus",
820 .jim_handler
= & zylinjtag_Jim_Command_powerstatus
,
821 .help
= "print power status of target",
823 #ifdef CYGPKG_HAL_NIOS2
825 .name
= "updatezy1000firmware",
827 .jim_handler
= &jim_zy1000_writefirmware
,
828 .help
= "writes firmware to flash",
831 COMMAND_REGISTRATION_DONE
836 struct jtag_interface zy1000_interface
=
839 .execute_queue
= NULL
,
840 .speed
= zy1000_speed
,
841 .commands
= zy1000_commands
,
845 .speed_div
= zy1000_speed_div
,
846 .power_dropout
= zy1000_power_dropout
,
847 .srst_asserted
= zy1000_srst_asserted
,
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