icdi: add TI icdi interface
This is the new proprietary interface replacing the older FTDI based adapters. It is currently fitted to the ek-lm4f232 and Stellaris LaunchPad. Change-Id: I794ad79e31ff61ec8e9f49530aca9308025c0b60 Signed-off-by: Spencer Oliver <spen@spen-soft.co.uk> Reviewed-on: http://openocd.zylin.com/922 Tested-by: jenkins
This commit is contained in:
Spencer Oliver
@@ -100,6 +100,7 @@ DRIVERFILES += remote_bitbang.c
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endif
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if HLADAPTER
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DRIVERFILES += stlink_usb.c
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DRIVERFILES += ti_icdi_usb.c
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endif
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if OSBDM
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DRIVERFILES += osbdm.c
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730
src/jtag/drivers/ti_icdi_usb.c
Normal file
730
src/jtag/drivers/ti_icdi_usb.c
Normal file
@@ -0,0 +1,730 @@
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/***************************************************************************
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* *
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* Copyright (C) 2012 by Spencer Oliver *
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* spen@spen-soft.co.uk *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, write to the *
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* Free Software Foundation, Inc., *
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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
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***************************************************************************/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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/* project specific includes */
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#include <helper/binarybuffer.h>
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#include <jtag/interface.h>
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#include <jtag/hla/hla_layout.h>
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#include <jtag/hla/hla_transport.h>
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#include <jtag/hla/hla_interface.h>
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#include <target/target.h>
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#include <target/cortex_m.h>
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#include <libusb-1.0/libusb.h>
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#define ICDI_WRITE_ENDPOINT 0x02
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#define ICDI_READ_ENDPOINT 0x83
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#define ICDI_WRITE_TIMEOUT 1000
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#define ICDI_READ_TIMEOUT 1000
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#define ICDI_PACKET_SIZE 2048
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#define PACKET_START "$"
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#define PACKET_END "#"
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struct icdi_usb_handle_s {
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libusb_context *usb_ctx;
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libusb_device_handle *usb_dev;
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char *read_buffer;
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char *write_buffer;
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int max_packet;
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int read_count;
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};
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static int icdi_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer);
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static int icdi_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer);
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static int remote_escape_output(const char *buffer, int len, char *out_buf, int *out_len, int out_maxlen)
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{
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int input_index, output_index;
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output_index = 0;
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for (input_index = 0; input_index < len; input_index++) {
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char b = buffer[input_index];
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if (b == '$' || b == '#' || b == '}' || b == '*') {
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/* These must be escaped. */
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if (output_index + 2 > out_maxlen)
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break;
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out_buf[output_index++] = '}';
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out_buf[output_index++] = b ^ 0x20;
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} else {
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if (output_index + 1 > out_maxlen)
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break;
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out_buf[output_index++] = b;
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}
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}
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*out_len = input_index;
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return output_index;
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}
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static int remote_unescape_input(const char *buffer, int len, char *out_buf, int out_maxlen)
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{
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int input_index, output_index;
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int escaped;
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output_index = 0;
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escaped = 0;
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for (input_index = 0; input_index < len; input_index++) {
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char b = buffer[input_index];
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if (output_index + 1 > out_maxlen)
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LOG_ERROR("Received too much data from the target.");
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if (escaped) {
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out_buf[output_index++] = b ^ 0x20;
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escaped = 0;
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} else if (b == '}')
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escaped = 1;
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else
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out_buf[output_index++] = b;
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}
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if (escaped)
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LOG_ERROR("Unmatched escape character in target response.");
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return output_index;
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}
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static int icdi_send_packet(void *handle, int len)
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{
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unsigned char cksum = 0;
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struct icdi_usb_handle_s *h;
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int result, retry = 0;
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int transferred = 0;
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assert(handle != NULL);
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h = (struct icdi_usb_handle_s *)handle;
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/* check we have a large enough buffer for checksum "#00" */
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if (len + 3 > h->max_packet) {
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LOG_ERROR("packet buffer too small");
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return ERROR_FAIL;
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}
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/* calculate checksum - offset start of packet */
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for (int i = 1; i < len; i++)
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cksum += h->write_buffer[i];
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len += sprintf(&h->write_buffer[len], PACKET_END "%02x", cksum);
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#ifdef _DEBUG_USB_COMMS_
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char buffer[50];
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char ch = h->write_buffer[1];
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if (ch == 'x' || ch == 'X')
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LOG_DEBUG("writing packet: <binary>");
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else {
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memcpy(buffer, h->write_buffer, len >= 50 ? 50-1 : len);
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buffer[len] = 0;
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LOG_DEBUG("writing packet: %s", buffer);
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}
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#endif
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while (1) {
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result = libusb_bulk_transfer(h->usb_dev, ICDI_WRITE_ENDPOINT, (unsigned char *)h->write_buffer, len,
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&transferred, ICDI_WRITE_TIMEOUT);
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if (result != 0 || transferred != len) {
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LOG_DEBUG("Error TX Data %d", result);
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return ERROR_FAIL;
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}
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/* check that the client got the message ok, or shall we resend */
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result = libusb_bulk_transfer(h->usb_dev, ICDI_READ_ENDPOINT, (unsigned char *)h->read_buffer, h->max_packet,
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&transferred, ICDI_READ_TIMEOUT);
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if (result != 0 || transferred < 1) {
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LOG_DEBUG("Error RX Data %d", result);
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return ERROR_FAIL;
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}
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#ifdef _DEBUG_USB_COMMS_
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LOG_DEBUG("received reply: '%c' : count %d", h->read_buffer[0], transferred);
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#endif
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if (h->read_buffer[0] == '-') {
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LOG_DEBUG("Resending packet %d", ++retry);
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} else {
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if (h->read_buffer[0] != '+')
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LOG_DEBUG("Unexpected Reply from ICDI: %c", h->read_buffer[0]);
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break;
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}
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if (retry == 3) {
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LOG_DEBUG("maximum nack retries attempted");
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return ERROR_FAIL;
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}
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}
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retry = 0;
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h->read_count = transferred;
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while (1) {
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/* read reply from icdi */
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result = libusb_bulk_transfer(h->usb_dev, ICDI_READ_ENDPOINT, (unsigned char *)h->read_buffer + h->read_count,
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h->max_packet - h->read_count, &transferred, ICDI_READ_TIMEOUT);
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#ifdef _DEBUG_USB_COMMS_
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LOG_DEBUG("received data: count %d", transferred);
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#endif
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/* check for errors but retry for timeout */
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if (result != 0) {
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if (result == LIBUSB_ERROR_TIMEOUT) {
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LOG_DEBUG("Error RX timeout %d", result);
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} else {
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LOG_DEBUG("Error RX Data %d", result);
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return ERROR_FAIL;
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}
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}
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h->read_count += transferred;
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/* we need to make sure we have a full packet, including checksum */
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if (h->read_count > 5) {
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/* check that we have received an packet delimiter
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* we do not validate the checksum
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* reply should contain $...#AA - so we check for # */
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if (h->read_buffer[h->read_count - 3] == '#')
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return ERROR_OK;
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}
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if (retry++ == 3) {
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LOG_DEBUG("maximum data retries attempted");
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break;
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}
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}
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return ERROR_FAIL;
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}
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static int icdi_send_cmd(void *handle, const char *cmd)
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{
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struct icdi_usb_handle_s *h;
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h = (struct icdi_usb_handle_s *)handle;
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int cmd_len = snprintf(h->write_buffer, h->max_packet, PACKET_START "%s", cmd);
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return icdi_send_packet(handle, cmd_len);
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}
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static int icdi_send_remote_cmd(void *handle, const char *data)
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{
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struct icdi_usb_handle_s *h;
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h = (struct icdi_usb_handle_s *)handle;
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size_t cmd_len = sprintf(h->write_buffer, PACKET_START "qRcmd,");
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cmd_len += hexify(h->write_buffer + cmd_len, data, 0, h->max_packet - cmd_len);
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return icdi_send_packet(handle, cmd_len);
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}
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static int icdi_get_cmd_result(void *handle)
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{
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struct icdi_usb_handle_s *h;
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int offset = 0;
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char ch;
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assert(handle != NULL);
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h = (struct icdi_usb_handle_s *)handle;
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do {
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ch = h->read_buffer[offset++];
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if (offset > h->read_count)
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return ERROR_FAIL;
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} while (ch != '$');
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if (memcmp("OK", h->read_buffer + offset, 2) == 0)
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return ERROR_OK;
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if (h->read_buffer[offset] == 'E') {
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/* get error code */
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char result;
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if (unhexify(&result, h->read_buffer + offset + 1, 1) != 1)
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return ERROR_FAIL;
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return result;
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}
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/* for now we assume everything else is ok */
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return ERROR_OK;
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}
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static int icdi_usb_idcode(void *handle, uint32_t *idcode)
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{
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return ERROR_OK;
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}
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static int icdi_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
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{
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return icdi_usb_write_mem32(handle, addr, 1, (uint8_t *)&val);
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}
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static enum target_state icdi_usb_state(void *handle)
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{
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int result;
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struct icdi_usb_handle_s *h;
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uint32_t dhcsr;
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h = (struct icdi_usb_handle_s *)handle;
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result = icdi_usb_read_mem32(h, DCB_DHCSR, 1, (uint8_t *)&dhcsr);
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if (result != ERROR_OK)
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return TARGET_UNKNOWN;
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if (dhcsr & S_HALT)
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return TARGET_HALTED;
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return TARGET_RUNNING;
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}
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static int icdi_usb_version(void *handle)
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{
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struct icdi_usb_handle_s *h;
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h = (struct icdi_usb_handle_s *)handle;
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char version[20];
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/* get info about icdi */
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int result = icdi_send_remote_cmd(handle, "version");
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if (result != ERROR_OK)
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return result;
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if (h->read_count < 8) {
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LOG_ERROR("Invalid Reply Received");
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return ERROR_FAIL;
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}
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/* convert reply */
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if (unhexify(version, h->read_buffer + 2, 4) != 4) {
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LOG_WARNING("unable to get ICDI version");
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return ERROR_OK;
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}
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/* null terminate and print info */
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version[4] = 0;
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LOG_INFO("ICDI Firmware version: %s", version);
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return ERROR_OK;
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}
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static int icdi_usb_query(void *handle)
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{
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int result;
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struct icdi_usb_handle_s *h;
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h = (struct icdi_usb_handle_s *)handle;
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result = icdi_send_cmd(handle, "qSupported");
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/* check result */
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result = icdi_get_cmd_result(handle);
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if (result != ERROR_OK) {
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LOG_ERROR("query supported failed: 0x%x", result);
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return ERROR_FAIL;
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}
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/* from this we can get the max packet supported */
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/* query packet buffer size */
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char *offset = strstr(h->read_buffer, "PacketSize");
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if (offset) {
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char *separator;
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int max_packet;
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max_packet = strtoul(offset + 11, &separator, 16);
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if (!max_packet)
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LOG_ERROR("invalid max packet, using defaults");
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else
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h->max_packet = max_packet;
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LOG_DEBUG("max packet supported : %" PRIu32 " bytes", h->max_packet);
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}
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/* if required re allocate packet buffer */
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if (h->max_packet != ICDI_PACKET_SIZE) {
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h->read_buffer = realloc(h->read_buffer, h->max_packet);
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h->write_buffer = realloc(h->write_buffer, h->max_packet);
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if (h->read_buffer == 0 || h->write_buffer == 0) {
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LOG_ERROR("unable to reallocate memory");
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return ERROR_FAIL;
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}
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}
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/* set extended mode */
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result = icdi_send_cmd(handle, "!");
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/* check result */
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result = icdi_get_cmd_result(handle);
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if (result != ERROR_OK) {
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LOG_ERROR("unable to enable extended mode: 0x%x", result);
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return ERROR_FAIL;
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}
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return ERROR_OK;
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}
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static int icdi_usb_reset(void *handle)
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{
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/* we do this in hla_target.c */
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return ERROR_OK;
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}
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static int icdi_usb_assert_srst(void *handle, int srst)
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{
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/* TODO not supported yet */
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return ERROR_COMMAND_NOTFOUND;
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}
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static int icdi_usb_run(void *handle)
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{
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int result;
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/* resume target at current address */
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result = icdi_send_cmd(handle, "c");
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/* check result */
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result = icdi_get_cmd_result(handle);
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if (result != ERROR_OK) {
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LOG_ERROR("continue failed: 0x%x", result);
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return ERROR_FAIL;
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}
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return result;
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}
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static int icdi_usb_halt(void *handle)
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{
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int result;
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/* this query halts the target ?? */
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result = icdi_send_cmd(handle, "?");
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/* check result */
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result = icdi_get_cmd_result(handle);
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if (result != ERROR_OK) {
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LOG_ERROR("halt failed: 0x%x", result);
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return ERROR_FAIL;
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}
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return result;
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}
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static int icdi_usb_step(void *handle)
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{
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int result;
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/* step target at current address */
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result = icdi_send_cmd(handle, "s");
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/* check result */
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result = icdi_get_cmd_result(handle);
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if (result != ERROR_OK) {
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LOG_ERROR("step failed: 0x%x", result);
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return ERROR_FAIL;
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}
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return result;
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}
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static int icdi_usb_read_regs(void *handle)
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{
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/* currently unsupported */
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return ERROR_OK;
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}
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static int icdi_usb_read_reg(void *handle, int num, uint32_t *val)
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{
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int result;
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struct icdi_usb_handle_s *h;
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char cmd[10];
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h = (struct icdi_usb_handle_s *)handle;
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snprintf(cmd, sizeof(cmd), "p%x", num);
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result = icdi_send_cmd(handle, cmd);
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if (result != ERROR_OK)
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return result;
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/* check result */
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result = icdi_get_cmd_result(handle);
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if (result != ERROR_OK) {
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LOG_ERROR("register read failed: 0x%x", result);
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return ERROR_FAIL;
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}
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/* convert result */
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if (unhexify((char *)val, h->read_buffer + 2, 4) != 4) {
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LOG_ERROR("failed to convert result");
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return ERROR_FAIL;
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}
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return result;
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}
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static int icdi_usb_write_reg(void *handle, int num, uint32_t val)
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{
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int result;
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char cmd[20];
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||||
|
||||
int cmd_len = snprintf(cmd, sizeof(cmd), "P%x=", num);
|
||||
hexify(cmd + cmd_len, (char *)&val, 4, sizeof(cmd));
|
||||
|
||||
result = icdi_send_cmd(handle, cmd);
|
||||
if (result != ERROR_OK)
|
||||
return result;
|
||||
|
||||
/* check result */
|
||||
result = icdi_get_cmd_result(handle);
|
||||
if (result != ERROR_OK) {
|
||||
LOG_ERROR("register write failed: 0x%x", result);
|
||||
return ERROR_FAIL;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
static int icdi_usb_read_mem(void *handle, uint32_t addr, uint32_t len, uint8_t *buffer)
|
||||
{
|
||||
int result;
|
||||
struct icdi_usb_handle_s *h;
|
||||
char cmd[20];
|
||||
|
||||
h = (struct icdi_usb_handle_s *)handle;
|
||||
|
||||
snprintf(cmd, sizeof(cmd), "x%x,%x", addr, len);
|
||||
result = icdi_send_cmd(handle, cmd);
|
||||
if (result != ERROR_OK)
|
||||
return result;
|
||||
|
||||
/* check result */
|
||||
result = icdi_get_cmd_result(handle);
|
||||
if (result != ERROR_OK) {
|
||||
LOG_ERROR("memory read failed: 0x%x", result);
|
||||
return ERROR_FAIL;
|
||||
}
|
||||
|
||||
/* unescape input */
|
||||
int read_len = remote_unescape_input(h->read_buffer + 5, h->read_count - 8, (char *)buffer, len);
|
||||
if (read_len != (int)len) {
|
||||
LOG_ERROR("read more bytes than expected: actual 0x%" PRIx32 " expected 0x%" PRIx32, read_len, len);
|
||||
return ERROR_FAIL;
|
||||
}
|
||||
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
||||
static int icdi_usb_write_mem(void *handle, uint32_t addr, uint32_t len, const uint8_t *buffer)
|
||||
{
|
||||
int result;
|
||||
struct icdi_usb_handle_s *h;
|
||||
|
||||
h = (struct icdi_usb_handle_s *)handle;
|
||||
|
||||
size_t cmd_len = snprintf(h->write_buffer, h->max_packet, PACKET_START "X%x,%x:", addr, len);
|
||||
|
||||
int out_len;
|
||||
cmd_len += remote_escape_output((char *)buffer, len, h->write_buffer + cmd_len,
|
||||
&out_len, h->max_packet - cmd_len);
|
||||
|
||||
if (out_len < (int)len) {
|
||||
/* for now issue a error as we have no way of allocating a larger buffer */
|
||||
LOG_ERROR("memory buffer too small: requires 0x%" PRIx32 " actual 0x%" PRIx32, out_len, len);
|
||||
return ERROR_FAIL;
|
||||
}
|
||||
|
||||
result = icdi_send_packet(handle, cmd_len);
|
||||
if (result != ERROR_OK)
|
||||
return result;
|
||||
|
||||
/* check result */
|
||||
result = icdi_get_cmd_result(handle);
|
||||
if (result != ERROR_OK) {
|
||||
LOG_ERROR("memory write failed: 0x%x", result);
|
||||
return ERROR_FAIL;
|
||||
}
|
||||
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
||||
static int icdi_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer)
|
||||
{
|
||||
return icdi_usb_read_mem(handle, addr, len, buffer);
|
||||
}
|
||||
|
||||
static int icdi_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer)
|
||||
{
|
||||
return icdi_usb_write_mem(handle, addr, len, buffer);
|
||||
}
|
||||
|
||||
static int icdi_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer)
|
||||
{
|
||||
return icdi_usb_read_mem(handle, addr, len * 4, buffer);
|
||||
}
|
||||
|
||||
static int icdi_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer)
|
||||
{
|
||||
return icdi_usb_write_mem(handle, addr, len * 4, buffer);
|
||||
}
|
||||
|
||||
static int icdi_usb_close(void *handle)
|
||||
{
|
||||
struct icdi_usb_handle_s *h;
|
||||
|
||||
h = (struct icdi_usb_handle_s *)handle;
|
||||
|
||||
if (h->usb_dev)
|
||||
libusb_close(h->usb_dev);
|
||||
|
||||
if (h->usb_ctx)
|
||||
libusb_exit(h->usb_ctx);
|
||||
|
||||
if (h->read_buffer)
|
||||
free(h->read_buffer);
|
||||
|
||||
if (h->write_buffer)
|
||||
free(h->write_buffer);
|
||||
|
||||
free(handle);
|
||||
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
||||
static int icdi_usb_open(struct hl_interface_param_s *param, void **fd)
|
||||
{
|
||||
int retval;
|
||||
struct icdi_usb_handle_s *h;
|
||||
|
||||
LOG_DEBUG("icdi_usb_open");
|
||||
|
||||
h = calloc(1, sizeof(struct icdi_usb_handle_s));
|
||||
|
||||
if (h == 0) {
|
||||
LOG_ERROR("unable to allocate memory");
|
||||
return ERROR_FAIL;
|
||||
}
|
||||
|
||||
LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
|
||||
param->vid, param->pid);
|
||||
|
||||
if (libusb_init(&h->usb_ctx) != 0) {
|
||||
LOG_ERROR("libusb init failed");
|
||||
goto error_open;
|
||||
}
|
||||
|
||||
h->usb_dev = libusb_open_device_with_vid_pid(h->usb_ctx, param->vid, param->pid);
|
||||
if (!h->usb_dev) {
|
||||
LOG_ERROR("open failed");
|
||||
goto error_open;
|
||||
}
|
||||
|
||||
if (libusb_claim_interface(h->usb_dev, 2)) {
|
||||
LOG_DEBUG("claim interface failed");
|
||||
goto error_open;
|
||||
}
|
||||
|
||||
/* check if mode is supported */
|
||||
retval = ERROR_OK;
|
||||
|
||||
switch (param->transport) {
|
||||
#if 0
|
||||
/* TODO place holder as swd is not currently supported */
|
||||
case HL_TRANSPORT_SWD:
|
||||
#endif
|
||||
case HL_TRANSPORT_JTAG:
|
||||
break;
|
||||
default:
|
||||
retval = ERROR_FAIL;
|
||||
break;
|
||||
}
|
||||
|
||||
if (retval != ERROR_OK) {
|
||||
LOG_ERROR("mode (transport) not supported by device");
|
||||
goto error_open;
|
||||
}
|
||||
|
||||
/* allocate buffer */
|
||||
h->read_buffer = malloc(ICDI_PACKET_SIZE);
|
||||
h->write_buffer = malloc(ICDI_PACKET_SIZE);
|
||||
h->max_packet = ICDI_PACKET_SIZE;
|
||||
|
||||
if (h->read_buffer == 0 || h->write_buffer == 0) {
|
||||
LOG_DEBUG("malloc failed");
|
||||
goto error_open;
|
||||
}
|
||||
|
||||
/* query icdi version etc */
|
||||
retval = icdi_usb_version(h);
|
||||
if (retval != ERROR_OK)
|
||||
goto error_open;
|
||||
|
||||
/* query icdi support */
|
||||
retval = icdi_usb_query(h);
|
||||
if (retval != ERROR_OK)
|
||||
goto error_open;
|
||||
|
||||
*fd = h;
|
||||
|
||||
/* set the max target read/write buffer in bytes
|
||||
* as we are using gdb binary packets to transfer memory we have to
|
||||
* reserve half the buffer for any possible escape chars plus
|
||||
* at least 64 bytes for the gdb packet header */
|
||||
param->max_buffer = (((h->max_packet - 64) / 4) * 4) / 2;
|
||||
|
||||
return ERROR_OK;
|
||||
|
||||
error_open:
|
||||
icdi_usb_close(h);
|
||||
|
||||
return ERROR_FAIL;
|
||||
}
|
||||
|
||||
struct hl_layout_api_s icdi_usb_layout_api = {
|
||||
.open = icdi_usb_open,
|
||||
.close = icdi_usb_close,
|
||||
.idcode = icdi_usb_idcode,
|
||||
.state = icdi_usb_state,
|
||||
.reset = icdi_usb_reset,
|
||||
.assert_srst = icdi_usb_assert_srst,
|
||||
.run = icdi_usb_run,
|
||||
.halt = icdi_usb_halt,
|
||||
.step = icdi_usb_step,
|
||||
.read_regs = icdi_usb_read_regs,
|
||||
.read_reg = icdi_usb_read_reg,
|
||||
.write_reg = icdi_usb_write_reg,
|
||||
.read_mem8 = icdi_usb_read_mem8,
|
||||
.write_mem8 = icdi_usb_write_mem8,
|
||||
.read_mem32 = icdi_usb_read_mem32,
|
||||
.write_mem32 = icdi_usb_write_mem32,
|
||||
.write_debug_reg = icdi_usb_write_debug_reg
|
||||
};
|
||||
@@ -71,6 +71,12 @@ static const struct hl_layout hl_layouts[] = {
|
||||
.close = hl_layout_close,
|
||||
.api = &stlink_usb_layout_api,
|
||||
},
|
||||
{
|
||||
.name = "ti-icdi",
|
||||
.open = hl_layout_open,
|
||||
.close = hl_layout_close,
|
||||
.api = &icdi_usb_layout_api,
|
||||
},
|
||||
{.name = NULL, /* END OF TABLE */ },
|
||||
};
|
||||
|
||||
|
||||
@@ -30,6 +30,7 @@ struct hl_interface_param_s;
|
||||
|
||||
/** */
|
||||
extern struct hl_layout_api_s stlink_usb_layout_api;
|
||||
extern struct hl_layout_api_s icdi_usb_layout_api;
|
||||
|
||||
/** */
|
||||
struct hl_layout_api_s {
|
||||
|
||||
Reference in New Issue
Block a user