1 /***************************************************************************
3 * Copyright (C) 2012 by Spencer Oliver *
4 * spen@spen-soft.co.uk *
6 * This program is free software; you can redistribute it and/or modify *
7 * it under the terms of the GNU General Public License as published by *
8 * the Free Software Foundation; either version 2 of the License, or *
9 * (at your option) any later version. *
11 * This program is distributed in the hope that it will be useful, *
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
14 * GNU General Public License for more details. *
16 * You should have received a copy of the GNU General Public License *
17 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
18 ***************************************************************************/
24 /* project specific includes */
25 #include <helper/binarybuffer.h>
26 #include <jtag/interface.h>
27 #include <jtag/hla/hla_layout.h>
28 #include <jtag/hla/hla_transport.h>
29 #include <jtag/hla/hla_interface.h>
30 #include <target/target.h>
32 #include <target/cortex_m.h>
36 #define ICDI_WRITE_ENDPOINT 0x02
37 #define ICDI_READ_ENDPOINT 0x83
39 #define ICDI_WRITE_TIMEOUT 1000
40 #define ICDI_READ_TIMEOUT 1000
41 #define ICDI_PACKET_SIZE 2048
43 #define PACKET_START "$"
44 #define PACKET_END "#"
46 struct icdi_usb_handle_s
{
47 libusb_context
*usb_ctx
;
48 libusb_device_handle
*usb_dev
;
54 uint32_t max_rw_packet
; /* max X packet (read/write memory) transfers */
57 static int icdi_usb_read_mem(void *handle
, uint32_t addr
, uint32_t size
,
58 uint32_t count
, uint8_t *buffer
);
59 static int icdi_usb_write_mem(void *handle
, uint32_t addr
, uint32_t size
,
60 uint32_t count
, const uint8_t *buffer
);
62 static int remote_escape_output(const char *buffer
, int len
, char *out_buf
, int *out_len
, int out_maxlen
)
64 int input_index
, output_index
;
68 for (input_index
= 0; input_index
< len
; input_index
++) {
70 char b
= buffer
[input_index
];
72 if (b
== '$' || b
== '#' || b
== '}' || b
== '*') {
73 /* These must be escaped. */
74 if (output_index
+ 2 > out_maxlen
)
76 out_buf
[output_index
++] = '}';
77 out_buf
[output_index
++] = b
^ 0x20;
79 if (output_index
+ 1 > out_maxlen
)
81 out_buf
[output_index
++] = b
;
85 *out_len
= input_index
;
89 static int remote_unescape_input(const char *buffer
, int len
, char *out_buf
, int out_maxlen
)
91 int input_index
, output_index
;
97 for (input_index
= 0; input_index
< len
; input_index
++) {
99 char b
= buffer
[input_index
];
101 if (output_index
+ 1 > out_maxlen
)
102 LOG_ERROR("Received too much data from the target.");
105 out_buf
[output_index
++] = b
^ 0x20;
110 out_buf
[output_index
++] = b
;
114 LOG_ERROR("Unmatched escape character in target response.");
119 static int icdi_send_packet(void *handle
, int len
)
121 unsigned char cksum
= 0;
122 struct icdi_usb_handle_s
*h
= handle
;
123 int result
, retry
= 0;
126 assert(handle
!= NULL
);
128 /* check we have a large enough buffer for checksum "#00" */
129 if (len
+ 3 > h
->max_packet
) {
130 LOG_ERROR("packet buffer too small");
134 /* calculate checksum - offset start of packet */
135 for (int i
= 1; i
< len
; i
++)
136 cksum
+= h
->write_buffer
[i
];
138 len
+= sprintf(&h
->write_buffer
[len
], PACKET_END
"%02x", cksum
);
140 #ifdef _DEBUG_USB_COMMS_
142 char ch
= h
->write_buffer
[1];
143 if (ch
== 'x' || ch
== 'X')
144 LOG_DEBUG("writing packet: <binary>");
146 memcpy(buffer
, h
->write_buffer
, len
>= 50 ? 50-1 : len
);
148 LOG_DEBUG("writing packet: %s", buffer
);
154 result
= libusb_bulk_transfer(h
->usb_dev
, ICDI_WRITE_ENDPOINT
, (unsigned char *)h
->write_buffer
, len
,
155 &transferred
, ICDI_WRITE_TIMEOUT
);
156 if (result
!= 0 || transferred
!= len
) {
157 LOG_DEBUG("Error TX Data %d", result
);
161 /* check that the client got the message ok, or shall we resend */
162 result
= libusb_bulk_transfer(h
->usb_dev
, ICDI_READ_ENDPOINT
, (unsigned char *)h
->read_buffer
, h
->max_packet
,
163 &transferred
, ICDI_READ_TIMEOUT
);
164 if (result
!= 0 || transferred
< 1) {
165 LOG_DEBUG("Error RX Data %d", result
);
169 #ifdef _DEBUG_USB_COMMS_
170 LOG_DEBUG("received reply: '%c' : count %d", h
->read_buffer
[0], transferred
);
173 if (h
->read_buffer
[0] == '-') {
174 LOG_DEBUG("Resending packet %d", ++retry
);
176 if (h
->read_buffer
[0] != '+')
177 LOG_DEBUG("Unexpected Reply from ICDI: %c", h
->read_buffer
[0]);
182 LOG_DEBUG("maximum nack retries attempted");
188 h
->read_count
= transferred
;
192 /* read reply from icdi */
193 result
= libusb_bulk_transfer(h
->usb_dev
, ICDI_READ_ENDPOINT
, (unsigned char *)h
->read_buffer
+ h
->read_count
,
194 h
->max_packet
- h
->read_count
, &transferred
, ICDI_READ_TIMEOUT
);
196 #ifdef _DEBUG_USB_COMMS_
197 LOG_DEBUG("received data: count %d", transferred
);
200 /* check for errors but retry for timeout */
203 if (result
== LIBUSB_ERROR_TIMEOUT
) {
204 LOG_DEBUG("Error RX timeout %d", result
);
206 LOG_DEBUG("Error RX Data %d", result
);
211 h
->read_count
+= transferred
;
213 /* we need to make sure we have a full packet, including checksum */
214 if (h
->read_count
> 5) {
216 /* check that we have received an packet delimiter
217 * we do not validate the checksum
218 * reply should contain $...#AA - so we check for # */
219 if (h
->read_buffer
[h
->read_count
- 3] == '#')
224 LOG_DEBUG("maximum data retries attempted");
232 static int icdi_send_cmd(void *handle
, const char *cmd
)
234 struct icdi_usb_handle_s
*h
= handle
;
236 int cmd_len
= snprintf(h
->write_buffer
, h
->max_packet
, PACKET_START
"%s", cmd
);
237 return icdi_send_packet(handle
, cmd_len
);
240 static int icdi_send_remote_cmd(void *handle
, const char *data
)
242 struct icdi_usb_handle_s
*h
= handle
;
244 size_t cmd_len
= sprintf(h
->write_buffer
, PACKET_START
"qRcmd,");
245 cmd_len
+= hexify(h
->write_buffer
+ cmd_len
, data
, 0, h
->max_packet
- cmd_len
);
247 return icdi_send_packet(handle
, cmd_len
);
250 static int icdi_get_cmd_result(void *handle
)
252 struct icdi_usb_handle_s
*h
= handle
;
256 assert(handle
!= NULL
);
259 ch
= h
->read_buffer
[offset
++];
260 if (offset
> h
->read_count
)
264 if (memcmp("OK", h
->read_buffer
+ offset
, 2) == 0)
267 if (h
->read_buffer
[offset
] == 'E') {
270 if (unhexify(&result
, h
->read_buffer
+ offset
+ 1, 1) != 1)
275 /* for now we assume everything else is ok */
279 static int icdi_usb_idcode(void *handle
, uint32_t *idcode
)
285 static int icdi_usb_write_debug_reg(void *handle
, uint32_t addr
, uint32_t val
)
288 /* REVISIT: There's no target pointer here so there's no way to use target_buffer_set_u32().
289 * I guess all supported chips are little-endian anyway. */
290 h_u32_to_le(buf
, val
);
291 return icdi_usb_write_mem(handle
, addr
, 4, 1, buf
);
294 static enum target_state
icdi_usb_state(void *handle
)
297 struct icdi_usb_handle_s
*h
= handle
;
301 result
= icdi_usb_read_mem(h
, DCB_DHCSR
, 4, 1, buf
);
302 if (result
!= ERROR_OK
)
303 return TARGET_UNKNOWN
;
305 /* REVISIT: There's no target pointer here so there's no way to use target_buffer_get_u32().
306 * I guess all supported chips are little-endian anyway. */
307 dhcsr
= le_to_h_u32(buf
);
309 return TARGET_HALTED
;
311 return TARGET_RUNNING
;
314 static int icdi_usb_version(void *handle
)
316 struct icdi_usb_handle_s
*h
= handle
;
320 /* get info about icdi */
321 int result
= icdi_send_remote_cmd(handle
, "version");
322 if (result
!= ERROR_OK
)
325 if (h
->read_count
< 8) {
326 LOG_ERROR("Invalid Reply Received");
331 if (unhexify((uint8_t *)version
, h
->read_buffer
+ 2, 4) != 4) {
332 LOG_WARNING("unable to get ICDI version");
336 /* null terminate and print info */
339 LOG_INFO("ICDI Firmware version: %s", version
);
344 static int icdi_usb_query(void *handle
)
348 struct icdi_usb_handle_s
*h
= handle
;
350 result
= icdi_send_cmd(handle
, "qSupported");
351 if (result
!= ERROR_OK
)
355 result
= icdi_get_cmd_result(handle
);
356 if (result
!= ERROR_OK
) {
357 LOG_ERROR("query supported failed: 0x%x", result
);
361 /* from this we can get the max packet supported */
363 /* query packet buffer size */
364 char *offset
= strstr(h
->read_buffer
, "PacketSize");
369 max_packet
= strtol(offset
+ 11, &separator
, 16);
371 LOG_ERROR("invalid max packet, using defaults");
373 h
->max_packet
= max_packet
;
374 LOG_DEBUG("max packet supported : %i bytes", h
->max_packet
);
378 /* if required re allocate packet buffer */
379 if (h
->max_packet
!= ICDI_PACKET_SIZE
) {
380 h
->read_buffer
= realloc(h
->read_buffer
, h
->max_packet
);
381 h
->write_buffer
= realloc(h
->write_buffer
, h
->max_packet
);
382 if (h
->read_buffer
== 0 || h
->write_buffer
== 0) {
383 LOG_ERROR("unable to reallocate memory");
388 /* set extended mode */
389 result
= icdi_send_cmd(handle
, "!");
390 if (result
!= ERROR_OK
)
394 result
= icdi_get_cmd_result(handle
);
395 if (result
!= ERROR_OK
) {
396 LOG_ERROR("unable to enable extended mode: 0x%x", result
);
403 static int icdi_usb_reset(void *handle
)
405 /* we do this in hla_target.c */
409 static int icdi_usb_assert_srst(void *handle
, int srst
)
411 /* TODO not supported yet */
412 return ERROR_COMMAND_NOTFOUND
;
415 static int icdi_usb_run(void *handle
)
419 /* resume target at current address */
420 result
= icdi_send_cmd(handle
, "c");
421 if (result
!= ERROR_OK
)
425 result
= icdi_get_cmd_result(handle
);
426 if (result
!= ERROR_OK
) {
427 LOG_ERROR("continue failed: 0x%x", result
);
434 static int icdi_usb_halt(void *handle
)
438 /* this query halts the target ?? */
439 result
= icdi_send_cmd(handle
, "?");
440 if (result
!= ERROR_OK
)
444 result
= icdi_get_cmd_result(handle
);
445 if (result
!= ERROR_OK
) {
446 LOG_ERROR("halt failed: 0x%x", result
);
453 static int icdi_usb_step(void *handle
)
457 /* step target at current address */
458 result
= icdi_send_cmd(handle
, "s");
459 if (result
!= ERROR_OK
)
463 result
= icdi_get_cmd_result(handle
);
464 if (result
!= ERROR_OK
) {
465 LOG_ERROR("step failed: 0x%x", result
);
472 static int icdi_usb_read_regs(void *handle
)
474 /* currently unsupported */
478 static int icdi_usb_read_reg(void *handle
, int num
, uint32_t *val
)
481 struct icdi_usb_handle_s
*h
= handle
;
484 snprintf(cmd
, sizeof(cmd
), "p%x", num
);
485 result
= icdi_send_cmd(handle
, cmd
);
486 if (result
!= ERROR_OK
)
490 result
= icdi_get_cmd_result(handle
);
491 if (result
!= ERROR_OK
) {
492 LOG_ERROR("register read failed: 0x%x", result
);
498 if (unhexify(buf
, h
->read_buffer
+ 2, 4) != 4) {
499 LOG_ERROR("failed to convert result");
502 *val
= le_to_h_u32(buf
);
507 static int icdi_usb_write_reg(void *handle
, int num
, uint32_t val
)
512 h_u32_to_le(buf
, val
);
514 int cmd_len
= snprintf(cmd
, sizeof(cmd
), "P%x=", num
);
515 hexify(cmd
+ cmd_len
, (const char *)buf
, 4, sizeof(cmd
));
517 result
= icdi_send_cmd(handle
, cmd
);
518 if (result
!= ERROR_OK
)
522 result
= icdi_get_cmd_result(handle
);
523 if (result
!= ERROR_OK
) {
524 LOG_ERROR("register write failed: 0x%x", result
);
531 static int icdi_usb_read_mem_int(void *handle
, uint32_t addr
, uint32_t len
, uint8_t *buffer
)
534 struct icdi_usb_handle_s
*h
= handle
;
537 snprintf(cmd
, sizeof(cmd
), "x%" PRIx32
",%" PRIx32
, addr
, len
);
538 result
= icdi_send_cmd(handle
, cmd
);
539 if (result
!= ERROR_OK
)
543 result
= icdi_get_cmd_result(handle
);
544 if (result
!= ERROR_OK
) {
545 LOG_ERROR("memory read failed: 0x%x", result
);
550 int read_len
= remote_unescape_input(h
->read_buffer
+ 5, h
->read_count
- 8, (char *)buffer
, len
);
551 if (read_len
!= (int)len
) {
552 LOG_ERROR("read more bytes than expected: actual 0x%x expected 0x%" PRIx32
, read_len
, len
);
559 static int icdi_usb_write_mem_int(void *handle
, uint32_t addr
, uint32_t len
, const uint8_t *buffer
)
562 struct icdi_usb_handle_s
*h
= handle
;
564 size_t cmd_len
= snprintf(h
->write_buffer
, h
->max_packet
, PACKET_START
"X%" PRIx32
",%" PRIx32
":", addr
, len
);
567 cmd_len
+= remote_escape_output((const char *)buffer
, len
, h
->write_buffer
+ cmd_len
,
568 &out_len
, h
->max_packet
- cmd_len
);
570 if (out_len
< (int)len
) {
571 /* for now issue a error as we have no way of allocating a larger buffer */
572 LOG_ERROR("memory buffer too small: requires 0x%x actual 0x%" PRIx32
, out_len
, len
);
576 result
= icdi_send_packet(handle
, cmd_len
);
577 if (result
!= ERROR_OK
)
581 result
= icdi_get_cmd_result(handle
);
582 if (result
!= ERROR_OK
) {
583 LOG_ERROR("memory write failed: 0x%x", result
);
590 static int icdi_usb_read_mem(void *handle
, uint32_t addr
, uint32_t size
,
591 uint32_t count
, uint8_t *buffer
)
593 int retval
= ERROR_OK
;
594 struct icdi_usb_handle_s
*h
= handle
;
595 uint32_t bytes_remaining
;
597 /* calculate byte count */
602 bytes_remaining
= h
->max_rw_packet
;
603 if (count
< bytes_remaining
)
604 bytes_remaining
= count
;
606 retval
= icdi_usb_read_mem_int(handle
, addr
, bytes_remaining
, buffer
);
607 if (retval
!= ERROR_OK
)
610 buffer
+= bytes_remaining
;
611 addr
+= bytes_remaining
;
612 count
-= bytes_remaining
;
618 static int icdi_usb_write_mem(void *handle
, uint32_t addr
, uint32_t size
,
619 uint32_t count
, const uint8_t *buffer
)
621 int retval
= ERROR_OK
;
622 struct icdi_usb_handle_s
*h
= handle
;
623 uint32_t bytes_remaining
;
625 /* calculate byte count */
630 bytes_remaining
= h
->max_rw_packet
;
631 if (count
< bytes_remaining
)
632 bytes_remaining
= count
;
634 retval
= icdi_usb_write_mem_int(handle
, addr
, bytes_remaining
, buffer
);
635 if (retval
!= ERROR_OK
)
638 buffer
+= bytes_remaining
;
639 addr
+= bytes_remaining
;
640 count
-= bytes_remaining
;
646 static int icdi_usb_override_target(const char *targetname
)
648 return !strcmp(targetname
, "cortex_m");
651 static int icdi_usb_close(void *handle
)
653 struct icdi_usb_handle_s
*h
= handle
;
659 libusb_close(h
->usb_dev
);
662 libusb_exit(h
->usb_ctx
);
665 free(h
->read_buffer
);
668 free(h
->write_buffer
);
675 static int icdi_usb_open(struct hl_interface_param_s
*param
, void **fd
)
678 struct icdi_usb_handle_s
*h
;
680 LOG_DEBUG("icdi_usb_open");
682 h
= calloc(1, sizeof(struct icdi_usb_handle_s
));
685 LOG_ERROR("unable to allocate memory");
689 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param
->transport
,
690 param
->vid
, param
->pid
);
692 if (libusb_init(&h
->usb_ctx
) != 0) {
693 LOG_ERROR("libusb init failed");
697 h
->usb_dev
= libusb_open_device_with_vid_pid(h
->usb_ctx
, param
->vid
, param
->pid
);
699 LOG_ERROR("open failed");
703 if (libusb_claim_interface(h
->usb_dev
, 2)) {
704 LOG_DEBUG("claim interface failed");
708 /* check if mode is supported */
711 switch (param
->transport
) {
713 /* TODO place holder as swd is not currently supported */
714 case HL_TRANSPORT_SWD
:
716 case HL_TRANSPORT_JTAG
:
723 if (retval
!= ERROR_OK
) {
724 LOG_ERROR("mode (transport) not supported by device");
728 /* allocate buffer */
729 h
->read_buffer
= malloc(ICDI_PACKET_SIZE
);
730 h
->write_buffer
= malloc(ICDI_PACKET_SIZE
);
731 h
->max_packet
= ICDI_PACKET_SIZE
;
733 if (h
->read_buffer
== 0 || h
->write_buffer
== 0) {
734 LOG_DEBUG("malloc failed");
738 /* query icdi version etc */
739 retval
= icdi_usb_version(h
);
740 if (retval
!= ERROR_OK
)
743 /* query icdi support */
744 retval
= icdi_usb_query(h
);
745 if (retval
!= ERROR_OK
)
750 /* set the max target read/write buffer in bytes
751 * as we are using gdb binary packets to transfer memory we have to
752 * reserve half the buffer for any possible escape chars plus
753 * at least 64 bytes for the gdb packet header */
754 h
->max_rw_packet
= (((h
->max_packet
- 64) / 4) * 4) / 2;
764 struct hl_layout_api_s icdi_usb_layout_api
= {
765 .open
= icdi_usb_open
,
766 .close
= icdi_usb_close
,
767 .idcode
= icdi_usb_idcode
,
768 .state
= icdi_usb_state
,
769 .reset
= icdi_usb_reset
,
770 .assert_srst
= icdi_usb_assert_srst
,
772 .halt
= icdi_usb_halt
,
773 .step
= icdi_usb_step
,
774 .read_regs
= icdi_usb_read_regs
,
775 .read_reg
= icdi_usb_read_reg
,
776 .write_reg
= icdi_usb_write_reg
,
777 .read_mem
= icdi_usb_read_mem
,
778 .write_mem
= icdi_usb_write_mem
,
779 .write_debug_reg
= icdi_usb_write_debug_reg
,
780 .override_target
= icdi_usb_override_target
,
781 .custom_command
= icdi_send_remote_cmd
,
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