X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fbuspirate.c;h=35649c2809bb09d2a1fdfe407d4037eed8f45def;hp=62ab008af2cd029ada82160e3cb17063bbca280b;hb=79a859413038c85f084ec1e91c90d2a85344ea2f;hpb=4017af8492f37b7659eafebae5ab3dde80f1249f
diff --git a/src/jtag/drivers/buspirate.c b/src/jtag/drivers/buspirate.c
index 62ab008af2..35649c2809 100644
--- a/src/jtag/drivers/buspirate.c
+++ b/src/jtag/drivers/buspirate.c
@@ -1,6 +1,7 @@
/***************************************************************************
* 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 *
@@ -13,9 +14,7 @@
* 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. *
+ * along with this program. If not, see . *
***************************************************************************/
#ifdef HAVE_CONFIG_H
@@ -23,6 +22,7 @@
#endif
#include
+#include
#include
#include
@@ -32,8 +32,6 @@
#undef DEBUG_SERIAL
/*#define DEBUG_SERIAL */
static int buspirate_execute_queue(void);
-static int buspirate_speed(int speed);
-static int buspirate_khz(int khz, int *jtag_speed);
static int buspirate_init(void);
static int buspirate_quit(void);
@@ -43,7 +41,7 @@ static void buspirate_path_move(int num_states, tap_state_t *path);
static void buspirate_runtest(int num_cycles);
static void buspirate_scan(bool ir_scan, enum scan_type type,
uint8_t *buffer, int scan_size, struct scan_command *command);
-
+static void buspirate_stableclocks(int num_cycles);
#define CMD_UNKNOWN 0x00
#define CMD_PORT_MODE 0x01
@@ -51,9 +49,21 @@ static void buspirate_scan(bool ir_scan, enum scan_type type,
#define CMD_READ_ADCS 0x03
/*#define CMD_TAP_SHIFT 0x04 // old protocol */
#define CMD_TAP_SHIFT 0x05
+#define CMD_ENTER_RWIRE 0x05
#define CMD_ENTER_OOCD 0x06
#define CMD_UART_SPEED 0x07
#define CMD_JTAG_SPEED 0x08
+#define CMD_RAW_PERIPH 0x40
+#define CMD_RAW_SPEED 0x60
+#define CMD_RAW_MODE 0x80
+
+/* raw-wire mode configuration */
+#define CMD_RAW_CONFIG_HIZ 0x00
+#define CMD_RAW_CONFIG_3V3 0x08
+#define CMD_RAW_CONFIG_2W 0x00
+#define CMD_RAW_CONFIG_3W 0x04
+#define CMD_RAW_CONFIG_MSB 0x00
+#define CMD_RAW_CONFIG_LSB 0x02
/* Not all OSes have this speed defined */
#if !defined(B1000000)
@@ -84,6 +94,20 @@ enum {
SERIAL_FAST = 1
};
+enum {
+ SPEED_RAW_5_KHZ = 0x0,
+ SPEED_RAW_50_KHZ = 0x1,
+ SPEED_RAW_100_KHZ = 0x2,
+ SPEED_RAW_400_KHZ = 0x3
+};
+
+/* SWD mode specific */
+static bool swd_mode;
+static int queued_retval;
+static char swd_features;
+
+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;
@@ -92,6 +116,14 @@ static int buspirate_vreg;
static int buspirate_pullup;
static char *buspirate_port;
+static enum tap_state last_tap_state = TAP_RESET;
+
+/* SWD interface */
+static int buspirate_swd_init(void);
+static void buspirate_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk);
+static void buspirate_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk);
+static int buspirate_swd_switch_seq(enum swd_special_seq seq);
+static int buspirate_swd_run_queue(void);
/* TAP interface */
static void buspirate_tap_init(void);
@@ -102,36 +134,31 @@ static void buspirate_tap_append_scan(int length, uint8_t *buffer,
static void buspirate_tap_make_space(int scan, int bits);
static void buspirate_reset(int trst, int srst);
+static void buspirate_set_feature(int, char, char);
+static void buspirate_set_mode(int, char);
+static void buspirate_set_speed(int, char);
/* low level interface */
+static void buspirate_bbio_enable(int);
static void buspirate_jtag_reset(int);
-static void buspirate_jtag_enable(int);
-static unsigned char buspirate_jtag_command(int, char *, int);
+static unsigned char buspirate_jtag_command(int, uint8_t *, int);
static void buspirate_jtag_set_speed(int, char);
static void buspirate_jtag_set_mode(int, char);
static void buspirate_jtag_set_feature(int, char, char);
static void buspirate_jtag_get_adcs(int);
+/* low level two-wire interface */
+static void buspirate_swd_set_speed(int, char);
+static void buspirate_swd_set_feature(int, char, char);
+static void buspirate_swd_set_mode(int, char);
+
/* 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_write(int fd, char *buf, int size);
-static int buspirate_serial_read(int fd, char *buf, int size);
+static int buspirate_serial_setspeed(int fd, char speed, cc_t timeout);
+static int buspirate_serial_write(int fd, uint8_t *buf, int size);
+static int buspirate_serial_read(int fd, uint8_t *buf, int size);
static void buspirate_serial_close(int fd);
-static void buspirate_print_buffer(char *buf, int size);
-
-static int buspirate_speed(int speed)
-{
- /* TODO */
- LOG_INFO("Want to set speed to %dkHz, but not implemented yet", speed);
- return ERROR_OK;
-}
-
-static int buspirate_khz(int khz, int *jtag_speed)
-{
- *jtag_speed = khz;
- return ERROR_OK;
-}
+static void buspirate_print_buffer(uint8_t *buf, int size);
static int buspirate_execute_queue(void)
{
@@ -203,6 +230,10 @@ static int buspirate_execute_queue(void)
buspirate_tap_execute();
jtag_sleep(cmd->cmd.sleep->us);
break;
+ case JTAG_STABLECLOCKS:
+ DEBUG_JTAG_IO("stable clock %i cycles", cmd->cmd.stableclocks->num_cycles);
+ buspirate_stableclocks(cmd->cmd.stableclocks->num_cycles);
+ break;
default:
LOG_ERROR("BUG: unknown JTAG command type encountered");
exit(-1);
@@ -214,6 +245,54 @@ static int buspirate_execute_queue(void)
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 ( ; ; ) {
+ uint8_t 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) {
@@ -227,20 +306,48 @@ static int buspirate_init(void)
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.
- buspirate_jtag_enable(buspirate_fd);
+ 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.
- if (buspirate_baudrate != SERIAL_NORMAL)
- buspirate_jtag_set_speed(buspirate_fd, SERIAL_FAST);
+ Note that we are lowering the serial port timeout for this first read operation,
+ otherwise the normal initialisation would be delayed for too long. */
- LOG_INFO("Buspirate Interface ready!");
+ if (-1 == buspirate_serial_setspeed(buspirate_fd, SERIAL_NORMAL, SHORT_TIMEOUT)) {
+ LOG_ERROR("Error configuring the serial port.");
+ return ERROR_JTAG_INIT_FAILED;
+ }
- buspirate_tap_init();
- buspirate_jtag_set_mode(buspirate_fd, buspirate_pinmode);
- buspirate_jtag_set_feature(buspirate_fd, FEATURE_VREG,
+ 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_bbio_enable(buspirate_fd);
+
+ if (swd_mode || buspirate_baudrate != SERIAL_NORMAL)
+ buspirate_set_speed(buspirate_fd, SERIAL_FAST);
+
+ LOG_INFO("Buspirate %s Interface ready!", swd_mode ? "SWD" : "JTAG");
+
+ if (!swd_mode)
+ buspirate_tap_init();
+
+ buspirate_set_mode(buspirate_fd, buspirate_pinmode);
+ buspirate_set_feature(buspirate_fd, FEATURE_VREG,
(buspirate_vreg == 1) ? ACTION_ENABLE : ACTION_DISABLE);
- buspirate_jtag_set_feature(buspirate_fd, FEATURE_PULLUP,
+ buspirate_set_feature(buspirate_fd, FEATURE_PULLUP,
(buspirate_pullup == 1) ? ACTION_ENABLE : ACTION_DISABLE);
buspirate_reset(0, 0);
@@ -250,9 +357,9 @@ static int buspirate_init(void)
static int buspirate_quit(void)
{
LOG_INFO("Shutting down buspirate.");
- buspirate_jtag_set_mode(buspirate_fd, MODE_HIZ);
+ buspirate_set_mode(buspirate_fd, MODE_HIZ);
+ buspirate_set_speed(buspirate_fd, SERIAL_NORMAL);
- buspirate_jtag_set_speed(buspirate_fd, SERIAL_NORMAL);
buspirate_jtag_reset(buspirate_fd);
buspirate_serial_close(buspirate_fd);
@@ -270,6 +377,10 @@ COMMAND_HANDLER(buspirate_handle_adc_command)
if (buspirate_fd == -1)
return ERROR_OK;
+ /* unavailable in SWD mode */
+ if (swd_mode)
+ return ERROR_OK;
+
/* send the command */
buspirate_jtag_get_adcs(buspirate_fd);
@@ -279,10 +390,8 @@ COMMAND_HANDLER(buspirate_handle_adc_command)
COMMAND_HANDLER(buspirate_handle_vreg_command)
{
- if (CMD_ARGC < 1) {
- LOG_ERROR("usage: buspirate_vreg <1|0>");
- return ERROR_OK;
- }
+ if (CMD_ARGC < 1)
+ return ERROR_COMMAND_SYNTAX_ERROR;
if (atoi(CMD_ARGV[0]) == 1)
buspirate_vreg = 1;
@@ -297,10 +406,8 @@ COMMAND_HANDLER(buspirate_handle_vreg_command)
COMMAND_HANDLER(buspirate_handle_pullup_command)
{
- if (CMD_ARGC < 1) {
- LOG_ERROR("usage: buspirate_pullup <1|0>");
- return ERROR_OK;
- }
+ if (CMD_ARGC < 1)
+ return ERROR_COMMAND_SYNTAX_ERROR;
if (atoi(CMD_ARGV[0]) == 1)
buspirate_pullup = 1;
@@ -315,18 +422,16 @@ COMMAND_HANDLER(buspirate_handle_pullup_command)
COMMAND_HANDLER(buspirate_handle_led_command)
{
- if (CMD_ARGC < 1) {
- LOG_ERROR("usage: buspirate_led <1|0>");
- return ERROR_OK;
- }
+ if (CMD_ARGC < 1)
+ return ERROR_COMMAND_SYNTAX_ERROR;
if (atoi(CMD_ARGV[0]) == 1) {
/* enable led */
- buspirate_jtag_set_feature(buspirate_fd, FEATURE_LED,
+ buspirate_set_feature(buspirate_fd, FEATURE_LED,
ACTION_ENABLE);
} else if (atoi(CMD_ARGV[0]) == 0) {
/* disable led */
- buspirate_jtag_set_feature(buspirate_fd, FEATURE_LED,
+ buspirate_set_feature(buspirate_fd, FEATURE_LED,
ACTION_DISABLE);
} else {
LOG_ERROR("usage: buspirate_led <1|0>");
@@ -338,10 +443,8 @@ COMMAND_HANDLER(buspirate_handle_led_command)
COMMAND_HANDLER(buspirate_handle_mode_command)
{
- if (CMD_ARGC < 1) {
- LOG_ERROR("usage: buspirate_mode ");
- return ERROR_OK;
- }
+ if (CMD_ARGC < 1)
+ return ERROR_COMMAND_SYNTAX_ERROR;
if (CMD_ARGV[0][0] == 'n')
buspirate_pinmode = MODE_JTAG;
@@ -356,10 +459,8 @@ COMMAND_HANDLER(buspirate_handle_mode_command)
COMMAND_HANDLER(buspirate_handle_speed_command)
{
- if (CMD_ARGC < 1) {
- LOG_ERROR("usage: buspirate_speed ");
- return ERROR_OK;
- }
+ if (CMD_ARGC < 1)
+ return ERROR_COMMAND_SYNTAX_ERROR;
if (CMD_ARGV[0][0] == 'n')
buspirate_baudrate = SERIAL_NORMAL;
@@ -374,10 +475,8 @@ COMMAND_HANDLER(buspirate_handle_speed_command)
COMMAND_HANDLER(buspirate_handle_port_command)
{
- if (CMD_ARGC < 1) {
- LOG_ERROR("usage: buspirate_port /dev/ttyUSB0");
- return ERROR_OK;
- }
+ if (CMD_ARGC < 1)
+ return ERROR_COMMAND_SYNTAX_ERROR;
if (buspirate_port == NULL)
buspirate_port = strdup(CMD_ARGV[0]);
@@ -395,36 +494,42 @@ static const struct command_registration buspirate_command_handlers[] = {
},
{
.name = "buspirate_vreg",
+ .usage = "<1|0>",
.handler = &buspirate_handle_vreg_command,
.mode = COMMAND_CONFIG,
.help = "changes the state of voltage regulators",
},
{
.name = "buspirate_pullup",
+ .usage = "<1|0>",
.handler = &buspirate_handle_pullup_command,
.mode = COMMAND_CONFIG,
.help = "changes the state of pullup",
},
{
.name = "buspirate_led",
+ .usage = "<1|0>",
.handler = &buspirate_handle_led_command,
.mode = COMMAND_EXEC,
.help = "changes the state of led",
},
{
.name = "buspirate_speed",
+ .usage = "",
.handler = &buspirate_handle_speed_command,
.mode = COMMAND_CONFIG,
.help = "speed of the interface",
},
{
.name = "buspirate_mode",
+ .usage = "",
.handler = &buspirate_handle_mode_command,
.mode = COMMAND_CONFIG,
.help = "pin mode of the interface",
},
{
.name = "buspirate_port",
+ .usage = "/dev/ttyUSB0",
.handler = &buspirate_handle_port_command,
.mode = COMMAND_CONFIG,
.help = "name of the serial port to open",
@@ -432,12 +537,22 @@ static const struct command_registration buspirate_command_handlers[] = {
COMMAND_REGISTRATION_DONE
};
+static const struct swd_driver buspirate_swd = {
+ .init = buspirate_swd_init,
+ .switch_seq = buspirate_swd_switch_seq,
+ .read_reg = buspirate_swd_read_reg,
+ .write_reg = buspirate_swd_write_reg,
+ .run = buspirate_swd_run_queue,
+};
+
+static const char * const buspirate_transports[] = { "jtag", "swd", NULL };
+
struct jtag_interface buspirate_interface = {
.name = "buspirate",
.execute_queue = buspirate_execute_queue,
- .speed = buspirate_speed,
- .khz = buspirate_khz,
.commands = buspirate_command_handlers,
+ .transports = buspirate_transports,
+ .swd = &buspirate_swd,
.init = buspirate_init,
.quit = buspirate_quit
};
@@ -529,7 +644,10 @@ static void buspirate_scan(bool ir_scan, enum scan_type type,
saved_end_state = tap_get_end_state();
buspirate_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
- buspirate_state_move();
+
+ /* Only move if we're not already there */
+ if (tap_get_state() != tap_get_end_state())
+ buspirate_state_move();
buspirate_tap_append_scan(scan_size, buffer, command);
@@ -544,14 +662,36 @@ static void buspirate_scan(bool ir_scan, enum scan_type type,
buspirate_state_move();
}
+static void buspirate_stableclocks(int num_cycles)
+{
+ int i;
+ int tms = (tap_get_state() == TAP_RESET ? 1 : 0);
+
+ buspirate_tap_make_space(0, num_cycles);
+
+ for (i = 0; i < num_cycles; i++)
+ buspirate_tap_append(tms, 0);
+}
/************************* 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
-static char tms_chain[BUSPIRATE_BUFFER_SIZE]; /* send */
-static char tdi_chain[BUSPIRATE_BUFFER_SIZE]; /* send */
+/* 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 uint8_t tms_chain[BUSPIRATE_BUFFER_SIZE]; /* send */
+static uint8_t tdi_chain[BUSPIRATE_BUFFER_SIZE]; /* send */
static int tap_chain_index;
struct pending_scan_result /* this was stolen from arm-jtag-ew */
@@ -574,7 +714,9 @@ static void buspirate_tap_init(void)
static int buspirate_tap_execute(void)
{
- char tmp[4096];
+ static const int CMD_TAP_SHIFT_HEADER_LEN = 3;
+
+ uint8_t tmp[4096];
uint8_t *in_buf;
int i;
int fill_index = 0;
@@ -587,13 +729,13 @@ static int buspirate_tap_execute(void)
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 */
+ tmp[1] = tap_chain_index >> 8; /* high */
+ tmp[2] = 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++;
@@ -601,14 +743,26 @@ static int buspirate_tap_execute(void)
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);
- in_buf = (uint8_t *)(&tmp[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[CMD_TAP_SHIFT_HEADER_LEN]);
/* parse the scans */
for (i = 0; i < tap_pending_scans_num; i++) {
@@ -628,8 +782,7 @@ static int buspirate_tap_execute(void)
free(buffer);
}
- tap_pending_scans_num = 0;
- tap_chain_index = 0;
+ buspirate_tap_init();
return ERROR_OK;
}
@@ -653,6 +806,19 @@ static void buspirate_tap_append(int tms, int tdi)
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
@@ -664,9 +830,13 @@ static void buspirate_tap_append(int tms, int tdi)
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,
@@ -686,7 +856,7 @@ static void buspirate_tap_append_scan(int length, uint8_t *buffer,
tap_pending_scans_num++;
}
-/*************** jtag wrapper functions *********************/
+/*************** wrapper functions *********************/
/* (1) assert or (0) deassert reset lines */
static void buspirate_reset(int trst, int srst)
@@ -694,33 +864,148 @@ static void buspirate_reset(int trst, int srst)
LOG_DEBUG("trst: %i, srst: %i", trst, srst);
if (trst)
- buspirate_jtag_set_feature(buspirate_fd,
- FEATURE_TRST, ACTION_DISABLE);
+ buspirate_set_feature(buspirate_fd, FEATURE_TRST, ACTION_DISABLE);
else
- buspirate_jtag_set_feature(buspirate_fd,
- FEATURE_TRST, ACTION_ENABLE);
+ buspirate_set_feature(buspirate_fd, FEATURE_TRST, ACTION_ENABLE);
if (srst)
- buspirate_jtag_set_feature(buspirate_fd,
- FEATURE_SRST, ACTION_DISABLE);
+ buspirate_set_feature(buspirate_fd, FEATURE_SRST, ACTION_DISABLE);
else
- buspirate_jtag_set_feature(buspirate_fd,
- FEATURE_SRST, ACTION_ENABLE);
+ buspirate_set_feature(buspirate_fd, FEATURE_SRST, ACTION_ENABLE);
+}
+
+static void buspirate_set_feature(int fd, char feat, char action)
+{
+ if (swd_mode)
+ buspirate_swd_set_feature(fd, feat, action);
+ else
+ buspirate_jtag_set_feature(fd, feat, action);
+}
+
+static void buspirate_set_mode(int fd, char mode)
+{
+ if (swd_mode)
+ buspirate_swd_set_mode(fd, mode);
+ else
+ buspirate_jtag_set_mode(fd, mode);
+}
+
+static void buspirate_set_speed(int fd, char speed)
+{
+ if (swd_mode)
+ buspirate_swd_set_speed(fd, speed);
+ else
+ buspirate_jtag_set_speed(fd, speed);
+}
+
+
+/*************** swd lowlevel functions ********************/
+
+static void buspirate_swd_set_speed(int fd, char speed)
+{
+ int ret;
+ uint8_t tmp[1];
+
+ LOG_DEBUG("Buspirate speed setting in SWD mode defaults to 400 kHz");
+
+ /* speed settings */
+ tmp[0] = CMD_RAW_SPEED | SPEED_RAW_400_KHZ;
+ buspirate_serial_write(fd, tmp, 1);
+ ret = buspirate_serial_read(fd, tmp, 1);
+ if (ret != 1) {
+ LOG_ERROR("Buspirate did not answer correctly");
+ exit(-1);
+ }
+ if (tmp[0] != 1) {
+ LOG_ERROR("Buspirate did not reply as expected to the speed change command");
+ exit(-1);
+ }
+}
+
+static void buspirate_swd_set_mode(int fd, char mode)
+{
+ int ret;
+ uint8_t tmp[1];
+
+ /* raw-wire mode configuration */
+ if (mode == MODE_HIZ)
+ tmp[0] = CMD_RAW_MODE | CMD_RAW_CONFIG_LSB;
+ else
+ tmp[0] = CMD_RAW_MODE | CMD_RAW_CONFIG_LSB | CMD_RAW_CONFIG_3V3;
+
+ buspirate_serial_write(fd, tmp, 1);
+ ret = buspirate_serial_read(fd, tmp, 1);
+ if (ret != 1) {
+ LOG_ERROR("Buspirate did not answer correctly");
+ exit(-1);
+ }
+ if (tmp[0] != 1) {
+ LOG_ERROR("Buspirate did not reply as expected to the configure command");
+ exit(-1);
+ }
+}
+
+static void buspirate_swd_set_feature(int fd, char feat, char action)
+{
+ int ret;
+ uint8_t tmp[1];
+
+ switch (feat) {
+ case FEATURE_TRST:
+ LOG_DEBUG("Buspirate TRST feature not available in SWD mode");
+ return;
+ case FEATURE_LED:
+ LOG_ERROR("Buspirate LED feature not available in SWD mode");
+ return;
+ case FEATURE_SRST:
+ swd_features = (action == ACTION_ENABLE) ? swd_features | 0x02 : swd_features & 0x0D;
+ break;
+ case FEATURE_PULLUP:
+ swd_features = (action == ACTION_ENABLE) ? swd_features | 0x04 : swd_features & 0x0B;
+ break;
+ case FEATURE_VREG:
+ swd_features = (action == ACTION_ENABLE) ? swd_features | 0x08 : swd_features & 0x07;
+ break;
+ default:
+ LOG_DEBUG("Buspirate unknown feature %d", feat);
+ return;
+ }
+
+ tmp[0] = CMD_RAW_PERIPH | swd_features;
+ buspirate_serial_write(fd, tmp, 1);
+ ret = buspirate_serial_read(fd, tmp, 1);
+ if (ret != 1) {
+ LOG_DEBUG("Buspirate feature %d not supported in SWD mode", feat);
+ } else if (tmp[0] != 1) {
+ LOG_ERROR("Buspirate did not reply as expected to the configure command");
+ exit(-1);
+ }
}
/*************** jtag lowlevel functions ********************/
-static void buspirate_jtag_enable(int fd)
+static void buspirate_bbio_enable(int fd)
{
int ret;
- char tmp[21] = { [0 ... 20] = 0x00 };
+ char command;
+ const char *mode_answers[2] = { "OCD1", "RAW1" };
+ const char *correct_ans = NULL;
+ uint8_t tmp[21] = { [0 ... 20] = 0x00 };
int done = 0;
int cmd_sent = 0;
- LOG_DEBUG("Entering binary mode");
+ if (swd_mode) {
+ command = CMD_ENTER_RWIRE;
+ correct_ans = mode_answers[1];
+ } else {
+ command = CMD_ENTER_OOCD;
+ correct_ans = mode_answers[0];
+ }
+
+ LOG_DEBUG("Entering binary mode, that is %s", correct_ans);
buspirate_serial_write(fd, tmp, 20);
usleep(10000);
- /* reads 1 to n "BBIO1"s and one "OCD1" */
+ /* reads 1 to n "BBIO1"s and one "OCD1" or "RAW1" */
while (!done) {
ret = buspirate_serial_read(fd, tmp, 4);
if (ret != 4) {
@@ -728,7 +1013,7 @@ static void buspirate_jtag_enable(int fd)
"/OpenOCD support enabled?");
exit(-1);
}
- if (strncmp(tmp, "BBIO", 4) == 0) {
+ if (strncmp((char *)tmp, "BBIO", 4) == 0) {
ret = buspirate_serial_read(fd, tmp, 1);
if (ret != 1) {
LOG_ERROR("Buspirate did not answer correctly! "
@@ -741,10 +1026,14 @@ static void buspirate_jtag_enable(int fd)
}
if (cmd_sent == 0) {
cmd_sent = 1;
- tmp[0] = CMD_ENTER_OOCD;
+ tmp[0] = command;
ret = buspirate_serial_write(fd, tmp, 1);
+ if (ret != 1) {
+ LOG_ERROR("error reading");
+ exit(-1);
+ }
}
- } else if (strncmp(tmp, "OCD1", 4) == 0)
+ } else if (strncmp((char *)tmp, correct_ans, 4) == 0)
done = 1;
else {
LOG_ERROR("Buspirate did not answer correctly! "
@@ -757,14 +1046,14 @@ static void buspirate_jtag_enable(int fd)
static void buspirate_jtag_reset(int fd)
{
- int ret;
- char tmp[5];
+ uint8_t tmp[5];
tmp[0] = 0x00; /* exit OCD1 mode */
buspirate_serial_write(fd, tmp, 1);
usleep(10000);
- ret = buspirate_serial_read(fd, tmp, 5);
- if (strncmp(tmp, "BBIO1", 5) == 0) {
+ /* We ignore the return value here purposly, nothing we can do */
+ buspirate_serial_read(fd, tmp, 5);
+ if (strncmp((char *)tmp, "BBIO1", 5) == 0) {
tmp[0] = 0x0F; /* reset BP */
buspirate_serial_write(fd, tmp, 1);
} else
@@ -774,8 +1063,8 @@ static void buspirate_jtag_reset(int fd)
static void buspirate_jtag_set_speed(int fd, char speed)
{
int ret;
- char tmp[2];
- char ack[2];
+ uint8_t tmp[2];
+ uint8_t ack[2];
ack[0] = 0xAA;
ack[1] = 0x55;
@@ -785,7 +1074,10 @@ static void buspirate_jtag_set_speed(int fd, char speed)
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);
@@ -794,7 +1086,7 @@ static void buspirate_jtag_set_speed(int fd, char speed)
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",
@@ -804,7 +1096,7 @@ static void buspirate_jtag_set_speed(int fd, char speed)
static void buspirate_jtag_set_mode(int fd, char mode)
{
- char tmp[2];
+ uint8_t tmp[2];
tmp[0] = CMD_PORT_MODE;
tmp[1] = mode;
buspirate_jtag_command(fd, tmp, 2);
@@ -812,7 +1104,7 @@ static void buspirate_jtag_set_mode(int fd, char mode)
static void buspirate_jtag_set_feature(int fd, char feat, char action)
{
- char tmp[3];
+ uint8_t tmp[3];
tmp[0] = CMD_FEATURE;
tmp[1] = feat; /* what */
tmp[2] = action; /* action */
@@ -824,7 +1116,7 @@ static void buspirate_jtag_get_adcs(int fd)
uint8_t tmp[10];
uint16_t a, b, c, d;
tmp[0] = CMD_READ_ADCS;
- buspirate_jtag_command(fd, (char *)tmp, 1);
+ buspirate_jtag_command(fd, tmp, 1);
a = tmp[2] << 8 | tmp[3];
b = tmp[4] << 8 | tmp[5];
c = tmp[6] << 8 | tmp[7];
@@ -837,7 +1129,7 @@ static void buspirate_jtag_get_adcs(int fd)
}
static unsigned char buspirate_jtag_command(int fd,
- char *cmd, int cmdlen)
+ uint8_t *cmd, int cmdlen)
{
int res;
int len = 0;
@@ -880,33 +1172,55 @@ static int buspirate_serial_open(char *port)
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;
}
-static int buspirate_serial_write(int fd, char *buf, int size)
+static int buspirate_serial_write(int fd, uint8_t *buf, int size)
{
int ret = 0;
@@ -921,7 +1235,7 @@ static int buspirate_serial_write(int fd, char *buf, int size)
return ret;
}
-static int buspirate_serial_read(int fd, char *buf, int size)
+static int buspirate_serial_read(int fd, uint8_t *buf, int size)
{
int len = 0;
int ret = 0;
@@ -960,7 +1274,7 @@ static void buspirate_serial_close(int fd)
#define LINE_SIZE 81
#define BYTES_PER_LINE 16
-static void buspirate_print_buffer(char *buf, int size)
+static void buspirate_print_buffer(uint8_t *buf, int size)
{
char line[LINE_SIZE];
char tmp[10];
@@ -979,8 +1293,243 @@ static void buspirate_print_buffer(char *buf, int size)
}
}
- if (line[0] != 0) {
+ if (line[0] != 0)
LOG_DEBUG("%s", line);
+}
+
+/************************* SWD related stuff **********/
+
+static int buspirate_swd_init(void)
+{
+ LOG_INFO("Buspirate SWD mode enabled");
+ swd_mode = true;
+
+ return ERROR_OK;
+}
+
+static int buspirate_swd_switch_seq(enum swd_special_seq seq)
+{
+ const uint8_t *sequence;
+ int sequence_len;
+ uint8_t tmp[64];
+
+ switch (seq) {
+ case LINE_RESET:
+ LOG_DEBUG("SWD line reset");
+ sequence = swd_seq_line_reset;
+ sequence_len = DIV_ROUND_UP(swd_seq_line_reset_len, 8);
+ break;
+ case JTAG_TO_SWD:
+ LOG_DEBUG("JTAG-to-SWD");
+ sequence = swd_seq_jtag_to_swd;
+ sequence_len = DIV_ROUND_UP(swd_seq_jtag_to_swd_len, 8);
+ break;
+ case SWD_TO_JTAG:
+ LOG_DEBUG("SWD-to-JTAG");
+ sequence = swd_seq_swd_to_jtag;
+ sequence_len = DIV_ROUND_UP(swd_seq_swd_to_jtag_len, 8);
+ break;
+ default:
+ LOG_ERROR("Sequence %d not supported", seq);
+ return ERROR_FAIL;
+ }
+
+ /* FIXME: all above sequences fit into one pirate command for now
+ * but it may cause trouble later
+ */
+
+ tmp[0] = 0x10 + ((sequence_len - 1) & 0x0F);
+ memcpy(tmp + 1, sequence, sequence_len);
+
+ buspirate_serial_write(buspirate_fd, tmp, sequence_len + 1);
+ buspirate_serial_read(buspirate_fd, tmp, sequence_len + 1);
+
+ return ERROR_OK;
+}
+
+static uint8_t buspirate_swd_write_header(uint8_t cmd)
+{
+ uint8_t tmp[8];
+ int to_send;
+
+ tmp[0] = 0x10; /* bus pirate: send 1 byte */
+ tmp[1] = cmd; /* swd cmd */
+ tmp[2] = 0x07; /* ack __x */
+ tmp[3] = 0x07; /* ack _x_ */
+ tmp[4] = 0x07; /* ack x__ */
+ tmp[5] = 0x07; /* write mode trn_1 */
+ tmp[6] = 0x07; /* write mode trn_2 */
+
+ to_send = ((cmd & SWD_CMD_RnW) == 0) ? 7 : 5;
+ buspirate_serial_write(buspirate_fd, tmp, to_send);
+
+ /* read ack */
+ buspirate_serial_read(buspirate_fd, tmp, 2); /* drop pirate command ret vals */
+ buspirate_serial_read(buspirate_fd, tmp, to_send - 2); /* ack bits */
+
+ return tmp[2] << 2 | tmp[1] << 1 | tmp[0];
+}
+
+static void buspirate_swd_idle_clocks(uint32_t no_bits)
+{
+ uint32_t no_bytes;
+ uint8_t tmp[20];
+
+ no_bytes = (no_bits + 7) / 8;
+ memset(tmp + 1, 0x00, sizeof(tmp) - 1);
+
+ /* unfortunately bus pirate misbehaves when clocks are sent in parts
+ * so we need to limit at 128 clock cycles
+ */
+ if (no_bytes > 16)
+ no_bytes = 16;
+
+ while (no_bytes) {
+ uint8_t to_send = no_bytes > 16 ? 16 : no_bytes;
+ tmp[0] = 0x10 + ((to_send - 1) & 0x0F);
+
+ buspirate_serial_write(buspirate_fd, tmp, to_send + 1);
+ buspirate_serial_read(buspirate_fd, tmp, to_send + 1);
+
+ no_bytes -= to_send;
}
}
+static void buspirate_swd_clear_sticky_errors(void)
+{
+ buspirate_swd_write_reg(swd_cmd(false, false, DP_ABORT),
+ STKCMPCLR | STKERRCLR | WDERRCLR | ORUNERRCLR, 0);
+}
+
+static void buspirate_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
+{
+ uint8_t tmp[16];
+
+ LOG_DEBUG("buspirate_swd_read_reg");
+ assert(cmd & SWD_CMD_RnW);
+
+ if (queued_retval != ERROR_OK) {
+ LOG_DEBUG("Skip buspirate_swd_read_reg because queued_retval=%d", queued_retval);
+ return;
+ }
+
+ cmd |= SWD_CMD_START | SWD_CMD_PARK;
+ uint8_t ack = buspirate_swd_write_header(cmd);
+
+ /* do a read transaction */
+ tmp[0] = 0x06; /* 4 data bytes */
+ tmp[1] = 0x06;
+ tmp[2] = 0x06;
+ tmp[3] = 0x06;
+ tmp[4] = 0x07; /* parity bit */
+ tmp[5] = 0x21; /* 2 turnaround clocks */
+
+ buspirate_serial_write(buspirate_fd, tmp, 6);
+ buspirate_serial_read(buspirate_fd, tmp, 6);
+
+ /* store the data and parity */
+ uint32_t data = (uint8_t) tmp[0];
+ data |= (uint8_t) tmp[1] << 8;
+ data |= (uint8_t) tmp[2] << 16;
+ data |= (uint8_t) tmp[3] << 24;
+ int parity = tmp[4] ? 0x01 : 0x00;
+
+ LOG_DEBUG("%s %s %s reg %X = %08"PRIx32,
+ ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
+ cmd & SWD_CMD_APnDP ? "AP" : "DP",
+ cmd & SWD_CMD_RnW ? "read" : "write",
+ (cmd & SWD_CMD_A32) >> 1,
+ data);
+
+ switch (ack) {
+ case SWD_ACK_OK:
+ if (parity != parity_u32(data)) {
+ LOG_DEBUG("Read data parity mismatch %x %x", parity, parity_u32(data));
+ queued_retval = ERROR_FAIL;
+ return;
+ }
+ if (value)
+ *value = data;
+ if (cmd & SWD_CMD_APnDP)
+ buspirate_swd_idle_clocks(ap_delay_clk);
+ return;
+ case SWD_ACK_WAIT:
+ LOG_DEBUG("SWD_ACK_WAIT");
+ buspirate_swd_clear_sticky_errors();
+ return;
+ case SWD_ACK_FAULT:
+ LOG_DEBUG("SWD_ACK_FAULT");
+ queued_retval = ack;
+ return;
+ default:
+ LOG_DEBUG("No valid acknowledge: ack=%d", ack);
+ queued_retval = ack;
+ return;
+ }
+}
+
+static void buspirate_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
+{
+ uint8_t tmp[16];
+
+ LOG_DEBUG("buspirate_swd_write_reg");
+ assert(!(cmd & SWD_CMD_RnW));
+
+ if (queued_retval != ERROR_OK) {
+ LOG_DEBUG("Skip buspirate_swd_write_reg because queued_retval=%d", queued_retval);
+ return;
+ }
+
+ cmd |= SWD_CMD_START | SWD_CMD_PARK;
+ uint8_t ack = buspirate_swd_write_header(cmd);
+
+ /* do a write transaction */
+ tmp[0] = 0x10 + ((4 + 1 - 1) & 0xF); /* bus pirate: send 4+1 bytes */
+ buf_set_u32((uint8_t *) tmp + 1, 0, 32, value);
+ /* write sequence ends with parity bit and 7 idle ticks */
+ tmp[5] = parity_u32(value) ? 0x01 : 0x00;
+
+ buspirate_serial_write(buspirate_fd, tmp, 6);
+ buspirate_serial_read(buspirate_fd, tmp, 6);
+
+ LOG_DEBUG("%s %s %s reg %X = %08"PRIx32,
+ ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
+ cmd & SWD_CMD_APnDP ? "AP" : "DP",
+ cmd & SWD_CMD_RnW ? "read" : "write",
+ (cmd & SWD_CMD_A32) >> 1,
+ value);
+
+ switch (ack) {
+ case SWD_ACK_OK:
+ if (cmd & SWD_CMD_APnDP)
+ buspirate_swd_idle_clocks(ap_delay_clk);
+ return;
+ case SWD_ACK_WAIT:
+ LOG_DEBUG("SWD_ACK_WAIT");
+ buspirate_swd_clear_sticky_errors();
+ return;
+ case SWD_ACK_FAULT:
+ LOG_DEBUG("SWD_ACK_FAULT");
+ queued_retval = ack;
+ return;
+ default:
+ LOG_DEBUG("No valid acknowledge: ack=%d", ack);
+ queued_retval = ack;
+ return;
+ }
+}
+
+static int buspirate_swd_run_queue(void)
+{
+ LOG_DEBUG("buspirate_swd_run_queue");
+ /* A transaction must be followed by another transaction or at least 8 idle cycles to
+ * ensure that data is clocked through the AP. */
+ buspirate_swd_idle_clocks(8);
+
+ int retval = queued_retval;
+ queued_retval = ERROR_OK;
+ LOG_DEBUG("SWD queue return value: %02x", retval);
+ return retval;
+}
+
+