hla: if the idcode callback returns 0, treat as a wildcard
[openocd.git] / src / jtag / drivers / ti_icdi_usb.c
1 /***************************************************************************
2 * *
3 * Copyright (C) 2012 by Spencer Oliver *
4 * spen@spen-soft.co.uk *
5 * *
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. *
10 * *
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. *
15 * *
16 * You should have received a copy of the GNU General Public License *
17 * along with this program; if not, write to the *
18 * Free Software Foundation, Inc., *
19 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
20 ***************************************************************************/
21
22 #ifdef HAVE_CONFIG_H
23 #include "config.h"
24 #endif
25
26 /* project specific includes */
27 #include <helper/binarybuffer.h>
28 #include <jtag/interface.h>
29 #include <jtag/hla/hla_layout.h>
30 #include <jtag/hla/hla_transport.h>
31 #include <jtag/hla/hla_interface.h>
32 #include <target/target.h>
33
34 #include <target/cortex_m.h>
35
36 #include <libusb.h>
37
38 #define ICDI_WRITE_ENDPOINT 0x02
39 #define ICDI_READ_ENDPOINT 0x83
40
41 #define ICDI_WRITE_TIMEOUT 1000
42 #define ICDI_READ_TIMEOUT 1000
43 #define ICDI_PACKET_SIZE 2048
44
45 #define PACKET_START "$"
46 #define PACKET_END "#"
47
48 struct icdi_usb_handle_s {
49 libusb_context *usb_ctx;
50 libusb_device_handle *usb_dev;
51
52 char *read_buffer;
53 char *write_buffer;
54 int max_packet;
55 int read_count;
56 uint32_t max_rw_packet; /* max X packet (read/write memory) transfers */
57 };
58
59 static int icdi_usb_read_mem(void *handle, uint32_t addr, uint32_t size,
60 uint32_t count, uint8_t *buffer);
61 static int icdi_usb_write_mem(void *handle, uint32_t addr, uint32_t size,
62 uint32_t count, const uint8_t *buffer);
63
64 static int remote_escape_output(const char *buffer, int len, char *out_buf, int *out_len, int out_maxlen)
65 {
66 int input_index, output_index;
67
68 output_index = 0;
69
70 for (input_index = 0; input_index < len; input_index++) {
71
72 char b = buffer[input_index];
73
74 if (b == '$' || b == '#' || b == '}' || b == '*') {
75 /* These must be escaped. */
76 if (output_index + 2 > out_maxlen)
77 break;
78 out_buf[output_index++] = '}';
79 out_buf[output_index++] = b ^ 0x20;
80 } else {
81 if (output_index + 1 > out_maxlen)
82 break;
83 out_buf[output_index++] = b;
84 }
85 }
86
87 *out_len = input_index;
88 return output_index;
89 }
90
91 static int remote_unescape_input(const char *buffer, int len, char *out_buf, int out_maxlen)
92 {
93 int input_index, output_index;
94 int escaped;
95
96 output_index = 0;
97 escaped = 0;
98
99 for (input_index = 0; input_index < len; input_index++) {
100
101 char b = buffer[input_index];
102
103 if (output_index + 1 > out_maxlen)
104 LOG_ERROR("Received too much data from the target.");
105
106 if (escaped) {
107 out_buf[output_index++] = b ^ 0x20;
108 escaped = 0;
109 } else if (b == '}')
110 escaped = 1;
111 else
112 out_buf[output_index++] = b;
113 }
114
115 if (escaped)
116 LOG_ERROR("Unmatched escape character in target response.");
117
118 return output_index;
119 }
120
121 static int icdi_send_packet(void *handle, int len)
122 {
123 unsigned char cksum = 0;
124 struct icdi_usb_handle_s *h;
125 int result, retry = 0;
126 int transferred = 0;
127
128 assert(handle != NULL);
129 h = (struct icdi_usb_handle_s *)handle;
130
131 /* check we have a large enough buffer for checksum "#00" */
132 if (len + 3 > h->max_packet) {
133 LOG_ERROR("packet buffer too small");
134 return ERROR_FAIL;
135 }
136
137 /* calculate checksum - offset start of packet */
138 for (int i = 1; i < len; i++)
139 cksum += h->write_buffer[i];
140
141 len += sprintf(&h->write_buffer[len], PACKET_END "%02x", cksum);
142
143 #ifdef _DEBUG_USB_COMMS_
144 char buffer[50];
145 char ch = h->write_buffer[1];
146 if (ch == 'x' || ch == 'X')
147 LOG_DEBUG("writing packet: <binary>");
148 else {
149 memcpy(buffer, h->write_buffer, len >= 50 ? 50-1 : len);
150 buffer[len] = 0;
151 LOG_DEBUG("writing packet: %s", buffer);
152 }
153 #endif
154
155 while (1) {
156
157 result = libusb_bulk_transfer(h->usb_dev, ICDI_WRITE_ENDPOINT, (unsigned char *)h->write_buffer, len,
158 &transferred, ICDI_WRITE_TIMEOUT);
159 if (result != 0 || transferred != len) {
160 LOG_DEBUG("Error TX Data %d", result);
161 return ERROR_FAIL;
162 }
163
164 /* check that the client got the message ok, or shall we resend */
165 result = libusb_bulk_transfer(h->usb_dev, ICDI_READ_ENDPOINT, (unsigned char *)h->read_buffer, h->max_packet,
166 &transferred, ICDI_READ_TIMEOUT);
167 if (result != 0 || transferred < 1) {
168 LOG_DEBUG("Error RX Data %d", result);
169 return ERROR_FAIL;
170 }
171
172 #ifdef _DEBUG_USB_COMMS_
173 LOG_DEBUG("received reply: '%c' : count %d", h->read_buffer[0], transferred);
174 #endif
175
176 if (h->read_buffer[0] == '-') {
177 LOG_DEBUG("Resending packet %d", ++retry);
178 } else {
179 if (h->read_buffer[0] != '+')
180 LOG_DEBUG("Unexpected Reply from ICDI: %c", h->read_buffer[0]);
181 break;
182 }
183
184 if (retry == 3) {
185 LOG_DEBUG("maximum nack retries attempted");
186 return ERROR_FAIL;
187 }
188 }
189
190 retry = 0;
191 h->read_count = transferred;
192
193 while (1) {
194
195 /* read reply from icdi */
196 result = libusb_bulk_transfer(h->usb_dev, ICDI_READ_ENDPOINT, (unsigned char *)h->read_buffer + h->read_count,
197 h->max_packet - h->read_count, &transferred, ICDI_READ_TIMEOUT);
198
199 #ifdef _DEBUG_USB_COMMS_
200 LOG_DEBUG("received data: count %d", transferred);
201 #endif
202
203 /* check for errors but retry for timeout */
204 if (result != 0) {
205
206 if (result == LIBUSB_ERROR_TIMEOUT) {
207 LOG_DEBUG("Error RX timeout %d", result);
208 } else {
209 LOG_DEBUG("Error RX Data %d", result);
210 return ERROR_FAIL;
211 }
212 }
213
214 h->read_count += transferred;
215
216 /* we need to make sure we have a full packet, including checksum */
217 if (h->read_count > 5) {
218
219 /* check that we have received an packet delimiter
220 * we do not validate the checksum
221 * reply should contain $...#AA - so we check for # */
222 if (h->read_buffer[h->read_count - 3] == '#')
223 return ERROR_OK;
224 }
225
226 if (retry++ == 3) {
227 LOG_DEBUG("maximum data retries attempted");
228 break;
229 }
230 }
231
232 return ERROR_FAIL;
233 }
234
235 static int icdi_send_cmd(void *handle, const char *cmd)
236 {
237 struct icdi_usb_handle_s *h;
238 h = (struct icdi_usb_handle_s *)handle;
239
240 int cmd_len = snprintf(h->write_buffer, h->max_packet, PACKET_START "%s", cmd);
241 return icdi_send_packet(handle, cmd_len);
242 }
243
244 static int icdi_send_remote_cmd(void *handle, const char *data)
245 {
246 struct icdi_usb_handle_s *h;
247 h = (struct icdi_usb_handle_s *)handle;
248
249 size_t cmd_len = sprintf(h->write_buffer, PACKET_START "qRcmd,");
250 cmd_len += hexify(h->write_buffer + cmd_len, data, 0, h->max_packet - cmd_len);
251
252 return icdi_send_packet(handle, cmd_len);
253 }
254
255 static int icdi_get_cmd_result(void *handle)
256 {
257 struct icdi_usb_handle_s *h;
258 int offset = 0;
259 char ch;
260
261 assert(handle != NULL);
262 h = (struct icdi_usb_handle_s *)handle;
263
264 do {
265 ch = h->read_buffer[offset++];
266 if (offset > h->read_count)
267 return ERROR_FAIL;
268 } while (ch != '$');
269
270 if (memcmp("OK", h->read_buffer + offset, 2) == 0)
271 return ERROR_OK;
272
273 if (h->read_buffer[offset] == 'E') {
274 /* get error code */
275 char result;
276 if (unhexify(&result, h->read_buffer + offset + 1, 1) != 1)
277 return ERROR_FAIL;
278 return result;
279 }
280
281 /* for now we assume everything else is ok */
282 return ERROR_OK;
283 }
284
285 static int icdi_usb_idcode(void *handle, uint32_t *idcode)
286 {
287 *idcode = 0;
288 return ERROR_OK;
289 }
290
291 static int icdi_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
292 {
293 return icdi_usb_write_mem(handle, addr, 4, 1, (uint8_t *)&val);
294 }
295
296 static enum target_state icdi_usb_state(void *handle)
297 {
298 int result;
299 struct icdi_usb_handle_s *h;
300 uint32_t dhcsr;
301
302 h = (struct icdi_usb_handle_s *)handle;
303
304 result = icdi_usb_read_mem(h, DCB_DHCSR, 4, 1, (uint8_t *)&dhcsr);
305 if (result != ERROR_OK)
306 return TARGET_UNKNOWN;
307
308 if (dhcsr & S_HALT)
309 return TARGET_HALTED;
310
311 return TARGET_RUNNING;
312 }
313
314 static int icdi_usb_version(void *handle)
315 {
316 struct icdi_usb_handle_s *h;
317 h = (struct icdi_usb_handle_s *)handle;
318
319 char version[20];
320
321 /* get info about icdi */
322 int result = icdi_send_remote_cmd(handle, "version");
323 if (result != ERROR_OK)
324 return result;
325
326 if (h->read_count < 8) {
327 LOG_ERROR("Invalid Reply Received");
328 return ERROR_FAIL;
329 }
330
331 /* convert reply */
332 if (unhexify(version, h->read_buffer + 2, 4) != 4) {
333 LOG_WARNING("unable to get ICDI version");
334 return ERROR_OK;
335 }
336
337 /* null terminate and print info */
338 version[4] = 0;
339
340 LOG_INFO("ICDI Firmware version: %s", version);
341
342 return ERROR_OK;
343 }
344
345 static int icdi_usb_query(void *handle)
346 {
347 int result;
348
349 struct icdi_usb_handle_s *h;
350 h = (struct icdi_usb_handle_s *)handle;
351
352 result = icdi_send_cmd(handle, "qSupported");
353 if (result != ERROR_OK)
354 return result;
355
356 /* check result */
357 result = icdi_get_cmd_result(handle);
358 if (result != ERROR_OK) {
359 LOG_ERROR("query supported failed: 0x%x", result);
360 return ERROR_FAIL;
361 }
362
363 /* from this we can get the max packet supported */
364
365 /* query packet buffer size */
366 char *offset = strstr(h->read_buffer, "PacketSize");
367 if (offset) {
368 char *separator;
369 int max_packet;
370
371 max_packet = strtoul(offset + 11, &separator, 16);
372 if (!max_packet)
373 LOG_ERROR("invalid max packet, using defaults");
374 else
375 h->max_packet = max_packet;
376 LOG_DEBUG("max packet supported : %" PRIu32 " bytes", h->max_packet);
377 }
378
379
380 /* if required re allocate packet buffer */
381 if (h->max_packet != ICDI_PACKET_SIZE) {
382 h->read_buffer = realloc(h->read_buffer, h->max_packet);
383 h->write_buffer = realloc(h->write_buffer, h->max_packet);
384 if (h->read_buffer == 0 || h->write_buffer == 0) {
385 LOG_ERROR("unable to reallocate memory");
386 return ERROR_FAIL;
387 }
388 }
389
390 /* set extended mode */
391 result = icdi_send_cmd(handle, "!");
392 if (result != ERROR_OK)
393 return result;
394
395 /* check result */
396 result = icdi_get_cmd_result(handle);
397 if (result != ERROR_OK) {
398 LOG_ERROR("unable to enable extended mode: 0x%x", result);
399 return ERROR_FAIL;
400 }
401
402 return ERROR_OK;
403 }
404
405 static int icdi_usb_reset(void *handle)
406 {
407 /* we do this in hla_target.c */
408 return ERROR_OK;
409 }
410
411 static int icdi_usb_assert_srst(void *handle, int srst)
412 {
413 /* TODO not supported yet */
414 return ERROR_COMMAND_NOTFOUND;
415 }
416
417 static int icdi_usb_run(void *handle)
418 {
419 int result;
420
421 /* resume target at current address */
422 result = icdi_send_cmd(handle, "c");
423 if (result != ERROR_OK)
424 return result;
425
426 /* check result */
427 result = icdi_get_cmd_result(handle);
428 if (result != ERROR_OK) {
429 LOG_ERROR("continue failed: 0x%x", result);
430 return ERROR_FAIL;
431 }
432
433 return result;
434 }
435
436 static int icdi_usb_halt(void *handle)
437 {
438 int result;
439
440 /* this query halts the target ?? */
441 result = icdi_send_cmd(handle, "?");
442 if (result != ERROR_OK)
443 return result;
444
445 /* check result */
446 result = icdi_get_cmd_result(handle);
447 if (result != ERROR_OK) {
448 LOG_ERROR("halt failed: 0x%x", result);
449 return ERROR_FAIL;
450 }
451
452 return result;
453 }
454
455 static int icdi_usb_step(void *handle)
456 {
457 int result;
458
459 /* step target at current address */
460 result = icdi_send_cmd(handle, "s");
461 if (result != ERROR_OK)
462 return result;
463
464 /* check result */
465 result = icdi_get_cmd_result(handle);
466 if (result != ERROR_OK) {
467 LOG_ERROR("step failed: 0x%x", result);
468 return ERROR_FAIL;
469 }
470
471 return result;
472 }
473
474 static int icdi_usb_read_regs(void *handle)
475 {
476 /* currently unsupported */
477 return ERROR_OK;
478 }
479
480 static int icdi_usb_read_reg(void *handle, int num, uint32_t *val)
481 {
482 int result;
483 struct icdi_usb_handle_s *h;
484 char cmd[10];
485
486 h = (struct icdi_usb_handle_s *)handle;
487
488 snprintf(cmd, sizeof(cmd), "p%x", num);
489 result = icdi_send_cmd(handle, cmd);
490 if (result != ERROR_OK)
491 return result;
492
493 /* check result */
494 result = icdi_get_cmd_result(handle);
495 if (result != ERROR_OK) {
496 LOG_ERROR("register read failed: 0x%x", result);
497 return ERROR_FAIL;
498 }
499
500 /* convert result */
501 if (unhexify((char *)val, h->read_buffer + 2, 4) != 4) {
502 LOG_ERROR("failed to convert result");
503 return ERROR_FAIL;
504 }
505
506 return result;
507 }
508
509 static int icdi_usb_write_reg(void *handle, int num, uint32_t val)
510 {
511 int result;
512 char cmd[20];
513
514 int cmd_len = snprintf(cmd, sizeof(cmd), "P%x=", num);
515 hexify(cmd + cmd_len, (char *)&val, 4, sizeof(cmd));
516
517 result = icdi_send_cmd(handle, cmd);
518 if (result != ERROR_OK)
519 return result;
520
521 /* check result */
522 result = icdi_get_cmd_result(handle);
523 if (result != ERROR_OK) {
524 LOG_ERROR("register write failed: 0x%x", result);
525 return ERROR_FAIL;
526 }
527
528 return result;
529 }
530
531 static int icdi_usb_read_mem_int(void *handle, uint32_t addr, uint32_t len, uint8_t *buffer)
532 {
533 int result;
534 struct icdi_usb_handle_s *h;
535 char cmd[20];
536
537 h = (struct icdi_usb_handle_s *)handle;
538
539 snprintf(cmd, sizeof(cmd), "x%x,%x", addr, len);
540 result = icdi_send_cmd(handle, cmd);
541 if (result != ERROR_OK)
542 return result;
543
544 /* check result */
545 result = icdi_get_cmd_result(handle);
546 if (result != ERROR_OK) {
547 LOG_ERROR("memory read failed: 0x%x", result);
548 return ERROR_FAIL;
549 }
550
551 /* unescape input */
552 int read_len = remote_unescape_input(h->read_buffer + 5, h->read_count - 8, (char *)buffer, len);
553 if (read_len != (int)len) {
554 LOG_ERROR("read more bytes than expected: actual 0x%" PRIx32 " expected 0x%" PRIx32, read_len, len);
555 return ERROR_FAIL;
556 }
557
558 return ERROR_OK;
559 }
560
561 static int icdi_usb_write_mem_int(void *handle, uint32_t addr, uint32_t len, const uint8_t *buffer)
562 {
563 int result;
564 struct icdi_usb_handle_s *h;
565
566 h = (struct icdi_usb_handle_s *)handle;
567
568 size_t cmd_len = snprintf(h->write_buffer, h->max_packet, PACKET_START "X%x,%x:", addr, len);
569
570 int out_len;
571 cmd_len += remote_escape_output((char *)buffer, len, h->write_buffer + cmd_len,
572 &out_len, h->max_packet - cmd_len);
573
574 if (out_len < (int)len) {
575 /* for now issue a error as we have no way of allocating a larger buffer */
576 LOG_ERROR("memory buffer too small: requires 0x%" PRIx32 " actual 0x%" PRIx32, out_len, len);
577 return ERROR_FAIL;
578 }
579
580 result = icdi_send_packet(handle, cmd_len);
581 if (result != ERROR_OK)
582 return result;
583
584 /* check result */
585 result = icdi_get_cmd_result(handle);
586 if (result != ERROR_OK) {
587 LOG_ERROR("memory write failed: 0x%x", result);
588 return ERROR_FAIL;
589 }
590
591 return ERROR_OK;
592 }
593
594 static int icdi_usb_read_mem(void *handle, uint32_t addr, uint32_t size,
595 uint32_t count, uint8_t *buffer)
596 {
597 int retval = ERROR_OK;
598 struct icdi_usb_handle_s *h = (struct icdi_usb_handle_s *)handle;
599 uint32_t bytes_remaining;
600
601 /* calculate byte count */
602 count *= size;
603
604 while (count) {
605
606 bytes_remaining = h->max_rw_packet;
607 if (count < bytes_remaining)
608 bytes_remaining = count;
609
610 retval = icdi_usb_read_mem_int(handle, addr, bytes_remaining, buffer);
611 if (retval != ERROR_OK)
612 return retval;
613
614 buffer += bytes_remaining;
615 addr += bytes_remaining;
616 count -= bytes_remaining;
617 }
618
619 return retval;
620 }
621
622 static int icdi_usb_write_mem(void *handle, uint32_t addr, uint32_t size,
623 uint32_t count, const uint8_t *buffer)
624 {
625 int retval = ERROR_OK;
626 struct icdi_usb_handle_s *h = (struct icdi_usb_handle_s *)handle;
627 uint32_t bytes_remaining;
628
629 /* calculate byte count */
630 count *= size;
631
632 while (count) {
633
634 bytes_remaining = h->max_rw_packet;
635 if (count < bytes_remaining)
636 bytes_remaining = count;
637
638 retval = icdi_usb_write_mem_int(handle, addr, bytes_remaining, buffer);
639 if (retval != ERROR_OK)
640 return retval;
641
642 buffer += bytes_remaining;
643 addr += bytes_remaining;
644 count -= bytes_remaining;
645 }
646
647 return retval;
648 }
649
650 static int icdi_usb_close(void *handle)
651 {
652 struct icdi_usb_handle_s *h;
653
654 h = (struct icdi_usb_handle_s *)handle;
655
656 if (h->usb_dev)
657 libusb_close(h->usb_dev);
658
659 if (h->usb_ctx)
660 libusb_exit(h->usb_ctx);
661
662 if (h->read_buffer)
663 free(h->read_buffer);
664
665 if (h->write_buffer)
666 free(h->write_buffer);
667
668 free(handle);
669
670 return ERROR_OK;
671 }
672
673 static int icdi_usb_open(struct hl_interface_param_s *param, void **fd)
674 {
675 int retval;
676 struct icdi_usb_handle_s *h;
677
678 LOG_DEBUG("icdi_usb_open");
679
680 h = calloc(1, sizeof(struct icdi_usb_handle_s));
681
682 if (h == 0) {
683 LOG_ERROR("unable to allocate memory");
684 return ERROR_FAIL;
685 }
686
687 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
688 param->vid, param->pid);
689
690 if (libusb_init(&h->usb_ctx) != 0) {
691 LOG_ERROR("libusb init failed");
692 goto error_open;
693 }
694
695 h->usb_dev = libusb_open_device_with_vid_pid(h->usb_ctx, param->vid, param->pid);
696 if (!h->usb_dev) {
697 LOG_ERROR("open failed");
698 goto error_open;
699 }
700
701 if (libusb_claim_interface(h->usb_dev, 2)) {
702 LOG_DEBUG("claim interface failed");
703 goto error_open;
704 }
705
706 /* check if mode is supported */
707 retval = ERROR_OK;
708
709 switch (param->transport) {
710 #if 0
711 /* TODO place holder as swd is not currently supported */
712 case HL_TRANSPORT_SWD:
713 #endif
714 case HL_TRANSPORT_JTAG:
715 break;
716 default:
717 retval = ERROR_FAIL;
718 break;
719 }
720
721 if (retval != ERROR_OK) {
722 LOG_ERROR("mode (transport) not supported by device");
723 goto error_open;
724 }
725
726 /* allocate buffer */
727 h->read_buffer = malloc(ICDI_PACKET_SIZE);
728 h->write_buffer = malloc(ICDI_PACKET_SIZE);
729 h->max_packet = ICDI_PACKET_SIZE;
730
731 if (h->read_buffer == 0 || h->write_buffer == 0) {
732 LOG_DEBUG("malloc failed");
733 goto error_open;
734 }
735
736 /* query icdi version etc */
737 retval = icdi_usb_version(h);
738 if (retval != ERROR_OK)
739 goto error_open;
740
741 /* query icdi support */
742 retval = icdi_usb_query(h);
743 if (retval != ERROR_OK)
744 goto error_open;
745
746 *fd = h;
747
748 /* set the max target read/write buffer in bytes
749 * as we are using gdb binary packets to transfer memory we have to
750 * reserve half the buffer for any possible escape chars plus
751 * at least 64 bytes for the gdb packet header */
752 h->max_rw_packet = (((h->max_packet - 64) / 4) * 4) / 2;
753
754 return ERROR_OK;
755
756 error_open:
757 icdi_usb_close(h);
758
759 return ERROR_FAIL;
760 }
761
762 struct hl_layout_api_s icdi_usb_layout_api = {
763 .open = icdi_usb_open,
764 .close = icdi_usb_close,
765 .idcode = icdi_usb_idcode,
766 .state = icdi_usb_state,
767 .reset = icdi_usb_reset,
768 .assert_srst = icdi_usb_assert_srst,
769 .run = icdi_usb_run,
770 .halt = icdi_usb_halt,
771 .step = icdi_usb_step,
772 .read_regs = icdi_usb_read_regs,
773 .read_reg = icdi_usb_read_reg,
774 .write_reg = icdi_usb_write_reg,
775 .read_mem = icdi_usb_read_mem,
776 .write_mem = icdi_usb_write_mem,
777 .write_debug_reg = icdi_usb_write_debug_reg
778 };