Merge pull request #664 from ucb-bar/fix-debug-ios

Only punch realistic subset of DebugIO through chiptop | default to JTAG+Serial

.circleci/config.yml

@@ -199,6 +199,11 @@ jobs:
         steps:
             - prepare-rtl:
                 project-key: "chipyard-rocket"
+    prepare-chipyard-dmirocket:
+        executor: main-env
+        steps:
+            - prepare-rtl:
+                project-key: "chipyard-dmirocket"
     prepare-chipyard-sha3:
         executor: main-env
         steps:
@@ -225,11 +230,6 @@ jobs:
         steps:
             - prepare-rtl:
                 project-key: "chipyard-boom"
-    prepare-rocketchip:
-        executor: main-env
-        steps:
-            - prepare-rtl:
-                project-key: "rocketchip"
     prepare-chipyard-blkdev:
         executor: main-env
         steps:
@@ -297,6 +297,11 @@ jobs:
         steps:
             - run-tests:
                 project-key: "chipyard-rocket"
+    chipyard-dmirocket-run-tests:
+        executor: main-env
+        steps:
+            - run-tests:
+                project-key: "chipyard-dmirocket"
     chipyard-sha3-run-tests:
         executor: main-env
         steps:
@@ -323,11 +328,6 @@ jobs:
         steps:
             - run-tests:
                 project-key: "chipyard-boom"
-    rocketchip-run-tests:
-        executor: main-env
-        steps:
-            - run-tests:
-                project-key: "rocketchip"
     chipyard-hwacha-run-tests:
         executor: main-env
         steps:
@@ -451,6 +451,11 @@ workflows:
                     - install-riscv-toolchain
                     - install-verilator
 
+            - prepare-chipyard-dmirocket:
+                requires:
+                    - install-riscv-toolchain
+                    - install-verilator
+
             - prepare-chipyard-sha3:
                 requires:
                     - install-riscv-toolchain
@@ -476,11 +481,6 @@ workflows:
                     - install-riscv-toolchain
                     - install-verilator
 
-            - prepare-rocketchip:
-                requires:
-                    - install-riscv-toolchain
-                    - install-verilator
-
             - prepare-chipyard-blkdev:
                 requires:
                     - install-riscv-toolchain
@@ -547,6 +547,10 @@ workflows:
                 requires:
                     - prepare-chipyard-rocket
 
+            - chipyard-dmirocket-run-tests:
+                requires:
+                    - prepare-chipyard-dmirocket
+
             - chipyard-sha3-run-tests:
                 requires:
                     - prepare-chipyard-sha3
@@ -567,10 +571,6 @@ workflows:
                 requires:
                     - prepare-chipyard-boom
 
-            - rocketchip-run-tests:
-                requires:
-                    - prepare-rocketchip
-
             - chipyard-hwacha-run-tests:
                 requires:
                     - prepare-chipyard-hwacha

.circleci/defaults.sh

@@ -48,6 +48,7 @@ LOCAL_FIRESIM_DIR=$LOCAL_CHIPYARD_DIR/sims/firesim/sim
 # key value store to get the build strings
 declare -A mapping
 mapping["chipyard-rocket"]=""
+mapping["chipyard-dmirocket"]=" CONFIG=dmiRocketConfig"
 mapping["chipyard-sha3"]=" CONFIG=Sha3RocketConfig"
 mapping["chipyard-streaming-fir"]=" CONFIG=StreamingFIRRocketConfig"
 mapping["chipyard-streaming-passthrough"]=" CONFIG=StreamingPassthroughRocketConfig"

.circleci/run-tests.sh

@@ -32,6 +32,9 @@ case $1 in
     chipyard-rocket)
         run_bmark ${mapping[$1]}
         ;;
+    chipyard-dmirocket)
+        run_bmark ${mapping[$1]}
+        ;;
     chipyard-boom)
         run_bmark ${mapping[$1]}
         ;;

docs/Advanced-Concepts/Chip-Communication.rst

@@ -130,38 +130,8 @@ Using the JTAG Interface
 ------------------------
 
 The main way to use JTAG with a Rocket Chip based system is to instantiate the Debug Transfer Module (DTM)
-and configure it to use a JTAG interface (by default the DTM is setup to use the DMI interface mentioned above).
-
-Creating a DTM+JTAG Config
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-First, a DTM config must be created for the system that you want to create.
-This step is similar to the DMI simulation section within the :ref:`Starting the TSI or DMI Simulation` section.
-The configuration is very similar to a DMI-based configuration. The main difference
-is the addition of the ``WithJtagDTM`` config fragment that configures the instantiated DTM to use the JTAG protocol as the
-bringup method.
-
-.. literalinclude:: ../../generators/chipyard/src/main/scala/config/RocketConfigs.scala
-    :language: scala
-    :start-after: DOC include start: JtagRocket
-    :end-before: DOC include end: JtagRocket
-
-Building a DTM+JTAG Simulator
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-After creating the config, call the ``make`` command like the following to build a simulator for your RTL:
-
-.. code-block:: bash
-
-    cd sims/verilator
-    # or
-    cd sims/vcs
-
-    make CONFIG=jtagRocketConfig
-
-In this example, the simulation will use the config that you previously specified, as well as set
-the other parameters that are needed to satisfy the build system. After that point, you
-should have a JTAG enabled simulator that you can attach to using OpenOCD and GDB!
+and configure it to use a JTAG interface. The default Chipyard designs instantiate the DTM and configure it
+to use JTAG. You may attach OpenOCD and GDB to any of the default JTAG-enabled designs.
 
 Debugging with JTAG
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

generators/chipyard/src/main/scala/ConfigFragments.scala

@@ -7,7 +7,7 @@ import freechips.rocketchip.config.{Field, Parameters, Config}
 import freechips.rocketchip.subsystem._
 import freechips.rocketchip.diplomacy.{LazyModule, ValName}
 import freechips.rocketchip.devices.tilelink.{BootROMLocated}
-import freechips.rocketchip.devices.debug.{Debug}
+import freechips.rocketchip.devices.debug.{Debug, ExportDebug, DebugModuleKey, DMI}
 import freechips.rocketchip.groundtest.{GroundTestSubsystem}
 import freechips.rocketchip.tile._
 import freechips.rocketchip.rocket.{RocketCoreParams, MulDivParams, DCacheParams, ICacheParams}
@@ -163,3 +163,10 @@ class WithTileDividedClock extends Config((site, here, up) => {
   case ClockingSchemeKey => ClockingSchemeGenerators.harnessDividedClock
 })
 
+class WithDMIDTM extends Config((site, here, up) => {
+  case ExportDebug => up(ExportDebug, site).copy(protocols = Set(DMI))
+})
+
+class WithNoDebug extends Config((site, here, up) => {
+  case DebugModuleKey => None
+})

generators/chipyard/src/main/scala/IOBinders.scala

@@ -2,11 +2,13 @@ package chipyard
 package object iobinders {
 
 import chisel3._
+import chisel3.util.experimental.{BoringUtils}
 import chisel3.experimental.{Analog, IO}
 
 import freechips.rocketchip.config.{Field, Config, Parameters}
 import freechips.rocketchip.diplomacy.{LazyModule, LazyModuleImpLike}
 import freechips.rocketchip.devices.debug._
+import freechips.rocketchip.jtag.{JTAGIO}
 import freechips.rocketchip.subsystem._
 import freechips.rocketchip.system.{SimAXIMem}
 import freechips.rocketchip.amba.axi4.{AXI4Bundle, AXI4SlaveNode, AXI4MasterNode, AXI4EdgeParameters}
@@ -163,30 +165,62 @@ object AddIOCells {
   }
 
   /**
-   * Add IO cells to a debug module and name the IO ports.
-   * @param psd A PSDIO bundle
-   * @param resetctrlOpt An optional ResetCtrlIO bundle
-   * @param debugOpt An optional DebugIO bundle
-   * @return Returns a tuple3 of (Top-level PSDIO IO; Optional top-level DebugIO IO; a list of IOCell module references)
+   * Add IO cells to a debug module and name the IO ports, for debug IO which must go off-chip
+   * For on-chip debug IO, drive them appropriately
+   * Mostly copied from rocket-chip/src/main/scala/devices/debug/Periphery.scala
+   * @param system A BaseSubsystem that might have a debug module
+   * @return Returns a tuple2 of (Generated debug io ports, Generated IOCells)
    */
-  def debug(psd: PSDIO, resetctrlOpt: Option[ResetCtrlIO], debugOpt: Option[DebugIO])(implicit p: Parameters):
-      (PSDIO, Option[ResetCtrlIO], Option[DebugIO], Seq[IOCell]) = {
-    val (psdPort, psdIOs) = IOCell.generateIOFromSignal(
-      psd, Some("iocell_psd"), abstractResetAsAsync = p(GlobalResetSchemeKey).pinIsAsync)
-    val debugTuple = debugOpt.map(d =>
-      IOCell.generateIOFromSignal(d, Some("iocell_debug"), abstractResetAsAsync = p(GlobalResetSchemeKey).pinIsAsync))
-    val debugPortOpt: Option[DebugIO] = debugTuple.map(_._1)
-    val debugIOs: Seq[IOCell] = debugTuple.map(_._2).toSeq.flatten
-    debugPortOpt.foreach(_.suggestName("debug"))
-
-    val resetctrlTuple = resetctrlOpt.map(d =>
-      IOCell.generateIOFromSignal(d, Some("iocell_resetctrl"), abstractResetAsAsync = p(GlobalResetSchemeKey).pinIsAsync))
-    val resetctrlPortOpt: Option[ResetCtrlIO] = resetctrlTuple.map(_._1)
-    val resetctrlIOs: Seq[IOCell] = resetctrlTuple.map(_._2).toSeq.flatten
-    resetctrlPortOpt.foreach(_.suggestName("resetctrl"))
-
-    psdPort.suggestName("psd")
-    (psdPort, resetctrlPortOpt, debugPortOpt, psdIOs ++ debugIOs ++ resetctrlIOs)
+  def debug(system: HasPeripheryDebugModuleImp)(implicit p: Parameters): (Seq[Bundle], Seq[IOCell]) = {
+    system.debug.map { debug =>
+      val tlbus = system.outer.asInstanceOf[BaseSubsystem].locateTLBusWrapper(p(ExportDebug).slaveWhere)
+      val debug_clock = Wire(Clock()).suggestName("debug_clock")
+      val debug_reset = Wire(Reset()).suggestName("debug_reset")
+      debug_clock := false.B.asClock // must provide default assignment to avoid firrtl unassigned error
+      debug_reset := false.B // must provide default assignment to avoid firrtl unassigned error
+      BoringUtils.bore(tlbus.module.clock, Seq(debug_clock))
+      BoringUtils.bore(tlbus.module.reset, Seq(debug_reset))
+
+      // We never use the PSDIO, so tie it off on-chip
+      system.psd.psd.foreach { _ <> 0.U.asTypeOf(new PSDTestMode) }
+      system.resetctrl.map { rcio => rcio.hartIsInReset.map { _ := debug_reset.asBool } }
+      system.debug.map { d =>
+        // Tie off extTrigger
+        d.extTrigger.foreach { t =>
+          t.in.req := false.B
+          t.out.ack := t.out.req
+        }
+        // Tie off disableDebug
+        d.disableDebug.foreach { d => d := false.B }
+        // Drive JTAG on-chip IOs
+        d.systemjtag.map { j =>
+          j.reset := debug_reset
+          j.mfr_id := system.p(JtagDTMKey).idcodeManufId.U(11.W)
+          j.part_number := system.p(JtagDTMKey).idcodePartNum.U(16.W)
+          j.version := system.p(JtagDTMKey).idcodeVersion.U(4.W)
+        }
+      }
+      Debug.connectDebugClockAndReset(Some(debug), debug_clock)(system.p)
+
+      // Add IOCells for the DMI/JTAG/APB ports
+      val dmiTuple = debug.clockeddmi.map { d =>
+        IOCell.generateIOFromSignal(d, Some("iocell_dmi"), abstractResetAsAsync = p(GlobalResetSchemeKey).pinIsAsync)
+      }
+      dmiTuple.map(_._1).foreach(_.suggestName("dmi"))
+
+      val jtagTuple = debug.systemjtag.map { j =>
+        IOCell.generateIOFromSignal(j.jtag, Some("iocell_jtag"), abstractResetAsAsync = p(GlobalResetSchemeKey).pinIsAsync)
+      }
+      jtagTuple.map(_._1).foreach(_.suggestName("jtag"))
+
+      val apbTuple = debug.apb.map { a =>
+        IOCell.generateIOFromSignal(a, Some("iocell_apb"), abstractResetAsAsync = p(GlobalResetSchemeKey).pinIsAsync)
+      }
+      apbTuple.map(_._1).foreach(_.suggestName("apb"))
+
+      val allTuples = (dmiTuple ++ jtagTuple ++ apbTuple).toSeq
+      (allTuples.map(_._1).toSeq, allTuples.flatMap(_._2).toSeq)
+    }.getOrElse((Nil, Nil))
   }
 
   /**
@@ -364,40 +398,53 @@ class WithTieOffL2FBusAXI extends OverrideIOBinder({
   }
 })
 
-// TODO we need to rethink what "Tie-off-debug" means. The current system punches out
-// excessive IOs.
-class WithTiedOffDebug extends OverrideIOBinder({
+class WithSimDebug extends OverrideIOBinder({
   (system: HasPeripheryDebugModuleImp) => {
-    val (psdPort, resetctrlOpt, debugPortOpt, ioCells) =
-      AddIOCells.debug(system.psd, system.resetctrl, system.debug)(system.p)
+    val (ports, iocells) = AddIOCells.debug(system)(system.p)
     val harnessFn = (th: HasHarnessSignalReferences) => {
-      Debug.tieoffDebug(debugPortOpt, resetctrlOpt, Some(psdPort))(system.p)
-      // tieoffDebug doesn't actually tie everything off :/
-      debugPortOpt.foreach { d =>
-        d.clockeddmi.foreach({ cdmi => cdmi.dmi.req.bits := DontCare; cdmi.dmiClock := th.harnessClock })
-        d.dmactiveAck := DontCare
-        d.clock := th.harnessClock // TODO fix: This should be driven from within the chip
+      val dtm_success = WireInit(false.B)
+      when (dtm_success) { th.success := true.B }
+      ports.map {
+        case d: ClockedDMIIO =>
+          val dtm = Module(new SimDTM()(system.p)).connect(th.harnessClock, th.harnessReset.asBool, d, dtm_success)
+        case j: JTAGIO =>
+          val jtag = Module(new SimJTAG(tickDelay=3)).connect(j, th.harnessClock, th.harnessReset.asBool, ~(th.harnessReset.asBool), dtm_success)
+        case _ =>
+          require(false, "We only support DMI or JTAG simulated debug connections")
       }
       Nil
     }
-    Seq((Seq(psdPort) ++ resetctrlOpt ++ debugPortOpt.toSeq, Nil, Some(harnessFn)))
+    Seq((ports, iocells, Some(harnessFn)))
   }
 })
 
-// TODO we need to rethink what this does. The current system punches out excessive IOs.
-// Some of the debug clock/reset should be driven from on-chip
-class WithSimDebug extends OverrideIOBinder({
+class WithTiedOffDebug extends OverrideIOBinder({
   (system: HasPeripheryDebugModuleImp) => {
-    val (psdPort, resetctrlPortOpt, debugPortOpt, ioCells) =
-      AddIOCells.debug(system.psd, system.resetctrl, system.debug)(system.p)
+    val (ports, iocells) = AddIOCells.debug(system)(system.p)
     val harnessFn = (th: HasHarnessSignalReferences) => {
-      val dtm_success = Wire(Bool())
-      Debug.connectDebug(debugPortOpt, resetctrlPortOpt, psdPort, th.harnessClock, th.harnessReset.asBool, dtm_success)(system.p)
-      when (dtm_success) { th.success := true.B }
-      th.dutReset := th.harnessReset.asBool | debugPortOpt.map { debug => AsyncResetReg(debug.ndreset).asBool }.getOrElse(false.B)
+      ports.map {
+        case d: ClockedDMIIO =>
+          d.dmi.req.valid := false.B
+          d.dmi.req.bits  := DontCare
+          d.dmi.resp.ready := true.B
+          d.dmiClock := false.B.asClock
+          d.dmiReset := true.B
+        case j: JTAGIO =>
+          j.TCK := true.B.asClock
+          j.TMS := true.B
+          j.TDI := true.B
+          j.TRSTn.foreach { r => r := true.B }
+        case a: ClockedAPBBundle =>
+          a.tieoff()
+          a.clock := false.B.asClock
+          a.reset := true.B.asAsyncReset
+          a.psel := false.B
+          a.penable := false.B
+        case _ => require(false)
+      }
       Nil
     }
-    Seq((Seq(psdPort) ++ debugPortOpt.toSeq, ioCells, Some(harnessFn)))
+    Seq((ports, iocells, Some(harnessFn)))
   }
 })
 

generators/chipyard/src/main/scala/config/AbstractConfig.scala

@@ -11,13 +11,14 @@ class AbstractConfig extends Config(
   new chipyard.iobinders.WithUARTAdapter ++                      // display UART with a SimUARTAdapter
   new chipyard.iobinders.WithTieOffInterrupts ++                 // tie off top-level interrupts
   new chipyard.iobinders.WithBlackBoxSimMem ++                   // drive the master AXI4 memory with a blackbox DRAMSim model
-  new chipyard.iobinders.WithTiedOffDebug ++                     // tie off debug (since we are using SimSerial for testing)
+  new chipyard.iobinders.WithSimDebug ++                         // attach SimJTAG
   new chipyard.iobinders.WithSimSerial ++                        // drive TSI with SimSerial for testing
   new testchipip.WithTSI ++                                      // use testchipip serial offchip link
   new chipyard.config.WithBootROM ++                             // use default bootrom
   new chipyard.config.WithUART ++                                // add a UART
   new chipyard.config.WithL2TLBs(1024) ++                        // use L2 TLBs
   new chipyard.config.WithNoSubsystemDrivenClocks ++             // drive the subsystem diplomatic clocks from ChipTop instead of using implicit clocks
+  new freechips.rocketchip.subsystem.WithJtagDTM ++              // set the debug module to expose a JTAG port
   new freechips.rocketchip.subsystem.WithNoMMIOPort ++           // no top-level MMIO master port (overrides default set in rocketchip)
   new freechips.rocketchip.subsystem.WithNoSlavePort ++          // no top-level MMIO slave port (overrides default set in rocketchip)
   new freechips.rocketchip.subsystem.WithInclusiveCache ++       // use Sifive L2 cache

generators/chipyard/src/main/scala/config/ArianeConfigs.scala

@@ -14,6 +14,6 @@ class ArianeConfig extends Config(
 
 class dmiArianeConfig extends Config(
   new chipyard.iobinders.WithTiedOffSerial ++          // Tie off the serial port, override default instantiation of SimSerial
-  new chipyard.iobinders.WithSimDebug ++               // add SimDebug and use it to drive simulation, override default tie-off debug
+  new chipyard.config.WithDMIDTM ++                    // have debug module expose a clocked DMI port
   new ariane.WithNArianeCores(1) ++                    // single Ariane core
   new chipyard.config.AbstractConfig)

generators/chipyard/src/main/scala/config/RocketConfigs.scala

@@ -23,18 +23,10 @@ class GemminiRocketConfig extends Config(
   new chipyard.config.AbstractConfig)
 // DOC include end: GemminiRocketConfig
 
-// DOC include start: JtagRocket
-class jtagRocketConfig extends Config(
-  new chipyard.iobinders.WithSimDebug ++                   // add SimDebug, in addition to default SimSerial
-  new freechips.rocketchip.subsystem.WithJtagDTM ++        // sets DTM communication interface to JTAG
-  new freechips.rocketchip.subsystem.WithNBigCores(1) ++
-  new chipyard.config.AbstractConfig)
-// DOC include end: JtagRocket
-
 // DOC include start: DmiRocket
 class dmiRocketConfig extends Config(
-  new chipyard.iobinders.WithTiedOffSerial ++          // tie-off serial, override default add SimSerial
-  new chipyard.iobinders.WithSimDebug ++               // add SimDebug, override default tie-off debug
+  new chipyard.iobinders.WithTiedOffSerial ++          // don't use serial to drive the chip, since we use DMI instead
+  new chipyard.config.WithDMIDTM ++                    // have debug module expose a clocked DMI port
   new freechips.rocketchip.subsystem.WithNBigCores(1) ++
   new chipyard.config.AbstractConfig)
 // DOC include end: DmiRocket