src/jtag/zy1000/zy1000.c

   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
  76 /* The software needs to check if it's in RCLK mode or not */
  77 static bool zy1000_rclk = false;
  78
  79 static int zy1000_khz(int khz, int *jtag_speed)
  80 {
  81         if (khz == 0)
  82         {
  83                 *jtag_speed = 0;
  84         }
  85         else
  86         {
  87                 *jtag_speed = 64000/khz;
  88         }
  89         return ERROR_OK;
  90 }
  91
  92 static int zy1000_speed_div(int speed, int *khz)
  93 {
  94         if (speed == 0)
  95         {
  96                 *khz = 0;
  97         }
  98         else
  99         {
 100                 *khz = 64000/speed;
 101         }
 102
 103         return ERROR_OK;
 104 }
 105
 106 static bool readPowerDropout(void)
 107 {
 108         uint32_t state;
 109         // sample and clear power dropout
 110         ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x80);
 111         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
 112         bool powerDropout;
 113         powerDropout = (state & 0x80) != 0;
 114         return powerDropout;
 115 }
 116
 117
 118 static bool readSRST(void)
 119 {
 120         uint32_t state;
 121         // sample and clear SRST sensing
 122         ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000040);
 123         ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
 124         bool srstAsserted;
 125         srstAsserted = (state & 0x40) != 0;
 126         return srstAsserted;
 127 }
 128
 129 static int zy1000_srst_asserted(int *srst_asserted)
 130 {
 131         *srst_asserted = readSRST();
 132         return ERROR_OK;
 133 }
 134
 135 static int zy1000_power_dropout(int *dropout)
 136 {
 137         *dropout = readPowerDropout();
 138         return ERROR_OK;
 139 }
 140
 141 void zy1000_reset(int trst, int srst)
 142 {
 143         LOG_DEBUG("zy1000 trst=%d, srst=%d", trst, srst);
 144
 145         /* flush the JTAG FIFO. Not flushing the queue before messing with
 146          * reset has such interesting bugs as causing hard to reproduce
 147          * RCLK bugs as RCLK will stop responding when TRST is asserted
 148          */
 149         waitIdle();
 150
 151         if (!srst)
 152         {
 153                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000001);
 154         }
 155         else
 156         {
 157                 /* Danger!!! if clk != 0 when in
 158                  * idle in TAP_IDLE, reset halt on str912 will fail.
 159                  */
 160                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000001);
 161         }
 162
 163         if (!trst)
 164         {
 165                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000002);
 166         }
 167         else
 168         {
 169                 /* assert reset */
 170                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000002);
 171         }
 172
 173         if (trst||(srst && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
 174         {
 175                 /* we're now in the RESET state until trst is deasserted */
 176                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_RESET);
 177         } else
 178         {
 179                 /* We'll get RCLK failure when we assert TRST, so clear any false positives here */
 180                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
 181         }
 182
 183         /* wait for srst to float back up */
 184         if ((!srst && ((jtag_get_reset_config() & RESET_TRST_PULLS_SRST) == 0))||
 185                 (!srst && !trst && (jtag_get_reset_config() & RESET_TRST_PULLS_SRST)))
 186         {
 187                 bool first = true;
 188                 long long start = 0;
 189                 long total = 0;
 190                 for (;;)
 191                 {
 192                         // We don't want to sense our own reset, so we clear here.
 193                         // There is of course a timing hole where we could loose
 194                         // a "real" reset.
 195                         if (!readSRST())
 196                         {
 197                                 if (total > 1)
 198                                 {
 199                                   LOG_USER("SRST took %dms to deassert", (int)total);
 200                                 }
 201                                 break;
 202                         }
 203
 204                         if (first)
 205                         {
 206                             first = false;
 207                             start = timeval_ms();
 208                         }
 209
 210                         total = timeval_ms() - start;
 211
 212                         keep_alive();
 213
 214                         if (total > 5000)
 215                         {
 216                                 LOG_ERROR("SRST took too long to deassert: %dms", (int)total);
 217                             break;
 218                         }
 219                 }
 220
 221         }
 222 }
 223
 224 int zy1000_speed(int speed)
 225 {
 226         /* flush JTAG master FIFO before setting speed */
 227         waitIdle();
 228
 229         zy1000_rclk = false;
 230
 231         if (speed == 0)
 232         {
 233                 /*0 means RCLK*/
 234                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x100);
 235                 zy1000_rclk = true;
 236                 LOG_DEBUG("jtag_speed using RCLK");
 237         }
 238         else
 239         {
 240                 if (speed > 8190 || speed < 2)
 241                 {
 242                         LOG_USER("valid ZY1000 jtag_speed=[8190,2]. Divisor is 64MHz / even values between 8190-2, i.e. min 7814Hz, max 32MHz");
 243                         return ERROR_INVALID_ARGUMENTS;
 244                 }
 245
 246                 LOG_USER("jtag_speed %d => JTAG clk=%f", speed, 64.0/(float)speed);
 247                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x100);
 248                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x1c, speed&~1);
 249         }
 250         return ERROR_OK;
 251 }
 252
 253 static bool savePower;
 254
 255
 256 static void setPower(bool power)
 257 {
 258         savePower = power;
 259         if (power)
 260         {
 261                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x8);
 262         } else
 263         {
 264                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x8);
 265         }
 266 }
 267
 268 COMMAND_HANDLER(handle_power_command)
 269 {
 270         switch (CMD_ARGC)
 271         {
 272         case 1: {
 273                 bool enable;
 274                 COMMAND_PARSE_ON_OFF(CMD_ARGV[0], enable);
 275                 setPower(enable);
 276                 // fall through
 277         }
 278         case 0:
 279                 LOG_INFO("Target power %s", savePower ? "on" : "off");
 280                 break;
 281         default:
 282                 return ERROR_INVALID_ARGUMENTS;
 283         }
 284
 285         return ERROR_OK;
 286 }
 287
 288 #if !BUILD_ECOSBOARD
 289 static char *tcp_server = "notspecified";
 290 static int jim_zy1000_server(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 291 {
 292         if (argc != 2)
 293                 return JIM_ERR;
 294
 295         tcp_server = strdup(Jim_GetString(argv[1], NULL));
 296
 297         return JIM_OK;
 298 }
 299 #endif
 300
 301 #if BUILD_ECOSBOARD
 302 /* Give TELNET a way to find out what version this is */
 303 static int jim_zy1000_version(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 304 {
 305         if ((argc < 1) || (argc > 3))
 306                 return JIM_ERR;
 307         const char *version_str = NULL;
 308
 309         if (argc == 1)
 310         {
 311                 version_str = ZYLIN_OPENOCD_VERSION;
 312         } else
 313         {
 314                 const char *str = Jim_GetString(argv[1], NULL);
 315                 const char *str2 = NULL;
 316                 if (argc > 2)
 317                         str2 = Jim_GetString(argv[2], NULL);
 318                 if (strcmp("openocd", str) == 0)
 319                 {
 320                         version_str = ZYLIN_OPENOCD;
 321                 }
 322                 else if (strcmp("zy1000", str) == 0)
 323                 {
 324                         version_str = ZYLIN_VERSION;
 325                 }
 326                 else if (strcmp("date", str) == 0)
 327                 {
 328                         version_str = ZYLIN_DATE;
 329                 }
 330                 else if (strcmp("time", str) == 0)
 331                 {
 332                         version_str = ZYLIN_TIME;
 333                 }
 334                 else if (strcmp("pcb", str) == 0)
 335                 {
 336 #ifdef CYGPKG_HAL_NIOS2
 337                         version_str="c";
 338 #else
 339                         version_str="b";
 340 #endif
 341                 }
 342 #ifdef CYGPKG_HAL_NIOS2
 343                 else if (strcmp("fpga", str) == 0)
 344                 {
 345
 346                         /* return a list of 32 bit integers to describe the expected
 347                          * and actual FPGA
 348                          */
 349                         static char *fpga_id = "0x12345678 0x12345678 0x12345678 0x12345678";
 350                         uint32_t id, timestamp;
 351                         HAL_READ_UINT32(SYSID_BASE, id);
 352                         HAL_READ_UINT32(SYSID_BASE+4, timestamp);
 353                         sprintf(fpga_id, "0x%08x 0x%08x 0x%08x 0x%08x", id, timestamp, SYSID_ID, SYSID_TIMESTAMP);
 354                         version_str = fpga_id;
 355                         if ((argc>2) && (strcmp("time", str2) == 0))
 356                         {
 357                             time_t last_mod = timestamp;
 358                             char * t = ctime (&last_mod) ;
 359                             t[strlen(t)-1] = 0;
 360                             version_str = t;
 361                         }
 362                 }
 363 #endif
 364
 365                 else
 366                 {
 367                         return JIM_ERR;
 368                 }
 369         }
 370
 371         Jim_SetResult(interp, Jim_NewStringObj(interp, version_str, -1));
 372
 373         return JIM_OK;
 374 }
 375 #endif
 376
 377 #ifdef CYGPKG_HAL_NIOS2
 378
 379
 380 struct info_forward
 381 {
 382         void *data;
 383         struct cyg_upgrade_info *upgraded_file;
 384 };
 385
 386 static void report_info(void *data, const char * format, va_list args)
 387 {
 388         char *s = alloc_vprintf(format, args);
 389         LOG_USER_N("%s", s);
 390         free(s);
 391 }
 392
 393 struct cyg_upgrade_info firmware_info =
 394 {
 395                 (uint8_t *)0x84000000,
 396                 "/ram/firmware.phi",
 397                 "Firmware",
 398                 0x0300000,
 399                 0x1f00000 -
 400                 0x0300000,
 401                 "ZylinNiosFirmware\n",
 402                 report_info,
 403 };
 404
 405 static int jim_zy1000_writefirmware(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 406 {
 407         if (argc != 2)
 408                 return JIM_ERR;
 409
 410         int length;
 411         const char *str = Jim_GetString(argv[1], &length);
 412
 413         /* */
 414         int tmpFile;
 415         if ((tmpFile = open(firmware_info.file, O_RDWR | O_CREAT | O_TRUNC)) <= 0)
 416         {
 417                 return JIM_ERR;
 418         }
 419         bool success;
 420         success = write(tmpFile, str, length) == length;
 421         close(tmpFile);
 422         if (!success)
 423                 return JIM_ERR;
 424
 425         if (!cyg_firmware_upgrade(NULL, firmware_info))
 426                 return JIM_ERR;
 427
 428         return JIM_OK;
 429 }
 430 #endif
 431
 432 static int
 433 zylinjtag_Jim_Command_powerstatus(Jim_Interp *interp,
 434                                                                    int argc,
 435                 Jim_Obj * const *argv)
 436 {
 437         if (argc != 1)
 438         {
 439                 Jim_WrongNumArgs(interp, 1, argv, "powerstatus");
 440                 return JIM_ERR;
 441         }
 442
 443         bool dropout = readPowerDropout();
 444
 445         Jim_SetResult(interp, Jim_NewIntObj(interp, dropout));
 446
 447         return JIM_OK;
 448 }
 449
 450
 451
 452 int zy1000_quit(void)
 453 {
 454
 455         return ERROR_OK;
 456 }
 457
 458
 459
 460 int interface_jtag_execute_queue(void)
 461 {
 462         uint32_t empty;
 463
 464         waitIdle();
 465
 466         /* We must make sure to write data read back to memory location before we return
 467          * from this fn
 468          */
 469         zy1000_flush_readqueue();
 470
 471         if (zy1000_rclk)
 472         {
 473                 /* Only check for errors when using RCLK to speed up
 474                  * jtag over TCP/IP
 475                  */
 476                 ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, empty);
 477                 /* clear JTAG error register */
 478                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
 479
 480                 if ((empty&0x400) != 0)
 481                 {
 482                         LOG_WARNING("RCLK timeout");
 483                         /* the error is informative only as we don't want to break the firmware if there
 484                          * is a false positive.
 485                          */
 486         //              return ERROR_FAIL;
 487                 }
 488         }
 489         return ERROR_OK;
 490 }
 491
 492
 493
 494
 495 static void writeShiftValue(uint8_t *data, int bits);
 496
 497 // here we shuffle N bits out/in
 498 static __inline void scanBits(const uint8_t *out_value, uint8_t *in_value, int num_bits, bool pause_now, tap_state_t shiftState, tap_state_t end_state)
 499 {
 500         tap_state_t pause_state = shiftState;
 501         for (int j = 0; j < num_bits; j += 32)
 502         {
 503                 int k = num_bits - j;
 504                 if (k > 32)
 505                 {
 506                         k = 32;
 507                         /* we have more to shift out */
 508                 } else if (pause_now)
 509                 {
 510                         /* this was the last to shift out this time */
 511                         pause_state = end_state;
 512                 }
 513
 514                 // we have (num_bits + 7)/8 bytes of bits to toggle out.
 515                 // bits are pushed out LSB to MSB
 516                 uint32_t value;
 517                 value = 0;
 518                 if (out_value != NULL)
 519                 {
 520                         for (int l = 0; l < k; l += 8)
 521                         {
 522                                 value|=out_value[(j + l)/8]<<l;
 523                         }
 524                 }
 525                 /* mask away unused bits for easier debugging */
 526                 if (k < 32)
 527                 {
 528                         value&=~(((uint32_t)0xffffffff) << k);
 529                 } else
 530                 {
 531                         /* Shifting by >= 32 is not defined by the C standard
 532                          * and will in fact shift by &0x1f bits on nios */
 533                 }
 534
 535                 shiftValueInner(shiftState, pause_state, k, value);
 536
 537                 if (in_value != NULL)
 538                 {
 539                         writeShiftValue(in_value + (j/8), k);
 540                 }
 541         }
 542 }
 543
 544 static __inline void scanFields(int num_fields, const struct scan_field *fields, tap_state_t shiftState, tap_state_t end_state)
 545 {
 546         for (int i = 0; i < num_fields; i++)
 547         {
 548                 scanBits(fields[i].out_value,
 549                                 fields[i].in_value,
 550                                 fields[i].num_bits,
 551                                 (i == num_fields-1),
 552                                 shiftState,
 553                                 end_state);
 554         }
 555 }
 556
 557 int interface_jtag_add_ir_scan(struct jtag_tap *active, const struct scan_field *fields, tap_state_t state)
 558 {
 559         int scan_size = 0;
 560         struct jtag_tap *tap, *nextTap;
 561         tap_state_t pause_state = TAP_IRSHIFT;
 562
 563         for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
 564         {
 565                 nextTap = jtag_tap_next_enabled(tap);
 566                 if (nextTap==NULL)
 567                 {
 568                         pause_state = state;
 569                 }
 570                 scan_size = tap->ir_length;
 571
 572                 /* search the list */
 573                 if (tap == active)
 574                 {
 575                         scanFields(1, fields, TAP_IRSHIFT, pause_state);
 576                         /* update device information */
 577                         buf_cpy(fields[0].out_value, tap->cur_instr, scan_size);
 578
 579                         tap->bypass = 0;
 580                 } else
 581                 {
 582                         /* if a device isn't listed, set it to BYPASS */
 583                         assert(scan_size <= 32);
 584                         shiftValueInner(TAP_IRSHIFT, pause_state, scan_size, 0xffffffff);
 585
 586                         tap->bypass = 1;
 587                 }
 588         }
 589
 590         return ERROR_OK;
 591 }
 592
 593
 594
 595
 596
 597 int interface_jtag_add_plain_ir_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state)
 598 {
 599         scanBits(out_bits, in_bits, num_bits, true, TAP_IRSHIFT, state);
 600         return ERROR_OK;
 601 }
 602
 603 int interface_jtag_add_dr_scan(struct jtag_tap *active, int num_fields, const struct scan_field *fields, tap_state_t state)
 604 {
 605         struct jtag_tap *tap, *nextTap;
 606         tap_state_t pause_state = TAP_DRSHIFT;
 607         for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
 608         {
 609                 nextTap = jtag_tap_next_enabled(tap);
 610                 if (nextTap==NULL)
 611                 {
 612                         pause_state = state;
 613                 }
 614
 615                 /* Find a range of fields to write to this tap */
 616                 if (tap == active)
 617                 {
 618                         assert(!tap->bypass);
 619
 620                         scanFields(num_fields, fields, TAP_DRSHIFT, pause_state);
 621                 } else
 622                 {
 623                         /* Shift out a 0 for disabled tap's */
 624                         assert(tap->bypass);
 625                         shiftValueInner(TAP_DRSHIFT, pause_state, 1, 0);
 626                 }
 627         }
 628         return ERROR_OK;
 629 }
 630
 631 int interface_jtag_add_plain_dr_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state)
 632 {
 633         scanBits(out_bits, in_bits, num_bits, true, TAP_DRSHIFT, state);
 634         return ERROR_OK;
 635 }
 636
 637 int interface_jtag_add_tlr()
 638 {
 639         setCurrentState(TAP_RESET);
 640         return ERROR_OK;
 641 }
 642
 643
 644 int interface_jtag_add_reset(int req_trst, int req_srst)
 645 {
 646         zy1000_reset(req_trst, req_srst);
 647         return ERROR_OK;
 648 }
 649
 650 static int zy1000_jtag_add_clocks(int num_cycles, tap_state_t state, tap_state_t clockstate)
 651 {
 652         /* num_cycles can be 0 */
 653         setCurrentState(clockstate);
 654
 655         /* execute num_cycles, 32 at the time. */
 656         int i;
 657         for (i = 0; i < num_cycles; i += 32)
 658         {
 659                 int num;
 660                 num = 32;
 661                 if (num_cycles-i < num)
 662                 {
 663                         num = num_cycles-i;
 664                 }
 665                 shiftValueInner(clockstate, clockstate, num, 0);
 666         }
 667
 668 #if !TEST_MANUAL()
 669         /* finish in end_state */
 670         setCurrentState(state);
 671 #else
 672         tap_state_t t = TAP_IDLE;
 673         /* test manual drive code on any target */
 674         int tms;
 675         uint8_t tms_scan = tap_get_tms_path(t, state);
 676         int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 677
 678         for (i = 0; i < tms_count; i++)
 679         {
 680                 tms = (tms_scan >> i) & 1;
 681                 waitIdle();
 682                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28,  tms);
 683         }
 684         waitIdle();
 685         ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
 686 #endif
 687
 688         return ERROR_OK;
 689 }
 690
 691 int interface_jtag_add_runtest(int num_cycles, tap_state_t state)
 692 {
 693         return zy1000_jtag_add_clocks(num_cycles, state, TAP_IDLE);
 694 }
 695
 696 int interface_jtag_add_clocks(int num_cycles)
 697 {
 698         return zy1000_jtag_add_clocks(num_cycles, cmd_queue_cur_state, cmd_queue_cur_state);
 699 }
 700
 701 int interface_add_tms_seq(unsigned num_bits, const uint8_t *seq, enum tap_state state)
 702 {
 703         /*wait for the fifo to be empty*/
 704         waitIdle();
 705
 706         for (unsigned i = 0; i < num_bits; i++)
 707         {
 708                 int tms;
 709
 710                 if (((seq[i/8] >> (i % 8)) & 1) == 0)
 711                 {
 712                         tms = 0;
 713                 }
 714                 else
 715                 {
 716                         tms = 1;
 717                 }
 718
 719                 waitIdle();
 720                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, tms);
 721         }
 722
 723         waitIdle();
 724         if (state != TAP_INVALID)
 725         {
 726                 ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
 727         } else
 728         {
 729                 /* this would be normal if we are switching to SWD mode */
 730         }
 731         return ERROR_OK;
 732 }
 733
 734 int interface_jtag_add_pathmove(int num_states, const tap_state_t *path)
 735 {
 736         int state_count;
 737         int tms = 0;
 738
 739         state_count = 0;
 740
 741         tap_state_t cur_state = cmd_queue_cur_state;
 742
 743         uint8_t seq[16];
 744         memset(seq, 0, sizeof(seq));
 745         assert(num_states < (int)((sizeof(seq) * 8)));
 746
 747         while (num_states)
 748         {
 749                 if (tap_state_transition(cur_state, false) == path[state_count])
 750                 {
 751                         tms = 0;
 752                 }
 753                 else if (tap_state_transition(cur_state, true) == path[state_count])
 754                 {
 755                         tms = 1;
 756                 }
 757                 else
 758                 {
 759                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(cur_state), tap_state_name(path[state_count]));
 760                         exit(-1);
 761                 }
 762
 763                 seq[state_count/8] = seq[state_count/8] | (tms << (state_count % 8));
 764
 765                 cur_state = path[state_count];
 766                 state_count++;
 767                 num_states--;
 768         }
 769
 770         return interface_add_tms_seq(state_count, seq, cur_state);
 771 }
 772
 773 static void jtag_pre_post_bits(struct jtag_tap *tap, int *pre, int *post)
 774 {
 775         /* bypass bits before and after */
 776         int pre_bits = 0;
 777         int post_bits = 0;
 778
 779         bool found = false;
 780         struct jtag_tap *cur_tap, *nextTap;
 781         for (cur_tap = jtag_tap_next_enabled(NULL); cur_tap!= NULL; cur_tap = nextTap)
 782         {
 783                 nextTap = jtag_tap_next_enabled(cur_tap);
 784                 if (cur_tap == tap)
 785                 {
 786                         found = true;
 787                 } else
 788                 {
 789                         if (found)
 790                         {
 791                                 post_bits++;
 792                         } else
 793                         {
 794                                 pre_bits++;
 795                         }
 796                 }
 797         }
 798         *pre = pre_bits;
 799         *post = post_bits;
 800 }
 801
 802 /*
 803         static const int embeddedice_num_bits[] = {32, 6};
 804         uint32_t values[2];
 805
 806         values[0] = value;
 807         values[1] = (1 << 5) | reg_addr;
 808
 809         jtag_add_dr_out(tap,
 810                         2,
 811                         embeddedice_num_bits,
 812                         values,
 813                         TAP_IDLE);
 814 */
 815
 816 void embeddedice_write_dcc(struct jtag_tap *tap, int reg_addr, uint8_t *buffer, int little, int count)
 817 {
 818 #if 0
 819         int i;
 820         for (i = 0; i < count; i++)
 821         {
 822                 embeddedice_write_reg_inner(tap, reg_addr, fast_target_buffer_get_u32(buffer, little));
 823                 buffer += 4;
 824         }
 825 #else
 826         int pre_bits;
 827         int post_bits;
 828         jtag_pre_post_bits(tap, &pre_bits, &post_bits);
 829
 830         if ((pre_bits > 32) || (post_bits + 6 > 32))
 831         {
 832                 int i;
 833                 for (i = 0; i < count; i++)
 834                 {
 835                         embeddedice_write_reg_inner(tap, reg_addr, fast_target_buffer_get_u32(buffer, little));
 836                         buffer += 4;
 837                 }
 838         } else
 839         {
 840                 int i;
 841                 for (i = 0; i < count; i++)
 842                 {
 843                         /* Fewer pokes means we get to use the FIFO more efficiently */
 844                         shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0);
 845                         shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, little));
 846                         /* Danger! here we need to exit into the TAP_IDLE state to make
 847                          * DCC pick up this value.
 848                          */
 849                         shiftValueInner(TAP_DRSHIFT, TAP_IDLE, 6 + post_bits, (reg_addr | (1 << 5)));
 850                         buffer += 4;
 851                 }
 852         }
 853 #endif
 854 }
 855
 856
 857
 858 int arm11_run_instr_data_to_core_noack_inner(struct jtag_tap * tap, uint32_t opcode, uint32_t * data, size_t count)
 859 {
 860         /* bypass bits before and after */
 861         int pre_bits;
 862         int post_bits;
 863         jtag_pre_post_bits(tap, &pre_bits, &post_bits);
 864         post_bits+=2;
 865
 866         if ((pre_bits > 32) || (post_bits > 32))
 867         {
 868                 int arm11_run_instr_data_to_core_noack_inner_default(struct jtag_tap * tap, uint32_t opcode, uint32_t * data, size_t count);
 869                 return arm11_run_instr_data_to_core_noack_inner_default(tap, opcode, data, count);
 870         } else
 871         {
 872                 static const int bits[] = {32, 2};
 873                 uint32_t values[] = {0, 0};
 874
 875                 /* FIX!!!!!! the target_write_memory() API started this nasty problem
 876                  * with unaligned uint32_t * pointers... */
 877                 const uint8_t *t = (const uint8_t *)data;
 878
 879                 while (--count > 0)
 880                 {
 881 #if 1
 882                         /* Danger! This code doesn't update cmd_queue_cur_state, so
 883                          * invoking jtag_add_pathmove() before jtag_add_dr_out() after
 884                          * this loop would fail!
 885                          */
 886                         shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0);
 887
 888                         uint32_t value;
 889                         value = *t++;
 890                         value |= (*t++<<8);
 891                         value |= (*t++<<16);
 892                         value |= (*t++<<24);
 893
 894                         shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, value);
 895                         /* minimum 2 bits */
 896                         shiftValueInner(TAP_DRSHIFT, TAP_DRPAUSE, post_bits, 0);
 897
 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                         /* KLUDGE! we have to flush the fifo or the Nios CPU locks up.
 901                          * This is probably a bug in the Avalon bus(cross clocking bridge?)
 902                          * or in the jtag registers module.
 903                          */
 904                         waitIdle();
 905                         ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
 906                         ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
 907                         ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 908                         ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 909                         ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 910                         ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
 911                         ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 912                         ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
 913                         /* we don't have to wait for the queue to empty here */
 914                         ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_DRSHIFT);
 915                         waitIdle();
 916 #else
 917                         static const tap_state_t arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay[] =
 918                         {
 919                                 TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT
 920                         };
 921
 922                         values[0] = *t++;
 923                         values[0] |= (*t++<<8);
 924                         values[0] |= (*t++<<16);
 925                         values[0] |= (*t++<<24);
 926
 927                         jtag_add_dr_out(tap,
 928                                 2,
 929                                 bits,
 930                                 values,
 931                                 TAP_IDLE);
 932
 933                         jtag_add_pathmove(ARRAY_SIZE(arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay),
 934                                 arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay);
 935 #endif
 936                 }
 937
 938                 values[0] = *t++;
 939                 values[0] |= (*t++<<8);
 940                 values[0] |= (*t++<<16);
 941                 values[0] |= (*t++<<24);
 942
 943                 /* This will happen on the last iteration updating cmd_queue_cur_state
 944                  * so we don't have to track it during the common code path
 945                  */
 946                 jtag_add_dr_out(tap,
 947                         2,
 948                         bits,
 949                         values,
 950                         TAP_IDLE);
 951
 952                 return jtag_execute_queue();
 953         }
 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         ZY1000_CMD_WAITIDLE = 2
1077 };
1078
1079
1080 #if !BUILD_ECOSBOARD
1081
1082 #include <sys/socket.h> /* for socket(), connect(), send(), and recv() */
1083 #include <arpa/inet.h>  /* for sockaddr_in and inet_addr() */
1084
1085 /* We initialize this late since we need to know the server address
1086  * first.
1087  */
1088 static void tcpip_open(void)
1089 {
1090         if (tcp_ip >= 0)
1091                 return;
1092
1093         struct sockaddr_in echoServAddr; /* Echo server address */
1094
1095         /* Create a reliable, stream socket using TCP */
1096         if ((tcp_ip = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP)) < 0)
1097         {
1098                 fprintf(stderr, "Failed to connect to zy1000 server\n");
1099                 exit(-1);
1100         }
1101
1102         /* Construct the server address structure */
1103         memset(&echoServAddr, 0, sizeof(echoServAddr)); /* Zero out structure */
1104         echoServAddr.sin_family = AF_INET; /* Internet address family */
1105         echoServAddr.sin_addr.s_addr = inet_addr(tcp_server); /* Server IP address */
1106         echoServAddr.sin_port = htons(7777); /* Server port */
1107
1108         /* Establish the connection to the echo server */
1109         if (connect(tcp_ip, (struct sockaddr *) &echoServAddr, sizeof(echoServAddr)) < 0)
1110         {
1111                 fprintf(stderr, "Failed to connect to zy1000 server\n");
1112                 exit(-1);
1113         }
1114
1115         int flag = 1;
1116         setsockopt(tcp_ip,      /* socket affected */
1117                         IPPROTO_TCP,            /* set option at TCP level */
1118                         TCP_NODELAY,            /* name of option */
1119                         (char *)&flag,          /* the cast is historical cruft */
1120                         sizeof(int));           /* length of option value */
1121
1122 }
1123
1124
1125 /* send a poke */
1126 void zy1000_tcpout(uint32_t address, uint32_t data)
1127 {
1128         tcpip_open();
1129         if (!writeLong((ZY1000_CMD_POKE << 24) | address)||
1130                         !writeLong(data))
1131         {
1132                 fprintf(stderr, "Could not write to zy1000 server\n");
1133                 exit(-1);
1134         }
1135 }
1136
1137 /* By sending the wait to the server, we avoid a readback
1138  * of status. Radically improves performance for this operation
1139  * with long ping times.
1140  */
1141 void waitIdle(void)
1142 {
1143         tcpip_open();
1144         if (!writeLong((ZY1000_CMD_WAITIDLE << 24)))
1145         {
1146                 fprintf(stderr, "Could not write to zy1000 server\n");
1147                 exit(-1);
1148         }
1149 }
1150
1151 uint32_t zy1000_tcpin(uint32_t address)
1152 {
1153         tcpip_open();
1154
1155         zy1000_flush_readqueue();
1156
1157         uint32_t data;
1158         if (!writeLong((ZY1000_CMD_PEEK << 24) | address)||
1159                         !readLong(&data))
1160         {
1161                 fprintf(stderr, "Could not read from zy1000 server\n");
1162                 exit(-1);
1163         }
1164         return data;
1165 }
1166
1167 int interface_jtag_add_sleep(uint32_t us)
1168 {
1169         tcpip_open();
1170         if (!writeLong((ZY1000_CMD_SLEEP << 24))||
1171                         !writeLong(us))
1172         {
1173                 fprintf(stderr, "Could not read from zy1000 server\n");
1174                 exit(-1);
1175         }
1176         return ERROR_OK;
1177 }
1178
1179 /* queue a readback */
1180 #define readqueue_size 16384
1181 static struct
1182 {
1183         uint8_t *dest;
1184         int bits;
1185 } readqueue[readqueue_size];
1186
1187 static int readqueue_pos = 0;
1188
1189 /* flush the readqueue, this means reading any data that
1190  * we're expecting and store them into the final position
1191  */
1192 void zy1000_flush_readqueue(void)
1193 {
1194         if (readqueue_pos == 0)
1195         {
1196                 /* simply debugging by allowing easy breakpoints when there
1197                  * is something to do. */
1198                 return;
1199         }
1200         int i;
1201         tcpip_open();
1202         for (i = 0; i < readqueue_pos; i++)
1203         {
1204                 uint32_t value;
1205                 if (!readLong(&value))
1206                 {
1207                         fprintf(stderr, "Could not read from zy1000 server\n");
1208                         exit(-1);
1209                 }
1210
1211                 uint8_t *in_value = readqueue[i].dest;
1212                 int k = readqueue[i].bits;
1213
1214                 // we're shifting in data to MSB, shift data to be aligned for returning the value
1215                 value >>= 32-k;
1216
1217                 for (int l = 0; l < k; l += 8)
1218                 {
1219                         in_value[l/8]=(value >> l)&0xff;
1220                 }
1221         }
1222         readqueue_pos = 0;
1223 }
1224
1225 static void writeShiftValue(uint8_t *data, int bits)
1226 {
1227         waitIdle();
1228
1229         if (!writeLong((ZY1000_CMD_PEEK << 24) | (ZY1000_JTAG_BASE + 0xc)))
1230         {
1231                 fprintf(stderr, "Could not read from zy1000 server\n");
1232                 exit(-1);
1233         }
1234
1235         if (readqueue_pos >= readqueue_size)
1236         {
1237                 zy1000_flush_readqueue();
1238         }
1239
1240         readqueue[readqueue_pos].dest = data;
1241         readqueue[readqueue_pos].bits = bits;
1242         readqueue_pos++;
1243 }
1244
1245 #else
1246
1247 static void writeShiftValue(uint8_t *data, int bits)
1248 {
1249         uint32_t value;
1250         waitIdle();
1251         ZY1000_PEEK(ZY1000_JTAG_BASE + 0xc, value);
1252         VERBOSE(LOG_INFO("getShiftValue %08x", value));
1253
1254         // data in, LSB to MSB
1255         // we're shifting in data to MSB, shift data to be aligned for returning the value
1256         value >>= 32 - bits;
1257
1258         for (int l = 0; l < bits; l += 8)
1259         {
1260                 data[l/8]=(value >> l)&0xff;
1261         }
1262 }
1263
1264 #endif
1265
1266 #if BUILD_ECOSBOARD
1267 static char tcpip_stack[2048];
1268 static cyg_thread tcpip_thread_object;
1269 static cyg_handle_t tcpip_thread_handle;
1270
1271 static char watchdog_stack[2048];
1272 static cyg_thread watchdog_thread_object;
1273 static cyg_handle_t watchdog_thread_handle;
1274
1275 /* Infinite loop peeking & poking */
1276 static void tcpipserver(void)
1277 {
1278         for (;;)
1279         {
1280                 uint32_t address;
1281                 if (!readLong(&address))
1282                         return;
1283                 enum ZY1000_CMD c = (address >> 24) & 0xff;
1284                 address &= 0xffffff;
1285                 switch (c)
1286                 {
1287                         case ZY1000_CMD_POKE:
1288                         {
1289                                 uint32_t data;
1290                                 if (!readLong(&data))
1291                                         return;
1292                                 address &= ~0x80000000;
1293                                 ZY1000_POKE(address + ZY1000_JTAG_BASE, data);
1294                                 break;
1295                         }
1296                         case ZY1000_CMD_PEEK:
1297                         {
1298                                 uint32_t data;
1299                                 ZY1000_PEEK(address + ZY1000_JTAG_BASE, data);
1300                                 if (!writeLong(data))
1301                                         return;
1302                                 break;
1303                         }
1304                         case ZY1000_CMD_SLEEP:
1305                         {
1306                                 uint32_t data;
1307                                 if (!readLong(&data))
1308                                         return;
1309                                 jtag_sleep(data);
1310                                 break;
1311                         }
1312                         case ZY1000_CMD_WAITIDLE:
1313                         {
1314                                 waitIdle();
1315                                 break;
1316                         }
1317                         default:
1318                                 return;
1319                 }
1320         }
1321 }
1322
1323
1324 static void tcpip_server(cyg_addrword_t data)
1325 {
1326         int so_reuseaddr_option = 1;
1327
1328         int fd;
1329         if ((fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
1330         {
1331                 LOG_ERROR("error creating socket: %s", strerror(errno));
1332                 exit(-1);
1333         }
1334
1335         setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, (void*) &so_reuseaddr_option,
1336                         sizeof(int));
1337
1338         struct sockaddr_in sin;
1339         unsigned int address_size;
1340         address_size = sizeof(sin);
1341         memset(&sin, 0, sizeof(sin));
1342         sin.sin_family = AF_INET;
1343         sin.sin_addr.s_addr = INADDR_ANY;
1344         sin.sin_port = htons(7777);
1345
1346         if (bind(fd, (struct sockaddr *) &sin, sizeof(sin)) == -1)
1347         {
1348                 LOG_ERROR("couldn't bind to socket: %s", strerror(errno));
1349                 exit(-1);
1350         }
1351
1352         if (listen(fd, 1) == -1)
1353         {
1354                 LOG_ERROR("couldn't listen on socket: %s", strerror(errno));
1355                 exit(-1);
1356         }
1357
1358
1359         for (;;)
1360         {
1361                 tcp_ip = accept(fd, (struct sockaddr *) &sin, &address_size);
1362                 if (tcp_ip < 0)
1363                 {
1364                         continue;
1365                 }
1366
1367                 int flag = 1;
1368                 setsockopt(tcp_ip,      /* socket affected */
1369                                 IPPROTO_TCP,            /* set option at TCP level */
1370                                 TCP_NODELAY,            /* name of option */
1371                                 (char *)&flag,          /* the cast is historical cruft */
1372                                 sizeof(int));           /* length of option value */
1373
1374                 bool save_poll = jtag_poll_get_enabled();
1375
1376                 /* polling will screw up the "connection" */
1377                 jtag_poll_set_enabled(false);
1378
1379                 tcpipserver();
1380
1381                 jtag_poll_set_enabled(save_poll);
1382
1383                 close(tcp_ip);
1384
1385         }
1386         close(fd);
1387
1388 }
1389
1390 #ifdef WATCHDOG_BASE
1391 /* If we connect to port 8888 we must send a char every 10s or the board resets itself */
1392 static void watchdog_server(cyg_addrword_t data)
1393 {
1394         int so_reuseaddr_option = 1;
1395
1396         int fd;
1397         if ((fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
1398         {
1399                 LOG_ERROR("error creating socket: %s", strerror(errno));
1400                 exit(-1);
1401         }
1402
1403         setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, (void*) &so_reuseaddr_option,
1404                         sizeof(int));
1405
1406         struct sockaddr_in sin;
1407         unsigned int address_size;
1408         address_size = sizeof(sin);
1409         memset(&sin, 0, sizeof(sin));
1410         sin.sin_family = AF_INET;
1411         sin.sin_addr.s_addr = INADDR_ANY;
1412         sin.sin_port = htons(8888);
1413
1414         if (bind(fd, (struct sockaddr *) &sin, sizeof(sin)) == -1)
1415         {
1416                 LOG_ERROR("couldn't bind to socket: %s", strerror(errno));
1417                 exit(-1);
1418         }
1419
1420         if (listen(fd, 1) == -1)
1421         {
1422                 LOG_ERROR("couldn't listen on socket: %s", strerror(errno));
1423                 exit(-1);
1424         }
1425
1426
1427         for (;;)
1428         {
1429                 int watchdog_ip = accept(fd, (struct sockaddr *) &sin, &address_size);
1430
1431                 /* Start watchdog, must be reset every 10 seconds. */
1432                 HAL_WRITE_UINT32(WATCHDOG_BASE + 4, 4);
1433
1434                 if (watchdog_ip < 0)
1435                 {
1436                         LOG_ERROR("couldn't open watchdog socket: %s", strerror(errno));
1437                         exit(-1);
1438                 }
1439
1440                 int flag = 1;
1441                 setsockopt(watchdog_ip, /* socket affected */
1442                                 IPPROTO_TCP,            /* set option at TCP level */
1443                                 TCP_NODELAY,            /* name of option */
1444                                 (char *)&flag,          /* the cast is historical cruft */
1445                                 sizeof(int));           /* length of option value */
1446
1447
1448                 char buf;
1449                 for (;;)
1450                 {
1451                         if (read(watchdog_ip, &buf, 1) == 1)
1452                         {
1453                                 /* Reset timer */
1454                                 HAL_WRITE_UINT32(WATCHDOG_BASE + 8, 0x1234);
1455                                 /* Echo so we can telnet in and see that resetting works */
1456                                 write(watchdog_ip, &buf, 1);
1457                         } else
1458                         {
1459                                 /* Stop tickling the watchdog, the CPU will reset in < 10 seconds
1460                                  * now.
1461                                  */
1462                                 return;
1463                         }
1464
1465                 }
1466
1467                 /* Never reached */
1468         }
1469 }
1470 #endif
1471
1472 int interface_jtag_add_sleep(uint32_t us)
1473 {
1474         jtag_sleep(us);
1475         return ERROR_OK;
1476 }
1477
1478 #endif
1479
1480
1481 int zy1000_init(void)
1482 {
1483 #if BUILD_ECOSBOARD
1484         LOG_USER("%s", ZYLIN_OPENOCD_VERSION);
1485 #endif
1486
1487         ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x30); // Turn on LED1 & LED2
1488
1489         setPower(true); // on by default
1490
1491
1492          /* deassert resets. Important to avoid infinite loop waiting for SRST to deassert */
1493         zy1000_reset(0, 0);
1494         zy1000_speed(jtag_get_speed());
1495
1496
1497 #if BUILD_ECOSBOARD
1498         cyg_thread_create(1, tcpip_server, (cyg_addrword_t) 0, "tcip/ip server",
1499                         (void *) tcpip_stack, sizeof(tcpip_stack),
1500                         &tcpip_thread_handle, &tcpip_thread_object);
1501         cyg_thread_resume(tcpip_thread_handle);
1502 #ifdef WATCHDOG_BASE
1503         cyg_thread_create(1, watchdog_server, (cyg_addrword_t) 0, "watchdog tcip/ip server",
1504                         (void *) watchdog_stack, sizeof(watchdog_stack),
1505                         &watchdog_thread_handle, &watchdog_thread_object);
1506         cyg_thread_resume(watchdog_thread_handle);
1507 #endif
1508 #endif
1509
1510         return ERROR_OK;
1511 }
1512
1513
1514
1515 struct jtag_interface zy1000_interface =
1516 {
1517         .name = "ZY1000",
1518         .supported = DEBUG_CAP_TMS_SEQ,
1519         .execute_queue = NULL,
1520         .speed = zy1000_speed,
1521         .commands = zy1000_commands,
1522         .init = zy1000_init,
1523         .quit = zy1000_quit,
1524         .khz = zy1000_khz,
1525         .speed_div = zy1000_speed_div,
1526         .power_dropout = zy1000_power_dropout,
1527         .srst_asserted = zy1000_srst_asserted,
1528 };
1529