Zynq-Linux移植学习笔记之56-ZYNQ中使用XVC功能说明
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1、功能介绍
XVC—Xilinx Virtual Cable，是Xilinx推出的基于TCP/IP协议的远程调试方法，可用于Xilinx FPGA的远程下载。其作用是可替代目前常用的Xilinx官方下载器Platform Cable USB Ⅱ，通过网线即可实现FPGA程序的加载和调试，简要结构如下图所示：
ZYNQ通过网线实现与调试机之间的数据传输，ARM处理器通过AXI 转JTAG IP核，将文件通过V7的JTAG口与V7进行交互，实现V7的程序下载与调试，简要结构如下图所示。
2、硬件设计示意图
3、ZYNQ VIVADO功能设计
（1）、将axi转JTAG IP核添加在ZYNQ工程。具体操作：点击Tools，进入Project Settings ,进入IP，找到Repository Manager，将附件中的IP核添加到工程中；
（2）、在BD文件中，添加AXI-Lite to JTAG 核，另增加一个AXI GPIO核，该4T245的使能信号拉到软件顶层，方便在顶层APP进行XVC功能选用。
（3）、由于ZYNQ工作时会有一个默认的高电平，V7的JTAG信号直接拉到ZYNQ时，ZYNQ会将V7的JTAG拉死，造成Xilinx仿真器使用时无法扫到FPGA，因而ZYNQ的JTAG输出信号需要进行相应处理。
4、软件设计
- 修改内核uio驱动文件“uio_pdrv_genirq.c”：
- 修改内核配置文件打开“CONFIG_OF”并且编译配置文件，再使用“make menuconfig”命令，进入内核配置菜单，关闭“cpu idle PM support”选项，使能“userspace I/O platform driver with generic IRQ handling”；
- 修改设备树文件，更改uio驱动：
- 将xvcServer.c编译后生成的可执行文件传入板卡。注意：xvcServer.c中打开的是“/dev/uio0文件，如有冲突需修改设备树或者xvcServer.c文件。代码如下：
/* This work, "xvcServer.c", is a derivative of "xvcd.c" (https://github.com/tmbinc/xvcd)
* by tmbinc, used under CC0 1.0 Universal (http://creativecommons.org/publicdomain/zero/1.0/).
* "xvcServer.c" is licensed under CC0 1.0 Universal (http://creativecommons.org/publicdomain/zero/1.0/)
* by Avnet and is used by Xilinx for XAPP1251.
*
* Description : XAPP1251 Xilinx Virtual Cable Server for Linux
*/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <time.h>
#include <stdint.h>
#include <sys/mman.h>
#include <fcntl.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/tcp.h>
#include <netinet/in.h>
#include <pthread.h>
#define MAP_SIZE 0x10000
typedef struct {
uint32_t length_offset;
uint32_t tms_offset;
uint32_t tdi_offset;
uint32_t tdo_offset;
uint32_t ctrl_offset;
} jtag_t;
static int verbose = 0;
static int sread(int fd, void *target, int len) {
unsigned char *t = target;
while (len) {
int r = read(fd, t, len);
if (r <= 0)
return r;
t += r;
len -= r;
}
return 1;
}
int handle_data(int fd, volatile jtag_t* ptr) {
const char xvcInfo[] = "xvcServer_v1.0:2048\n";
do {
char cmd[16];
unsigned char buffer[2048], result[1024];
memset(cmd, 0, 16);
if (sread(fd, cmd, 2) != 1)
return 1;
if (memcmp(cmd, "ge", 2) == 0) {
if (sread(fd, cmd, 6) != 1)
return 1;
memcpy(result, xvcInfo, strlen(xvcInfo));
if (write(fd, result, strlen(xvcInfo)) != strlen(xvcInfo)) {
perror("write");
return 1;
}
if (verbose) {
printf("%u : Received command: 'getinfo'\n", (int)time(NULL));
printf("\t Replied with %s\n", xvcInfo);
}
break;
} else if (memcmp(cmd, "se", 2) == 0) {
if (sread(fd, cmd, 9) != 1)
return 1;
memcpy(result, cmd + 5, 4);
if (write(fd, result, 4) != 4) {
perror("write");
return 1;
}
if (verbose) {
printf("%u : Received command: 'settck'\n", (int)time(NULL));
printf("\t Replied with '%.*s'\n\n", 4, cmd + 5);
}
break;
} else if (memcmp(cmd, "sh", 2) == 0) {
if (sread(fd, cmd, 4) != 1)
return 1;
if (verbose) {
printf("%u : Received command: 'shift'\n", (int)time(NULL));
}
} else {
fprintf(stderr, "invalid cmd '%s'\n", cmd);
return 1;
}
int len;
if (sread(fd, &len, 4) != 1) {
fprintf(stderr, "reading length failed\n");
return 1;
}
int nr_bytes = (len + 7) / 8;
if (nr_bytes * 2 > sizeof(buffer)) {
fprintf(stderr, "buffer size exceeded\n");
return 1;
}
if (sread(fd, buffer, nr_bytes * 2) != 1) {
fprintf(stderr, "reading data failed\n");
return 1;
}
memset(result, 0, nr_bytes);
if (verbose) {
printf("\tNumber of Bits : %d\n", len);
printf("\tNumber of Bytes : %d \n", nr_bytes);
printf("\n");
}
int bytesLeft = nr_bytes;
int bitsLeft = len;
int byteIndex = 0;
int tdi, tms, tdo;
while (bytesLeft > 0) {
tms = 0;
tdi = 0;
tdo = 0;
if (bytesLeft >= 4) {
memcpy(&tms, &buffer[byteIndex], 4);
memcpy(&tdi, &buffer[byteIndex + nr_bytes], 4);
ptr->length_offset = 32;
ptr->tms_offset = tms;
ptr->tdi_offset = tdi;
ptr->ctrl_offset = 0x01;
/* Switch this to interrupt in next revision */
while (ptr->ctrl_offset)
{
}
tdo = ptr->tdo_offset;
memcpy(&result[byteIndex], &tdo, 4);
bytesLeft -= 4;
bitsLeft -= 32;
byteIndex += 4;
if (verbose) {
printf("LEN : 0x%08x\n", 32);
printf("TMS : 0x%08x\n", tms);
printf("TDI : 0x%08x\n", tdi);
printf("TDO : 0x%08x\n", tdo);
}
} else {
memcpy(&tms, &buffer[byteIndex], bytesLeft);
memcpy(&tdi, &buffer[byteIndex + nr_bytes], bytesLeft);
ptr->length_offset = bitsLeft;
ptr->tms_offset = tms;
ptr->tdi_offset = tdi;
ptr->ctrl_offset = 0x01;
/* Switch this to interrupt in next revision */
while (ptr->ctrl_offset)
{
}
tdo = ptr->tdo_offset;
memcpy(&result[byteIndex], &tdo, bytesLeft);
if (verbose) {
printf("LEN : 0x%08x\n", 32);
printf("TMS : 0x%08x\n", tms);
printf("TDI : 0x%08x\n", tdi);
printf("TDO : 0x%08x\n", tdo);
}
break;
}
}
if (write(fd, result, nr_bytes) != nr_bytes) {
perror("write");
return 1;
}
} while (1);
/* Note: Need to fix JTAG state updates, until then no exit is allowed */
return 0;
}
int main(int argc, char **argv) {
int i;
int s;
int c;
int fd_uio;
struct sockaddr_in address;
opterr = 0;
while ((c = getopt(argc, argv, "v")) != -1)
switch (c) {
case 'v':
verbose = 1;
break;
case '?':
fprintf(stderr, "usage: %s [-v]\n", *argv);
return 1;
}
fd_uio = open("/dev/uio0", O_RDWR );
if (fd_uio < 1) {
fprintf(stderr,"Failed to Open UIO Device\n");
return -1;
}
s = socket(AF_INET, SOCK_STREAM, 0);
if (s < 0) {
perror("socket");
return 1;
}
volatile jtag_t* ptr = (volatile jtag_t*) mmap(NULL, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED,
fd_uio, 0);
if (ptr == MAP_FAILED)
fprintf(stderr, "MMAP Failed\n");
close(fd_uio);
i = 1;
setsockopt(s, SOL_SOCKET, SO_REUSEADDR, &i, sizeof i);
address.sin_addr.s_addr = INADDR_ANY;
address.sin_port = htons(2542);
address.sin_family = AF_INET;
if (bind(s, (struct sockaddr*) &address, sizeof(address)) < 0) {
perror("bind");
return 1;
}
if (listen(s, 5) < 0) {
perror("listen");
return 1;
}
fd_set conn;
int maxfd = 0;
FD_ZERO(&conn);
FD_SET(s, &conn);
maxfd = s;
while (1) {
fd_set read = conn, except = conn;
int fd;
if (select(maxfd + 1, &read, 0, &except, 0) < 0) {
perror("select");
break;
}
for (fd = 0; fd <= maxfd; ++fd) {
if (FD_ISSET(fd, &read)) {
if (fd == s) {
int newfd;
socklen_t nsize = sizeof(address);
newfd = accept(s, (struct sockaddr*) &address, &nsize);
// if (verbose)
printf("connection accepted - fd %d\n", newfd);
if (newfd < 0) {
perror("accept");
} else {
printf("setting TCP_NODELAY to 1\n");
int flag = 1;
int optResult = setsockopt(newfd,
IPPROTO_TCP,
TCP_NODELAY,
(char *)&flag,
sizeof(int));
if (optResult < 0)
perror("TCP_NODELAY error");
if (newfd > maxfd) {
maxfd = newfd;
}
FD_SET(newfd, &conn);
}
}
else if (handle_data(fd,ptr)) {
if (verbose)
printf("connection closed - fd %d\n", fd);
close(fd);
FD_CLR(fd, &conn);
}
}
else if (FD_ISSET(fd, &except)) {
if (verbose)
printf("connection aborted - fd %d\n", fd);
close(fd);
FD_CLR(fd, &conn);
if (fd == s)
break;
}
}
}
munmap((void *) ptr, MAP_SIZE);
return 0;
}
5、使用方法
如图所示准备环境：
模块上电、系统启动完成后，设置模块及调试机网络地址（同网段，不同地址），后台运行xvcServer程序(ZYNQ APP)（./xvcServer.elf &）；
如果模块设计兼容两种调试方式（JTAG/XVC)，需要使能XVC，一般为GPIO拉高或者拉低；
在调试机打开vivado2018.3软件（验证时低版本可能会有问题），点击“Open Hardware Manager”；
在tcl console 命令窗口中输入 “connect_hw_server”，或者点击open target->auto connect；
右键localhost，选择Add Xilinx Virtual Cable(xvc)，填写板子上的ZYNQ IP，即可。
可以看到通过将ZYNQ作为JTAG使用，通过网络就连上了模块上面的V7。
6、不足
XVC的性能受处理器影响，在处理器的资源使用过多时，可能会影响XVC的性能。
更多参考xilinx官方材料：
xapp1251.zip
xapp1251-xvc-zynq-petalinux.pdf
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