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|
/*
* JTAG to VPI driver
*
* Copyright (C) 2013 Franck Jullien, <elec4fun@gmail.com>
*
* See file CREDITS for list of people who contributed to this
* project.
*
* 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, see <http://www.gnu.org/licenses/>.
*/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <jtag/interface.h>
#ifdef HAVE_ARPA_INET_H
#include <arpa/inet.h>
#endif
#ifndef _WIN32
#include <netinet/tcp.h>
#endif
#include "helper/replacements.h"
#define NO_TAP_SHIFT 0
#define TAP_SHIFT 1
#define SERVER_ADDRESS "127.0.0.1"
#define SERVER_PORT 5555
#define XFERT_MAX_SIZE 512
#define CMD_RESET 0
#define CMD_TMS_SEQ 1
#define CMD_SCAN_CHAIN 2
#define CMD_SCAN_CHAIN_FLIP_TMS 3
#define CMD_STOP_SIMU 4
/* jtag_vpi server port and address to connect to */
static int server_port = SERVER_PORT;
static char *server_address;
/* Send CMD_STOP_SIMU to server when OpenOCD exits? */
static bool stop_sim_on_exit;
static int sockfd;
static struct sockaddr_in serv_addr;
/* One jtag_vpi "packet" as sent over a TCP channel. */
struct vpi_cmd {
union {
uint32_t cmd;
unsigned char cmd_buf[4];
};
unsigned char buffer_out[XFERT_MAX_SIZE];
unsigned char buffer_in[XFERT_MAX_SIZE];
union {
uint32_t length;
unsigned char length_buf[4];
};
union {
uint32_t nb_bits;
unsigned char nb_bits_buf[4];
};
};
static char *jtag_vpi_cmd_to_str(int cmd_num)
{
switch (cmd_num) {
case CMD_RESET:
return "CMD_RESET";
case CMD_TMS_SEQ:
return "CMD_TMS_SEQ";
case CMD_SCAN_CHAIN:
return "CMD_SCAN_CHAIN";
case CMD_SCAN_CHAIN_FLIP_TMS:
return "CMD_SCAN_CHAIN_FLIP_TMS";
case CMD_STOP_SIMU:
return "CMD_STOP_SIMU";
default:
return "<unknown>";
}
}
static int jtag_vpi_send_cmd(struct vpi_cmd *vpi)
{
int retval;
/* Optional low-level JTAG debug */
if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO)) {
if (vpi->nb_bits > 0) {
/* command with a non-empty data payload */
char *char_buf = buf_to_hex_str(vpi->buffer_out,
(vpi->nb_bits > DEBUG_JTAG_IOZ)
? DEBUG_JTAG_IOZ
: vpi->nb_bits);
LOG_DEBUG_IO("sending JTAG VPI cmd: cmd=%s, "
"length=%" PRIu32 ", "
"nb_bits=%" PRIu32 ", "
"buf_out=0x%s%s",
jtag_vpi_cmd_to_str(vpi->cmd),
vpi->length,
vpi->nb_bits,
char_buf,
(vpi->nb_bits > DEBUG_JTAG_IOZ) ? "(...)" : "");
free(char_buf);
} else {
/* command without data payload */
LOG_DEBUG_IO("sending JTAG VPI cmd: cmd=%s, "
"length=%" PRIu32 ", "
"nb_bits=%" PRIu32,
jtag_vpi_cmd_to_str(vpi->cmd),
vpi->length,
vpi->nb_bits);
}
}
/* Use little endian when transmitting/receiving jtag_vpi cmds.
The choice of little endian goes against usual networking conventions
but is intentional to remain compatible with most older OpenOCD builds
(i.e. builds on little-endian platforms). */
h_u32_to_le(vpi->cmd_buf, vpi->cmd);
h_u32_to_le(vpi->length_buf, vpi->length);
h_u32_to_le(vpi->nb_bits_buf, vpi->nb_bits);
retry_write:
retval = write_socket(sockfd, vpi, sizeof(struct vpi_cmd));
if (retval < 0) {
/* Account for the case when socket write is interrupted. */
#ifdef _WIN32
int wsa_err = WSAGetLastError();
if (wsa_err == WSAEINTR)
goto retry_write;
#else
if (errno == EINTR)
goto retry_write;
#endif
/* Otherwise this is an error using the socket, most likely fatal
for the connection. B*/
log_socket_error("jtag_vpi xmit");
/* TODO: Clean way how adapter drivers can report fatal errors
to upper layers of OpenOCD and let it perform an orderly shutdown? */
exit(-1);
} else if (retval < (int)sizeof(struct vpi_cmd)) {
/* This means we could not send all data, which is most likely fatal
for the jtag_vpi connection (the underlying TCP connection likely not
usable anymore) */
LOG_ERROR("Could not send all data through jtag_vpi connection.");
exit(-1);
}
/* Otherwise the packet has been sent successfully. */
return ERROR_OK;
}
static int jtag_vpi_receive_cmd(struct vpi_cmd *vpi)
{
unsigned bytes_buffered = 0;
while (bytes_buffered < sizeof(struct vpi_cmd)) {
int bytes_to_receive = sizeof(struct vpi_cmd) - bytes_buffered;
int retval = read_socket(sockfd, ((char *)vpi) + bytes_buffered, bytes_to_receive);
if (retval < 0) {
#ifdef _WIN32
int wsa_err = WSAGetLastError();
if (wsa_err == WSAEINTR) {
/* socket read interrupted by WSACancelBlockingCall() */
continue;
}
#else
if (errno == EINTR) {
/* socket read interrupted by a signal */
continue;
}
#endif
/* Otherwise, this is an error when accessing the socket. */
log_socket_error("jtag_vpi recv");
exit(-1);
} else if (retval == 0) {
/* Connection closed by the other side */
LOG_ERROR("Connection prematurely closed by jtag_vpi server.");
exit(-1);
}
/* Otherwise, we have successfully received some data */
bytes_buffered += retval;
}
/* Use little endian when transmitting/receiving jtag_vpi cmds. */
vpi->cmd = le_to_h_u32(vpi->cmd_buf);
vpi->length = le_to_h_u32(vpi->length_buf);
vpi->nb_bits = le_to_h_u32(vpi->nb_bits_buf);
return ERROR_OK;
}
/**
* jtag_vpi_reset - ask to reset the JTAG device
* @param trst 1 if TRST is to be asserted
* @param srst 1 if SRST is to be asserted
*/
static int jtag_vpi_reset(int trst, int srst)
{
struct vpi_cmd vpi;
memset(&vpi, 0, sizeof(struct vpi_cmd));
vpi.cmd = CMD_RESET;
vpi.length = 0;
return jtag_vpi_send_cmd(&vpi);
}
/**
* jtag_vpi_tms_seq - ask a TMS sequence transition to JTAG
* @param bits TMS bits to be written (bit0, bit1 .. bitN)
* @param nb_bits number of TMS bits (between 1 and 8)
*
* Write a series of TMS transitions, where each transition consists in :
* - writing out TCK=0, TMS=\<new_state>, TDI=\<???>
* - writing out TCK=1, TMS=\<new_state>, TDI=\<???> which triggers the transition
* The function ensures that at the end of the sequence, the clock (TCK) is put
* low.
*/
static int jtag_vpi_tms_seq(const uint8_t *bits, int nb_bits)
{
struct vpi_cmd vpi;
int nb_bytes;
memset(&vpi, 0, sizeof(struct vpi_cmd));
nb_bytes = DIV_ROUND_UP(nb_bits, 8);
vpi.cmd = CMD_TMS_SEQ;
memcpy(vpi.buffer_out, bits, nb_bytes);
vpi.length = nb_bytes;
vpi.nb_bits = nb_bits;
return jtag_vpi_send_cmd(&vpi);
}
/**
* jtag_vpi_path_move - ask a TMS sequence transition to JTAG
* @param cmd path transition
*
* Write a series of TMS transitions, where each transition consists in :
* - writing out TCK=0, TMS=\<new_state>, TDI=\<???>
* - writing out TCK=1, TMS=\<new_state>, TDI=\<???> which triggers the transition
* The function ensures that at the end of the sequence, the clock (TCK) is put
* low.
*/
static int jtag_vpi_path_move(struct pathmove_command *cmd)
{
uint8_t trans[DIV_ROUND_UP(cmd->num_states, 8)];
memset(trans, 0, DIV_ROUND_UP(cmd->num_states, 8));
for (int i = 0; i < cmd->num_states; i++) {
if (tap_state_transition(tap_get_state(), true) == cmd->path[i])
buf_set_u32(trans, i, 1, 1);
tap_set_state(cmd->path[i]);
}
return jtag_vpi_tms_seq(trans, cmd->num_states);
}
/**
* jtag_vpi_tms - ask a tms command
* @param cmd tms command
*/
static int jtag_vpi_tms(struct tms_command *cmd)
{
return jtag_vpi_tms_seq(cmd->bits, cmd->num_bits);
}
static int jtag_vpi_state_move(tap_state_t state)
{
if (tap_get_state() == state)
return ERROR_OK;
uint8_t tms_scan = tap_get_tms_path(tap_get_state(), state);
int tms_len = tap_get_tms_path_len(tap_get_state(), state);
int retval = jtag_vpi_tms_seq(&tms_scan, tms_len);
if (retval != ERROR_OK)
return retval;
tap_set_state(state);
return ERROR_OK;
}
static int jtag_vpi_queue_tdi_xfer(uint8_t *bits, int nb_bits, int tap_shift)
{
struct vpi_cmd vpi;
int nb_bytes = DIV_ROUND_UP(nb_bits, 8);
memset(&vpi, 0, sizeof(struct vpi_cmd));
vpi.cmd = tap_shift ? CMD_SCAN_CHAIN_FLIP_TMS : CMD_SCAN_CHAIN;
if (bits)
memcpy(vpi.buffer_out, bits, nb_bytes);
else
memset(vpi.buffer_out, 0xff, nb_bytes);
vpi.length = nb_bytes;
vpi.nb_bits = nb_bits;
int retval = jtag_vpi_send_cmd(&vpi);
if (retval != ERROR_OK)
return retval;
retval = jtag_vpi_receive_cmd(&vpi);
if (retval != ERROR_OK)
return retval;
/* Optional low-level JTAG debug */
if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO)) {
char *char_buf = buf_to_hex_str(vpi.buffer_in,
(nb_bits > DEBUG_JTAG_IOZ) ? DEBUG_JTAG_IOZ : nb_bits);
LOG_DEBUG_IO("recvd JTAG VPI data: nb_bits=%d, buf_in=0x%s%s",
nb_bits, char_buf, (nb_bits > DEBUG_JTAG_IOZ) ? "(...)" : "");
free(char_buf);
}
if (bits)
memcpy(bits, vpi.buffer_in, nb_bytes);
return ERROR_OK;
}
/**
* jtag_vpi_queue_tdi - short description
* @param bits bits to be queued on TDI (or NULL if 0 are to be queued)
* @param nb_bits number of bits
* @param tap_shift
*/
static int jtag_vpi_queue_tdi(uint8_t *bits, int nb_bits, int tap_shift)
{
int nb_xfer = DIV_ROUND_UP(nb_bits, XFERT_MAX_SIZE * 8);
int retval;
while (nb_xfer) {
if (nb_xfer == 1) {
retval = jtag_vpi_queue_tdi_xfer(bits, nb_bits, tap_shift);
if (retval != ERROR_OK)
return retval;
} else {
retval = jtag_vpi_queue_tdi_xfer(bits, XFERT_MAX_SIZE * 8, NO_TAP_SHIFT);
if (retval != ERROR_OK)
return retval;
nb_bits -= XFERT_MAX_SIZE * 8;
if (bits)
bits += XFERT_MAX_SIZE;
}
nb_xfer--;
}
return ERROR_OK;
}
/**
* jtag_vpi_clock_tms - clock a TMS transition
* @param tms the TMS to be sent
*
* Triggers a TMS transition (ie. one JTAG TAP state move).
*/
static int jtag_vpi_clock_tms(int tms)
{
const uint8_t tms_0 = 0;
const uint8_t tms_1 = 1;
return jtag_vpi_tms_seq(tms ? &tms_1 : &tms_0, 1);
}
/**
* jtag_vpi_scan - launches a DR-scan or IR-scan
* @param cmd the command to launch
*
* Launch a JTAG IR-scan or DR-scan
*
* Returns ERROR_OK if OK, ERROR_xxx if a read/write error occurred.
*/
static int jtag_vpi_scan(struct scan_command *cmd)
{
int scan_bits;
uint8_t *buf = NULL;
int retval = ERROR_OK;
scan_bits = jtag_build_buffer(cmd, &buf);
if (cmd->ir_scan) {
retval = jtag_vpi_state_move(TAP_IRSHIFT);
if (retval != ERROR_OK)
return retval;
} else {
retval = jtag_vpi_state_move(TAP_DRSHIFT);
if (retval != ERROR_OK)
return retval;
}
if (cmd->end_state == TAP_DRSHIFT) {
retval = jtag_vpi_queue_tdi(buf, scan_bits, NO_TAP_SHIFT);
if (retval != ERROR_OK)
return retval;
} else {
retval = jtag_vpi_queue_tdi(buf, scan_bits, TAP_SHIFT);
if (retval != ERROR_OK)
return retval;
}
if (cmd->end_state != TAP_DRSHIFT) {
/*
* As our JTAG is in an unstable state (IREXIT1 or DREXIT1), move it
* forward to a stable IRPAUSE or DRPAUSE.
*/
retval = jtag_vpi_clock_tms(0);
if (retval != ERROR_OK)
return retval;
if (cmd->ir_scan)
tap_set_state(TAP_IRPAUSE);
else
tap_set_state(TAP_DRPAUSE);
}
retval = jtag_read_buffer(buf, cmd);
if (retval != ERROR_OK)
return retval;
free(buf);
if (cmd->end_state != TAP_DRSHIFT) {
retval = jtag_vpi_state_move(cmd->end_state);
if (retval != ERROR_OK)
return retval;
}
return ERROR_OK;
}
static int jtag_vpi_runtest(int cycles, tap_state_t state)
{
int retval;
retval = jtag_vpi_state_move(TAP_IDLE);
if (retval != ERROR_OK)
return retval;
retval = jtag_vpi_queue_tdi(NULL, cycles, NO_TAP_SHIFT);
if (retval != ERROR_OK)
return retval;
return jtag_vpi_state_move(state);
}
static int jtag_vpi_stableclocks(int cycles)
{
uint8_t tms_bits[4];
int cycles_remain = cycles;
int nb_bits;
int retval;
const int CYCLES_ONE_BATCH = sizeof(tms_bits) * 8;
assert(cycles >= 0);
/* use TMS=1 in TAP RESET state, TMS=0 in all other stable states */
memset(&tms_bits, (tap_get_state() == TAP_RESET) ? 0xff : 0x00, sizeof(tms_bits));
/* send the TMS bits */
while (cycles_remain > 0) {
nb_bits = (cycles_remain < CYCLES_ONE_BATCH) ? cycles_remain : CYCLES_ONE_BATCH;
retval = jtag_vpi_tms_seq(tms_bits, nb_bits);
if (retval != ERROR_OK)
return retval;
cycles_remain -= nb_bits;
}
return ERROR_OK;
}
static int jtag_vpi_execute_queue(void)
{
struct jtag_command *cmd;
int retval = ERROR_OK;
for (cmd = jtag_command_queue; retval == ERROR_OK && cmd;
cmd = cmd->next) {
switch (cmd->type) {
case JTAG_RESET:
retval = jtag_vpi_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
break;
case JTAG_RUNTEST:
retval = jtag_vpi_runtest(cmd->cmd.runtest->num_cycles,
cmd->cmd.runtest->end_state);
break;
case JTAG_STABLECLOCKS:
retval = jtag_vpi_stableclocks(cmd->cmd.stableclocks->num_cycles);
break;
case JTAG_TLR_RESET:
retval = jtag_vpi_state_move(cmd->cmd.statemove->end_state);
break;
case JTAG_PATHMOVE:
retval = jtag_vpi_path_move(cmd->cmd.pathmove);
break;
case JTAG_TMS:
retval = jtag_vpi_tms(cmd->cmd.tms);
break;
case JTAG_SLEEP:
jtag_sleep(cmd->cmd.sleep->us);
break;
case JTAG_SCAN:
retval = jtag_vpi_scan(cmd->cmd.scan);
break;
default:
LOG_ERROR("BUG: unknown JTAG command type 0x%X",
cmd->type);
retval = ERROR_FAIL;
break;
}
}
return retval;
}
static int jtag_vpi_init(void)
{
int flag = 1;
sockfd = socket(AF_INET, SOCK_STREAM, 0);
if (sockfd < 0) {
LOG_ERROR("Could not create socket");
return ERROR_FAIL;
}
memset(&serv_addr, 0, sizeof(serv_addr));
serv_addr.sin_family = AF_INET;
serv_addr.sin_port = htons(server_port);
if (!server_address)
server_address = strdup(SERVER_ADDRESS);
serv_addr.sin_addr.s_addr = inet_addr(server_address);
if (serv_addr.sin_addr.s_addr == INADDR_NONE) {
LOG_ERROR("inet_addr error occurred");
return ERROR_FAIL;
}
if (connect(sockfd, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) < 0) {
close(sockfd);
LOG_ERROR("Can't connect to %s : %u", server_address, server_port);
return ERROR_COMMAND_CLOSE_CONNECTION;
}
if (serv_addr.sin_addr.s_addr == htonl(INADDR_LOOPBACK)) {
/* This increases performance dramatically for local
* connections, which is the most likely arrangement
* for a VPI connection. */
setsockopt(sockfd, IPPROTO_TCP, TCP_NODELAY, (char *)&flag, sizeof(int));
}
LOG_INFO("Connection to %s : %u succeed", server_address, server_port);
return ERROR_OK;
}
static int jtag_vpi_stop_simulation(void)
{
struct vpi_cmd cmd;
memset(&cmd, 0, sizeof(struct vpi_cmd));
cmd.length = 0;
cmd.nb_bits = 0;
cmd.cmd = CMD_STOP_SIMU;
return jtag_vpi_send_cmd(&cmd);
}
static int jtag_vpi_quit(void)
{
if (stop_sim_on_exit) {
if (jtag_vpi_stop_simulation() != ERROR_OK)
LOG_WARNING("jtag_vpi: failed to send \"stop simulation\" command");
}
if (close_socket(sockfd) != 0) {
LOG_WARNING("jtag_vpi: could not close jtag_vpi client socket");
log_socket_error("jtag_vpi");
}
free(server_address);
return ERROR_OK;
}
COMMAND_HANDLER(jtag_vpi_set_port)
{
if (CMD_ARGC == 0)
LOG_WARNING("You need to set a port number");
else
COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], server_port);
LOG_INFO("Set server port to %u", server_port);
return ERROR_OK;
}
COMMAND_HANDLER(jtag_vpi_set_address)
{
free(server_address);
if (CMD_ARGC == 0) {
LOG_WARNING("You need to set an address");
server_address = strdup(SERVER_ADDRESS);
} else
server_address = strdup(CMD_ARGV[0]);
LOG_INFO("Set server address to %s", server_address);
return ERROR_OK;
}
COMMAND_HANDLER(jtag_vpi_stop_sim_on_exit_handler)
{
if (CMD_ARGC != 1) {
LOG_ERROR("jtag_vpi_stop_sim_on_exit expects 1 argument (on|off)");
return ERROR_COMMAND_SYNTAX_ERROR;
} else {
COMMAND_PARSE_ON_OFF(CMD_ARGV[0], stop_sim_on_exit);
}
return ERROR_OK;
}
static const struct command_registration jtag_vpi_command_handlers[] = {
{
.name = "jtag_vpi_set_port",
.handler = &jtag_vpi_set_port,
.mode = COMMAND_CONFIG,
.help = "set the port of the VPI server",
.usage = "tcp_port_num",
},
{
.name = "jtag_vpi_set_address",
.handler = &jtag_vpi_set_address,
.mode = COMMAND_CONFIG,
.help = "set the address of the VPI server",
.usage = "ipv4_addr",
},
{
.name = "jtag_vpi_stop_sim_on_exit",
.handler = &jtag_vpi_stop_sim_on_exit_handler,
.mode = COMMAND_CONFIG,
.help = "Configure if simulation stop command shall be sent "
"before OpenOCD exits (default: off)",
.usage = "<on|off>",
},
COMMAND_REGISTRATION_DONE
};
static struct jtag_interface jtag_vpi_interface = {
.supported = DEBUG_CAP_TMS_SEQ,
.execute_queue = jtag_vpi_execute_queue,
};
struct adapter_driver jtag_vpi_adapter_driver = {
.name = "jtag_vpi",
.transports = jtag_only,
.commands = jtag_vpi_command_handlers,
.init = jtag_vpi_init,
.quit = jtag_vpi_quit,
.jtag_ops = &jtag_vpi_interface,
};
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