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, write to the *
18 * Free Software Foundation, Inc., *
19 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
20 ***************************************************************************/
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>
34 #include <target/cortex_m.h>
38 #define ICDI_WRITE_ENDPOINT 0x02
39 #define ICDI_READ_ENDPOINT 0x83
41 #define ICDI_WRITE_TIMEOUT 1000
42 #define ICDI_READ_TIMEOUT 1000
43 #define ICDI_PACKET_SIZE 2048
45 #define PACKET_START "$"
46 #define PACKET_END "#"
48 struct icdi_usb_handle_s
{
49 libusb_context
*usb_ctx
;
50 libusb_device_handle
*usb_dev
;
56 uint32_t max_rw_packet
; /* max X packet (read/write memory) transfers */
59 static int icdi_usb_read_mem(void *handle
, uint32_t addr
, uint32_t size
,
60 uint32_t count
, uint8_t *buffer
);
61 static int icdi_usb_write_mem(void *handle
, uint32_t addr
, uint32_t size
,
62 uint32_t count
, const uint8_t *buffer
);
64 static int remote_escape_output(const char *buffer
, int len
, char *out_buf
, int *out_len
, int out_maxlen
)
66 int input_index
, output_index
;
70 for (input_index
= 0; input_index
< len
; input_index
++) {
72 char b
= buffer
[input_index
];
74 if (b
== '$' || b
== '#' || b
== '}' || b
== '*') {
75 /* These must be escaped. */
76 if (output_index
+ 2 > out_maxlen
)
78 out_buf
[output_index
++] = '}';
79 out_buf
[output_index
++] = b
^ 0x20;
81 if (output_index
+ 1 > out_maxlen
)
83 out_buf
[output_index
++] = b
;
87 *out_len
= input_index
;
91 static int remote_unescape_input(const char *buffer
, int len
, char *out_buf
, int out_maxlen
)
93 int input_index
, output_index
;
99 for (input_index
= 0; input_index
< len
; input_index
++) {
101 char b
= buffer
[input_index
];
103 if (output_index
+ 1 > out_maxlen
)
104 LOG_ERROR("Received too much data from the target.");
107 out_buf
[output_index
++] = b
^ 0x20;
112 out_buf
[output_index
++] = b
;
116 LOG_ERROR("Unmatched escape character in target response.");
121 static int icdi_send_packet(void *handle
, int len
)
123 unsigned char cksum
= 0;
124 struct icdi_usb_handle_s
*h
;
125 int result
, retry
= 0;
128 assert(handle
!= NULL
);
129 h
= (struct icdi_usb_handle_s
*)handle
;
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");
137 /* calculate checksum - offset start of packet */
138 for (int i
= 1; i
< len
; i
++)
139 cksum
+= h
->write_buffer
[i
];
141 len
+= sprintf(&h
->write_buffer
[len
], PACKET_END
"%02x", cksum
);
143 #ifdef _DEBUG_USB_COMMS_
145 char ch
= h
->write_buffer
[1];
146 if (ch
== 'x' || ch
== 'X')
147 LOG_DEBUG("writing packet: <binary>");
149 memcpy(buffer
, h
->write_buffer
, len
>= 50 ? 50-1 : len
);
151 LOG_DEBUG("writing packet: %s", buffer
);
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
);
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
);
172 #ifdef _DEBUG_USB_COMMS_
173 LOG_DEBUG("received reply: '%c' : count %d", h
->read_buffer
[0], transferred
);
176 if (h
->read_buffer
[0] == '-') {
177 LOG_DEBUG("Resending packet %d", ++retry
);
179 if (h
->read_buffer
[0] != '+')
180 LOG_DEBUG("Unexpected Reply from ICDI: %c", h
->read_buffer
[0]);
185 LOG_DEBUG("maximum nack retries attempted");
191 h
->read_count
= transferred
;
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
);
199 #ifdef _DEBUG_USB_COMMS_
200 LOG_DEBUG("received data: count %d", transferred
);
203 /* check for errors but retry for timeout */
206 if (result
== LIBUSB_ERROR_TIMEOUT
) {
207 LOG_DEBUG("Error RX timeout %d", result
);
209 LOG_DEBUG("Error RX Data %d", result
);
214 h
->read_count
+= transferred
;
216 /* we need to make sure we have a full packet, including checksum */
217 if (h
->read_count
> 5) {
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] == '#')
227 LOG_DEBUG("maximum data retries attempted");
235 static int icdi_send_cmd(void *handle
, const char *cmd
)
237 struct icdi_usb_handle_s
*h
;
238 h
= (struct icdi_usb_handle_s
*)handle
;
240 int cmd_len
= snprintf(h
->write_buffer
, h
->max_packet
, PACKET_START
"%s", cmd
);
241 return icdi_send_packet(handle
, cmd_len
);
244 static int icdi_send_remote_cmd(void *handle
, const char *data
)
246 struct icdi_usb_handle_s
*h
;
247 h
= (struct icdi_usb_handle_s
*)handle
;
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
);
252 return icdi_send_packet(handle
, cmd_len
);
255 static int icdi_get_cmd_result(void *handle
)
257 struct icdi_usb_handle_s
*h
;
261 assert(handle
!= NULL
);
262 h
= (struct icdi_usb_handle_s
*)handle
;
265 ch
= h
->read_buffer
[offset
++];
266 if (offset
> h
->read_count
)
270 if (memcmp("OK", h
->read_buffer
+ offset
, 2) == 0)
273 if (h
->read_buffer
[offset
] == 'E') {
276 if (unhexify(&result
, h
->read_buffer
+ offset
+ 1, 1) != 1)
281 /* for now we assume everything else is ok */
285 static int icdi_usb_idcode(void *handle
, uint32_t *idcode
)
290 static int icdi_usb_write_debug_reg(void *handle
, uint32_t addr
, uint32_t val
)
292 return icdi_usb_write_mem(handle
, addr
, 4, 1, (uint8_t *)&val
);
295 static enum target_state
icdi_usb_state(void *handle
)
298 struct icdi_usb_handle_s
*h
;
301 h
= (struct icdi_usb_handle_s
*)handle
;
303 result
= icdi_usb_read_mem(h
, DCB_DHCSR
, 4, 1, (uint8_t *)&dhcsr
);
304 if (result
!= ERROR_OK
)
305 return TARGET_UNKNOWN
;
308 return TARGET_HALTED
;
310 return TARGET_RUNNING
;
313 static int icdi_usb_version(void *handle
)
315 struct icdi_usb_handle_s
*h
;
316 h
= (struct icdi_usb_handle_s
*)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(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
;
349 h
= (struct icdi_usb_handle_s
*)handle
;
351 result
= icdi_send_cmd(handle
, "qSupported");
352 if (result
!= ERROR_OK
)
356 result
= icdi_get_cmd_result(handle
);
357 if (result
!= ERROR_OK
) {
358 LOG_ERROR("query supported failed: 0x%x", result
);
362 /* from this we can get the max packet supported */
364 /* query packet buffer size */
365 char *offset
= strstr(h
->read_buffer
, "PacketSize");
370 max_packet
= strtoul(offset
+ 11, &separator
, 16);
372 LOG_ERROR("invalid max packet, using defaults");
374 h
->max_packet
= max_packet
;
375 LOG_DEBUG("max packet supported : %" PRIu32
" bytes", h
->max_packet
);
379 /* if required re allocate packet buffer */
380 if (h
->max_packet
!= ICDI_PACKET_SIZE
) {
381 h
->read_buffer
= realloc(h
->read_buffer
, h
->max_packet
);
382 h
->write_buffer
= realloc(h
->write_buffer
, h
->max_packet
);
383 if (h
->read_buffer
== 0 || h
->write_buffer
== 0) {
384 LOG_ERROR("unable to reallocate memory");
389 /* set extended mode */
390 result
= icdi_send_cmd(handle
, "!");
391 if (result
!= ERROR_OK
)
395 result
= icdi_get_cmd_result(handle
);
396 if (result
!= ERROR_OK
) {
397 LOG_ERROR("unable to enable extended mode: 0x%x", result
);
404 static int icdi_usb_reset(void *handle
)
406 /* we do this in hla_target.c */
410 static int icdi_usb_assert_srst(void *handle
, int srst
)
412 /* TODO not supported yet */
413 return ERROR_COMMAND_NOTFOUND
;
416 static int icdi_usb_run(void *handle
)
420 /* resume target at current address */
421 result
= icdi_send_cmd(handle
, "c");
422 if (result
!= ERROR_OK
)
426 result
= icdi_get_cmd_result(handle
);
427 if (result
!= ERROR_OK
) {
428 LOG_ERROR("continue failed: 0x%x", result
);
435 static int icdi_usb_halt(void *handle
)
439 /* this query halts the target ?? */
440 result
= icdi_send_cmd(handle
, "?");
441 if (result
!= ERROR_OK
)
445 result
= icdi_get_cmd_result(handle
);
446 if (result
!= ERROR_OK
) {
447 LOG_ERROR("halt failed: 0x%x", result
);
454 static int icdi_usb_step(void *handle
)
458 /* step target at current address */
459 result
= icdi_send_cmd(handle
, "s");
460 if (result
!= ERROR_OK
)
464 result
= icdi_get_cmd_result(handle
);
465 if (result
!= ERROR_OK
) {
466 LOG_ERROR("step failed: 0x%x", result
);
473 static int icdi_usb_read_regs(void *handle
)
475 /* currently unsupported */
479 static int icdi_usb_read_reg(void *handle
, int num
, uint32_t *val
)
482 struct icdi_usb_handle_s
*h
;
485 h
= (struct icdi_usb_handle_s
*)handle
;
487 snprintf(cmd
, sizeof(cmd
), "p%x", num
);
488 result
= icdi_send_cmd(handle
, cmd
);
489 if (result
!= ERROR_OK
)
493 result
= icdi_get_cmd_result(handle
);
494 if (result
!= ERROR_OK
) {
495 LOG_ERROR("register read failed: 0x%x", result
);
500 if (unhexify((char *)val
, h
->read_buffer
+ 2, 4) != 4) {
501 LOG_ERROR("failed to convert result");
508 static int icdi_usb_write_reg(void *handle
, int num
, uint32_t val
)
513 int cmd_len
= snprintf(cmd
, sizeof(cmd
), "P%x=", num
);
514 hexify(cmd
+ cmd_len
, (char *)&val
, 4, sizeof(cmd
));
516 result
= icdi_send_cmd(handle
, cmd
);
517 if (result
!= ERROR_OK
)
521 result
= icdi_get_cmd_result(handle
);
522 if (result
!= ERROR_OK
) {
523 LOG_ERROR("register write failed: 0x%x", result
);
530 static int icdi_usb_read_mem_int(void *handle
, uint32_t addr
, uint32_t len
, uint8_t *buffer
)
533 struct icdi_usb_handle_s
*h
;
536 h
= (struct icdi_usb_handle_s
*)handle
;
538 snprintf(cmd
, sizeof(cmd
), "x%x,%x", addr
, len
);
539 result
= icdi_send_cmd(handle
, cmd
);
540 if (result
!= ERROR_OK
)
544 result
= icdi_get_cmd_result(handle
);
545 if (result
!= ERROR_OK
) {
546 LOG_ERROR("memory read failed: 0x%x", result
);
551 int read_len
= remote_unescape_input(h
->read_buffer
+ 5, h
->read_count
- 8, (char *)buffer
, len
);
552 if (read_len
!= (int)len
) {
553 LOG_ERROR("read more bytes than expected: actual 0x%" PRIx32
" expected 0x%" PRIx32
, read_len
, len
);
560 static int icdi_usb_write_mem_int(void *handle
, uint32_t addr
, uint32_t len
, const uint8_t *buffer
)
563 struct icdi_usb_handle_s
*h
;
565 h
= (struct icdi_usb_handle_s
*)handle
;
567 size_t cmd_len
= snprintf(h
->write_buffer
, h
->max_packet
, PACKET_START
"X%x,%x:", addr
, len
);
570 cmd_len
+= remote_escape_output((char *)buffer
, len
, h
->write_buffer
+ cmd_len
,
571 &out_len
, h
->max_packet
- cmd_len
);
573 if (out_len
< (int)len
) {
574 /* for now issue a error as we have no way of allocating a larger buffer */
575 LOG_ERROR("memory buffer too small: requires 0x%" PRIx32
" actual 0x%" PRIx32
, out_len
, len
);
579 result
= icdi_send_packet(handle
, cmd_len
);
580 if (result
!= ERROR_OK
)
584 result
= icdi_get_cmd_result(handle
);
585 if (result
!= ERROR_OK
) {
586 LOG_ERROR("memory write failed: 0x%x", result
);
593 static int icdi_usb_read_mem(void *handle
, uint32_t addr
, uint32_t size
,
594 uint32_t count
, uint8_t *buffer
)
596 int retval
= ERROR_OK
;
597 struct icdi_usb_handle_s
*h
= (struct icdi_usb_handle_s
*)handle
;
598 uint32_t bytes_remaining
;
600 /* calculate byte count */
605 bytes_remaining
= h
->max_rw_packet
;
606 if (count
< bytes_remaining
)
607 bytes_remaining
= count
;
609 retval
= icdi_usb_read_mem_int(handle
, addr
, bytes_remaining
, buffer
);
610 if (retval
!= ERROR_OK
)
613 buffer
+= bytes_remaining
;
614 addr
+= bytes_remaining
;
615 count
-= bytes_remaining
;
621 static int icdi_usb_write_mem(void *handle
, uint32_t addr
, uint32_t size
,
622 uint32_t count
, const uint8_t *buffer
)
624 int retval
= ERROR_OK
;
625 struct icdi_usb_handle_s
*h
= (struct icdi_usb_handle_s
*)handle
;
626 uint32_t bytes_remaining
;
628 /* calculate byte count */
633 bytes_remaining
= h
->max_rw_packet
;
634 if (count
< bytes_remaining
)
635 bytes_remaining
= count
;
637 retval
= icdi_usb_write_mem_int(handle
, addr
, bytes_remaining
, buffer
);
638 if (retval
!= ERROR_OK
)
641 buffer
+= bytes_remaining
;
642 addr
+= bytes_remaining
;
643 count
-= bytes_remaining
;
649 static int icdi_usb_close(void *handle
)
651 struct icdi_usb_handle_s
*h
;
653 h
= (struct icdi_usb_handle_s
*)handle
;
656 libusb_close(h
->usb_dev
);
659 libusb_exit(h
->usb_ctx
);
662 free(h
->read_buffer
);
665 free(h
->write_buffer
);
672 static int icdi_usb_open(struct hl_interface_param_s
*param
, void **fd
)
675 struct icdi_usb_handle_s
*h
;
677 LOG_DEBUG("icdi_usb_open");
679 h
= calloc(1, sizeof(struct icdi_usb_handle_s
));
682 LOG_ERROR("unable to allocate memory");
686 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param
->transport
,
687 param
->vid
, param
->pid
);
689 if (libusb_init(&h
->usb_ctx
) != 0) {
690 LOG_ERROR("libusb init failed");
694 h
->usb_dev
= libusb_open_device_with_vid_pid(h
->usb_ctx
, param
->vid
, param
->pid
);
696 LOG_ERROR("open failed");
700 if (libusb_claim_interface(h
->usb_dev
, 2)) {
701 LOG_DEBUG("claim interface failed");
705 /* check if mode is supported */
708 switch (param
->transport
) {
710 /* TODO place holder as swd is not currently supported */
711 case HL_TRANSPORT_SWD
:
713 case HL_TRANSPORT_JTAG
:
720 if (retval
!= ERROR_OK
) {
721 LOG_ERROR("mode (transport) not supported by device");
725 /* allocate buffer */
726 h
->read_buffer
= malloc(ICDI_PACKET_SIZE
);
727 h
->write_buffer
= malloc(ICDI_PACKET_SIZE
);
728 h
->max_packet
= ICDI_PACKET_SIZE
;
730 if (h
->read_buffer
== 0 || h
->write_buffer
== 0) {
731 LOG_DEBUG("malloc failed");
735 /* query icdi version etc */
736 retval
= icdi_usb_version(h
);
737 if (retval
!= ERROR_OK
)
740 /* query icdi support */
741 retval
= icdi_usb_query(h
);
742 if (retval
!= ERROR_OK
)
747 /* set the max target read/write buffer in bytes
748 * as we are using gdb binary packets to transfer memory we have to
749 * reserve half the buffer for any possible escape chars plus
750 * at least 64 bytes for the gdb packet header */
751 h
->max_rw_packet
= (((h
->max_packet
- 64) / 4) * 4) / 2;
761 struct hl_layout_api_s icdi_usb_layout_api
= {
762 .open
= icdi_usb_open
,
763 .close
= icdi_usb_close
,
764 .idcode
= icdi_usb_idcode
,
765 .state
= icdi_usb_state
,
766 .reset
= icdi_usb_reset
,
767 .assert_srst
= icdi_usb_assert_srst
,
769 .halt
= icdi_usb_halt
,
770 .step
= icdi_usb_step
,
771 .read_regs
= icdi_usb_read_regs
,
772 .read_reg
= icdi_usb_read_reg
,
773 .write_reg
= icdi_usb_write_reg
,
774 .read_mem
= icdi_usb_read_mem
,
775 .write_mem
= icdi_usb_write_mem
,
776 .write_debug_reg
= icdi_usb_write_debug_reg