remote_bitbang: Add SWD support

[openocd.git] / contrib / remote_bitbang / remote_bitbang_sysfsgpio.c

// SPDX-License-Identifier: GPL-2.0-or-later

/***************************************************************************
 *   Copyright (C) 2021 by Manuel Wick <manuel@matronix.de>                *
 *   Copyright (C) 2013 Paul Fertser <fercerpav@gmail.com>                 *
 *   Copyright (C) 2012 by Creative Product Design, marc @ cpdesign.com.au *
 ***************************************************************************/

/*
 * This is a test application to be used as a remote bitbang server for
 * the OpenOCD remote_bitbang interface driver.
 *
 * To compile run:
 * gcc -Wall -ansi -pedantic -std=c99 -o remote_bitbang_sysfsgpio remote_bitbang_sysfsgpio.c
 *
 *
 * Usage example:
 *
 * On Raspberry Pi run:
 * socat TCP6-LISTEN:7777,fork EXEC:"sudo ./remote_bitbang_sysfsgpio tck 11 tms 25 tdo 9 tdi 10"
 *
 * On host run:
 * openocd -c "adapter driver remote_bitbang; remote_bitbang host raspberrypi; remote_bitbang port 7777" \
 *  -f target/stm32f1x.cfg
 *
 * Or if you want to test UNIX sockets, run both on Raspberry Pi:
 * socat UNIX-LISTEN:/tmp/remotebitbang-socket,fork EXEC:"sudo ./remote_bitbang_sysfsgpio tck 11 tms 25 tdo 9 tdi 10"
 * openocd -c "adapter driver remote_bitbang; remote_bitbang host /tmp/remotebitbang-socket" -f target/stm32f1x.cfg
*/

#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <errno.h>

#define LOG_ERROR(...)          do {                                    \
                fprintf(stderr, __VA_ARGS__);                           \
                fputc('\n', stderr);                                    \
        } while (0)
#define LOG_WARNING(...)        LOG_ERROR(__VA_ARGS__)

#define ERROR_OK        (-1)
#define ERROR_FAIL      (-2)
#define ERROR_JTAG_INIT_FAILED  ERROR_FAIL

/*
 * Helper func to determine if gpio number valid
 *
 * Assume here that there will be less than 1000 gpios on a system
 */
static int is_gpio_valid(int gpio)
{
        return gpio >= 0 && gpio < 1000;
}

/*
 * Helper func to open, write to and close a file
 * name and valstr must be null terminated.
 *
 * Returns negative on failure.
 */
static int open_write_close(const char *name, const char *valstr)
{
        int ret;
        int fd = open(name, O_WRONLY);
        if (fd < 0)
                return fd;

        ret = write(fd, valstr, strlen(valstr));
        close(fd);

        return ret;
}

/*
 * Helper func to unexport gpio from sysfs
 */
static void unexport_sysfs_gpio(int gpio)
{
        char gpiostr[4];

        if (!is_gpio_valid(gpio))
                return;

        snprintf(gpiostr, sizeof(gpiostr), "%d", gpio);
        if (open_write_close("/sys/class/gpio/unexport", gpiostr) < 0)
                LOG_ERROR("Couldn't unexport gpio %d", gpio);

        return;
}

/*
 * Exports and sets up direction for gpio.
 * If the gpio is an output, it is initialized according to init_high,
 * otherwise it is ignored.
 *
 * When open_rw is set, the file descriptor will be open as read and write,
 * e.g. for SWDIO (TMS) that is used as input and output.
 *
 * If the gpio is already exported we just show a warning and continue; if
 * openocd happened to crash (or was killed by user) then the gpios will not
 * have been cleaned up.
 */
static int setup_sysfs_gpio(int gpio, int is_output, int init_high, int open_rw)
{
        char buf[40];
        char gpiostr[4];
        int ret;

        if (!is_gpio_valid(gpio))
                return ERROR_OK;

        snprintf(gpiostr, sizeof(gpiostr), "%d", gpio);
        ret = open_write_close("/sys/class/gpio/export", gpiostr);
        if (ret < 0) {
                if (errno == EBUSY) {
                        LOG_WARNING("gpio %d is already exported", gpio);
                } else {
                        LOG_ERROR("Couldn't export gpio %d", gpio);
                        perror("sysfsgpio: ");
                        return ERROR_FAIL;
                }
        }

        snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/direction", gpio);
        ret = open_write_close(buf, is_output ? (init_high ? "high" : "low") : "in");
        if (ret < 0) {
                LOG_ERROR("Couldn't set direction for gpio %d", gpio);
                perror("sysfsgpio: ");
                unexport_sysfs_gpio(gpio);
                return ERROR_FAIL;
        }

        snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/value", gpio);
        if (open_rw)
                ret = open(buf, O_RDWR | O_NONBLOCK | O_SYNC);
        else if (is_output)
                ret = open(buf, O_WRONLY | O_NONBLOCK | O_SYNC);
        else
                ret = open(buf, O_RDONLY | O_NONBLOCK | O_SYNC);

        if (ret < 0)
                unexport_sysfs_gpio(gpio);

        return ret;
}

/*
 * Change direction for gpio.
 */
static int change_dir_sysfs_gpio(int gpio, int is_output, int init_high)
{
        char buf[40];
        int ret;

        if (!is_gpio_valid(gpio))
                return ERROR_OK;

        snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/direction", gpio);
        ret = open_write_close(buf, is_output ? (init_high ? "high" : "low") : "in");
        if (ret < 0) {
                LOG_ERROR("Couldn't set direction for gpio %d", gpio);
                perror("sysfsgpio: ");
                unexport_sysfs_gpio(gpio);
                return ERROR_FAIL;
        }

        return ERROR_OK;
}

/* gpio numbers for each gpio. Negative values are invalid */
static int tck_gpio = -1;
static int tms_gpio = -1;
static int tdi_gpio = -1;
static int tdo_gpio = -1;
static int trst_gpio = -1;
static int srst_gpio = -1;

/*
 * file descriptors for /sys/class/gpio/gpioXX/value
 * Set up during init.
 */
static int tck_fd = -1;
static int tms_fd = -1;
static int tdi_fd = -1;
static int tdo_fd = -1;
static int trst_fd = -1;
static int srst_fd = -1;

/*
 * GPIO state of /sys/class/gpio/gpioXX/value
 */
static int last_tck = -1;
static int last_tms = -1;
static int last_tms_drive = -1;
static int last_tdi = -1;
static int last_initialized = -1;

/*
 * Bitbang interface read of TDO
 *
 * The sysfs value will read back either '0' or '1'. The trick here is to call
 * lseek to bypass buffering in the sysfs kernel driver.
 */
static int sysfsgpio_read(void)
{
        char buf[1];

        /* important to seek to signal sysfs of new read */
        lseek(tdo_fd, 0, SEEK_SET);
        int ret = read(tdo_fd, &buf, sizeof(buf));

        if (ret < 0) {
                LOG_WARNING("reading tdo failed");
                return 0;
        }

        return buf[0];
}

/*
 * Bitbang interface write of TCK, TMS, TDI
 *
 * Output states are changed here and in sysfsgpio_write_swd,
 * which are not used simultaneously, so we can cache the old
 * value to avoid needlessly writing it.
 */
static void sysfsgpio_write(int tck, int tms, int tdi)
{
        const char one[] = "1";
        const char zero[] = "0";

        size_t bytes_written;

        if (!last_initialized) {
                last_tck = !tck;
                last_tms = !tms;
                last_tdi = !tdi;
                last_initialized = 1;
        }

        if (tdi != last_tdi) {
                bytes_written = write(tdi_fd, tdi ? &one : &zero, 1);
                if (bytes_written != 1)
                        LOG_WARNING("writing tdi failed");
        }

        if (tms != last_tms) {
                bytes_written = write(tms_fd, tms ? &one : &zero, 1);
                if (bytes_written != 1)
                        LOG_WARNING("writing tms failed");
        }

        /* write clk last */
        if (tck != last_tck) {
                bytes_written = write(tck_fd, tck ? &one : &zero, 1);
                if (bytes_written != 1)
                        LOG_WARNING("writing tck failed");
        }

        last_tdi = tdi;
        last_tms = tms;
        last_tck = tck;
}

/*
 * Bitbang interface to manipulate reset lines SRST and TRST
 *
 * (1) assert or (0) deassert reset lines
 */
static void sysfsgpio_reset(int trst, int srst)
{
        const char one[] = "1";
        const char zero[] = "0";
        size_t bytes_written;

        /* assume active low */
        if (srst_fd >= 0) {
                bytes_written = write(srst_fd, srst ? &zero : &one, 1);
                if (bytes_written != 1)
                        LOG_WARNING("writing srst failed");
        }

        /* assume active low */
        if (trst_fd >= 0) {
                bytes_written = write(trst_fd, trst ? &zero : &one, 1);
                if (bytes_written != 1)
                        LOG_WARNING("writing trst failed");
        }
}

/*
 * Bitbang interface set direction of SWDIO (TMS)
 */
static void sysfsgpio_swdio_drive(int is_output)
{
        int ret;

        if (is_output != 0 && last_tms == -1)
                last_tms = 0;

        ret = change_dir_sysfs_gpio(tms_gpio, (is_output != 0) ? 1 : 0, last_tms);
        if (ret != ERROR_OK)
                LOG_WARNING("Failed to change SWDIO (TMS) direction to output");
        else
                last_tms_drive = (is_output != 0) ? 1 : 0;
}

/*
 * Bitbang interface read of SWDIO (TMS)
 *
 * The sysfs value will read back either '0' or '1'. The trick here is to call
 * lseek to bypass buffering in the sysfs kernel driver.
 */
static int sysfsgpio_swdio_read(void)
{
        char buf[1];

        /* important to seek to signal sysfs of new read */
        lseek(tms_fd, 0, SEEK_SET);
        int ret = read(tms_fd, &buf, sizeof(buf));

        if (ret < 0) {
                LOG_WARNING("reading swdio (tms) failed");
                return 0;
        }

        return buf[0];
}

/*
 * Bitbang interface write of SWCLK (TCK) and SWDIO (TMS)
 *
 * Output states are changed here and in sysfsgpio_write, which
 * are not used simultaneously, so we can cache the old value
 * to avoid needlessly writing it.
 */
static void sysfsgpio_swd_write(int swclk, int swdio)
{
        static const char one[] = "1";
        static const char zero[] = "0";

        size_t bytes_written;

        if (!last_initialized) {
                last_tck = !swclk;
                last_tms = !swdio;
                last_initialized = 1;
        }

        if (last_tms_drive == 1 && swdio != last_tms) {
                bytes_written = write(tms_fd, swdio ? &one : &zero, 1);
                if (bytes_written != 1)
                        LOG_WARNING("writing swdio (tms) failed");
        }

        /* write clk last */
        if (swclk != last_tck) {
                bytes_written = write(tck_fd, swclk ? &one : &zero, 1);
                if (bytes_written != 1)
                        LOG_WARNING("writing swclk (tck) failed");
        }

        last_tms = swdio;
        last_tck = swclk;
}

/* helper func to close and cleanup files only if they were valid/ used */
static void cleanup_fd(int fd, int gpio)
{
        if (gpio >= 0) {
                if (fd >= 0)
                        close(fd);

                unexport_sysfs_gpio(gpio);
        }
}

static void cleanup_all_fds(void)
{
        cleanup_fd(tck_fd, tck_gpio);
        cleanup_fd(tms_fd, tms_gpio);
        cleanup_fd(tdi_fd, tdi_gpio);
        cleanup_fd(tdo_fd, tdo_gpio);
        cleanup_fd(trst_fd, trst_gpio);
        cleanup_fd(srst_fd, srst_gpio);
}

static void process_remote_protocol(void)
{
        int c;
        while (1) {
                c = getchar();
                if (c == EOF || c == 'Q') /* Quit */
                        break;
                else if (c == 'b' || c == 'B') /* Blink */
                        continue;
                else if (c >= 'r' && c <= 'r' + 3) { /* Reset */
                        char d = c - 'r';
                        sysfsgpio_reset(!!(d & 2),
                                        (d & 1));
                } else if (c >= '0' && c <= '0' + 7) { /* Write */
                        char d = c - '0';
                        sysfsgpio_write(!!(d & 4),
                                        !!(d & 2),
                                        (d & 1));
                } else if (c == 'R')
                        putchar(sysfsgpio_read());
                else if (c == 'c') /* SWDIO read */
                        putchar(sysfsgpio_swdio_read());
                else if (c == 'o' || c == 'O') /* SWDIO drive */
                        sysfsgpio_swdio_drive(c == 'o' ? 0 : 1);
                else if (c >= 'd' && c <= 'g') { /* SWD write */
                        char d = c - 'd';
                        sysfsgpio_swd_write((d & 2), (d & 1));
                }
                else
                        LOG_ERROR("Unknown command '%c' received", c);
        }
}

int main(int argc, char *argv[])
{
        LOG_WARNING("SysfsGPIO remote_bitbang JTAG+SWD driver\n");

        for (int i = 1; i < argc; i++) {
                if (!strcmp(argv[i], "tck"))
                        tck_gpio = atoi(argv[++i]);
                else if (!strcmp(argv[i], "tms"))
                        tms_gpio = atoi(argv[++i]);
                else if (!strcmp(argv[i], "tdo"))
                        tdo_gpio = atoi(argv[++i]);
                else if (!strcmp(argv[i], "tdi"))
                        tdi_gpio = atoi(argv[++i]);
                else if (!strcmp(argv[i], "trst"))
                        trst_gpio = atoi(argv[++i]);
                else if (!strcmp(argv[i], "srst"))
                        srst_gpio = atoi(argv[++i]);
                else {
                        LOG_ERROR("Usage:\n%s ((tck|tms|tdo|tdi|trst|srst) num)*", argv[0]);
                        return -1;
                }
        }

        if (!(is_gpio_valid(tck_gpio)
                        && is_gpio_valid(tms_gpio)
                        && is_gpio_valid(tdi_gpio)
                        && is_gpio_valid(tdo_gpio))) {
                if (!is_gpio_valid(tck_gpio))
                        LOG_ERROR("gpio num for tck is invalid");
                if (!is_gpio_valid(tms_gpio))
                        LOG_ERROR("gpio num for tms is invalid");
                if (!is_gpio_valid(tdo_gpio))
                        LOG_ERROR("gpio num for tdo is invalid");
                if (!is_gpio_valid(tdi_gpio))
                        LOG_ERROR("gpio num for tdi is invalid");

                LOG_ERROR("Require tck, tms, tdi and tdo gpios to all be specified");
                return ERROR_JTAG_INIT_FAILED;
        }

        /*
         * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
         * as outputs.  Drive TDI and TCK low, and TMS/TRST/SRST high.
         */
        tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0, 0);
        if (tck_fd < 0)
                goto out_error;

        tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1, 1);
        if (tms_fd < 0)
                goto out_error;
        last_tms_drive = 0;

        tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0, 0);
        if (tdi_fd < 0)
                goto out_error;

        tdo_fd = setup_sysfs_gpio(tdo_gpio, 0, 0, 0);
        if (tdo_fd < 0)
                goto out_error;

        /* assume active low */
        if (trst_gpio > 0) {
                trst_fd = setup_sysfs_gpio(trst_gpio, 1, 1, 0);
                if (trst_fd < 0)
                        goto out_error;
        }

        /* assume active low */
        if (srst_gpio > 0) {
                srst_fd = setup_sysfs_gpio(srst_gpio, 1, 1, 0);
                if (srst_fd < 0)
                        goto out_error;
        }

        last_initialized = 0;

        LOG_WARNING("SysfsGPIO nums: tck = %d, tms = %d, tdi = %d, tdo = %d",
                 tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
        LOG_WARNING("SysfsGPIO num: srst = %d", srst_gpio);
        LOG_WARNING("SysfsGPIO num: trst = %d", trst_gpio);

        setvbuf(stdout, NULL, _IONBF, 0);
        process_remote_protocol();

        cleanup_all_fds();
        return 0;
out_error:
        cleanup_all_fds();
        return ERROR_JTAG_INIT_FAILED;
}