Support for driving RISC-V DM via Arty's own JTAG chain using BSCAN tunnel (#370)

Including adjustments in response to review comments.

7 files changed, 268 insertions, 2 deletions

diff --git a/doc/openocd.texi b/doc/openocd.texi
index 9dfb04b..025e9e1 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -9502,6 +9502,11 @@ When utilizing version 0.11 of the RISC-V Debug Specification,
 and DBUS registers, respectively.
 @end deffn
 
+@deffn Command {riscv use_bscan_tunnel} value
+Enable or disable use of a BSCAN tunnel to reach DM.  Supply the width of
+the DM transport TAP's instruction register to enable.  Supply a value of 0 to disable.
+@end deffn
+
 @subsection RISC-V Authentication Commands
 
 The following commands can be used to authenticate to a RISC-V system. Eg.  a
diff --git a/src/target/riscv/riscv-013.c b/src/target/riscv/riscv-013.c
index 86820df..27e20d7 100644
--- a/src/target/riscv/riscv-013.c
+++ b/src/target/riscv/riscv-013.c
@@ -406,6 +406,10 @@ static void dump_field(int idle, const struct scan_field *field)
 
 static void select_dmi(struct target *target)
 {
+	if (bscan_tunnel_ir_width != 0) {
+		select_dmi_via_bscan(target);
+		return;
+	}
 	jtag_add_ir_scan(target->tap, &select_dbus, TAP_IDLE);
 }
 
@@ -415,6 +419,9 @@ static uint32_t dtmcontrol_scan(struct target *target, uint32_t out)
 	uint8_t in_value[4];
 	uint8_t out_value[4];
 
+	if (bscan_tunnel_ir_width != 0)
+		return dtmcontrol_scan_via_bscan(target, out);
+
 	buf_set_u32(out_value, 0, 32, out);
 
 	jtag_add_ir_scan(target->tap, &select_dtmcontrol, TAP_IDLE);
@@ -469,6 +476,8 @@ static dmi_status_t dmi_scan(struct target *target, uint32_t *address_in,
 		.out_value = out,
 		.in_value = in
 	};
+	uint8_t tunneled_dr_width;
+	struct scan_field tunneled_dr[4];
 
 	if (r->reset_delays_wait >= 0) {
 		r->reset_delays_wait--;
@@ -486,8 +495,44 @@ static dmi_status_t dmi_scan(struct target *target, uint32_t *address_in,
 	buf_set_u32(out, DTM_DMI_DATA_OFFSET, DTM_DMI_DATA_LENGTH, data_out);
 	buf_set_u32(out, DTM_DMI_ADDRESS_OFFSET, info->abits, address_out);
 
-	/* Assume dbus is already selected. */
-	jtag_add_dr_scan(target->tap, 1, &field, TAP_IDLE);
+	/* I wanted to place this code in a different function, but the way JTAG command
+	   queueing works in the jtag handling functions, the scan fields either have to be
+	   heap allocated, global/static, or else they need to stay on the stack until
+	   the jtag_execute_queue() call.  Heap or static fields in this case doesn't seem
+	   the best fit.  Declaring stack based field values in a subsidiary function call wouldn't
+	   work. */
+	if (bscan_tunnel_ir_width != 0) {
+		jtag_add_ir_scan(target->tap, &select_user4, TAP_IDLE);
+
+		/* I wanted to use struct initialization syntax, but that would involve either
+		   declaring the variable within this scope (which would go out of scope at runtime
+		   before the JTAG queue gets executed, which is an error waiting to happen), or
+		   initializing outside of the check for whether a BSCAN tunnel was active (which
+		   would be a waste of CPU time when BSCAN tunnel is not being used. So I declared the
+		   struct at the function's top-level, so its lifetime exceeds the point at which
+		   the queue is executed, and initializing with assignments here. */
+		memset(tunneled_dr, 0, sizeof(tunneled_dr));
+		tunneled_dr[0].num_bits = 1;
+		tunneled_dr[0].out_value = bscan_one;
+
+		tunneled_dr[1].num_bits = 7;
+		tunneled_dr_width = num_bits;
+		tunneled_dr[1].out_value = &tunneled_dr_width;
+
+		/* for BSCAN tunnel, there is a one-TCK skew between shift in and shift out, so
+		   scanning num_bits + 1, and then will right shift the input field after executing the queues */
+		tunneled_dr[2].num_bits = num_bits+1;
+		tunneled_dr[2].out_value = out;
+		tunneled_dr[2].in_value = in;
+
+		tunneled_dr[3].num_bits = 3;
+		tunneled_dr[3].out_value = bscan_zero;
+
+		jtag_add_dr_scan(target->tap, DIM(tunneled_dr), tunneled_dr, TAP_IDLE);
+	} else {
+		/* Assume dbus is already selected. */
+		jtag_add_dr_scan(target->tap, 1, &field, TAP_IDLE);
+	}
 
 	int idle_count = info->dmi_busy_delay;
 	if (exec)
@@ -502,6 +547,11 @@ static dmi_status_t dmi_scan(struct target *target, uint32_t *address_in,
 		return DMI_STATUS_FAILED;
 	}
 
+	if (bscan_tunnel_ir_width != 0) {
+		/* need to right-shift "in" by one bit, because of clock skew between BSCAN TAP and DM TAP */
+		buffer_shr(in, num_bytes, 1);
+	}
+
 	if (data_in)
 		*data_in = buf_get_u32(in, DTM_DMI_DATA_OFFSET, DTM_DMI_DATA_LENGTH);
 
diff --git a/src/target/riscv/riscv.c b/src/target/riscv/riscv.c
index 2fc3757..34854d0 100644
--- a/src/target/riscv/riscv.c
+++ b/src/target/riscv/riscv.c
@@ -170,6 +170,44 @@ struct scan_field select_idcode = {
 	.out_value = ir_idcode
 };
 
+
+int bscan_tunnel_ir_width; /* if zero, then tunneling is not present/active */
+uint8_t bscan_zero[4] = {0};
+uint8_t bscan_one[4] = {1};
+
+uint8_t ir_user4[4] = {0x23};
+struct scan_field select_user4 = {
+	.in_value = NULL,
+	.out_value = ir_user4
+};
+
+
+uint8_t bscan_tunneled_ir_width[4] = {5};  /* overridden by assignment in riscv_init_target */
+struct scan_field _bscan_tunneled_select_dmi[] = {
+		{
+			.num_bits = 1,
+			.out_value = bscan_zero,
+			.in_value = NULL,
+		},
+		{
+			.num_bits = 7,
+			.out_value = bscan_tunneled_ir_width,
+			.in_value = NULL,
+		},
+		{
+			.num_bits = 0, /* initialized in riscv_init_target to ir width of DM */
+			.out_value = ir_dbus,
+			.in_value = NULL,
+		},
+		{
+			.num_bits = 3,
+			.out_value = bscan_zero,
+			.in_value = NULL,
+		}
+};
+struct scan_field *bscan_tunneled_select_dmi = _bscan_tunneled_select_dmi;
+uint32_t bscan_tunneled_select_dmi_num_fields = DIM(_bscan_tunneled_select_dmi);
+
 struct trigger {
 	uint64_t address;
 	uint32_t length;
@@ -201,12 +239,101 @@ range_t *expose_custom;
 
 static int riscv_resume_go_all_harts(struct target *target);
 
+void select_dmi_via_bscan(struct target *target)
+{
+	jtag_add_ir_scan(target->tap, &select_user4, TAP_IDLE);
+	jtag_add_dr_scan(target->tap, bscan_tunneled_select_dmi_num_fields, bscan_tunneled_select_dmi, TAP_IDLE);
+}
+
+
+uint32_t dtmcontrol_scan_via_bscan(struct target *target, uint32_t out)
+{
+	/* On BSCAN TAP: Select IR=USER4, issue tunneled IR scan via BSCAN TAP's DR */
+	uint8_t tunneled_ir_width[4] = {bscan_tunnel_ir_width};
+	uint8_t tunneled_dr_width[4] = {32};
+	uint8_t out_value[5] = {0};
+	uint8_t in_value[5] = {0};
+
+	buf_set_u32(out_value, 0, 32, out);
+
+	struct scan_field tunneled_ir[] = {
+		{
+			.num_bits = 1,
+			.out_value = bscan_zero,
+			.in_value = NULL,
+		},
+		{
+			.num_bits = 7,
+			.out_value = tunneled_ir_width,
+			.in_value = NULL,
+		},
+		{
+			.num_bits = bscan_tunnel_ir_width,
+			.out_value = ir_dtmcontrol,
+			.in_value = NULL,
+		},
+		{
+			.num_bits = 3,
+			.out_value = bscan_zero,
+			.in_value = NULL,
+		}
+	};
+	struct scan_field tunneled_dr[] = {
+		{
+			.num_bits = 1,
+			.out_value = bscan_one,
+			.in_value = NULL,
+		},
+		{
+			.num_bits = 7,
+			.out_value = tunneled_dr_width,
+			.in_value = NULL,
+		},
+		/* for BSCAN tunnel, there is a one-TCK skew between shift in and shift out,
+		   so scanning 33 bits and then right shifting the in_value after the scan is completed */
+		{
+			.num_bits = 32+1,
+			.out_value = out_value,
+			.in_value = in_value,
+		},
+		{
+			.num_bits = 3,
+			.out_value = bscan_zero,
+			.in_value = NULL,
+		}
+	};
+
+	jtag_add_ir_scan(target->tap, &select_user4, TAP_IDLE);
+	jtag_add_dr_scan(target->tap, DIM(tunneled_ir), tunneled_ir, TAP_IDLE);
+	jtag_add_dr_scan(target->tap, DIM(tunneled_dr), tunneled_dr, TAP_IDLE);
+	select_dmi_via_bscan(target);
+
+	int retval = jtag_execute_queue();
+	if (retval != ERROR_OK) {
+		LOG_ERROR("failed jtag scan: %d", retval);
+		return retval;
+	}
+
+	/* Note the starting offset is bit 1, not bit 0.  In BSCAN tunnel, there is a one-bit TCK skew between
+	   output and input */
+	uint32_t in = buf_get_u32(in_value, 1, 32);
+	LOG_DEBUG("DTMCS: 0x%x -> 0x%x", out, in);
+
+	return in;
+}
+
+
+
 static uint32_t dtmcontrol_scan(struct target *target, uint32_t out)
 {
 	struct scan_field field;
 	uint8_t in_value[4];
 	uint8_t out_value[4];
 
+	if (bscan_tunnel_ir_width != 0)
+		return dtmcontrol_scan_via_bscan(target, out);
+
+
 	buf_set_u32(out_value, 0, 32, out);
 
 	jtag_add_ir_scan(target->tap, &select_dtmcontrol, TAP_IDLE);
@@ -266,6 +393,12 @@ static int riscv_init_target(struct command_context *cmd_ctx,
 	select_dbus.num_bits = target->tap->ir_length;
 	select_idcode.num_bits = target->tap->ir_length;
 
+	if (bscan_tunnel_ir_width != 0) {
+		select_user4.num_bits = target->tap->ir_length;
+		bscan_tunneled_ir_width[0] = bscan_tunnel_ir_width;
+		bscan_tunneled_select_dmi[2].num_bits = bscan_tunnel_ir_width;
+	}
+
 	riscv_semihosting_init(target);
 
 	target->debug_reason = DBG_REASON_DBGRQ;
@@ -1827,6 +1960,23 @@ COMMAND_HANDLER(riscv_set_ir)
 	}
 }
 
+COMMAND_HANDLER(riscv_use_bscan_tunnel)
+{
+	int irwidth = 0;
+
+	if (CMD_ARGC > 1) {
+		LOG_ERROR("Command takes at most one argument");
+		return ERROR_COMMAND_SYNTAX_ERROR;
+	}
+
+	if (CMD_ARGC == 1)
+		COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], irwidth);
+
+	bscan_tunnel_ir_width = irwidth;
+	return ERROR_OK;
+}
+
+
 static const struct command_registration riscv_exec_command_handlers[] = {
 	{
 		.name = "test_compliance",
@@ -1933,6 +2083,15 @@ static const struct command_registration riscv_exec_command_handlers[] = {
 		.usage = "riscv set_ir_idcode [idcode|dtmcs|dmi] value",
 		.help = "Set IR value for specified JTAG register."
 	},
+	{
+		.name = "use_bscan_tunnel",
+		.handler = riscv_use_bscan_tunnel,
+		.mode = COMMAND_ANY,
+		.usage = "riscv use_bscan_tunnel value",
+		.help = "Enable or disable use of a BSCAN tunnel to reach DM.  Supply "
+			"the width of the DM transport TAP's instruction register to "
+			"enable.  Supply a value of 0 to disable."
+	},
 	COMMAND_REGISTRATION_DONE
 };
 
diff --git a/src/target/riscv/riscv.h b/src/target/riscv/riscv.h
index ade1bf0..0662efd 100644
--- a/src/target/riscv/riscv.h
+++ b/src/target/riscv/riscv.h
@@ -166,6 +166,16 @@ extern struct scan_field select_dbus;
 extern uint8_t ir_idcode[4];
 extern struct scan_field select_idcode;
 
+extern struct scan_field select_user4;
+extern struct scan_field *bscan_tunneled_select_dmi;
+extern uint32_t bscan_tunneled_select_dmi_num_fields;
+extern uint8_t bscan_zero[4];
+extern uint8_t bscan_one[4];
+extern int bscan_tunnel_ir_width;
+
+uint32_t dtmcontrol_scan_via_bscan(struct target *target, uint32_t out);
+void select_dmi_via_bscan(struct target *target);
+
 /*** OpenOCD Interface */
 int riscv_openocd_poll(struct target *target);
 
diff --git a/tcl/board/sifive-e31arty-onboard-ftdi-raw.cfg b/tcl/board/sifive-e31arty-onboard-ftdi-raw.cfg
new file mode 100644
index 0000000..b7d1ee6
--- /dev/null
+++ b/tcl/board/sifive-e31arty-onboard-ftdi-raw.cfg
@@ -0,0 +1,10 @@
+#
+# Be sure you include the speed and interface before this file
+# Example:
+# -c "adapter_khz 5000" -f "interface/ftdi/arty-onboard-ftdi.cfg" -f "board/sifive-e31arty-onboard-ftdi.cfg"
+
+set _CHIPNAME arty
+jtag newtap $_CHIPNAME bs -irlen 6 -expected-id 0x0362d093
+
+
+echo "Ready for Remote Connections"
diff --git a/tcl/board/sifive-e31arty-onboard-ftdi.cfg b/tcl/board/sifive-e31arty-onboard-ftdi.cfg
new file mode 100644
index 0000000..3d40cfa
--- /dev/null
+++ b/tcl/board/sifive-e31arty-onboard-ftdi.cfg
@@ -0,0 +1,25 @@
+#
+# Be sure you include the speed and interface before this file
+# Example:
+# -c "adapter_khz 5000" -f "interface/ftdi/arty-onboard-ftdi.cfg" -f "board/sifive-e31arty-onboard-ftdi.cfg"
+
+set _CHIPNAME riscv
+jtag newtap $_CHIPNAME cpu -irlen 6; # -expected-id 0x0362d093
+
+set _TARGETNAME $_CHIPNAME.cpu
+
+target create $_TARGETNAME.0 riscv -chain-position $_TARGETNAME
+$_TARGETNAME.0 configure -work-area-phys 0x80000000 -work-area-size 10000 -work-area-backup 1
+riscv use_bscan_tunnel 5
+
+# Uncomment if hardware has flash
+# flash bank spi0 fespi 0x40000000 0 0 0 $_TARGETNAME.0 0x20004000
+init
+if {[ info exists pulse_srst]} {
+  ftdi_set_signal nSRST 0
+  ftdi_set_signal nSRST z
+}
+halt
+# Uncomment if hardware has flash
+# flash protect 0 64 last off
+echo "Ready for Remote Connections"
diff --git a/tcl/interface/ftdi/arty-onboard-ftdi.cfg b/tcl/interface/ftdi/arty-onboard-ftdi.cfg
new file mode 100644
index 0000000..825be7d
--- /dev/null
+++ b/tcl/interface/ftdi/arty-onboard-ftdi.cfg
@@ -0,0 +1,7 @@
+interface ftdi
+# ftdi_device_desc "Arty On-board FTDI interface"
+ftdi_vid_pid 0x0403 0x6010
+ftdi_channel 0
+ftdi_layout_init 0x0088 0x008b
+reset_config none
+