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icdi: add TI icdi interface
[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 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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-1.0/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 "$"
46 #define PACKET_END "#"
47
48 struct icdi_usb_handle_s {
49 libusb_context *usb_ctx;
50 libusb_device_handle *usb_dev;
51
52 char *read_buffer;
53 char *write_buffer;
54 int max_packet;
55 int read_count;
56 };
57
58 static int icdi_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer);
59 static int icdi_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer);
60
61 static int remote_escape_output(const char *buffer, int len, char *out_buf, int *out_len, int out_maxlen)
62 {
63 int input_index, output_index;
64
65 output_index = 0;
66
67 for (input_index = 0; input_index < len; input_index++) {
68
69 char b = buffer[input_index];
70
71 if (b == '$' || b == '#' || b == '}' || b == '*') {
72 /* These must be escaped. */
73 if (output_index + 2 > out_maxlen)
74 break;
75 out_buf[output_index++] = '}';
76 out_buf[output_index++] = b ^ 0x20;
77 } else {
78 if (output_index + 1 > out_maxlen)
79 break;
80 out_buf[output_index++] = b;
81 }
82 }
83
84 *out_len = input_index;
85 return output_index;
86 }
87
88 static int remote_unescape_input(const char *buffer, int len, char *out_buf, int out_maxlen)
89 {
90 int input_index, output_index;
91 int escaped;
92
93 output_index = 0;
94 escaped = 0;
95
96 for (input_index = 0; input_index < len; input_index++) {
97
98 char b = buffer[input_index];
99
100 if (output_index + 1 > out_maxlen)
101 LOG_ERROR("Received too much data from the target.");
102
103 if (escaped) {
104 out_buf[output_index++] = b ^ 0x20;
105 escaped = 0;
106 } else if (b == '}')
107 escaped = 1;
108 else
109 out_buf[output_index++] = b;
110 }
111
112 if (escaped)
113 LOG_ERROR("Unmatched escape character in target response.");
114
115 return output_index;
116 }
117
118 static int icdi_send_packet(void *handle, int len)
119 {
120 unsigned char cksum = 0;
121 struct icdi_usb_handle_s *h;
122 int result, retry = 0;
123 int transferred = 0;
124
125 assert(handle != NULL);
126 h = (struct icdi_usb_handle_s *)handle;
127
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");
131 return ERROR_FAIL;
132 }
133
134 /* calculate checksum - offset start of packet */
135 for (int i = 1; i < len; i++)
136 cksum += h->write_buffer[i];
137
138 len += sprintf(&h->write_buffer[len], PACKET_END "%02x", cksum);
139
140 #ifdef _DEBUG_USB_COMMS_
141 char buffer[50];
142 char ch = h->write_buffer[1];
143 if (ch == 'x' || ch == 'X')
144 LOG_DEBUG("writing packet: <binary>");
145 else {
146 memcpy(buffer, h->write_buffer, len >= 50 ? 50-1 : len);
147 buffer[len] = 0;
148 LOG_DEBUG("writing packet: %s", buffer);
149 }
150 #endif
151
152 while (1) {
153
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);
158 return ERROR_FAIL;
159 }
160
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);
166 return ERROR_FAIL;
167 }
168
169 #ifdef _DEBUG_USB_COMMS_
170 LOG_DEBUG("received reply: '%c' : count %d", h->read_buffer[0], transferred);
171 #endif
172
173 if (h->read_buffer[0] == '-') {
174 LOG_DEBUG("Resending packet %d", ++retry);
175 } else {
176 if (h->read_buffer[0] != '+')
177 LOG_DEBUG("Unexpected Reply from ICDI: %c", h->read_buffer[0]);
178 break;
179 }
180
181 if (retry == 3) {
182 LOG_DEBUG("maximum nack retries attempted");
183 return ERROR_FAIL;
184 }
185 }
186
187 retry = 0;
188 h->read_count = transferred;
189
190 while (1) {
191
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);
195
196 #ifdef _DEBUG_USB_COMMS_
197 LOG_DEBUG("received data: count %d", transferred);
198 #endif
199
200 /* check for errors but retry for timeout */
201 if (result != 0) {
202
203 if (result == LIBUSB_ERROR_TIMEOUT) {
204 LOG_DEBUG("Error RX timeout %d", result);
205 } else {
206 LOG_DEBUG("Error RX Data %d", result);
207 return ERROR_FAIL;
208 }
209 }
210
211 h->read_count += transferred;
212
213 /* we need to make sure we have a full packet, including checksum */
214 if (h->read_count > 5) {
215
216 /* check that we have received an packet delimiter
217 * we do not validate the checksum
218 * reply should contain $...#AA - so we check for # */
219 if (h->read_buffer[h->read_count - 3] == '#')
220 return ERROR_OK;
221 }
222
223 if (retry++ == 3) {
224 LOG_DEBUG("maximum data retries attempted");
225 break;
226 }
227 }
228
229 return ERROR_FAIL;
230 }
231
232 static int icdi_send_cmd(void *handle, const char *cmd)
233 {
234 struct icdi_usb_handle_s *h;
235 h = (struct icdi_usb_handle_s *)handle;
236
237 int cmd_len = snprintf(h->write_buffer, h->max_packet, PACKET_START "%s", cmd);
238 return icdi_send_packet(handle, cmd_len);
239 }
240
241 static int icdi_send_remote_cmd(void *handle, const char *data)
242 {
243 struct icdi_usb_handle_s *h;
244 h = (struct icdi_usb_handle_s *)handle;
245
246 size_t cmd_len = sprintf(h->write_buffer, PACKET_START "qRcmd,");
247 cmd_len += hexify(h->write_buffer + cmd_len, data, 0, h->max_packet - cmd_len);
248
249 return icdi_send_packet(handle, cmd_len);
250 }
251
252 static int icdi_get_cmd_result(void *handle)
253 {
254 struct icdi_usb_handle_s *h;
255 int offset = 0;
256 char ch;
257
258 assert(handle != NULL);
259 h = (struct icdi_usb_handle_s *)handle;
260
261 do {
262 ch = h->read_buffer[offset++];
263 if (offset > h->read_count)
264 return ERROR_FAIL;
265 } while (ch != '$');
266
267 if (memcmp("OK", h->read_buffer + offset, 2) == 0)
268 return ERROR_OK;
269
270 if (h->read_buffer[offset] == 'E') {
271 /* get error code */
272 char result;
273 if (unhexify(&result, h->read_buffer + offset + 1, 1) != 1)
274 return ERROR_FAIL;
275 return result;
276 }
277
278 /* for now we assume everything else is ok */
279 return ERROR_OK;
280 }
281
282 static int icdi_usb_idcode(void *handle, uint32_t *idcode)
283 {
284 return ERROR_OK;
285 }
286
287 static int icdi_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
288 {
289 return icdi_usb_write_mem32(handle, addr, 1, (uint8_t *)&val);
290 }
291
292 static enum target_state icdi_usb_state(void *handle)
293 {
294 int result;
295 struct icdi_usb_handle_s *h;
296 uint32_t dhcsr;
297
298 h = (struct icdi_usb_handle_s *)handle;
299
300 result = icdi_usb_read_mem32(h, DCB_DHCSR, 1, (uint8_t *)&dhcsr);
301 if (result != ERROR_OK)
302 return TARGET_UNKNOWN;
303
304 if (dhcsr & S_HALT)
305 return TARGET_HALTED;
306
307 return TARGET_RUNNING;
308 }
309
310 static int icdi_usb_version(void *handle)
311 {
312 struct icdi_usb_handle_s *h;
313 h = (struct icdi_usb_handle_s *)handle;
314
315 char version[20];
316
317 /* get info about icdi */
318 int result = icdi_send_remote_cmd(handle, "version");
319 if (result != ERROR_OK)
320 return result;
321
322 if (h->read_count < 8) {
323 LOG_ERROR("Invalid Reply Received");
324 return ERROR_FAIL;
325 }
326
327 /* convert reply */
328 if (unhexify(version, h->read_buffer + 2, 4) != 4) {
329 LOG_WARNING("unable to get ICDI version");
330 return ERROR_OK;
331 }
332
333 /* null terminate and print info */
334 version[4] = 0;
335
336 LOG_INFO("ICDI Firmware version: %s", version);
337
338 return ERROR_OK;
339 }
340
341 static int icdi_usb_query(void *handle)
342 {
343 int result;
344
345 struct icdi_usb_handle_s *h;
346 h = (struct icdi_usb_handle_s *)handle;
347
348 result = icdi_send_cmd(handle, "qSupported");
349
350 /* check result */
351 result = icdi_get_cmd_result(handle);
352 if (result != ERROR_OK) {
353 LOG_ERROR("query supported failed: 0x%x", result);
354 return ERROR_FAIL;
355 }
356
357 /* from this we can get the max packet supported */
358
359 /* query packet buffer size */
360 char *offset = strstr(h->read_buffer, "PacketSize");
361 if (offset) {
362 char *separator;
363 int max_packet;
364
365 max_packet = strtoul(offset + 11, &separator, 16);
366 if (!max_packet)
367 LOG_ERROR("invalid max packet, using defaults");
368 else
369 h->max_packet = max_packet;
370 LOG_DEBUG("max packet supported : %" PRIu32 " bytes", h->max_packet);
371 }
372
373
374 /* if required re allocate packet buffer */
375 if (h->max_packet != ICDI_PACKET_SIZE) {
376 h->read_buffer = realloc(h->read_buffer, h->max_packet);
377 h->write_buffer = realloc(h->write_buffer, h->max_packet);
378 if (h->read_buffer == 0 || h->write_buffer == 0) {
379 LOG_ERROR("unable to reallocate memory");
380 return ERROR_FAIL;
381 }
382 }
383
384 /* set extended mode */
385 result = icdi_send_cmd(handle, "!");
386
387 /* check result */
388 result = icdi_get_cmd_result(handle);
389 if (result != ERROR_OK) {
390 LOG_ERROR("unable to enable extended mode: 0x%x", result);
391 return ERROR_FAIL;
392 }
393
394 return ERROR_OK;
395 }
396
397 static int icdi_usb_reset(void *handle)
398 {
399 /* we do this in hla_target.c */
400 return ERROR_OK;
401 }
402
403 static int icdi_usb_assert_srst(void *handle, int srst)
404 {
405 /* TODO not supported yet */
406 return ERROR_COMMAND_NOTFOUND;
407 }
408
409 static int icdi_usb_run(void *handle)
410 {
411 int result;
412
413 /* resume target at current address */
414 result = icdi_send_cmd(handle, "c");
415
416 /* check result */
417 result = icdi_get_cmd_result(handle);
418 if (result != ERROR_OK) {
419 LOG_ERROR("continue failed: 0x%x", result);
420 return ERROR_FAIL;
421 }
422
423 return result;
424 }
425
426 static int icdi_usb_halt(void *handle)
427 {
428 int result;
429
430 /* this query halts the target ?? */
431 result = icdi_send_cmd(handle, "?");
432
433 /* check result */
434 result = icdi_get_cmd_result(handle);
435 if (result != ERROR_OK) {
436 LOG_ERROR("halt failed: 0x%x", result);
437 return ERROR_FAIL;
438 }
439
440 return result;
441 }
442
443 static int icdi_usb_step(void *handle)
444 {
445 int result;
446
447 /* step target at current address */
448 result = icdi_send_cmd(handle, "s");
449
450 /* check result */
451 result = icdi_get_cmd_result(handle);
452 if (result != ERROR_OK) {
453 LOG_ERROR("step failed: 0x%x", result);
454 return ERROR_FAIL;
455 }
456
457 return result;
458 }
459
460 static int icdi_usb_read_regs(void *handle)
461 {
462 /* currently unsupported */
463 return ERROR_OK;
464 }
465
466 static int icdi_usb_read_reg(void *handle, int num, uint32_t *val)
467 {
468 int result;
469 struct icdi_usb_handle_s *h;
470 char cmd[10];
471
472 h = (struct icdi_usb_handle_s *)handle;
473
474 snprintf(cmd, sizeof(cmd), "p%x", num);
475 result = icdi_send_cmd(handle, cmd);
476 if (result != ERROR_OK)
477 return result;
478
479 /* check result */
480 result = icdi_get_cmd_result(handle);
481 if (result != ERROR_OK) {
482 LOG_ERROR("register read failed: 0x%x", result);
483 return ERROR_FAIL;
484 }
485
486 /* convert result */
487 if (unhexify((char *)val, h->read_buffer + 2, 4) != 4) {
488 LOG_ERROR("failed to convert result");
489 return ERROR_FAIL;
490 }
491
492 return result;
493 }
494
495 static int icdi_usb_write_reg(void *handle, int num, uint32_t val)
496 {
497 int result;
498 char cmd[20];
499
500 int cmd_len = snprintf(cmd, sizeof(cmd), "P%x=", num);
501 hexify(cmd + cmd_len, (char *)&val, 4, sizeof(cmd));
502
503 result = icdi_send_cmd(handle, cmd);
504 if (result != ERROR_OK)
505 return result;
506
507 /* check result */
508 result = icdi_get_cmd_result(handle);
509 if (result != ERROR_OK) {
510 LOG_ERROR("register write failed: 0x%x", result);
511 return ERROR_FAIL;
512 }
513
514 return result;
515 }
516
517 static int icdi_usb_read_mem(void *handle, uint32_t addr, uint32_t len, uint8_t *buffer)
518 {
519 int result;
520 struct icdi_usb_handle_s *h;
521 char cmd[20];
522
523 h = (struct icdi_usb_handle_s *)handle;
524
525 snprintf(cmd, sizeof(cmd), "x%x,%x", addr, len);
526 result = icdi_send_cmd(handle, cmd);
527 if (result != ERROR_OK)
528 return result;
529
530 /* check result */
531 result = icdi_get_cmd_result(handle);
532 if (result != ERROR_OK) {
533 LOG_ERROR("memory read failed: 0x%x", result);
534 return ERROR_FAIL;
535 }
536
537 /* unescape input */
538 int read_len = remote_unescape_input(h->read_buffer + 5, h->read_count - 8, (char *)buffer, len);
539 if (read_len != (int)len) {
540 LOG_ERROR("read more bytes than expected: actual 0x%" PRIx32 " expected 0x%" PRIx32, read_len, len);
541 return ERROR_FAIL;
542 }
543
544 return ERROR_OK;
545 }
546
547 static int icdi_usb_write_mem(void *handle, uint32_t addr, uint32_t len, const uint8_t *buffer)
548 {
549 int result;
550 struct icdi_usb_handle_s *h;
551
552 h = (struct icdi_usb_handle_s *)handle;
553
554 size_t cmd_len = snprintf(h->write_buffer, h->max_packet, PACKET_START "X%x,%x:", addr, len);
555
556 int out_len;
557 cmd_len += remote_escape_output((char *)buffer, len, h->write_buffer + cmd_len,
558 &out_len, h->max_packet - cmd_len);
559
560 if (out_len < (int)len) {
561 /* for now issue a error as we have no way of allocating a larger buffer */
562 LOG_ERROR("memory buffer too small: requires 0x%" PRIx32 " actual 0x%" PRIx32, out_len, len);
563 return ERROR_FAIL;
564 }
565
566 result = icdi_send_packet(handle, cmd_len);
567 if (result != ERROR_OK)
568 return result;
569
570 /* check result */
571 result = icdi_get_cmd_result(handle);
572 if (result != ERROR_OK) {
573 LOG_ERROR("memory write failed: 0x%x", result);
574 return ERROR_FAIL;
575 }
576
577 return ERROR_OK;
578 }
579
580 static int icdi_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer)
581 {
582 return icdi_usb_read_mem(handle, addr, len, buffer);
583 }
584
585 static int icdi_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer)
586 {
587 return icdi_usb_write_mem(handle, addr, len, buffer);
588 }
589
590 static int icdi_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer)
591 {
592 return icdi_usb_read_mem(handle, addr, len * 4, buffer);
593 }
594
595 static int icdi_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer)
596 {
597 return icdi_usb_write_mem(handle, addr, len * 4, buffer);
598 }
599
600 static int icdi_usb_close(void *handle)
601 {
602 struct icdi_usb_handle_s *h;
603
604 h = (struct icdi_usb_handle_s *)handle;
605
606 if (h->usb_dev)
607 libusb_close(h->usb_dev);
608
609 if (h->usb_ctx)
610 libusb_exit(h->usb_ctx);
611
612 if (h->read_buffer)
613 free(h->read_buffer);
614
615 if (h->write_buffer)
616 free(h->write_buffer);
617
618 free(handle);
619
620 return ERROR_OK;
621 }
622
623 static int icdi_usb_open(struct hl_interface_param_s *param, void **fd)
624 {
625 int retval;
626 struct icdi_usb_handle_s *h;
627
628 LOG_DEBUG("icdi_usb_open");
629
630 h = calloc(1, sizeof(struct icdi_usb_handle_s));
631
632 if (h == 0) {
633 LOG_ERROR("unable to allocate memory");
634 return ERROR_FAIL;
635 }
636
637 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
638 param->vid, param->pid);
639
640 if (libusb_init(&h->usb_ctx) != 0) {
641 LOG_ERROR("libusb init failed");
642 goto error_open;
643 }
644
645 h->usb_dev = libusb_open_device_with_vid_pid(h->usb_ctx, param->vid, param->pid);
646 if (!h->usb_dev) {
647 LOG_ERROR("open failed");
648 goto error_open;
649 }
650
651 if (libusb_claim_interface(h->usb_dev, 2)) {
652 LOG_DEBUG("claim interface failed");
653 goto error_open;
654 }
655
656 /* check if mode is supported */
657 retval = ERROR_OK;
658
659 switch (param->transport) {
660 #if 0
661 /* TODO place holder as swd is not currently supported */
662 case HL_TRANSPORT_SWD:
663 #endif
664 case HL_TRANSPORT_JTAG:
665 break;
666 default:
667 retval = ERROR_FAIL;
668 break;
669 }
670
671 if (retval != ERROR_OK) {
672 LOG_ERROR("mode (transport) not supported by device");
673 goto error_open;
674 }
675
676 /* allocate buffer */
677 h->read_buffer = malloc(ICDI_PACKET_SIZE);
678 h->write_buffer = malloc(ICDI_PACKET_SIZE);
679 h->max_packet = ICDI_PACKET_SIZE;
680
681 if (h->read_buffer == 0 || h->write_buffer == 0) {
682 LOG_DEBUG("malloc failed");
683 goto error_open;
684 }
685
686 /* query icdi version etc */
687 retval = icdi_usb_version(h);
688 if (retval != ERROR_OK)
689 goto error_open;
690
691 /* query icdi support */
692 retval = icdi_usb_query(h);
693 if (retval != ERROR_OK)
694 goto error_open;
695
696 *fd = h;
697
698 /* set the max target read/write buffer in bytes
699 * as we are using gdb binary packets to transfer memory we have to
700 * reserve half the buffer for any possible escape chars plus
701 * at least 64 bytes for the gdb packet header */
702 param->max_buffer = (((h->max_packet - 64) / 4) * 4) / 2;
703
704 return ERROR_OK;
705
706 error_open:
707 icdi_usb_close(h);
708
709 return ERROR_FAIL;
710 }
711
712 struct hl_layout_api_s icdi_usb_layout_api = {
713 .open = icdi_usb_open,
714 .close = icdi_usb_close,
715 .idcode = icdi_usb_idcode,
716 .state = icdi_usb_state,
717 .reset = icdi_usb_reset,
718 .assert_srst = icdi_usb_assert_srst,
719 .run = icdi_usb_run,
720 .halt = icdi_usb_halt,
721 .step = icdi_usb_step,
722 .read_regs = icdi_usb_read_regs,
723 .read_reg = icdi_usb_read_reg,
724 .write_reg = icdi_usb_write_reg,
725 .read_mem8 = icdi_usb_read_mem8,
726 .write_mem8 = icdi_usb_write_mem8,
727 .read_mem32 = icdi_usb_read_mem32,
728 .write_mem32 = icdi_usb_write_mem32,
729 .write_debug_reg = icdi_usb_write_debug_reg
730 };
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|. .=o   . o      |
+----[SHA256]-----+
2048 SHA256:0Onrb7/PHjpo6iVZ7xQX2riKN83FJ3KGU0TvI0TaFG4 gerrit-code-review@openocd.zylin.com (RSA)