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 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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>
36 #include <libusb-1.0/libusb.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 "$"
46 #define PACKET_END "#"
48 struct icdi_usb_handle_s {
49 libusb_context *usb_ctx;
50 libusb_device_handle *usb_dev;
58 static int icdi_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer);
59 static int icdi_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer);
61 static int remote_escape_output(const char *buffer, int len, char *out_buf, int *out_len, int out_maxlen)
63 int input_index, output_index;
67 for (input_index = 0; input_index < len; input_index++) {
69 char b = buffer[input_index];
71 if (b == '$' || b == '#' || b == '}' || b == '*') {
72 /* These must be escaped. */
73 if (output_index + 2 > out_maxlen)
75 out_buf[output_index++] = '}';
76 out_buf[output_index++] = b ^ 0x20;
78 if (output_index + 1 > out_maxlen)
80 out_buf[output_index++] = b;
84 *out_len = input_index;
88 static int remote_unescape_input(const char *buffer, int len, char *out_buf, int out_maxlen)
90 int input_index, output_index;
96 for (input_index = 0; input_index < len; input_index++) {
98 char b = buffer[input_index];
100 if (output_index + 1 > out_maxlen)
101 LOG_ERROR("Received too much data from the target.");
104 out_buf[output_index++] = b ^ 0x20;
109 out_buf[output_index++] = b;
113 LOG_ERROR("Unmatched escape character in target response.");
118 static int icdi_send_packet(void *handle, int len)
120 unsigned char cksum = 0;
121 struct icdi_usb_handle_s *h;
122 int result, retry = 0;
125 assert(handle != NULL);
126 h = (struct icdi_usb_handle_s *)handle;
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;
235 h = (struct icdi_usb_handle_s *)handle;
237 int cmd_len = snprintf(h->write_buffer, h->max_packet, PACKET_START "%s", cmd);
238 return icdi_send_packet(handle, cmd_len);
241 static int icdi_send_remote_cmd(void *handle, const char *data)
243 struct icdi_usb_handle_s *h;
244 h = (struct icdi_usb_handle_s *)handle;
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);
249 return icdi_send_packet(handle, cmd_len);
252 static int icdi_get_cmd_result(void *handle)
254 struct icdi_usb_handle_s *h;
258 assert(handle != NULL);
259 h = (struct icdi_usb_handle_s *)handle;
262 ch = h->read_buffer[offset++];
263 if (offset > h->read_count)
267 if (memcmp("OK", h->read_buffer + offset, 2) == 0)
270 if (h->read_buffer[offset] == 'E') {
273 if (unhexify(&result, h->read_buffer + offset + 1, 1) != 1)
278 /* for now we assume everything else is ok */
282 static int icdi_usb_idcode(void *handle, uint32_t *idcode)
287 static int icdi_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
289 return icdi_usb_write_mem32(handle, addr, 1, (uint8_t *)&val);
292 static enum target_state icdi_usb_state(void *handle)
295 struct icdi_usb_handle_s *h;
298 h = (struct icdi_usb_handle_s *)handle;
300 result = icdi_usb_read_mem32(h, DCB_DHCSR, 1, (uint8_t *)&dhcsr);
301 if (result != ERROR_OK)
302 return TARGET_UNKNOWN;
305 return TARGET_HALTED;
307 return TARGET_RUNNING;
310 static int icdi_usb_version(void *handle)
312 struct icdi_usb_handle_s *h;
313 h = (struct icdi_usb_handle_s *)handle;
317 /* get info about icdi */
318 int result = icdi_send_remote_cmd(handle, "version");
319 if (result != ERROR_OK)
322 if (h->read_count < 8) {
323 LOG_ERROR("Invalid Reply Received");
328 if (unhexify(version, h->read_buffer + 2, 4) != 4) {
329 LOG_WARNING("unable to get ICDI version");
333 /* null terminate and print info */
336 LOG_INFO("ICDI Firmware version: %s", version);
341 static int icdi_usb_query(void *handle)
345 struct icdi_usb_handle_s *h;
346 h = (struct icdi_usb_handle_s *)handle;
348 result = icdi_send_cmd(handle, "qSupported");
349 if (result != ERROR_OK)
353 result = icdi_get_cmd_result(handle);
354 if (result != ERROR_OK) {
355 LOG_ERROR("query supported failed: 0x%x", result);
359 /* from this we can get the max packet supported */
361 /* query packet buffer size */
362 char *offset = strstr(h->read_buffer, "PacketSize");
367 max_packet = strtoul(offset + 11, &separator, 16);
369 LOG_ERROR("invalid max packet, using defaults");
371 h->max_packet = max_packet;
372 LOG_DEBUG("max packet supported : %" PRIu32 " bytes", h->max_packet);
376 /* if required re allocate packet buffer */
377 if (h->max_packet != ICDI_PACKET_SIZE) {
378 h->read_buffer = realloc(h->read_buffer, h->max_packet);
379 h->write_buffer = realloc(h->write_buffer, h->max_packet);
380 if (h->read_buffer == 0 || h->write_buffer == 0) {
381 LOG_ERROR("unable to reallocate memory");
386 /* set extended mode */
387 result = icdi_send_cmd(handle, "!");
390 result = icdi_get_cmd_result(handle);
391 if (result != ERROR_OK) {
392 LOG_ERROR("unable to enable extended mode: 0x%x", result);
399 static int icdi_usb_reset(void *handle)
401 /* we do this in hla_target.c */
405 static int icdi_usb_assert_srst(void *handle, int srst)
407 /* TODO not supported yet */
408 return ERROR_COMMAND_NOTFOUND;
411 static int icdi_usb_run(void *handle)
415 /* resume target at current address */
416 result = icdi_send_cmd(handle, "c");
417 if (result != ERROR_OK)
421 result = icdi_get_cmd_result(handle);
422 if (result != ERROR_OK) {
423 LOG_ERROR("continue failed: 0x%x", result);
430 static int icdi_usb_halt(void *handle)
434 /* this query halts the target ?? */
435 result = icdi_send_cmd(handle, "?");
436 if (result != ERROR_OK)
440 result = icdi_get_cmd_result(handle);
441 if (result != ERROR_OK) {
442 LOG_ERROR("halt failed: 0x%x", result);
449 static int icdi_usb_step(void *handle)
453 /* step target at current address */
454 result = icdi_send_cmd(handle, "s");
455 if (result != ERROR_OK)
459 result = icdi_get_cmd_result(handle);
460 if (result != ERROR_OK) {
461 LOG_ERROR("step failed: 0x%x", result);
468 static int icdi_usb_read_regs(void *handle)
470 /* currently unsupported */
474 static int icdi_usb_read_reg(void *handle, int num, uint32_t *val)
477 struct icdi_usb_handle_s *h;
480 h = (struct icdi_usb_handle_s *)handle;
482 snprintf(cmd, sizeof(cmd), "p%x", num);
483 result = icdi_send_cmd(handle, cmd);
484 if (result != ERROR_OK)
488 result = icdi_get_cmd_result(handle);
489 if (result != ERROR_OK) {
490 LOG_ERROR("register read failed: 0x%x", result);
495 if (unhexify((char *)val, h->read_buffer + 2, 4) != 4) {
496 LOG_ERROR("failed to convert result");
503 static int icdi_usb_write_reg(void *handle, int num, uint32_t val)
508 int cmd_len = snprintf(cmd, sizeof(cmd), "P%x=", num);
509 hexify(cmd + cmd_len, (char *)&val, 4, sizeof(cmd));
511 result = icdi_send_cmd(handle, cmd);
512 if (result != ERROR_OK)
516 result = icdi_get_cmd_result(handle);
517 if (result != ERROR_OK) {
518 LOG_ERROR("register write failed: 0x%x", result);
525 static int icdi_usb_read_mem(void *handle, uint32_t addr, uint32_t len, uint8_t *buffer)
528 struct icdi_usb_handle_s *h;
531 h = (struct icdi_usb_handle_s *)handle;
533 snprintf(cmd, sizeof(cmd), "x%x,%x", addr, len);
534 result = icdi_send_cmd(handle, cmd);
535 if (result != ERROR_OK)
539 result = icdi_get_cmd_result(handle);
540 if (result != ERROR_OK) {
541 LOG_ERROR("memory read failed: 0x%x", result);
546 int read_len = remote_unescape_input(h->read_buffer + 5, h->read_count - 8, (char *)buffer, len);
547 if (read_len != (int)len) {
548 LOG_ERROR("read more bytes than expected: actual 0x%" PRIx32 " expected 0x%" PRIx32, read_len, len);
555 static int icdi_usb_write_mem(void *handle, uint32_t addr, uint32_t len, const uint8_t *buffer)
558 struct icdi_usb_handle_s *h;
560 h = (struct icdi_usb_handle_s *)handle;
562 size_t cmd_len = snprintf(h->write_buffer, h->max_packet, PACKET_START "X%x,%x:", addr, len);
565 cmd_len += remote_escape_output((char *)buffer, len, h->write_buffer + cmd_len,
566 &out_len, h->max_packet - cmd_len);
568 if (out_len < (int)len) {
569 /* for now issue a error as we have no way of allocating a larger buffer */
570 LOG_ERROR("memory buffer too small: requires 0x%" PRIx32 " actual 0x%" PRIx32, out_len, len);
574 result = icdi_send_packet(handle, cmd_len);
575 if (result != ERROR_OK)
579 result = icdi_get_cmd_result(handle);
580 if (result != ERROR_OK) {
581 LOG_ERROR("memory write failed: 0x%x", result);
588 static int icdi_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer)
590 return icdi_usb_read_mem(handle, addr, len, buffer);
593 static int icdi_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer)
595 return icdi_usb_write_mem(handle, addr, len, buffer);
598 static int icdi_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer)
600 return icdi_usb_read_mem(handle, addr, len * 4, buffer);
603 static int icdi_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer)
605 return icdi_usb_write_mem(handle, addr, len * 4, buffer);
608 static int icdi_usb_close(void *handle)
610 struct icdi_usb_handle_s *h;
612 h = (struct icdi_usb_handle_s *)handle;
615 libusb_close(h->usb_dev);
618 libusb_exit(h->usb_ctx);
621 free(h->read_buffer);
624 free(h->write_buffer);
631 static int icdi_usb_open(struct hl_interface_param_s *param, void **fd)
634 struct icdi_usb_handle_s *h;
636 LOG_DEBUG("icdi_usb_open");
638 h = calloc(1, sizeof(struct icdi_usb_handle_s));
641 LOG_ERROR("unable to allocate memory");
645 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
646 param->vid, param->pid);
648 if (libusb_init(&h->usb_ctx) != 0) {
649 LOG_ERROR("libusb init failed");
653 h->usb_dev = libusb_open_device_with_vid_pid(h->usb_ctx, param->vid, param->pid);
655 LOG_ERROR("open failed");
659 if (libusb_claim_interface(h->usb_dev, 2)) {
660 LOG_DEBUG("claim interface failed");
664 /* check if mode is supported */
667 switch (param->transport) {
669 /* TODO place holder as swd is not currently supported */
670 case HL_TRANSPORT_SWD:
672 case HL_TRANSPORT_JTAG:
679 if (retval != ERROR_OK) {
680 LOG_ERROR("mode (transport) not supported by device");
684 /* allocate buffer */
685 h->read_buffer = malloc(ICDI_PACKET_SIZE);
686 h->write_buffer = malloc(ICDI_PACKET_SIZE);
687 h->max_packet = ICDI_PACKET_SIZE;
689 if (h->read_buffer == 0 || h->write_buffer == 0) {
690 LOG_DEBUG("malloc failed");
694 /* query icdi version etc */
695 retval = icdi_usb_version(h);
696 if (retval != ERROR_OK)
699 /* query icdi support */
700 retval = icdi_usb_query(h);
701 if (retval != ERROR_OK)
706 /* set the max target read/write buffer in bytes
707 * as we are using gdb binary packets to transfer memory we have to
708 * reserve half the buffer for any possible escape chars plus
709 * at least 64 bytes for the gdb packet header */
710 param->max_buffer = (((h->max_packet - 64) / 4) * 4) / 2;
720 struct hl_layout_api_s icdi_usb_layout_api = {
721 .open = icdi_usb_open,
722 .close = icdi_usb_close,
723 .idcode = icdi_usb_idcode,
724 .state = icdi_usb_state,
725 .reset = icdi_usb_reset,
726 .assert_srst = icdi_usb_assert_srst,
728 .halt = icdi_usb_halt,
729 .step = icdi_usb_step,
730 .read_regs = icdi_usb_read_regs,
731 .read_reg = icdi_usb_read_reg,
732 .write_reg = icdi_usb_write_reg,
733 .read_mem8 = icdi_usb_read_mem8,
734 .write_mem8 = icdi_usb_write_mem8,
735 .read_mem32 = icdi_usb_read_mem32,
736 .write_mem32 = icdi_usb_write_mem32,
737 .write_debug_reg = icdi_usb_write_debug_reg