openocd/src/jtag/zy1000/zy1000.c

/***************************************************************************
 *   Copyright (C) 2007-2010 by Øyvind Harboe                              *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/

/* This file supports the zy1000 debugger: http://www.zylin.com/zy1000.html
 *
 * The zy1000 is a standalone debugger that has a web interface and
 * requires no drivers on the developer host as all communication
 * is via TCP/IP. The zy1000 gets it performance(~400-700kBytes/s
 * DCC downloads @ 16MHz target) as it has an FPGA to hardware
 * accelerate the JTAG commands, while offering *very* low latency
 * between OpenOCD and the FPGA registers.
 *
 * The disadvantage of the zy1000 is that it has a feeble CPU compared to
 * a PC(ca. 50-500 DMIPS depending on how one counts it), whereas a PC
 * is on the order of 10000 DMIPS(i.e. at a factor of 20-200).
 *
 * The zy1000 revc hardware is using an Altera Nios CPU, whereas the
 * revb is using ARM7 + Xilinx.
 *
 * See Zylin web pages or contact Zylin for more information.
 *
 * The reason this code is in OpenOCD rather than OpenOCD linked with the
 * ZY1000 code is that OpenOCD is the long road towards getting
 * libopenocd into place. libopenocd will support both low performance,
 * low latency systems(embedded) and high performance high latency
 * systems(PCs).
 */
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include <target/embeddedice.h>
#include <jtag/minidriver.h>
#include <jtag/interface.h>
#include <time.h>
#include <helper/time_support.h>

#include <netinet/tcp.h>

#if BUILD_ECOSBOARD
#include "zy1000_version.h"

#include <cyg/hal/hal_io.h>             // low level i/o
#include <cyg/hal/hal_diag.h>

#ifdef CYGPKG_HAL_NIOS2
#include <cyg/hal/io.h>
#include <cyg/firmwareutil/firmwareutil.h>
#endif

#define ZYLIN_VERSION GIT_ZY1000_VERSION
#define ZYLIN_DATE __DATE__
#define ZYLIN_TIME __TIME__
#define ZYLIN_OPENOCD GIT_OPENOCD_VERSION
#define ZYLIN_OPENOCD_VERSION "ZY1000 " ZYLIN_VERSION " " ZYLIN_DATE

#endif

static int zy1000_khz(int khz, int *jtag_speed)
{
	if (khz == 0)
	{
		*jtag_speed = 0;
	}
	else
	{
		*jtag_speed = 64000/khz;
	}
	return ERROR_OK;
}

static int zy1000_speed_div(int speed, int *khz)
{
	if (speed == 0)
	{
		*khz = 0;
	}
	else
	{
		*khz = 64000/speed;
	}

	return ERROR_OK;
}

static bool readPowerDropout(void)
{
	uint32_t state;
	// sample and clear power dropout
	ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x80);
	ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
	bool powerDropout;
	powerDropout = (state & 0x80) != 0;
	return powerDropout;
}


static bool readSRST(void)
{
	uint32_t state;
	// sample and clear SRST sensing
	ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000040);
	ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, state);
	bool srstAsserted;
	srstAsserted = (state & 0x40) != 0;
	return srstAsserted;
}

static int zy1000_srst_asserted(int *srst_asserted)
{
	*srst_asserted = readSRST();
	return ERROR_OK;
}

static int zy1000_power_dropout(int *dropout)
{
	*dropout = readPowerDropout();
	return ERROR_OK;
}

void zy1000_reset(int trst, int srst)
{
	LOG_DEBUG("zy1000 trst=%d, srst=%d", trst, srst);

	/* flush the JTAG FIFO. Not flushing the queue before messing with
	 * reset has such interesting bugs as causing hard to reproduce
	 * RCLK bugs as RCLK will stop responding when TRST is asserted
	 */
	waitIdle();

	if (!srst)
	{
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000001);
	}
	else
	{
		/* Danger!!! if clk != 0 when in
		 * idle in TAP_IDLE, reset halt on str912 will fail.
		 */
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000001);
	}

	if (!trst)
	{
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x00000002);
	}
	else
	{
		/* assert reset */
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x00000002);
	}

	if (trst||(srst && (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
	{
		/* we're now in the RESET state until trst is deasserted */
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_RESET);
	} else
	{
		/* We'll get RCLK failure when we assert TRST, so clear any false positives here */
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);
	}

	/* wait for srst to float back up */
	if ((!srst && ((jtag_get_reset_config() & RESET_TRST_PULLS_SRST) == 0))||
		(!srst && !trst && (jtag_get_reset_config() & RESET_TRST_PULLS_SRST)))
	{
		bool first = true;
		long long start = 0;
		long total = 0;
		for (;;)
		{	
			// We don't want to sense our own reset, so we clear here.
			// There is of course a timing hole where we could loose
			// a "real" reset.
			if (!readSRST())
			{
				if (total > 1)
				{
				  LOG_USER("SRST took %dms to deassert", (int)total);
				}
				break;
			}

			if (first)
			{
			    first = false;
			    start = timeval_ms();
			}

			total = timeval_ms() - start;

			keep_alive();

			if (total > 5000)
			{
				LOG_ERROR("SRST took too long to deassert: %dms", (int)total);
			    break;
			}
		}

	}
}

int zy1000_speed(int speed)
{
	/* flush JTAG master FIFO before setting speed */
	waitIdle();

	if (speed == 0)
	{
		/*0 means RCLK*/
		speed = 0;
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x100);
		LOG_DEBUG("jtag_speed using RCLK");
	}
	else
	{
		if (speed > 8190 || speed < 2)
		{
			LOG_USER("valid ZY1000 jtag_speed=[8190,2]. Divisor is 64MHz / even values between 8190-2, i.e. min 7814Hz, max 32MHz");
			return ERROR_INVALID_ARGUMENTS;
		}

		LOG_USER("jtag_speed %d => JTAG clk=%f", speed, 64.0/(float)speed);
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x100);
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x1c, speed&~1);
	}
	return ERROR_OK;
}

static bool savePower;


static void setPower(bool power)
{
	savePower = power;
	if (power)
	{
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x8);
	} else
	{
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x8);
	}
}

COMMAND_HANDLER(handle_power_command)
{
	switch (CMD_ARGC)
	{
	case 1: {
		bool enable;
		COMMAND_PARSE_ON_OFF(CMD_ARGV[0], enable);
		setPower(enable);
		// fall through
	}
	case 0:
		LOG_INFO("Target power %s", savePower ? "on" : "off");
		break;
	default:
		return ERROR_INVALID_ARGUMENTS;
	}

	return ERROR_OK;
}

#if !BUILD_ECOSBOARD
static char *tcp_server = "notspecified";
static int jim_zy1000_server(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
{
	if (argc != 2)
		return JIM_ERR;

	tcp_server = strdup(Jim_GetString(argv[1], NULL));

	return JIM_OK;
}
#endif

#if BUILD_ECOSBOARD
/* Give TELNET a way to find out what version this is */
static int jim_zy1000_version(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
{
	if ((argc < 1) || (argc > 3))
		return JIM_ERR;
	const char *version_str = NULL;

	if (argc == 1)
	{
		version_str = ZYLIN_OPENOCD_VERSION;
	} else
	{
		const char *str = Jim_GetString(argv[1], NULL);
		const char *str2 = NULL;
		if (argc > 2)
			str2 = Jim_GetString(argv[2], NULL);
		if (strcmp("openocd", str) == 0)
		{
			version_str = ZYLIN_OPENOCD;
		}
		else if (strcmp("zy1000", str) == 0)
		{
			version_str = ZYLIN_VERSION;
		}
		else if (strcmp("date", str) == 0)
		{
			version_str = ZYLIN_DATE;
		}
		else if (strcmp("time", str) == 0)
		{
			version_str = ZYLIN_TIME;
		}
		else if (strcmp("pcb", str) == 0)
		{
#ifdef CYGPKG_HAL_NIOS2
			version_str="c";
#else
			version_str="b";
#endif
		}
#ifdef CYGPKG_HAL_NIOS2
		else if (strcmp("fpga", str) == 0)
		{

			/* return a list of 32 bit integers to describe the expected
			 * and actual FPGA
			 */
			static char *fpga_id = "0x12345678 0x12345678 0x12345678 0x12345678";
			uint32_t id, timestamp;
			HAL_READ_UINT32(SYSID_BASE, id);
			HAL_READ_UINT32(SYSID_BASE+4, timestamp);
			sprintf(fpga_id, "0x%08x 0x%08x 0x%08x 0x%08x", id, timestamp, SYSID_ID, SYSID_TIMESTAMP);
			version_str = fpga_id;
			if ((argc>2) && (strcmp("time", str2) == 0))
			{
			    time_t last_mod = timestamp;
			    char * t = ctime (&last_mod) ;
			    t[strlen(t)-1] = 0;
			    version_str = t;
			}
		}
#endif

		else
		{
			return JIM_ERR;
		}
	}

	Jim_SetResult(interp, Jim_NewStringObj(interp, version_str, -1));

	return JIM_OK;
}
#endif

#ifdef CYGPKG_HAL_NIOS2


struct info_forward
{
	void *data;
	struct cyg_upgrade_info *upgraded_file;
};

static void report_info(void *data, const char * format, va_list args)
{
	char *s = alloc_vprintf(format, args);
	LOG_USER_N("%s", s);
	free(s);
}

struct cyg_upgrade_info firmware_info =
{
		(uint8_t *)0x84000000,
		"/ram/firmware.phi",
		"Firmware",
		0x0300000,
		0x1f00000 -
		0x0300000,
		"ZylinNiosFirmware\n",
		report_info,
};

static int jim_zy1000_writefirmware(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
{
	if (argc != 2)
		return JIM_ERR;

	int length;
	const char *str = Jim_GetString(argv[1], &length);

	/* */
	int tmpFile;
	if ((tmpFile = open(firmware_info.file, O_RDWR | O_CREAT | O_TRUNC)) <= 0)
	{
		return JIM_ERR;
	}
	bool success;
	success = write(tmpFile, str, length) == length;
	close(tmpFile);
	if (!success)
		return JIM_ERR;

	if (!cyg_firmware_upgrade(NULL, firmware_info))
		return JIM_ERR;

	return JIM_OK;
}
#endif

static int
zylinjtag_Jim_Command_powerstatus(Jim_Interp *interp,
								   int argc,
		Jim_Obj * const *argv)
{
	if (argc != 1)
	{
		Jim_WrongNumArgs(interp, 1, argv, "powerstatus");
		return JIM_ERR;
	}

	bool dropout = readPowerDropout();

	Jim_SetResult(interp, Jim_NewIntObj(interp, dropout));

	return JIM_OK;
}



int zy1000_quit(void)
{

	return ERROR_OK;
}



int interface_jtag_execute_queue(void)
{
	uint32_t empty;

	waitIdle();
	ZY1000_PEEK(ZY1000_JTAG_BASE + 0x10, empty);
	/* clear JTAG error register */
	ZY1000_POKE(ZY1000_JTAG_BASE + 0x14, 0x400);

	if ((empty&0x400) != 0)
	{
		LOG_WARNING("RCLK timeout");
		/* the error is informative only as we don't want to break the firmware if there
		 * is a false positive.
		 */
//		return ERROR_FAIL;
	}
	return ERROR_OK;
}





static uint32_t getShiftValue(void)
{
	uint32_t value;
	waitIdle();
	ZY1000_PEEK(ZY1000_JTAG_BASE + 0xc, value);
	VERBOSE(LOG_INFO("getShiftValue %08x", value));
	return value;
}
#if 0
static uint32_t getShiftValueFlip(void)
{
	uint32_t value;
	waitIdle();
	ZY1000_PEEK(ZY1000_JTAG_BASE + 0x18, value);
	VERBOSE(LOG_INFO("getShiftValue %08x (flipped)", value));
	return value;
}
#endif

#if 0
static void shiftValueInnerFlip(const tap_state_t state, const tap_state_t endState, int repeat, uint32_t value)
{
	VERBOSE(LOG_INFO("shiftValueInner %s %s %d %08x (flipped)", tap_state_name(state), tap_state_name(endState), repeat, value));
	uint32_t a,b;
	a = state;
	b = endState;
	ZY1000_POKE(ZY1000_JTAG_BASE + 0xc, value);
	ZY1000_POKE(ZY1000_JTAG_BASE + 0x8, (1 << 15) | (repeat << 8) | (a << 4) | b);
	VERBOSE(getShiftValueFlip());
}
#endif

// here we shuffle N bits out/in
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)
{
	tap_state_t pause_state = shiftState;
	for (int j = 0; j < num_bits; j += 32)
	{
		int k = num_bits - j;
		if (k > 32)
		{
			k = 32;
			/* we have more to shift out */
		} else if (pause)
		{
			/* this was the last to shift out this time */
			pause_state = end_state;
		}

		// we have (num_bits + 7)/8 bytes of bits to toggle out.
		// bits are pushed out LSB to MSB
		uint32_t value;
		value = 0;
		if (out_value != NULL)
		{
			for (int l = 0; l < k; l += 8)
			{
				value|=out_value[(j + l)/8]<<l;
			}
		}
		/* mask away unused bits for easier debugging */
		if (k < 32)
		{
			value&=~(((uint32_t)0xffffffff) << k);
		} else
		{
			/* Shifting by >= 32 is not defined by the C standard
			 * and will in fact shift by &0x1f bits on nios */
		}

		shiftValueInner(shiftState, pause_state, k, value);

		if (in_value != NULL)
		{
			// data in, LSB to MSB
			value = getShiftValue();
			// we're shifting in data to MSB, shift data to be aligned for returning the value
			value >>= 32-k;

			for (int l = 0; l < k; l += 8)
			{
				in_value[(j + l)/8]=(value >> l)&0xff;
			}
		}
	}
}

static __inline void scanFields(int num_fields, const struct scan_field *fields, tap_state_t shiftState, tap_state_t end_state)
{
	for (int i = 0; i < num_fields; i++)
	{
		scanBits(fields[i].out_value,
				fields[i].in_value,
				fields[i].num_bits,
				(i == num_fields-1),
				shiftState,
				end_state);
	}
}

int interface_jtag_add_ir_scan(struct jtag_tap *active, const struct scan_field *fields, tap_state_t state)
{
	int scan_size = 0;
	struct jtag_tap *tap, *nextTap;
	tap_state_t pause_state = TAP_IRSHIFT;

	for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
	{
		nextTap = jtag_tap_next_enabled(tap);
		if (nextTap==NULL)
		{
			pause_state = state;
		}
		scan_size = tap->ir_length;

		/* search the list */
		if (tap == active)
		{
			scanFields(1, fields, TAP_IRSHIFT, pause_state);
			/* update device information */
			buf_cpy(fields[0].out_value, tap->cur_instr, scan_size);

			tap->bypass = 0;
		} else
		{
			/* if a device isn't listed, set it to BYPASS */
			assert(scan_size <= 32);
			shiftValueInner(TAP_IRSHIFT, pause_state, scan_size, 0xffffffff);

			tap->bypass = 1;
		}
	}

	return ERROR_OK;
}





int interface_jtag_add_plain_ir_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state)
{
	scanBits(out_bits, in_bits, num_bits, true, TAP_IRSHIFT, state);
	return ERROR_OK;
}

int interface_jtag_add_dr_scan(struct jtag_tap *active, int num_fields, const struct scan_field *fields, tap_state_t state)
{
	struct jtag_tap *tap, *nextTap;
	tap_state_t pause_state = TAP_DRSHIFT;
	for (tap = jtag_tap_next_enabled(NULL); tap!= NULL; tap = nextTap)
	{
		nextTap = jtag_tap_next_enabled(tap);
		if (nextTap==NULL)
		{
			pause_state = state;
		}

		/* Find a range of fields to write to this tap */
		if (tap == active)
		{
			assert(!tap->bypass);

			scanFields(num_fields, fields, TAP_DRSHIFT, pause_state);
		} else
		{
			/* Shift out a 0 for disabled tap's */
			assert(tap->bypass);
			shiftValueInner(TAP_DRSHIFT, pause_state, 1, 0);
		}
	}
	return ERROR_OK;
}

int interface_jtag_add_plain_dr_scan(int num_bits, const uint8_t *out_bits, uint8_t *in_bits, tap_state_t state)
{
	scanBits(out_bits, in_bits, num_bits, true, TAP_DRSHIFT, state);
	return ERROR_OK;
}

int interface_jtag_add_tlr()
{
	setCurrentState(TAP_RESET);
	return ERROR_OK;
}


int interface_jtag_add_reset(int req_trst, int req_srst)
{
	zy1000_reset(req_trst, req_srst);
	return ERROR_OK;
}

static int zy1000_jtag_add_clocks(int num_cycles, tap_state_t state, tap_state_t clockstate)
{
	/* num_cycles can be 0 */
	setCurrentState(clockstate);

	/* execute num_cycles, 32 at the time. */
	int i;
	for (i = 0; i < num_cycles; i += 32)
	{
		int num;
		num = 32;
		if (num_cycles-i < num)
		{
			num = num_cycles-i;
		}
		shiftValueInner(clockstate, clockstate, num, 0);
	}

#if !TEST_MANUAL()
	/* finish in end_state */
	setCurrentState(state);
#else
	tap_state_t t = TAP_IDLE;
	/* test manual drive code on any target */
	int tms;
	uint8_t tms_scan = tap_get_tms_path(t, state);
	int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());

	for (i = 0; i < tms_count; i++)
	{
		tms = (tms_scan >> i) & 1;
		waitIdle();
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x28,  tms);
	}
	waitIdle();
	ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
#endif

	return ERROR_OK;
}

int interface_jtag_add_runtest(int num_cycles, tap_state_t state)
{
	return zy1000_jtag_add_clocks(num_cycles, state, TAP_IDLE);
}

int interface_jtag_add_clocks(int num_cycles)
{
	return zy1000_jtag_add_clocks(num_cycles, cmd_queue_cur_state, cmd_queue_cur_state);
}

int interface_add_tms_seq(unsigned num_bits, const uint8_t *seq, enum tap_state state)
{
	/*wait for the fifo to be empty*/
	waitIdle();

	for (unsigned i = 0; i < num_bits; i++)
	{
		int tms;

		if (((seq[i/8] >> (i % 8)) & 1) == 0)
		{
			tms = 0;
		}
		else
		{
			tms = 1;
		}

		waitIdle();
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, tms);
	}

	waitIdle();
	if (state != TAP_INVALID)
	{
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, state);
	} else
	{
		/* this would be normal if we are switching to SWD mode */
	}
	return ERROR_OK;
}

int interface_jtag_add_pathmove(int num_states, const tap_state_t *path)
{
	int state_count;
	int tms = 0;

	state_count = 0;

	tap_state_t cur_state = cmd_queue_cur_state;

	uint8_t seq[16];
	memset(seq, 0, sizeof(seq));
	assert(num_states < (int)((sizeof(seq) * 8)));

	while (num_states)
	{
		if (tap_state_transition(cur_state, false) == path[state_count])
		{
			tms = 0;
		}
		else if (tap_state_transition(cur_state, true) == path[state_count])
		{
			tms = 1;
		}
		else
		{
			LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(cur_state), tap_state_name(path[state_count]));
			exit(-1);
		}

		seq[state_count/8] = seq[state_count/8] | (tms << (state_count % 8));

		cur_state = path[state_count];
		state_count++;
		num_states--;
	}

	return interface_add_tms_seq(state_count, seq, cur_state);
}

static void jtag_pre_post_bits(struct jtag_tap *tap, int *pre, int *post)
{
	/* bypass bits before and after */
	int pre_bits = 0;
	int post_bits = 0;

	bool found = false;
	struct jtag_tap *cur_tap, *nextTap;
	for (cur_tap = jtag_tap_next_enabled(NULL); cur_tap!= NULL; cur_tap = nextTap)
	{
		nextTap = jtag_tap_next_enabled(cur_tap);
		if (cur_tap == tap)
		{
			found = true;
		} else
		{
			if (found)
			{
				post_bits++;
			} else
			{
				pre_bits++;
			}
		}
	}
	*pre = pre_bits;
	*post = post_bits;
}

void embeddedice_write_dcc(struct jtag_tap *tap, int reg_addr, uint8_t *buffer, int little, int count)
{

	int pre_bits;
	int post_bits;
	jtag_pre_post_bits(tap, &pre_bits, &post_bits);

	if (pre_bits + post_bits + 6 > 32)
	{
		int i;
		for (i = 0; i < count; i++)
		{
			embeddedice_write_reg_inner(tap, reg_addr, fast_target_buffer_get_u32(buffer, little));
			buffer += 4;
		}
	} else
	{
		shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0);
		int i;
		for (i = 0; i < count - 1; i++)
		{
			/* Fewer pokes means we get to use the FIFO more efficiently */
			shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, little));
			shiftValueInner(TAP_DRSHIFT, TAP_IDLE, 6 + post_bits + pre_bits, (reg_addr | (1 << 5)));
			buffer += 4;
		}
		shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, fast_target_buffer_get_u32(buffer, little));
		shiftValueInner(TAP_DRSHIFT, TAP_IDLE, 6 + post_bits, (reg_addr | (1 << 5)));
	}
}



int arm11_run_instr_data_to_core_noack_inner(struct jtag_tap * tap, uint32_t opcode, uint32_t * data, size_t count)
{
#if 0
	int arm11_run_instr_data_to_core_noack_inner_default(struct jtag_tap * tap, uint32_t opcode, uint32_t * data, size_t count);
	return arm11_run_instr_data_to_core_noack_inner_default(tap, opcode, data, count);
#else
	static const int bits[] = {32, 2};
	uint32_t values[] = {0, 0};

	/* FIX!!!!!! the target_write_memory() API started this nasty problem
	 * with unaligned uint32_t * pointers... */
	const uint8_t *t = (const uint8_t *)data;


	/* bypass bits before and after */
	int pre_bits;
	int post_bits;
	jtag_pre_post_bits(tap, &pre_bits, &post_bits);

	bool found = false;
	struct jtag_tap *cur_tap, *nextTap;
	for (cur_tap = jtag_tap_next_enabled(NULL); cur_tap!= NULL; cur_tap = nextTap)
	{
		nextTap = jtag_tap_next_enabled(cur_tap);
		if (cur_tap == tap)
		{
			found = true;
		} else
		{
			if (found)
			{
				post_bits++;
			} else
			{
				pre_bits++;
			}
		}
	}

	post_bits+=2;


	while (--count > 0)
	{
		shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, pre_bits, 0);

		uint32_t value;
		value = *t++;
		value |= (*t++<<8);
		value |= (*t++<<16);
		value |= (*t++<<24);

		shiftValueInner(TAP_DRSHIFT, TAP_DRSHIFT, 32, value);
		/* minimum 2 bits */
		shiftValueInner(TAP_DRSHIFT, TAP_DRPAUSE, post_bits, 0);

#if 1
		/* copy & paste from arm11_dbgtap.c */
		//TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT

		waitIdle();
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 1);
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x28, 0);
		/* we don't have to wait for the queue to empty here. waitIdle();	 */
		ZY1000_POKE(ZY1000_JTAG_BASE + 0x20, TAP_DRSHIFT);
#else
		static const tap_state_t arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay[] =
		{
			TAP_DREXIT2, TAP_DRUPDATE, TAP_IDLE, TAP_IDLE, TAP_IDLE, TAP_DRSELECT, TAP_DRCAPTURE, TAP_DRSHIFT
		};

		jtag_add_pathmove(ARRAY_SIZE(arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay),
			arm11_MOVE_DRPAUSE_IDLE_DRPAUSE_with_delay);
#endif
	}

	values[0] = *t++;
	values[0] |= (*t++<<8);
	values[0] |= (*t++<<16);
	values[0] |= (*t++<<24);

	/* This will happen on the last iteration updating the current tap state
	 * so we don't have to track it during the common code path */
	jtag_add_dr_out(tap,
		2,
		bits,
		values,
		TAP_IDLE);

	return jtag_execute_queue();
#endif
}


static const struct command_registration zy1000_commands[] = {
	{
		.name = "power",
		.handler = handle_power_command,
		.mode = COMMAND_ANY,
		.help = "Turn power switch to target on/off. "
			"With no arguments, prints status.",
		.usage = "('on'|'off)",
	},
#if BUILD_ECOSBOARD
	{
		.name = "zy1000_version",
		.mode = COMMAND_ANY,
		.jim_handler = jim_zy1000_version,
		.help = "Print version info for zy1000.",
		.usage = "['openocd'|'zy1000'|'date'|'time'|'pcb'|'fpga']",
	},
#else
	{
		.name = "zy1000_server",
		.mode = COMMAND_ANY,
		.jim_handler = jim_zy1000_server,
		.help = "Tcpip address for ZY1000 server.",
		.usage = "address",
	},
#endif
	{
		.name = "powerstatus",
		.mode = COMMAND_ANY,
		.jim_handler = zylinjtag_Jim_Command_powerstatus,
		.help = "Returns power status of target",
	},
#ifdef CYGPKG_HAL_NIOS2
	{
		.name = "updatezy1000firmware",
		.mode = COMMAND_ANY,
		.jim_handler = jim_zy1000_writefirmware,
		.help = "writes firmware to flash",
		/* .usage = "some_string", */
	},
#endif
	COMMAND_REGISTRATION_DONE
};


static int tcp_ip = -1;

/* Write large packets if we can */
static size_t out_pos;
static uint8_t out_buffer[16384];
static size_t in_pos;
static size_t in_write;
static uint8_t in_buffer[16384];

static bool flush_writes(void)
{
	bool ok = (write(tcp_ip, out_buffer, out_pos) == (int)out_pos);
	out_pos = 0;
	return ok;
}

static bool writeLong(uint32_t l)
{
	int i;
	for (i = 0; i < 4; i++)
	{
		uint8_t c = (l >> (i*8))&0xff;
		out_buffer[out_pos++] = c;
		if (out_pos >= sizeof(out_buffer))
		{
			if (!flush_writes())
			{
				return false;
			}
		}
	}
	return true;
}

static bool readLong(uint32_t *out_data)
{
	if (out_pos > 0)
	{
		if (!flush_writes())
		{
			return false;
		}
	}

	uint32_t data = 0;
	int i;
	for (i = 0; i < 4; i++)
	{
		uint8_t c;
		if (in_pos == in_write)
		{
			/* read more */
			int t;
			t = read(tcp_ip, in_buffer, sizeof(in_buffer));
			if (t < 1)
			{
				return false;
			}
			in_write = (size_t) t;
			in_pos = 0;
		}
		c = in_buffer[in_pos++];

		data |= (c << (i*8));
	}
	*out_data = data;
	return true;
}

enum ZY1000_CMD
{
	ZY1000_CMD_POKE = 0x0,
	ZY1000_CMD_PEEK = 0x8,
	ZY1000_CMD_SLEEP = 0x1,
};


#if !BUILD_ECOSBOARD

#include <sys/socket.h> /* for socket(), connect(), send(), and recv() */
#include <arpa/inet.h>  /* for sockaddr_in and inet_addr() */

/* We initialize this late since we need to know the server address
 * first.
 */
static void tcpip_open(void)
{
	if (tcp_ip >= 0)
		return;

	struct sockaddr_in echoServAddr; /* Echo server address */

	/* Create a reliable, stream socket using TCP */
	if ((tcp_ip = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP)) < 0)
	{
		fprintf(stderr, "Failed to connect to zy1000 server\n");
		exit(-1);
	}

	/* Construct the server address structure */
	memset(&echoServAddr, 0, sizeof(echoServAddr)); /* Zero out structure */
	echoServAddr.sin_family = AF_INET; /* Internet address family */
	echoServAddr.sin_addr.s_addr = inet_addr(tcp_server); /* Server IP address */
	echoServAddr.sin_port = htons(7777); /* Server port */

	/* Establish the connection to the echo server */
	if (connect(tcp_ip, (struct sockaddr *) &echoServAddr, sizeof(echoServAddr)) < 0)
	{
		fprintf(stderr, "Failed to connect to zy1000 server\n");
		exit(-1);
	}

	int flag = 1;
	setsockopt(tcp_ip,	/* socket affected */
			IPPROTO_TCP,		/* set option at TCP level */
			TCP_NODELAY,		/* name of option */
			(char *)&flag,		/* the cast is historical cruft */
			sizeof(int));		/* length of option value */

}


/* send a poke */
void zy1000_tcpout(uint32_t address, uint32_t data)
{
	tcpip_open();
	if (!writeLong((ZY1000_CMD_POKE << 24) | address)||
			!writeLong(data))
	{
		fprintf(stderr, "Could not write to zy1000 server\n");
		exit(-1);
	}
}

uint32_t zy1000_tcpin(uint32_t address)
{
	tcpip_open();
	uint32_t data;
	if (!writeLong((ZY1000_CMD_PEEK << 24) | address)||
			!readLong(&data))
	{
		fprintf(stderr, "Could not read from zy1000 server\n");
		exit(-1);
	}
	return data;
}

int interface_jtag_add_sleep(uint32_t us)
{
	tcpip_open();
	if (!writeLong((ZY1000_CMD_SLEEP << 24))||
			!writeLong(us))
	{
		fprintf(stderr, "Could not read from zy1000 server\n");
		exit(-1);
	}
	return ERROR_OK;
}


#endif

#if BUILD_ECOSBOARD
static char tcpip_stack[2048];
static cyg_thread tcpip_thread_object;
static cyg_handle_t tcpip_thread_handle;

static char watchdog_stack[2048];
static cyg_thread watchdog_thread_object;
static cyg_handle_t watchdog_thread_handle;

/* Infinite loop peeking & poking */
static void tcpipserver(void)
{
	for (;;)
	{
		uint32_t address;
		if (!readLong(&address))
			return;
		enum ZY1000_CMD c = (address >> 24) & 0xff;
		address &= 0xffffff;
		switch (c)
		{
			case ZY1000_CMD_POKE:
			{
				uint32_t data;
				if (!readLong(&data))
					return;
				address &= ~0x80000000;
				ZY1000_POKE(address + ZY1000_JTAG_BASE, data);
				break;
			}
			case ZY1000_CMD_PEEK:
			{
				uint32_t data;
				ZY1000_PEEK(address + ZY1000_JTAG_BASE, data);
				if (!writeLong(data))
					return;
				break;
			}
			case ZY1000_CMD_SLEEP:
			{
				uint32_t data;
				if (!readLong(&data))
					return;
				jtag_sleep(data);
				break;
			}
			default:
				return;
		}
	}
}


static void tcpip_server(cyg_addrword_t data)
{
	int so_reuseaddr_option = 1;

	int fd;
	if ((fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
	{
		LOG_ERROR("error creating socket: %s", strerror(errno));
		exit(-1);
	}

	setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, (void*) &so_reuseaddr_option,
			sizeof(int));

	struct sockaddr_in sin;
	unsigned int address_size;
	address_size = sizeof(sin);
	memset(&sin, 0, sizeof(sin));
	sin.sin_family = AF_INET;
	sin.sin_addr.s_addr = INADDR_ANY;
	sin.sin_port = htons(7777);

	if (bind(fd, (struct sockaddr *) &sin, sizeof(sin)) == -1)
	{
		LOG_ERROR("couldn't bind to socket: %s", strerror(errno));
		exit(-1);
	}

	if (listen(fd, 1) == -1)
	{
		LOG_ERROR("couldn't listen on socket: %s", strerror(errno));
		exit(-1);
	}


	for (;;)
	{
		tcp_ip = accept(fd, (struct sockaddr *) &sin, &address_size);
		if (tcp_ip < 0)
		{
			continue;
		}

		int flag = 1;
		setsockopt(tcp_ip,	/* socket affected */
				IPPROTO_TCP,		/* set option at TCP level */
				TCP_NODELAY,		/* name of option */
				(char *)&flag,		/* the cast is historical cruft */
				sizeof(int));		/* length of option value */

		bool save_poll = jtag_poll_get_enabled();

		/* polling will screw up the "connection" */
		jtag_poll_set_enabled(false);

		tcpipserver();

		jtag_poll_set_enabled(save_poll);

		close(tcp_ip);

	}
	close(fd);

}

#ifdef WATCHDOG_BASE
/* If we connect to port 8888 we must send a char every 10s or the board resets itself */
static void watchdog_server(cyg_addrword_t data)
{
	int so_reuseaddr_option = 1;

	int fd;
	if ((fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
	{
		LOG_ERROR("error creating socket: %s", strerror(errno));
		exit(-1);
	}

	setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, (void*) &so_reuseaddr_option,
			sizeof(int));

	struct sockaddr_in sin;
	unsigned int address_size;
	address_size = sizeof(sin);
	memset(&sin, 0, sizeof(sin));
	sin.sin_family = AF_INET;
	sin.sin_addr.s_addr = INADDR_ANY;
	sin.sin_port = htons(8888);

	if (bind(fd, (struct sockaddr *) &sin, sizeof(sin)) == -1)
	{
		LOG_ERROR("couldn't bind to socket: %s", strerror(errno));
		exit(-1);
	}

	if (listen(fd, 1) == -1)
	{
		LOG_ERROR("couldn't listen on socket: %s", strerror(errno));
		exit(-1);
	}


	for (;;)
	{
		int watchdog_ip = accept(fd, (struct sockaddr *) &sin, &address_size);

		/* Start watchdog, must be reset every 10 seconds. */
		HAL_WRITE_UINT32(WATCHDOG_BASE + 4, 4);

		if (watchdog_ip < 0)
		{
			LOG_ERROR("couldn't open watchdog socket: %s", strerror(errno));
			exit(-1);
		}

		int flag = 1;
		setsockopt(watchdog_ip,	/* socket affected */
				IPPROTO_TCP,		/* set option at TCP level */
				TCP_NODELAY,		/* name of option */
				(char *)&flag,		/* the cast is historical cruft */
				sizeof(int));		/* length of option value */


		char buf;
		for (;;)
		{
			if (read(watchdog_ip, &buf, 1) == 1)
			{
				/* Reset timer */
				HAL_WRITE_UINT32(WATCHDOG_BASE + 8, 0x1234);
				/* Echo so we can telnet in and see that resetting works */
				write(watchdog_ip, &buf, 1);
			} else
			{
				/* Stop tickling the watchdog, the CPU will reset in < 10 seconds
				 * now.
				 */
				return;
			}

		}

		/* Never reached */
	}
}
#endif

int interface_jtag_add_sleep(uint32_t us)
{
	jtag_sleep(us);
	return ERROR_OK;
}

#endif


int zy1000_init(void)
{
#if BUILD_ECOSBOARD
	LOG_USER("%s", ZYLIN_OPENOCD_VERSION);
#endif

	ZY1000_POKE(ZY1000_JTAG_BASE + 0x10, 0x30); // Turn on LED1 & LED2

	setPower(true); // on by default


	 /* deassert resets. Important to avoid infinite loop waiting for SRST to deassert */
	zy1000_reset(0, 0);
	zy1000_speed(jtag_get_speed());


#if BUILD_ECOSBOARD
	cyg_thread_create(1, tcpip_server, (cyg_addrword_t) 0, "tcip/ip server",
			(void *) tcpip_stack, sizeof(tcpip_stack),
			&tcpip_thread_handle, &tcpip_thread_object);
	cyg_thread_resume(tcpip_thread_handle);
#ifdef WATCHDOG_BASE
	cyg_thread_create(1, watchdog_server, (cyg_addrword_t) 0, "watchdog tcip/ip server",
			(void *) watchdog_stack, sizeof(watchdog_stack),
			&watchdog_thread_handle, &watchdog_thread_object);
	cyg_thread_resume(watchdog_thread_handle);
#endif
#endif

	return ERROR_OK;
}



struct jtag_interface zy1000_interface =
{
	.name = "ZY1000",
	.supported = DEBUG_CAP_TMS_SEQ,
	.execute_queue = NULL,
	.speed = zy1000_speed,
	.commands = zy1000_commands,
	.init = zy1000_init,
	.quit = zy1000_quit,
	.khz = zy1000_khz,
	.speed_div = zy1000_speed_div,
	.power_dropout = zy1000_power_dropout,
	.srst_asserted = zy1000_srst_asserted,
};