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[OpenOCD-devel] [PATCH]: 7522957 jtag: drivers: axi-jtag: Add support for AXI JTAG core
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From: <ge...@op...> - 2019-07-16 18:54:53
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This is an automated email from Gerrit. Moritz Fischer (mo...@go...) just uploaded a new patch set to Gerrit, which you can find at http://openocd.zylin.com/5265 -- gerrit commit 7522957154639e61b04ba54e3ea802f82aa080a6 Author: Moritz Fischer <mo...@go...> Date: Mon Jul 8 16:14:40 2019 -0700 jtag: drivers: axi-jtag: Add support for AXI JTAG core Add support for AXI JTAG core, an FPGA based IP block that implements JTAG with a small set of registers. Note: The actual bus this is attached to can be any memory mapped bus that lets userland mmap the registers. This was tested on aarch64 (zynqmp) and arm (zynq), as well as compile tested on x86_64. No new Clang-Analyzer warnings Change-Id: I333b67ecbd77e652c09ecd88bdcdd6a7b4efe783 Signed-off-by: Moritz Fischer <mo...@go...> diff --git a/configure.ac b/configure.ac index b84e3e8..0fb4e35 100644 --- a/configure.ac +++ b/configure.ac @@ -142,6 +142,9 @@ m4_define([LIBFTDI_ADAPTERS], m4_define([LIBJAYLINK_ADAPTERS], [[[jlink], [SEGGER J-Link Programmer], [JLINK]]]) +m4_define([MMIO_ADAPTERS], + [[[axijtag], [Google AXI JTAG], [AXIJTAG]]]) + AC_ARG_ENABLE([doxygen-html], AS_HELP_STRING([--disable-doxygen-html], @@ -238,6 +241,7 @@ AC_ARG_ADAPTERS([ HIDAPI_USB1_ADAPTERS, LIBFTDI_ADAPTERS, LIBJAYLINK_ADAPTERS + MMIO_ADAPTERS, ],[auto]) AC_ARG_ENABLE([parport], @@ -307,6 +311,18 @@ AC_ARG_ENABLE([oocd_trace], [Enable building support for some prototype OpenOCD+trace ETM capture hardware]), [build_oocd_trace=$enableval], [build_oocd_trace=no]) +AC_ARG_ENABLE([axijtag], + AS_HELP_STRING([--enable-axijtag], [Enable building support for the AXI JTAG driver]), + [build_axijtag=$enableval], [build_axijtag=no]) + +AS_CASE([$host_os], + [linux*], [], + [ + AS_IF([test "x$build_axijtag" = "xyes"], [ + AC_MSG_ERROR([axijtag is only available on linux]) + ]) +]) + AC_ARG_ENABLE([buspirate], AS_HELP_STRING([--enable-buspirate], [Enable building support for the Buspirate]), [build_buspirate=$enableval], [build_buspirate=no]) @@ -552,6 +568,12 @@ AS_IF([test "x$build_oocd_trace" = "xyes"], [ AC_DEFINE([BUILD_OOCD_TRACE], [0], [0 if you don't want the OpenOCD+trace ETM capture driver.]) ]) +AS_IF([test "x$build_axijtag" = "xyes"], [ + AC_DEFINE([BUILD_AXIJTAG], [1], [1 if you want the AXI JTAG driver.]) +], [ + AC_DEFINE([BUILD_AXIJTAG], [0], [0 if you don't want the AXI JTAG driver.]) +]) + AS_IF([test "x$build_buspirate" = "xyes"], [ AC_DEFINE([BUILD_BUSPIRATE], [1], [1 if you want the Buspirate JTAG driver.]) ], [ @@ -682,6 +704,7 @@ AS_IF([test "x$enable_presto" != "xno"], [ AM_CONDITIONAL([RELEASE], [test "x$build_release" = "xyes"]) AM_CONDITIONAL([PARPORT], [test "x$build_parport" = "xyes"]) AM_CONDITIONAL([DUMMY], [test "x$build_dummy" = "xyes"]) +AM_CONDITIONAL([AXIJTAG], [test "x$build_axijtag" = "xyes"]) AM_CONDITIONAL([GIVEIO], [test "x$parport_use_giveio" = "xyes"]) AM_CONDITIONAL([EP93XX], [test "x$build_ep93xx" = "xyes"]) AM_CONDITIONAL([ZY1000], [test "x$build_zy1000" = "xyes"]) @@ -778,7 +801,7 @@ echo OpenOCD configuration summary echo -------------------------------------------------- m4_foreach([adapter], [USB1_ADAPTERS, USB_ADAPTERS, USB0_ADAPTERS, HIDAPI_ADAPTERS, HIDAPI_USB1_ADAPTERS, LIBFTDI_ADAPTERS, - LIBJAYLINK_ADAPTERS], + LIBJAYLINK_ADAPTERS, MMIO_ADAPTERS], [s=m4_format(["%-40s"], ADAPTER_DESC([adapter])) AS_CASE([$ADAPTER_VAR([adapter])], [auto], [ diff --git a/src/jtag/drivers/Makefile.am b/src/jtag/drivers/Makefile.am index 572cd24..96616fc 100644 --- a/src/jtag/drivers/Makefile.am +++ b/src/jtag/drivers/Makefile.am @@ -123,6 +123,9 @@ DRIVERFILES += %D%/versaloon/usbtoxxx/usbtoxxx.c DRIVERFILES += %D%/versaloon/versaloon.c DRIVERFILES += %D%/vsllink.c endif +if AXIJTAG +DRIVERFILES += %D%/axi-jtag.c +endif if ARMJTAGEW DRIVERFILES += %D%/arm-jtag-ew.c endif diff --git a/src/jtag/drivers/axi-jtag.c b/src/jtag/drivers/axi-jtag.c new file mode 100644 index 0000000..1f83b2a --- /dev/null +++ b/src/jtag/drivers/axi-jtag.c @@ -0,0 +1,482 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * Copyright (c) 2019 Google LLC. + * Author: Moritz Fischer <mo...@go...> + */ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include <stdint.h> +#include <stdlib.h> +#include <math.h> + +#include <jtag/interface.h> +#include <jtag/swd.h> +#include <jtag/commands.h> +#include <helper/bits.h> +#include <helper/replacements.h> +#include <sys/mman.h> + +#define AXI_JTAG_LEN_REG 0x00 +#define AXI_JTAG_TDI_REG 0x04 +#define AXI_JTAG_TMS_REG 0x08 +#define AXI_JTAG_TDO_REG 0x0c +#define AXI_JTAG_CTRL_REG 0x10 +# define AXI_JTAG_CTRL_BUSY BIT(0) +# define AXI_JTAG_CTRL_WRITE BIT(0) +# define AXI_JTAG_CTRL_TRST BIT(1) +# define AXI_JTAG_CTRL_SRST BIT(2) +#define AXI_JTAG_PRSC_REG 0x14 +# define AXI_JTAG_PRSC_MASK 0xff + +#define AXI_JTAG_MAX_BITS 0x20 +#define AXI_JTAG_MAP_SIZE 0x1000 +#define AXI_JTAG_MAP_MASK (AXI_JTAG_MAP_SIZE - 1) + +#if defined(__arm__) +#define wmb() asm volatile("dmb st" : : : "memory") +#elif defined(__aarch64__) +#define wmb() asm volatile("dmb st" : : : "memory") +#elif defined(__powerpc__) +#define wmb() asm volatile("sync" : : : "memory") +#elif defined(__x86_64__) || defined(__i386__) +#define wmb() asm volatile("sfence" : : : "memory") +#elif defined(__riscv) || defined(__riscv__) +#define wmb() asm volatile("fence w,o" : : : "memory") +#else +#define wmb() do { } while (0) +#endif + +struct axi_jtag { + int fd; + void *io_base; + void *io_vaddr; + off_t offset; + + int input_clk_khz; + + char *device_node; +}; + +static struct axi_jtag axi_jtag_state; +static struct axi_jtag *axi_jtag = &axi_jtag_state; + +static uint32_t axi_jtag_read_reg(const off_t offset) +{ + return *((volatile uint32_t*)(axi_jtag->io_vaddr + offset)); +} + +static void axi_jtag_write_reg(const off_t offset, const uint32_t val) +{ + /* This may be overly paranoid, but when going through width + * conversions strange things happen inside AXI IP sometimes + * Problems without barrier were observed on ZynqMP aarch64 + */ + wmb(); + *((volatile uint32_t*)(axi_jtag->io_vaddr + offset)) = val; +} + +static int axi_jtag_is_busy(void) +{ + return axi_jtag_read_reg(AXI_JTAG_CTRL_REG) & AXI_JTAG_CTRL_BUSY; +} + +static void axi_jtag_transact(size_t num_bits, uint32_t tms, uint32_t tdi, + uint32_t *tdo) +{ + axi_jtag_write_reg(AXI_JTAG_LEN_REG, num_bits); + axi_jtag_write_reg(AXI_JTAG_TDI_REG, tdi); + axi_jtag_write_reg(AXI_JTAG_TMS_REG, tms); + axi_jtag_write_reg(AXI_JTAG_CTRL_REG, AXI_JTAG_CTRL_WRITE); + while (axi_jtag_is_busy()) + ; + if (tdo) + *tdo = axi_jtag_read_reg(AXI_JTAG_TDO_REG); + + LOG_DEBUG_IO("Transact num_bits: %zu, tms: %x, tdi: %x, tdo: %x", + num_bits, tms, tdi, tdo ? *tdo : 0xdeadbeef); +} + +void axi_jtag_execute_stableclocks(struct jtag_command *cmd) +{ + int tms = tap_get_state() == TAP_RESET ? 1 : 0; + size_t left = cmd->cmd.stableclocks->num_cycles; + size_t write; + + LOG_DEBUG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles); + + while (left) { + write = MIN(AXI_JTAG_MAX_BITS, left); + axi_jtag_transact(write, tms, 0, NULL); + left -= write; + }; +} + +static void axi_jtag_execute_statemove(size_t skip) +{ + uint8_t tms_scan = tap_get_tms_path(tap_get_state(), + tap_get_end_state()); + int tms_count = tap_get_tms_path_len(tap_get_state(), + tap_get_end_state()); + + LOG_DEBUG_IO("statemove starting at (skip: %zu) %s end in %s", skip, + tap_state_name(tap_get_state()), + tap_state_name(tap_get_end_state())); + + + axi_jtag_transact(tms_count - skip, tms_scan >> skip, 0, NULL); + tap_set_state(tap_get_end_state()); +} + +static void axi_jtag_execute_runtest(struct jtag_command *cmd) +{ + LOG_DEBUG_IO("runtest %i cycles, end in %i", + cmd->cmd.runtest->num_cycles, + cmd->cmd.runtest->end_state); + + tap_state_t tmp_state = tap_get_end_state(); + + if (tap_get_state() != TAP_IDLE) { + tap_set_end_state(TAP_IDLE); + axi_jtag_execute_statemove(0); + }; + + size_t left = cmd->cmd.runtest->num_cycles; + size_t write; + + while (left) { + write = MIN(AXI_JTAG_MAX_BITS, left); + axi_jtag_transact(write, 0, 0, NULL); + left -= write; + }; + + tap_set_end_state(tmp_state); + if (tap_get_state() != tap_get_end_state()) + axi_jtag_execute_statemove(0); +} + +static void axi_jtag_execute_pathmove(struct jtag_command *cmd) +{ + size_t num_states = cmd->cmd.pathmove->num_states; + tap_state_t *path = cmd->cmd.pathmove->path; + size_t i; + + LOG_DEBUG_IO("pathmove: %i states, end in %i", + cmd->cmd.pathmove->num_states, + cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]); + + for (i = 0; i < num_states; i++) { + if (path[i] == tap_state_transition(tap_get_state(), false)) + axi_jtag_transact(1, 1, 0, NULL); + else if (path[i] == tap_state_transition(tap_get_state(), true)) + axi_jtag_transact(1, 0, 0, NULL); + else + LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.", + tap_state_name(tap_get_state()), + tap_state_name(path[i])); + tap_set_state(path[i]); + } + + tap_set_end_state(tap_get_state()); +} + +static int axi_jtag_execute_scan(struct jtag_command *cmd) +{ + enum scan_type type = jtag_scan_type(cmd->cmd.scan); + tap_state_t saved_end_state = cmd->cmd.scan->end_state; + bool ir_scan = cmd->cmd.scan->ir_scan; + uint32_t tdi, tms, tdo; + uint8_t *buf, *rd_ptr; + int err, scan_size; + size_t write; + size_t left; + + scan_size = jtag_build_buffer(cmd->cmd.scan, &buf); + rd_ptr = buf; + LOG_DEBUG_IO("%s scan type %d %d bits; starts in %s end in %s", + (cmd->cmd.scan->ir_scan) ? "IR" : "DR", type, scan_size, + tap_state_name(tap_get_state()), + tap_state_name(cmd->cmd.scan->end_state)); + + /* If we're in TAP_DR_SHIFT state but need to do a IR_SCAN or + * vice-versa, do a statemove to corresponding other state, then restore + * end state + */ + if (ir_scan && tap_get_state() != TAP_IRSHIFT) { + tap_set_end_state(TAP_IRSHIFT); + axi_jtag_execute_statemove(0); + tap_set_end_state(saved_end_state); + } else if (!ir_scan && (tap_get_state() != TAP_DRSHIFT)) { + tap_set_end_state(TAP_DRSHIFT); + axi_jtag_execute_statemove(0); + tap_set_end_state(saved_end_state); + } + + left = scan_size; + while (left) { + write = MIN(AXI_JTAG_MAX_BITS, left); + /* the last TMS should be a 1, to leave the state */ + tms = left <= AXI_JTAG_MAX_BITS ? BIT(write - 1) : 0; + tdi = (type != SCAN_IN) ? buf_get_u32(rd_ptr, 0, write) : 0; + axi_jtag_transact(write, tms, tdi, type != SCAN_OUT ? + &tdo : NULL); + left -= write; + buf_set_u32(rd_ptr, 0, write, tdo); + rd_ptr += sizeof(uint32_t); + }; + + err = jtag_read_buffer(buf, cmd->cmd.scan); + if (buf) + free(buf); + + if (tap_get_state() != tap_get_end_state()) + axi_jtag_execute_statemove(1); + + return err; +} + +static void axi_jtag_execute_reset(struct jtag_command *cmd) +{ + uint32_t ctrl; + + ctrl = axi_jtag_read_reg(AXI_JTAG_CTRL_REG); + ctrl &= ~(AXI_JTAG_CTRL_TRST | AXI_JTAG_CTRL_SRST); + + if (cmd->cmd.reset->trst) + ctrl |= AXI_JTAG_CTRL_TRST; + if (cmd->cmd.reset->srst) + ctrl |= AXI_JTAG_CTRL_SRST; + axi_jtag_write_reg(AXI_JTAG_CTRL_REG, ctrl); + + /* If trst is set, reset the TAP, same goes for special + * configurations such as RESET_SRST_PULLS_TRST + */ + if ((cmd->cmd.reset->trst == 1) || + (cmd->cmd.reset->srst && + (jtag_get_reset_config() & RESET_SRST_PULLS_TRST))) + tap_set_state(TAP_RESET); + + LOG_DEBUG_IO("reset trst: %i srst: %i", cmd->cmd.reset->trst, + cmd->cmd.reset->srst); +} + +static void axi_jtag_execute_sleep(struct jtag_command *cmd) +{ + LOG_DEBUG_IO("sleep %" PRIi32 "", cmd->cmd.sleep->us); + usleep(cmd->cmd.sleep->us); +} + +static int axi_jtag_execute_tms(struct jtag_command *cmd) +{ + const size_t num_bits = cmd->cmd.tms->num_bits; + const uint8_t *bits = cmd->cmd.tms->bits; + size_t left, write; + uint32_t tms; + + LOG_DEBUG_IO("execute tms %zu", num_bits); + + left = num_bits; + while (left) { + write = MIN(AXI_JTAG_MAX_BITS, left); + tms = buf_get_u32(bits, 0, write); + axi_jtag_transact(write, tms, 0, NULL); + left -= write; + bits += 4; + }; + + return ERROR_OK; +} + +static int axi_jtag_execute_command(struct jtag_command *cmd) +{ + LOG_DEBUG_IO("%s: cmd->type: %u", __func__, cmd->type); + switch (cmd->type) { + case JTAG_STABLECLOCKS: + axi_jtag_execute_stableclocks(cmd); + break; + case JTAG_RUNTEST: + axi_jtag_execute_runtest(cmd); + break; + case JTAG_TLR_RESET: + tap_set_end_state(cmd->cmd.statemove->end_state); + axi_jtag_execute_statemove(0); + break; + case JTAG_PATHMOVE: + axi_jtag_execute_pathmove(cmd); + break; + case JTAG_SCAN: + return axi_jtag_execute_scan(cmd); + case JTAG_RESET: + axi_jtag_execute_reset(cmd); + break; + case JTAG_SLEEP: + axi_jtag_execute_sleep(cmd); + break; + case JTAG_TMS: + return axi_jtag_execute_tms(cmd); + default: + LOG_ERROR("BUG: Unknown JTAG command type encountered."); + return ERROR_JTAG_QUEUE_FAILED; + } + + return ERROR_OK; +} + +static int axi_jtag_execute_queue(void) +{ + struct jtag_command *cmd = jtag_command_queue; + int ret; + + while (cmd) { + ret = axi_jtag_execute_command(cmd); + + if (ret != ERROR_OK) + return ret; + + cmd = cmd->next; + } + + return ERROR_OK; +} + +static int axi_jtag_init(void) +{ + axi_jtag->fd = open(axi_jtag->device_node, O_RDWR | O_SYNC); + if (axi_jtag->fd < 0) { + LOG_ERROR("Failed to open device: %s", axi_jtag->device_node); + return ERROR_JTAG_INIT_FAILED; + } + + axi_jtag->io_base = mmap(NULL, AXI_JTAG_MAP_SIZE, + PROT_READ | PROT_WRITE, MAP_SHARED, + axi_jtag->fd, + axi_jtag->offset & ~AXI_JTAG_MAP_MASK); + if (axi_jtag->io_base == MAP_FAILED) { + LOG_ERROR("Failed to mmap device: %s, offset %lx", + axi_jtag->device_node, axi_jtag->offset); + goto err_mmap; + } + + axi_jtag->io_vaddr = axi_jtag->io_base + + (axi_jtag->offset & AXI_JTAG_MAP_MASK); + + return ERROR_OK; + +err_mmap: + close(axi_jtag->fd); + return ERROR_JTAG_INIT_FAILED; +} + +static int axi_jtag_quit(void) +{ + int err; + + err = munmap(axi_jtag->io_base, getpagesize()); + if (err) + goto err_unmap; + + err = close(axi_jtag->fd); + if (err) + return err; + return ERROR_OK; + +err_unmap: + return ERROR_JTAG_QUEUE_FAILED; +} + +static int axi_jtag_speed(int speed) +{ + int psc_val; + + if (!speed) { + LOG_INFO("RTCK not supported"); + return ERROR_JTAG_NOT_IMPLEMENTED; + } + + if (speed > axi_jtag->input_clk_khz) { + LOG_INFO("Reduced speed request from %d kHz to %d kHz max", + speed, axi_jtag->input_clk_khz / 2); + speed = axi_jtag->input_clk_khz / 2; + } + + if (speed < (axi_jtag->input_clk_khz / AXI_JTAG_PRSC_MASK / 2)) { + LOG_INFO("Increased speed request from %d kHz to %d kHz min", + speed, axi_jtag->input_clk_khz / + AXI_JTAG_PRSC_MASK / 2); + speed = axi_jtag->input_clk_khz / AXI_JTAG_PRSC_MASK / 2; + } + + /* Need to stay under the max given by speed, so round up the psc, + * but register value need to calculated value *minus* one + */ + psc_val = DIV_ROUND_UP(axi_jtag->input_clk_khz, (2 * speed)) - 1; + axi_jtag_write_reg(AXI_JTAG_PRSC_REG, psc_val & AXI_JTAG_PRSC_MASK); + + return ERROR_OK; +} + +static int axi_jtag_speed_div(int speed, int *khz) +{ + int psc; + + psc = DIV_ROUND_UP(axi_jtag->input_clk_khz, (2 * speed)); + *khz = axi_jtag->input_clk_khz / psc / 2; + return ERROR_OK; +} + +static int axi_jtag_khz(int khz, int *jtag_speed) +{ + if (!khz) { + LOG_DEBUG("RTCK not supported"); + return ERROR_JTAG_NOT_IMPLEMENTED; + } + + *jtag_speed = khz; + return ERROR_OK; +} + +COMMAND_HANDLER(axi_jtag_handle_config_command) +{ + switch (CMD_ARGC) { + case 3: + axi_jtag->input_clk_khz = strtol(CMD_ARGV[2], NULL, 0) / 1000; + axi_jtag->offset = strtol(CMD_ARGV[1], NULL, 0); + axi_jtag->device_node = strdup(CMD_ARGV[0]); + break; + case 2: + axi_jtag->input_clk_khz = 100000; + axi_jtag->offset = strtol(CMD_ARGV[1], NULL, 0); + axi_jtag->device_node = strdup(CMD_ARGV[0]); + break; + default: + return ERROR_COMMAND_SYNTAX_ERROR; + }; + return ERROR_OK; +} + +static const struct command_registration axi_jtag_command_handlers[] = { + { + .name = "axi_jtag_config", + .handler = axi_jtag_handle_config_command, + .mode = COMMAND_CONFIG, + .help = "Configure AXI JTAG device and offset", + .usage = "device offset", + }, + COMMAND_REGISTRATION_DONE +}; + +static const char * const axi_jtag_transports[] = { "jtag", NULL }; + +struct jtag_interface axi_jtag_interface = { + .name = "axijtag", + .commands = axi_jtag_command_handlers, + .transports = axi_jtag_transports, + .execute_queue = &axi_jtag_execute_queue, + .speed = &axi_jtag_speed, + .speed_div = &axi_jtag_speed_div, + .khz = &axi_jtag_khz, + .init = &axi_jtag_init, + .quit = &axi_jtag_quit, +}; diff --git a/src/jtag/interfaces.c b/src/jtag/interfaces.c index 286a73a..5e0700f 100644 --- a/src/jtag/interfaces.c +++ b/src/jtag/interfaces.c @@ -102,6 +102,9 @@ extern struct jtag_interface armjtagew_interface; #if BUILD_BUSPIRATE == 1 extern struct jtag_interface buspirate_interface; #endif +#if BUILD_AXIJTAG == 1 +extern struct jtag_interface axi_jtag_interface; +#endif #if BUILD_REMOTE_BITBANG == 1 extern struct jtag_interface remote_bitbang_interface; #endif @@ -204,6 +207,9 @@ struct jtag_interface *jtag_interfaces[] = { #if BUILD_ARMJTAGEW == 1 &armjtagew_interface, #endif +#if BUILD_AXIJTAG == 1 + &axi_jtag_interface, +#endif #if BUILD_BUSPIRATE == 1 &buspirate_interface, #endif -- |
