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jtag: drivers: xlnx-pcie-xvc: Add support for Xilinx XVC/PCIe

Add support for Xilinx Virtual Cable over PCIe JTAG controller.
It is commonly used in Xilinx based PCI Express designs with JTAG IP
in the FPGA fabric.

Access to the JTAG registers happens via the PCI Express extended
configuration space.

This can be used to debug soft-cores instantiated in the FPGA fabric.

The clang static checker doesn't find any new problems with this change.

Change-Id: Ib12ede0d1f26dacfda808d5e05b947b640c5bde7
Signed-off-by: Moritz Fischer <moritzf@google.com>
Reviewed-on: http://openocd.zylin.com/5314
Tested-by: jenkins
Reviewed-by: Antonio Borneo <borneo.antonio@gmail.com>
Reviewed-by: Marex
Reviewed-by: Oleksij Rempel <linux@rempel-privat.de>
master
Moritz Fischer 1 year ago
committed by Oleksij Rempel
parent
commit
ff6d0704ec
5 changed files with 532 additions and 1 deletions
  1. +20
    -1
      configure.ac
  2. +22
    -0
      doc/openocd.texi
  3. +3
    -0
      src/jtag/drivers/Makefile.am
  4. +481
    -0
      src/jtag/drivers/xlnx-pcie-xvc.c
  5. +6
    -0
      src/jtag/interfaces.c

+ 20
- 1
configure.ac View File

@@ -142,6 +142,9 @@ m4_define([LIBFTDI_ADAPTERS],
m4_define([LIBJAYLINK_ADAPTERS],
[[[jlink], [SEGGER J-Link Programmer], [JLINK]]])

m4_define([PCIE_ADAPTERS],
[[[xlnx_pcie_xvc], [Xilinx XVC/PCIe], [XLNX_PCIE_XVC]]])


AC_ARG_ENABLE([doxygen-html],
AS_HELP_STRING([--disable-doxygen-html],
@@ -315,12 +318,20 @@ AC_ARG_ENABLE([sysfsgpio],
AS_HELP_STRING([--enable-sysfsgpio], [Enable building support for programming driven via sysfs gpios.]),
[build_sysfsgpio=$enableval], [build_sysfsgpio=no])

AC_ARG_ENABLE([xlnx_pcie_xvc],
AS_HELP_STRING([--enable-xlnx-pcie-xvc], [Enable building support for Xilinx XVC/PCIe.]),
[build_xlnx_pcie_xvc=$enableval], [build_xlnx_pcie_xvc=no])

AS_CASE([$host_os],
[linux*], [],
[
AS_IF([test "x$build_sysfsgpio" = "xyes"], [
AC_MSG_ERROR([sysfsgpio is only available on linux])
])

AS_IF([test "x$build_xlnx_pcie_xvc" = "xyes"], [
AC_MSG_ERROR([xlnx_pcie_xvc is only available on linux])
])
])

AC_ARG_ENABLE([minidriver_dummy],
@@ -580,6 +591,13 @@ AS_IF([test "x$build_sysfsgpio" = "xyes"], [
AC_DEFINE([BUILD_SYSFSGPIO], [0], [0 if you don't want SysfsGPIO driver.])
])

AS_IF([test "x$build_xlnx_pcie_xvc" = "xyes"], [
build_xlnx_pcie_xvc=yes
AC_DEFINE([BUILD_XLNX_PCIE_XVC], [1], [1 if you want the Xilinx XVC/PCIe driver.])
], [
AC_DEFINE([BUILD_XLNX_PCIE_XVC], [0], [0 if you don't want Xilinx XVC/PCIe driver.])
])

AS_IF([test "x$build_target64" = "xyes"], [
AC_DEFINE([BUILD_TARGET64], [1], [1 if you want 64-bit addresses.])
], [
@@ -699,6 +717,7 @@ AM_CONDITIONAL([OOCD_TRACE], [test "x$build_oocd_trace" = "xyes"])
AM_CONDITIONAL([REMOTE_BITBANG], [test "x$build_remote_bitbang" = "xyes"])
AM_CONDITIONAL([BUSPIRATE], [test "x$build_buspirate" = "xyes"])
AM_CONDITIONAL([SYSFSGPIO], [test "x$build_sysfsgpio" = "xyes"])
AM_CONDITIONAL([XLNX_PCIE_XVC], [test "x$build_xlnx_pcie_xvc" = "xyes"])
AM_CONDITIONAL([USE_LIBUSB0], [test "x$use_libusb0" = "xyes"])
AM_CONDITIONAL([USE_LIBUSB1], [test "x$use_libusb1" = "xyes"])
AM_CONDITIONAL([IS_CYGWIN], [test "x$is_cygwin" = "xyes"])
@@ -778,7 +797,7 @@ echo OpenOCD configuration summary
echo --------------------------------------------------
m4_foreach([adapter], [USB1_ADAPTERS, USB_ADAPTERS, USB0_ADAPTERS,
HIDAPI_ADAPTERS, HIDAPI_USB1_ADAPTERS, LIBFTDI_ADAPTERS,
LIBJAYLINK_ADAPTERS],
LIBJAYLINK_ADAPTERS, PCIE_ADAPTERS],
[s=m4_format(["%-40s"], ADAPTER_DESC([adapter]))
AS_CASE([$ADAPTER_VAR([adapter])],
[auto], [


+ 22
- 0
doc/openocd.texi View File

@@ -617,6 +617,9 @@ produced, PDF schematics are easily found and it is easy to make.
@* A JTAG driver acting as a client for the JTAG VPI server interface.
@* Link: @url{http://github.com/fjullien/jtag_vpi}

@item @b{xlnx_pcie_xvc}
@* A JTAG driver exposing Xilinx Virtual Cable over PCI Express to OpenOCD as JTAG interface.

@end itemize

@node About Jim-Tcl
@@ -3127,6 +3130,25 @@ opendous-jtag is a freely programmable USB adapter.
This is the Keil ULINK v1 JTAG debugger.
@end deffn

@deffn {Interface Driver} {xlnx_pcie_xvc}
This driver supports the Xilinx Virtual Cable (XVC) over PCI Express.
It is commonly found in Xilinx based PCI Express designs. It allows debugging
fabric based JTAG devices such as Cortex-M1/M3 microcontrollers. Access to this is
exposed via extended capability registers in the PCI Express configuration space.

For more information see Xilinx PG245 (Section on From_PCIE_to_JTAG mode).

@deffn {Config Command} {xlnx_pcie_xvc_config} device
Specifies the PCI Express device via parameter @var{device} to use.

The correct value for @var{device} can be obtained by looking at the output
of lscpi -D (first column) for the corresponding device.

The string will be of the format "DDDD:BB:SS.F" such as "0000:65:00.1".

@end deffn
@end deffn

@deffn {Interface Driver} {ZY1000}
This is the Zylin ZY1000 JTAG debugger.
@end deffn


+ 3
- 0
src/jtag/drivers/Makefile.am View File

@@ -145,6 +145,9 @@ endif
if SYSFSGPIO
DRIVERFILES += %D%/sysfsgpio.c
endif
if XLNX_PCIE_XVC
DRIVERFILES += %D%/xlnx-pcie-xvc.c
endif
if BCM2835GPIO
DRIVERFILES += %D%/bcm2835gpio.c
endif


+ 481
- 0
src/jtag/drivers/xlnx-pcie-xvc.c View File

@@ -0,0 +1,481 @@
/* SPDX-License-Identifier: GPL-2.0
*
* Copyright (c) 2019 Google, LLC.
* Author: Moritz Fischer <moritzf@google.com>
*/

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include <stdint.h>
#include <stdlib.h>
#include <math.h>
#include <unistd.h>
#include <linux/pci.h>

#include <jtag/interface.h>
#include <jtag/swd.h>
#include <jtag/commands.h>
#include <helper/replacements.h>
#include <helper/bits.h>

#define PCIE_EXT_CAP_LST 0x100

#define XLNX_XVC_EXT_CAP 0x00
#define XLNX_XVC_VSEC_HDR 0x04
#define XLNX_XVC_LEN_REG 0x0C
#define XLNX_XVC_TMS_REG 0x10
#define XLNX_XVC_TDx_REG 0x14

#define XLNX_XVC_CAP_SIZE 0x20
#define XLNX_XVC_VSEC_ID 0x8
#define XLNX_XVC_MAX_BITS 0x20

struct xlnx_pcie_xvc {
int fd;
unsigned offset;
char *device;
};

static struct xlnx_pcie_xvc xlnx_pcie_xvc_state;
static struct xlnx_pcie_xvc *xlnx_pcie_xvc = &xlnx_pcie_xvc_state;

static int xlnx_pcie_xvc_read_reg(const int offset, uint32_t *val)
{
uint32_t res;
int err;

/* Note: This should be ok endianess-wise because by going
* through sysfs the kernel does the conversion in the config
* space accessor functions
*/
err = pread(xlnx_pcie_xvc->fd, &res, sizeof(res),
xlnx_pcie_xvc->offset + offset);
if (err != sizeof(res)) {
LOG_ERROR("Failed to read offset %x", offset);
return ERROR_JTAG_DEVICE_ERROR;
}

if (val)
*val = res;

return ERROR_OK;
}

static int xlnx_pcie_xvc_write_reg(const int offset, const uint32_t val)
{
int err;

/* Note: This should be ok endianess-wise because by going
* through sysfs the kernel does the conversion in the config
* space accessor functions
*/
err = pwrite(xlnx_pcie_xvc->fd, &val, sizeof(val),
xlnx_pcie_xvc->offset + offset);
if (err != sizeof(val)) {
LOG_ERROR("Failed to write offset: %x with value: %x",
offset, val);
return ERROR_JTAG_DEVICE_ERROR;
}

return ERROR_OK;
}

static int xlnx_pcie_xvc_transact(size_t num_bits, uint32_t tms, uint32_t tdi,
uint32_t *tdo)
{
int err;

err = xlnx_pcie_xvc_write_reg(XLNX_XVC_LEN_REG, num_bits);
if (err != ERROR_OK)
return err;

err = xlnx_pcie_xvc_write_reg(XLNX_XVC_TMS_REG, tms);
if (err != ERROR_OK)
return err;

err = xlnx_pcie_xvc_write_reg(XLNX_XVC_TDx_REG, tdi);
if (err != ERROR_OK)
return err;

err = xlnx_pcie_xvc_read_reg(XLNX_XVC_TDx_REG, tdo);
if (err != ERROR_OK)
return err;

if (tdo)
LOG_DEBUG_IO("Transact num_bits: %zu, tms: %x, tdi: %x, tdo: %x",
num_bits, tms, tdi, *tdo);
else
LOG_DEBUG_IO("Transact num_bits: %zu, tms: %x, tdi: %x, tdo: <null>",
num_bits, tms, tdi);
return ERROR_OK;
}

int xlnx_pcie_xvc_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;
int err;

LOG_DEBUG("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);

while (left) {
write = MIN(XLNX_XVC_MAX_BITS, left);
err = xlnx_pcie_xvc_transact(write, tms, 0, NULL);
if (err != ERROR_OK)
return err;
left -= write;
};

return ERROR_OK;
}

static int xlnx_pcie_xvc_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());
int err;

LOG_DEBUG("statemove starting at (skip: %zu) %s end in %s", skip,
tap_state_name(tap_get_state()),
tap_state_name(tap_get_end_state()));


err = xlnx_pcie_xvc_transact(tms_count - skip, tms_scan >> skip, 0, NULL);
if (err != ERROR_OK)
return err;

tap_set_state(tap_get_end_state());

return ERROR_OK;
}

static int xlnx_pcie_xvc_execute_runtest(struct jtag_command *cmd)
{
int err = ERROR_OK;

LOG_DEBUG("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);
err = xlnx_pcie_xvc_execute_statemove(0);
if (err != ERROR_OK)
return err;
};

size_t left = cmd->cmd.runtest->num_cycles;
size_t write;

while (left) {
write = MIN(XLNX_XVC_MAX_BITS, left);
err = xlnx_pcie_xvc_transact(write, 0, 0, NULL);
if (err != ERROR_OK)
return err;
left -= write;
};

tap_set_end_state(tmp_state);
if (tap_get_state() != tap_get_end_state())
err = xlnx_pcie_xvc_execute_statemove(0);

return err;
}

static int xlnx_pcie_xvc_execute_pathmove(struct jtag_command *cmd)
{
size_t num_states = cmd->cmd.pathmove->num_states;
tap_state_t *path = cmd->cmd.pathmove->path;
int err = ERROR_OK;
size_t i;

LOG_DEBUG("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)) {
err = xlnx_pcie_xvc_transact(1, 1, 0, NULL);
} else if (path[i] == tap_state_transition(tap_get_state(), true)) {
err = xlnx_pcie_xvc_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]));
err = ERROR_JTAG_QUEUE_FAILED;
}
if (err != ERROR_OK)
return err;
tap_set_state(path[i]);
}

tap_set_end_state(tap_get_state());

return ERROR_OK;
}

static int xlnx_pcie_xvc_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("%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);
err = xlnx_pcie_xvc_execute_statemove(0);
if (err != ERROR_OK)
goto out_err;
tap_set_end_state(saved_end_state);
} else if (!ir_scan && (tap_get_state() != TAP_DRSHIFT)) {
tap_set_end_state(TAP_DRSHIFT);
err = xlnx_pcie_xvc_execute_statemove(0);
if (err != ERROR_OK)
goto out_err;
tap_set_end_state(saved_end_state);
}

left = scan_size;
while (left) {
write = MIN(XLNX_XVC_MAX_BITS, left);
/* the last TMS should be a 1, to leave the state */
tms = left <= XLNX_XVC_MAX_BITS ? BIT(write - 1) : 0;
tdi = (type != SCAN_IN) ? buf_get_u32(rd_ptr, 0, write) : 0;
err = xlnx_pcie_xvc_transact(write, tms, tdi, type != SCAN_OUT ?
&tdo : NULL);
if (err != ERROR_OK)
goto out_err;
left -= write;
if (type != SCAN_OUT)
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())
err = xlnx_pcie_xvc_execute_statemove(1);

return err;

out_err:
if (buf)
free(buf);
return err;
}

static void xlnx_pcie_xvc_execute_reset(struct jtag_command *cmd)
{
LOG_DEBUG("reset trst: %i srst: %i", cmd->cmd.reset->trst,
cmd->cmd.reset->srst);
}

static void xlnx_pcie_xvc_execute_sleep(struct jtag_command *cmd)
{
LOG_DEBUG("sleep %" PRIi32 "", cmd->cmd.sleep->us);
usleep(cmd->cmd.sleep->us);
}

static int xlnx_pcie_xvc_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;
int err;

LOG_DEBUG("execute tms %zu", num_bits);

left = num_bits;
while (left) {
write = MIN(XLNX_XVC_MAX_BITS, left);
tms = buf_get_u32(bits, 0, write);
err = xlnx_pcie_xvc_transact(write, tms, 0, NULL);
if (err != ERROR_OK)
return err;
left -= write;
bits += 4;
};

return ERROR_OK;
}

static int xlnx_pcie_xvc_execute_command(struct jtag_command *cmd)
{
LOG_DEBUG("%s: cmd->type: %u", __func__, cmd->type);
switch (cmd->type) {
case JTAG_STABLECLOCKS:
return xlnx_pcie_xvc_execute_stableclocks(cmd);
case JTAG_RUNTEST:
return xlnx_pcie_xvc_execute_runtest(cmd);
case JTAG_TLR_RESET:
tap_set_end_state(cmd->cmd.statemove->end_state);
return xlnx_pcie_xvc_execute_statemove(0);
case JTAG_PATHMOVE:
return xlnx_pcie_xvc_execute_pathmove(cmd);
case JTAG_SCAN:
return xlnx_pcie_xvc_execute_scan(cmd);
case JTAG_RESET:
xlnx_pcie_xvc_execute_reset(cmd);
break;
case JTAG_SLEEP:
xlnx_pcie_xvc_execute_sleep(cmd);
break;
case JTAG_TMS:
return xlnx_pcie_xvc_execute_tms(cmd);
default:
LOG_ERROR("BUG: Unknown JTAG command type encountered.");
return ERROR_JTAG_QUEUE_FAILED;
}

return ERROR_OK;
}

static int xlnx_pcie_xvc_execute_queue(void)
{
struct jtag_command *cmd = jtag_command_queue;
int ret;

while (cmd) {
ret = xlnx_pcie_xvc_execute_command(cmd);

if (ret != ERROR_OK)
return ret;

cmd = cmd->next;
}

return ERROR_OK;
}


static int xlnx_pcie_xvc_init(void)
{
char filename[PATH_MAX];
uint32_t cap, vh;
int err;

snprintf(filename, PATH_MAX, "/sys/bus/pci/devices/%s/config",
xlnx_pcie_xvc->device);
xlnx_pcie_xvc->fd = open(filename, O_RDWR | O_SYNC);
if (xlnx_pcie_xvc->fd < 0) {
LOG_ERROR("Failed to open device: %s", filename);
return ERROR_JTAG_INIT_FAILED;
}

LOG_INFO("Scanning PCIe device %s's for Xilinx XVC/PCIe ...",
xlnx_pcie_xvc->device);
/* Parse the PCIe extended capability list and try to find
* vendor specific header */
xlnx_pcie_xvc->offset = PCIE_EXT_CAP_LST;
while (xlnx_pcie_xvc->offset <= PCI_CFG_SPACE_EXP_SIZE - sizeof(cap) &&
xlnx_pcie_xvc->offset >= PCIE_EXT_CAP_LST) {
err = xlnx_pcie_xvc_read_reg(XLNX_XVC_EXT_CAP, &cap);
if (err != ERROR_OK)
return err;
LOG_DEBUG("Checking capability at 0x%x; id=0x%04x version=0x%x next=0x%x",
xlnx_pcie_xvc->offset,
PCI_EXT_CAP_ID(cap),
PCI_EXT_CAP_VER(cap),
PCI_EXT_CAP_NEXT(cap));
if (PCI_EXT_CAP_ID(cap) == PCI_EXT_CAP_ID_VNDR) {
err = xlnx_pcie_xvc_read_reg(XLNX_XVC_VSEC_HDR, &vh);
if (err != ERROR_OK)
return err;
LOG_DEBUG("Checking possible match at 0x%x; id: 0x%x; rev: 0x%x; length: 0x%x",
xlnx_pcie_xvc->offset,
PCI_VNDR_HEADER_ID(vh),
PCI_VNDR_HEADER_REV(vh),
PCI_VNDR_HEADER_LEN(vh));
if ((PCI_VNDR_HEADER_ID(vh) == XLNX_XVC_VSEC_ID) &&
(PCI_VNDR_HEADER_LEN(vh) == XLNX_XVC_CAP_SIZE))
break;
}
xlnx_pcie_xvc->offset = PCI_EXT_CAP_NEXT(cap);
}
if ((xlnx_pcie_xvc->offset > PCI_CFG_SPACE_EXP_SIZE - XLNX_XVC_CAP_SIZE) ||
xlnx_pcie_xvc->offset < PCIE_EXT_CAP_LST) {
close(xlnx_pcie_xvc->fd);
return ERROR_JTAG_INIT_FAILED;
}

LOG_INFO("Found Xilinx XVC/PCIe capability at offset: 0x%x", xlnx_pcie_xvc->offset);

return ERROR_OK;
}

static int xlnx_pcie_xvc_quit(void)
{
int err;

err = close(xlnx_pcie_xvc->fd);
if (err)
return err;

return ERROR_OK;
}

COMMAND_HANDLER(xlnx_pcie_xvc_handle_config_command)
{
if (CMD_ARGC < 1)
return ERROR_COMMAND_SYNTAX_ERROR;

/* we can't really free this in a safe manner, so at least
* limit the memory we're leaking by freeing the old one first
* before allocating a new one ...
*/
if (xlnx_pcie_xvc->device)
free(xlnx_pcie_xvc->device);

xlnx_pcie_xvc->device = strdup(CMD_ARGV[0]);
return ERROR_OK;
}

static const struct command_registration xlnx_pcie_xvc_command_handlers[] = {
{
.name = "xlnx_pcie_xvc_config",
.handler = xlnx_pcie_xvc_handle_config_command,
.mode = COMMAND_CONFIG,
.help = "Configure XVC/PCIe JTAG adapter",
.usage = "device",
},
COMMAND_REGISTRATION_DONE
};

static const char * const xlnx_pcie_xvc_transports[] = { "jtag", NULL };

struct jtag_interface xlnx_pcie_xvc_interface = {
.name = "xlnx_pcie_xvc",
.commands = xlnx_pcie_xvc_command_handlers,
.transports = xlnx_pcie_xvc_transports,
.execute_queue = &xlnx_pcie_xvc_execute_queue,
.speed = NULL,
.speed_div = NULL,
.khz = NULL,
.init = &xlnx_pcie_xvc_init,
.quit = &xlnx_pcie_xvc_quit,
};

+ 6
- 0
src/jtag/interfaces.c View File

@@ -117,6 +117,9 @@ extern struct adapter_driver opendous_adapter_driver;
#if BUILD_SYSFSGPIO == 1
extern struct adapter_driver sysfsgpio_adapter_driver;
#endif
#if BUILD_XLNX_PCIE_XVC == 1
extern struct jtag_interface xlnx_pcie_xvc_interface;
#endif
#if BUILD_AICE == 1
extern struct adapter_driver aice_adapter_driver;
#endif
@@ -225,6 +228,9 @@ struct adapter_driver *adapter_drivers[] = {
#if BUILD_SYSFSGPIO == 1
&sysfsgpio_adapter_driver,
#endif
#if BUILD_XLNX_PCIE_XVC == 1
&xlnx_pcie_xvc_interface,
#endif
#if BUILD_AICE == 1
&aice_adapter_driver,
#endif


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