contrib/remote_bitbang/remote_bitbang_sysfsgpio.c

   1 /***************************************************************************
   2  *   Copyright (C) 2013 Paul Fertser <fercerpav@gmail.com>                 *
   3  *   Copyright (C) 2012 by Creative Product Design, marc @ cpdesign.com.au *
   4  *                                                                         *
   5  *   This program is free software; you can redistribute it and/or modify  *
   6  *   it under the terms of the GNU General Public License as published by  *
   7  *   the Free Software Foundation; either version 2 of the License, or     *
   8  *   (at your option) any later version.                                   *
   9  *                                                                         *
  10  *   This program is distributed in the hope that it will be useful,       *
  11  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  12  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  13  *   GNU General Public License for more details.                          *
  14  *                                                                         *
  15  *   You should have received a copy of the GNU General Public License     *
  16  *   along with this program; if not, write to the                         *
  17  *   Free Software Foundation, Inc.,                                       *
  18  *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
  19  ***************************************************************************/
  20
  21 /*
  22   This is a test application to be used as a remote bitbang server for
  23   the OpenOCD remote_bitbang interface driver.
  24
  25   To compile run:
  26   gcc -Wall -ansi -pedantic -std=c99 -o remote_bitbang_sysfsgpio remote_bitbang_sysfsgpio.c
  27
  28
  29   Usage example:
  30
  31   On Raspberry Pi run:
  32   socat TCP6-LISTEN:7777,fork EXEC:"sudo ./remote_bitbang_sysfsgpio tck 11 tms 25 tdo 9 tdi 10"
  33
  34   On host run:
  35   openocd -c "interface remote_bitbang; remote_bitbang_host raspberrypi; remote_bitbang_port 7777" \
  36           -f target/stm32f1x.cfg
  37
  38   Or if you want to test UNIX sockets, run both on Raspberry Pi:
  39   socat UNIX-LISTEN:/tmp/remotebitbang-socket,fork EXEC:"sudo ./remote_bitbang_sysfsgpio tck 11 tms 25 tdo 9 tdi 10"
  40   openocd -c "interface remote_bitbang; remote_bitbang_host /tmp/remotebitbang-socket" -f target/stm32f1x.cfg
  41 */
  42
  43 #include <sys/types.h>
  44 #include <sys/stat.h>
  45 #include <fcntl.h>
  46 #include <unistd.h>
  47 #include <stdlib.h>
  48 #include <stdio.h>
  49 #include <string.h>
  50 #include <errno.h>
  51
  52 #define LOG_ERROR(...)          do {                                    \
  53                 fprintf(stderr, __VA_ARGS__);                           \
  54                 fputc('\n', stderr);                                    \
  55         } while (0)
  56 #define LOG_WARNING(...)        LOG_ERROR(__VA_ARGS__)
  57
  58 #define ERROR_OK        (-1)
  59 #define ERROR_FAIL      (-2)
  60 #define ERROR_JTAG_INIT_FAILED  ERROR_FAIL
  61
  62 /*
  63  * Helper func to determine if gpio number valid
  64  *
  65  * Assume here that there will be less than 1000 gpios on a system
  66  */
  67 static int is_gpio_valid(int gpio)
  68 {
  69         return gpio >= 0 && gpio < 1000;
  70 }
  71
  72 /*
  73  * Helper func to open, write to and close a file
  74  * name and valstr must be null terminated.
  75  *
  76  * Returns negative on failure.
  77  */
  78 static int open_write_close(const char *name, const char *valstr)
  79 {
  80         int ret;
  81         int fd = open(name, O_WRONLY);
  82         if (fd < 0)
  83                 return fd;
  84
  85         ret = write(fd, valstr, strlen(valstr));
  86         close(fd);
  87
  88         return ret;
  89 }
  90
  91 /*
  92  * Helper func to unexport gpio from sysfs
  93  */
  94 static void unexport_sysfs_gpio(int gpio)
  95 {
  96         char gpiostr[4];
  97
  98         if (!is_gpio_valid(gpio))
  99                 return;
 100
 101         snprintf(gpiostr, sizeof(gpiostr), "%d", gpio);
 102         if (open_write_close("/sys/class/gpio/unexport", gpiostr) < 0)
 103                 LOG_ERROR("Couldn't unexport gpio %d", gpio);
 104
 105         return;
 106 }
 107
 108 /*
 109  * Exports and sets up direction for gpio.
 110  * If the gpio is an output, it is initialized according to init_high,
 111  * otherwise it is ignored.
 112  *
 113  * If the gpio is already exported we just show a warning and continue; if
 114  * openocd happened to crash (or was killed by user) then the gpios will not
 115  * have been cleaned up.
 116  */
 117 static int setup_sysfs_gpio(int gpio, int is_output, int init_high)
 118 {
 119         char buf[40];
 120         char gpiostr[4];
 121         int ret;
 122
 123         if (!is_gpio_valid(gpio))
 124                 return ERROR_OK;
 125
 126         snprintf(gpiostr, sizeof(gpiostr), "%d", gpio);
 127         ret = open_write_close("/sys/class/gpio/export", gpiostr);
 128         if (ret < 0) {
 129                 if (errno == EBUSY) {
 130                         LOG_WARNING("gpio %d is already exported", gpio);
 131                 } else {
 132                         LOG_ERROR("Couldn't export gpio %d", gpio);
 133                         perror("sysfsgpio: ");
 134                         return ERROR_FAIL;
 135                 }
 136         }
 137
 138         snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/direction", gpio);
 139         ret = open_write_close(buf, is_output ? (init_high ? "high" : "low") : "in");
 140         if (ret < 0) {
 141                 LOG_ERROR("Couldn't set direction for gpio %d", gpio);
 142                 perror("sysfsgpio: ");
 143                 unexport_sysfs_gpio(gpio);
 144                 return ERROR_FAIL;
 145         }
 146
 147         snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/value", gpio);
 148         if (is_output)
 149                 ret = open(buf, O_WRONLY | O_NONBLOCK | O_SYNC);
 150         else
 151                 ret = open(buf, O_RDONLY | O_NONBLOCK | O_SYNC);
 152
 153         if (ret < 0)
 154                 unexport_sysfs_gpio(gpio);
 155
 156         return ret;
 157 }
 158
 159 /*
 160  * file descriptors for /sys/class/gpio/gpioXX/value
 161  * Set up during init.
 162  */
 163 static int tck_fd = -1;
 164 static int tms_fd = -1;
 165 static int tdi_fd = -1;
 166 static int tdo_fd = -1;
 167 static int trst_fd = -1;
 168 static int srst_fd = -1;
 169
 170 /*
 171  * Bitbang interface read of TDO
 172  *
 173  * The sysfs value will read back either '0' or '1'. The trick here is to call
 174  * lseek to bypass buffering in the sysfs kernel driver.
 175  */
 176 static int sysfsgpio_read(void)
 177 {
 178         char buf[1];
 179
 180         /* important to seek to signal sysfs of new read */
 181         lseek(tdo_fd, 0, SEEK_SET);
 182         int ret = read(tdo_fd, &buf, sizeof(buf));
 183
 184         if (ret < 0) {
 185                 LOG_WARNING("reading tdo failed");
 186                 return 0;
 187         }
 188
 189         return buf[0];
 190 }
 191
 192 /*
 193  * Bitbang interface write of TCK, TMS, TDI
 194  *
 195  * Seeing as this is the only function where the outputs are changed,
 196  * we can cache the old value to avoid needlessly writing it.
 197  */
 198 static void sysfsgpio_write(int tck, int tms, int tdi)
 199 {
 200         const char one[] = "1";
 201         const char zero[] = "0";
 202
 203         static int last_tck;
 204         static int last_tms;
 205         static int last_tdi;
 206
 207         static int first_time;
 208         size_t bytes_written;
 209
 210         if (!first_time) {
 211                 last_tck = !tck;
 212                 last_tms = !tms;
 213                 last_tdi = !tdi;
 214                 first_time = 1;
 215         }
 216
 217         if (tdi != last_tdi) {
 218                 bytes_written = write(tdi_fd, tdi ? &one : &zero, 1);
 219                 if (bytes_written != 1)
 220                         LOG_WARNING("writing tdi failed");
 221         }
 222
 223         if (tms != last_tms) {
 224                 bytes_written = write(tms_fd, tms ? &one : &zero, 1);
 225                 if (bytes_written != 1)
 226                         LOG_WARNING("writing tms failed");
 227         }
 228
 229         /* write clk last */
 230         if (tck != last_tck) {
 231                 bytes_written = write(tck_fd, tck ? &one : &zero, 1);
 232                 if (bytes_written != 1)
 233                         LOG_WARNING("writing tck failed");
 234         }
 235
 236         last_tdi = tdi;
 237         last_tms = tms;
 238         last_tck = tck;
 239 }
 240
 241 /*
 242  * Bitbang interface to manipulate reset lines SRST and TRST
 243  *
 244  * (1) assert or (0) deassert reset lines
 245  */
 246 static void sysfsgpio_reset(int trst, int srst)
 247 {
 248         const char one[] = "1";
 249         const char zero[] = "0";
 250         size_t bytes_written;
 251
 252         /* assume active low */
 253         if (srst_fd >= 0) {
 254                 bytes_written = write(srst_fd, srst ? &zero : &one, 1);
 255                 if (bytes_written != 1)
 256                         LOG_WARNING("writing srst failed");
 257         }
 258
 259         /* assume active low */
 260         if (trst_fd >= 0) {
 261                 bytes_written = write(trst_fd, trst ? &zero : &one, 1);
 262                 if (bytes_written != 1)
 263                         LOG_WARNING("writing trst failed");
 264         }
 265 }
 266
 267 /* gpio numbers for each gpio. Negative values are invalid */
 268 static int tck_gpio = -1;
 269 static int tms_gpio = -1;
 270 static int tdi_gpio = -1;
 271 static int tdo_gpio = -1;
 272 static int trst_gpio = -1;
 273 static int srst_gpio = -1;
 274
 275 /* helper func to close and cleanup files only if they were valid/ used */
 276 static void cleanup_fd(int fd, int gpio)
 277 {
 278         if (gpio >= 0) {
 279                 if (fd >= 0)
 280                         close(fd);
 281
 282                 unexport_sysfs_gpio(gpio);
 283         }
 284 }
 285
 286 static void cleanup_all_fds(void)
 287 {
 288         cleanup_fd(tck_fd, tck_gpio);
 289         cleanup_fd(tms_fd, tms_gpio);
 290         cleanup_fd(tdi_fd, tdi_gpio);
 291         cleanup_fd(tdo_fd, tdo_gpio);
 292         cleanup_fd(trst_fd, trst_gpio);
 293         cleanup_fd(srst_fd, srst_gpio);
 294 }
 295
 296 static void process_remote_protocol(void)
 297 {
 298         int c;
 299         while (1) {
 300                 c = getchar();
 301                 if (c == EOF || c == 'Q') /* Quit */
 302                         break;
 303                 else if (c == 'b' || c == 'B') /* Blink */
 304                         continue;
 305                 else if (c >= 'r' && c <= 'r' + 2) { /* Reset */
 306                         char d = c - 'r';
 307                         sysfsgpio_reset(!!(d & 2),
 308                                         (d & 1));
 309                 } else if (c >= '0' && c <= '0' + 7) {/* Write */
 310                         char d = c - '0';
 311                         sysfsgpio_write(!!(d & 4),
 312                                         !!(d & 2),
 313                                         (d & 1));
 314                 } else if (c == 'R')
 315                         putchar(sysfsgpio_read());
 316                 else
 317                         LOG_ERROR("Unknown command '%c' received", c);
 318         }
 319 }
 320
 321 int main(int argc, char *argv[])
 322 {
 323         LOG_WARNING("SysfsGPIO remote_bitbang JTAG driver\n");
 324
 325         for (int i = 1; i < argc; i++) {
 326                 if (!strcmp(argv[i], "tck"))
 327                         tck_gpio = atoi(argv[++i]);
 328                 else if (!strcmp(argv[i], "tms"))
 329                         tms_gpio = atoi(argv[++i]);
 330                 else if (!strcmp(argv[i], "tdo"))
 331                         tdo_gpio = atoi(argv[++i]);
 332                 else if (!strcmp(argv[i], "tdi"))
 333                         tdi_gpio = atoi(argv[++i]);
 334                 else if (!strcmp(argv[i], "trst"))
 335                         trst_gpio = atoi(argv[++i]);
 336                 else if (!strcmp(argv[i], "srst"))
 337                         srst_gpio = atoi(argv[++i]);
 338                 else {
 339                         LOG_ERROR("Usage:\n%s ((tck|tms|tdo|tdi|trst|srst) num)*", argv[0]);
 340                         return -1;
 341                 }
 342         }
 343
 344         if (!(is_gpio_valid(tck_gpio)
 345                         && is_gpio_valid(tms_gpio)
 346                         && is_gpio_valid(tdi_gpio)
 347                         && is_gpio_valid(tdo_gpio))) {
 348                 if (!is_gpio_valid(tck_gpio))
 349                         LOG_ERROR("gpio num for tck is invalid");
 350                 if (!is_gpio_valid(tms_gpio))
 351                         LOG_ERROR("gpio num for tms is invalid");
 352                 if (!is_gpio_valid(tdo_gpio))
 353                         LOG_ERROR("gpio num for tdo is invalid");
 354                 if (!is_gpio_valid(tdi_gpio))
 355                         LOG_ERROR("gpio num for tdi is invalid");
 356
 357                 LOG_ERROR("Require tck, tms, tdi and tdo gpios to all be specified");
 358                 return ERROR_JTAG_INIT_FAILED;
 359         }
 360
 361         /*
 362          * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
 363          * as outputs.  Drive TDI and TCK low, and TMS/TRST/SRST high.
 364          */
 365         tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0);
 366         if (tck_fd < 0)
 367                 goto out_error;
 368
 369         tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1);
 370         if (tms_fd < 0)
 371                 goto out_error;
 372
 373         tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0);
 374         if (tdi_fd < 0)
 375                 goto out_error;
 376
 377         tdo_fd = setup_sysfs_gpio(tdo_gpio, 0, 0);
 378         if (tdo_fd < 0)
 379                 goto out_error;
 380
 381         /* assume active low */
 382         if (trst_gpio > 0) {
 383                 trst_fd = setup_sysfs_gpio(trst_gpio, 1, 1);
 384                 if (trst_fd < 0)
 385                         goto out_error;
 386         }
 387
 388         /* assume active low */
 389         if (srst_gpio > 0) {
 390                 srst_fd = setup_sysfs_gpio(srst_gpio, 1, 1);
 391                 if (srst_fd < 0)
 392                         goto out_error;
 393         }
 394
 395         LOG_WARNING("SysfsGPIO nums: tck = %d, tms = %d, tdi = %d, tdo = %d",
 396                  tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
 397         LOG_WARNING("SysfsGPIO num: srst = %d", srst_gpio);
 398         LOG_WARNING("SysfsGPIO num: trst = %d", trst_gpio);
 399
 400         setvbuf(stdout, NULL, _IONBF, 0);
 401         process_remote_protocol();
 402
 403         cleanup_all_fds();
 404         return 0;
 405 out_error:
 406         cleanup_all_fds();
 407         return ERROR_JTAG_INIT_FAILED;
 408 }