/***************************************************************************
* Copyright (C) 2010 by Michal Demin *
* based on usbprog.c and arm-jtag-ew.c *
+ * Several fixes by R. Diez in 2013. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
SERIAL_FAST = 1
};
+static const cc_t SHORT_TIMEOUT = 1; /* Must be at least 1. */
+static const cc_t NORMAL_TIMEOUT = 10;
+
static int buspirate_fd = -1;
static int buspirate_pinmode = MODE_JTAG_OD;
static int buspirate_baudrate = SERIAL_NORMAL;
static int buspirate_pullup;
static char *buspirate_port;
+static enum tap_state last_tap_state = TAP_RESET;
+
+
/* TAP interface */
static void buspirate_tap_init(void);
static int buspirate_tap_execute(void);
/* low level HW communication interface */
static int buspirate_serial_open(char *port);
-static int buspirate_serial_setspeed(int fd, char speed);
+static int buspirate_serial_setspeed(int fd, char speed, cc_t timeout);
static int buspirate_serial_write(int fd, char *buf, int size);
static int buspirate_serial_read(int fd, char *buf, int size);
static void buspirate_serial_close(int fd);
return buspirate_tap_execute();
}
+
+/* Returns true if successful, false if error. */
+
+static bool read_and_discard_all_data(const int fd)
+{
+ /* LOG_INFO("Discarding any stale data from a previous connection..."); */
+
+ bool was_msg_already_printed = false;
+
+ for ( ; ; ) {
+ char buffer[1024]; /* Any size will do, it's a trade-off between stack size and performance. */
+
+ const ssize_t read_count = read(fd, buffer, sizeof(buffer));
+
+ if (read_count == 0) {
+ /* This is the "end of file" or "connection closed at the other end" condition. */
+ return true;
+ }
+
+ if (read_count > 0) {
+ if (!was_msg_already_printed) {
+ LOG_INFO("Some stale data from a previous connection was discarded.");
+ was_msg_already_printed = true;
+ }
+
+ continue;
+ }
+
+ assert(read_count == -1); /* According to the specification. */
+
+ const int errno_code = errno;
+
+ if (errno_code == EINTR)
+ continue;
+
+ if (errno_code == EAGAIN ||
+ errno_code == EWOULDBLOCK) {
+ /* We know that the file descriptor has been opened with O_NONBLOCK or O_NDELAY,
+ and these codes mean that there is no data to read at present. */
+ return true;
+ }
+
+ /* Some other error has occurred. */
+ return false;
+ }
+}
+
+
static int buspirate_init(void)
{
if (buspirate_port == NULL) {
return ERROR_JTAG_INIT_FAILED;
}
- buspirate_serial_setspeed(buspirate_fd, SERIAL_NORMAL);
+ /* The Operating System or the device itself may deliver stale data from the last connection,
+ so discard all available bytes right after the new connection has been established.
+ After all, we are implementing here a master/slave protocol, so the slave should have nothing
+ to say until the master sends the first command.
+
+ In the past, there was a tcflush() call in buspirate_serial_setspeed(), but that
+ was not enough. I guess you must actively read from the serial port to trigger any
+ data collection from the device and/or lower USB layers. If you disable the serial port
+ read timeout (if you set SHORT_TIMEOUT to 0), then the discarding does not work any more.
+
+ Note that we are lowering the serial port timeout for this first read operation,
+ otherwise the normal initialisation would be delayed for too long. */
+
+ if (-1 == buspirate_serial_setspeed(buspirate_fd, SERIAL_NORMAL, SHORT_TIMEOUT)) {
+ LOG_ERROR("Error configuring the serial port.");
+ return ERROR_JTAG_INIT_FAILED;
+ }
+
+ if (!read_and_discard_all_data(buspirate_fd)) {
+ LOG_ERROR("Error while attempting to discard any stale data right after establishing the connection.");
+ return ERROR_JTAG_INIT_FAILED;
+ }
+
+ if (-1 == buspirate_serial_setspeed(buspirate_fd, SERIAL_NORMAL, NORMAL_TIMEOUT)) {
+ LOG_ERROR("Error configuring the serial port.");
+ return ERROR_JTAG_INIT_FAILED;
+ }
buspirate_jtag_enable(buspirate_fd);
/************************* TAP related stuff **********/
+/* This buffer size matches the maximum CMD_TAP_SHIFT bit length in the Bus Pirate firmware,
+ look for constant 0x2000 in OpenOCD.c . */
#define BUSPIRATE_BUFFER_SIZE 1024
-#define BUSPIRATE_MAX_PENDING_SCANS 32
+
+/* The old value of 32 scans was not enough to achieve near 100% utilisation ratio
+ for the current BUSPIRATE_BUFFER_SIZE value of 1024.
+ With 128 scans I am getting full USB 2.0 high speed packets (512 bytes long) when
+ using the JtagDue firmware on the Arduino Due instead of the Bus Pirate, which
+ amounts approximately to a 10% overall speed gain. Bigger packets should also
+ benefit the Bus Pirate, but the speed difference is much smaller.
+ Unfortunately, each 512-byte packet is followed by a 329-byte one, which is not ideal.
+ However, increasing BUSPIRATE_BUFFER_SIZE for the benefit of the JtagDue would
+ make it incompatible with the Bus Pirate firmware. */
+#define BUSPIRATE_MAX_PENDING_SCANS 128
static char tms_chain[BUSPIRATE_BUFFER_SIZE]; /* send */
static char tdi_chain[BUSPIRATE_BUFFER_SIZE]; /* send */
static int buspirate_tap_execute(void)
{
+ static const int CMD_TAP_SHIFT_HEADER_LEN = 3;
+
char tmp[4096];
uint8_t *in_buf;
int i;
LOG_DEBUG("executing tap num bits = %i scans = %i",
tap_chain_index, tap_pending_scans_num);
- bytes_to_send = (tap_chain_index+7) / 8;
+ bytes_to_send = DIV_ROUND_UP(tap_chain_index, 8);
tmp[0] = CMD_TAP_SHIFT; /* this command expects number of bits */
tmp[1] = (char)(tap_chain_index >> 8); /* high */
tmp[2] = (char)(tap_chain_index); /* low */
- fill_index = 3;
+ fill_index = CMD_TAP_SHIFT_HEADER_LEN;
for (i = 0; i < bytes_to_send; i++) {
tmp[fill_index] = tdi_chain[i];
fill_index++;
fill_index++;
}
- ret = buspirate_serial_write(buspirate_fd, tmp, 3 + bytes_to_send*2);
- if (ret != bytes_to_send*2+3) {
+ /* jlink.c calls the routine below, which may be useful for debugging purposes.
+ For example, enabling this allows you to compare the log outputs from jlink.c
+ and from this module for JTAG development or troubleshooting purposes. */
+ if (false) {
+ last_tap_state = jtag_debug_state_machine(tms_chain, tdi_chain,
+ tap_chain_index, last_tap_state);
+ }
+
+ ret = buspirate_serial_write(buspirate_fd, tmp, CMD_TAP_SHIFT_HEADER_LEN + bytes_to_send*2);
+ if (ret != bytes_to_send*2+CMD_TAP_SHIFT_HEADER_LEN) {
LOG_ERROR("error writing :(");
return ERROR_JTAG_DEVICE_ERROR;
}
- ret = buspirate_serial_read(buspirate_fd, tmp, bytes_to_send + 3);
- if (ret != bytes_to_send + 3) {
+ ret = buspirate_serial_read(buspirate_fd, tmp, bytes_to_send + CMD_TAP_SHIFT_HEADER_LEN);
+ if (ret != bytes_to_send + CMD_TAP_SHIFT_HEADER_LEN) {
LOG_ERROR("error reading");
return ERROR_FAIL;
}
- in_buf = (uint8_t *)(&tmp[3]);
+ in_buf = (uint8_t *)(&tmp[CMD_TAP_SHIFT_HEADER_LEN]);
/* parse the scans */
for (i = 0; i < tap_pending_scans_num; i++) {
free(buffer);
}
- tap_pending_scans_num = 0;
- tap_chain_index = 0;
+ buspirate_tap_init();
return ERROR_OK;
}
int bit_index = tap_chain_index % 8;
uint8_t bit = 1 << bit_index;
+ if (0 == bit_index) {
+ /* Let's say that the TAP shift operation wants to shift 9 bits,
+ so we will be sending to the Bus Pirate a bit count of 9 but still
+ full 16 bits (2 bytes) of shift data.
+ If we don't clear all bits at this point, the last 7 bits will contain
+ random data from the last buffer contents, which is not pleasant to the eye.
+ Besides, the Bus Pirate (or some clone) may want to assert in debug builds
+ that, after consuming all significant data bits, the rest of them are zero.
+ Therefore, for aesthetic and for assert purposes, we clear all bits below. */
+ tms_chain[chain_index] = 0;
+ tdi_chain[chain_index] = 0;
+ }
+
if (tms)
tms_chain[chain_index] |= bit;
else
tdi_chain[chain_index] &= ~bit;
tap_chain_index++;
- } else
+ } else {
LOG_ERROR("tap_chain overflow, bad things will happen");
-
+ /* Exit abruptly, like jlink.c does. After a buffer overflow we don't want
+ to carry on, as data will be corrupt. Another option would be to return
+ some error code at this point. */
+ exit(-1);
+ }
}
static void buspirate_tap_append_scan(int length, uint8_t *buffer,
buspirate_jtag_command(fd, tmp, 2);
/* here the adapter changes speed, we need follow */
- buspirate_serial_setspeed(fd, speed);
+ if (-1 == buspirate_serial_setspeed(fd, speed, NORMAL_TIMEOUT)) {
+ LOG_ERROR("Error configuring the serial port.");
+ exit(-1);
+ }
buspirate_serial_write(fd, ack, 2);
ret = buspirate_serial_read(fd, tmp, 2);
exit(-1);
}
if ((tmp[0] != CMD_UART_SPEED) || (tmp[1] != speed)) {
- LOG_ERROR("Buspirate did not reply as expected");
+ LOG_ERROR("Buspirate did not reply as expected to the speed change command");
exit(-1);
}
LOG_INFO("Buspirate switched to %s mode",
return fd;
}
-static int buspirate_serial_setspeed(int fd, char speed)
+
+/* Returns -1 on error. */
+
+static int buspirate_serial_setspeed(int fd, char speed, cc_t timeout)
{
struct termios t_opt;
speed_t baud = (speed == SERIAL_FAST) ? B1000000 : B115200;
/* set the serial port parameters */
fcntl(fd, F_SETFL, 0);
- tcgetattr(fd, &t_opt);
- cfsetispeed(&t_opt, baud);
- cfsetospeed(&t_opt, baud);
+ if (0 != tcgetattr(fd, &t_opt))
+ return -1;
+
+ if (0 != cfsetispeed(&t_opt, baud))
+ return -1;
+
+ if (0 != cfsetospeed(&t_opt, baud))
+ return -1;
+
t_opt.c_cflag |= (CLOCAL | CREAD);
t_opt.c_cflag &= ~PARENB;
t_opt.c_cflag &= ~CSTOPB;
t_opt.c_cflag &= ~CSIZE;
t_opt.c_cflag |= CS8;
t_opt.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
- t_opt.c_iflag &= ~(IXON | IXOFF | IXANY);
+
+ /* The serial port may have been configured for human interaction with
+ the Bus Pirate console, but OpenOCD is going to use a binary protocol,
+ so make sure to turn off any CR/LF translation and the like. */
+ t_opt.c_iflag &= ~(IXON | IXOFF | IXANY | INLCR | ICRNL);
+
t_opt.c_oflag &= ~OPOST;
t_opt.c_cc[VMIN] = 0;
- t_opt.c_cc[VTIME] = 10;
- tcflush(fd, TCIFLUSH);
- tcsetattr(fd, TCSANOW, &t_opt);
+ t_opt.c_cc[VTIME] = timeout;
+
+ /* Note that, in the past, TCSANOW was used below instead of TCSADRAIN,
+ and CMD_UART_SPEED did not work properly then, at least with
+ the Bus Pirate v3.5 (USB). */
+ if (0 != tcsetattr(fd, TCSADRAIN, &t_opt)) {
+ /* According to the Linux documentation, this is actually not enough
+ to detect errors, you need to call tcgetattr() and check that
+ all changes have been performed successfully. */
+ return -1;
+ }
return 0;
}
projects / fw / openocd / commitdiff