--- /dev/null
+/***************************************************************************
+ * *
+ * Copyright (C) 2012 by Spencer Oliver *
+ * spen@spen-soft.co.uk *
+ * *
+ * 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 *
+ * the Free Software Foundation; either version 2 of the License, or *
+ * (at your option) any later version. *
+ * *
+ * This program is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
+ * GNU General Public License for more details. *
+ * *
+ * You should have received a copy of the GNU General Public License *
+ * along with this program; if not, write to the *
+ * Free Software Foundation, Inc., *
+ * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+/* project specific includes */
+#include <helper/binarybuffer.h>
+#include <jtag/interface.h>
+#include <jtag/hla/hla_layout.h>
+#include <jtag/hla/hla_transport.h>
+#include <jtag/hla/hla_interface.h>
+#include <target/target.h>
+
+#include <target/cortex_m.h>
+
+#include <libusb-1.0/libusb.h>
+
+#define ICDI_WRITE_ENDPOINT 0x02
+#define ICDI_READ_ENDPOINT 0x83
+
+#define ICDI_WRITE_TIMEOUT 1000
+#define ICDI_READ_TIMEOUT 1000
+#define ICDI_PACKET_SIZE 2048
+
+#define PACKET_START "$"
+#define PACKET_END "#"
+
+struct icdi_usb_handle_s {
+ libusb_context *usb_ctx;
+ libusb_device_handle *usb_dev;
+
+ char *read_buffer;
+ char *write_buffer;
+ int max_packet;
+ int read_count;
+};
+
+static int icdi_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer);
+static int icdi_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer);
+
+static int remote_escape_output(const char *buffer, int len, char *out_buf, int *out_len, int out_maxlen)
+{
+ int input_index, output_index;
+
+ output_index = 0;
+
+ for (input_index = 0; input_index < len; input_index++) {
+
+ char b = buffer[input_index];
+
+ if (b == '$' || b == '#' || b == '}' || b == '*') {
+ /* These must be escaped. */
+ if (output_index + 2 > out_maxlen)
+ break;
+ out_buf[output_index++] = '}';
+ out_buf[output_index++] = b ^ 0x20;
+ } else {
+ if (output_index + 1 > out_maxlen)
+ break;
+ out_buf[output_index++] = b;
+ }
+ }
+
+ *out_len = input_index;
+ return output_index;
+}
+
+static int remote_unescape_input(const char *buffer, int len, char *out_buf, int out_maxlen)
+{
+ int input_index, output_index;
+ int escaped;
+
+ output_index = 0;
+ escaped = 0;
+
+ for (input_index = 0; input_index < len; input_index++) {
+
+ char b = buffer[input_index];
+
+ if (output_index + 1 > out_maxlen)
+ LOG_ERROR("Received too much data from the target.");
+
+ if (escaped) {
+ out_buf[output_index++] = b ^ 0x20;
+ escaped = 0;
+ } else if (b == '}')
+ escaped = 1;
+ else
+ out_buf[output_index++] = b;
+ }
+
+ if (escaped)
+ LOG_ERROR("Unmatched escape character in target response.");
+
+ return output_index;
+}
+
+static int icdi_send_packet(void *handle, int len)
+{
+ unsigned char cksum = 0;
+ struct icdi_usb_handle_s *h;
+ int result, retry = 0;
+ int transferred = 0;
+
+ assert(handle != NULL);
+ h = (struct icdi_usb_handle_s *)handle;
+
+ /* check we have a large enough buffer for checksum "#00" */
+ if (len + 3 > h->max_packet) {
+ LOG_ERROR("packet buffer too small");
+ return ERROR_FAIL;
+ }
+
+ /* calculate checksum - offset start of packet */
+ for (int i = 1; i < len; i++)
+ cksum += h->write_buffer[i];
+
+ len += sprintf(&h->write_buffer[len], PACKET_END "%02x", cksum);
+
+#ifdef _DEBUG_USB_COMMS_
+ char buffer[50];
+ char ch = h->write_buffer[1];
+ if (ch == 'x' || ch == 'X')
+ LOG_DEBUG("writing packet: <binary>");
+ else {
+ memcpy(buffer, h->write_buffer, len >= 50 ? 50-1 : len);
+ buffer[len] = 0;
+ LOG_DEBUG("writing packet: %s", buffer);
+ }
+#endif
+
+ while (1) {
+
+ result = libusb_bulk_transfer(h->usb_dev, ICDI_WRITE_ENDPOINT, (unsigned char *)h->write_buffer, len,
+ &transferred, ICDI_WRITE_TIMEOUT);
+ if (result != 0 || transferred != len) {
+ LOG_DEBUG("Error TX Data %d", result);
+ return ERROR_FAIL;
+ }
+
+ /* check that the client got the message ok, or shall we resend */
+ result = libusb_bulk_transfer(h->usb_dev, ICDI_READ_ENDPOINT, (unsigned char *)h->read_buffer, h->max_packet,
+ &transferred, ICDI_READ_TIMEOUT);
+ if (result != 0 || transferred < 1) {
+ LOG_DEBUG("Error RX Data %d", result);
+ return ERROR_FAIL;
+ }
+
+#ifdef _DEBUG_USB_COMMS_
+ LOG_DEBUG("received reply: '%c' : count %d", h->read_buffer[0], transferred);
+#endif
+
+ if (h->read_buffer[0] == '-') {
+ LOG_DEBUG("Resending packet %d", ++retry);
+ } else {
+ if (h->read_buffer[0] != '+')
+ LOG_DEBUG("Unexpected Reply from ICDI: %c", h->read_buffer[0]);
+ break;
+ }
+
+ if (retry == 3) {
+ LOG_DEBUG("maximum nack retries attempted");
+ return ERROR_FAIL;
+ }
+ }
+
+ retry = 0;
+ h->read_count = transferred;
+
+ while (1) {
+
+ /* read reply from icdi */
+ result = libusb_bulk_transfer(h->usb_dev, ICDI_READ_ENDPOINT, (unsigned char *)h->read_buffer + h->read_count,
+ h->max_packet - h->read_count, &transferred, ICDI_READ_TIMEOUT);
+
+#ifdef _DEBUG_USB_COMMS_
+ LOG_DEBUG("received data: count %d", transferred);
+#endif
+
+ /* check for errors but retry for timeout */
+ if (result != 0) {
+
+ if (result == LIBUSB_ERROR_TIMEOUT) {
+ LOG_DEBUG("Error RX timeout %d", result);
+ } else {
+ LOG_DEBUG("Error RX Data %d", result);
+ return ERROR_FAIL;
+ }
+ }
+
+ h->read_count += transferred;
+
+ /* we need to make sure we have a full packet, including checksum */
+ if (h->read_count > 5) {
+
+ /* check that we have received an packet delimiter
+ * we do not validate the checksum
+ * reply should contain $...#AA - so we check for # */
+ if (h->read_buffer[h->read_count - 3] == '#')
+ return ERROR_OK;
+ }
+
+ if (retry++ == 3) {
+ LOG_DEBUG("maximum data retries attempted");
+ break;
+ }
+ }
+
+ return ERROR_FAIL;
+}
+
+static int icdi_send_cmd(void *handle, const char *cmd)
+{
+ struct icdi_usb_handle_s *h;
+ h = (struct icdi_usb_handle_s *)handle;
+
+ int cmd_len = snprintf(h->write_buffer, h->max_packet, PACKET_START "%s", cmd);
+ return icdi_send_packet(handle, cmd_len);
+}
+
+static int icdi_send_remote_cmd(void *handle, const char *data)
+{
+ struct icdi_usb_handle_s *h;
+ h = (struct icdi_usb_handle_s *)handle;
+
+ size_t cmd_len = sprintf(h->write_buffer, PACKET_START "qRcmd,");
+ cmd_len += hexify(h->write_buffer + cmd_len, data, 0, h->max_packet - cmd_len);
+
+ return icdi_send_packet(handle, cmd_len);
+}
+
+static int icdi_get_cmd_result(void *handle)
+{
+ struct icdi_usb_handle_s *h;
+ int offset = 0;
+ char ch;
+
+ assert(handle != NULL);
+ h = (struct icdi_usb_handle_s *)handle;
+
+ do {
+ ch = h->read_buffer[offset++];
+ if (offset > h->read_count)
+ return ERROR_FAIL;
+ } while (ch != '$');
+
+ if (memcmp("OK", h->read_buffer + offset, 2) == 0)
+ return ERROR_OK;
+
+ if (h->read_buffer[offset] == 'E') {
+ /* get error code */
+ char result;
+ if (unhexify(&result, h->read_buffer + offset + 1, 1) != 1)
+ return ERROR_FAIL;
+ return result;
+ }
+
+ /* for now we assume everything else is ok */
+ return ERROR_OK;
+}
+
+static int icdi_usb_idcode(void *handle, uint32_t *idcode)
+{
+ return ERROR_OK;
+}
+
+static int icdi_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
+{
+ return icdi_usb_write_mem32(handle, addr, 1, (uint8_t *)&val);
+}
+
+static enum target_state icdi_usb_state(void *handle)
+{
+ int result;
+ struct icdi_usb_handle_s *h;
+ uint32_t dhcsr;
+
+ h = (struct icdi_usb_handle_s *)handle;
+
+ result = icdi_usb_read_mem32(h, DCB_DHCSR, 1, (uint8_t *)&dhcsr);
+ if (result != ERROR_OK)
+ return TARGET_UNKNOWN;
+
+ if (dhcsr & S_HALT)
+ return TARGET_HALTED;
+
+ return TARGET_RUNNING;
+}
+
+static int icdi_usb_version(void *handle)
+{
+ struct icdi_usb_handle_s *h;
+ h = (struct icdi_usb_handle_s *)handle;
+
+ char version[20];
+
+ /* get info about icdi */
+ int result = icdi_send_remote_cmd(handle, "version");
+ if (result != ERROR_OK)
+ return result;
+
+ if (h->read_count < 8) {
+ LOG_ERROR("Invalid Reply Received");
+ return ERROR_FAIL;
+ }
+
+ /* convert reply */
+ if (unhexify(version, h->read_buffer + 2, 4) != 4) {
+ LOG_WARNING("unable to get ICDI version");
+ return ERROR_OK;
+ }
+
+ /* null terminate and print info */
+ version[4] = 0;
+
+ LOG_INFO("ICDI Firmware version: %s", version);
+
+ return ERROR_OK;
+}
+
+static int icdi_usb_query(void *handle)
+{
+ int result;
+
+ struct icdi_usb_handle_s *h;
+ h = (struct icdi_usb_handle_s *)handle;
+
+ result = icdi_send_cmd(handle, "qSupported");
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("query supported failed: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ /* from this we can get the max packet supported */
+
+ /* query packet buffer size */
+ char *offset = strstr(h->read_buffer, "PacketSize");
+ if (offset) {
+ char *separator;
+ int max_packet;
+
+ max_packet = strtoul(offset + 11, &separator, 16);
+ if (!max_packet)
+ LOG_ERROR("invalid max packet, using defaults");
+ else
+ h->max_packet = max_packet;
+ LOG_DEBUG("max packet supported : %" PRIu32 " bytes", h->max_packet);
+ }
+
+
+ /* if required re allocate packet buffer */
+ if (h->max_packet != ICDI_PACKET_SIZE) {
+ h->read_buffer = realloc(h->read_buffer, h->max_packet);
+ h->write_buffer = realloc(h->write_buffer, h->max_packet);
+ if (h->read_buffer == 0 || h->write_buffer == 0) {
+ LOG_ERROR("unable to reallocate memory");
+ return ERROR_FAIL;
+ }
+ }
+
+ /* set extended mode */
+ result = icdi_send_cmd(handle, "!");
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("unable to enable extended mode: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int icdi_usb_reset(void *handle)
+{
+ /* we do this in hla_target.c */
+ return ERROR_OK;
+}
+
+static int icdi_usb_assert_srst(void *handle, int srst)
+{
+ /* TODO not supported yet */
+ return ERROR_COMMAND_NOTFOUND;
+}
+
+static int icdi_usb_run(void *handle)
+{
+ int result;
+
+ /* resume target at current address */
+ result = icdi_send_cmd(handle, "c");
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("continue failed: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ return result;
+}
+
+static int icdi_usb_halt(void *handle)
+{
+ int result;
+
+ /* this query halts the target ?? */
+ result = icdi_send_cmd(handle, "?");
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("halt failed: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ return result;
+}
+
+static int icdi_usb_step(void *handle)
+{
+ int result;
+
+ /* step target at current address */
+ result = icdi_send_cmd(handle, "s");
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("step failed: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ return result;
+}
+
+static int icdi_usb_read_regs(void *handle)
+{
+ /* currently unsupported */
+ return ERROR_OK;
+}
+
+static int icdi_usb_read_reg(void *handle, int num, uint32_t *val)
+{
+ int result;
+ struct icdi_usb_handle_s *h;
+ char cmd[10];
+
+ h = (struct icdi_usb_handle_s *)handle;
+
+ snprintf(cmd, sizeof(cmd), "p%x", num);
+ 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 read failed: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ /* convert result */
+ if (unhexify((char *)val, h->read_buffer + 2, 4) != 4) {
+ LOG_ERROR("failed to convert result");
+ return ERROR_FAIL;
+ }
+
+ return result;
+}
+
+static int icdi_usb_write_reg(void *handle, int num, uint32_t val)
+{
+ int result;
+ char cmd[20];
+
+ 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
+};
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