X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fsysfsgpio.c;h=103b8100922e5ac80849fcd2b6609a81c31e1612;hp=1cad268936547566f126cfa6ce2938fbcfecec80;hb=HEAD;hpb=c06af3af918b9b8d68fd16ac91eb2ca5cc0a7610 diff --git a/src/jtag/drivers/sysfsgpio.c b/src/jtag/drivers/sysfsgpio.c index 1cad268936..a5f5fd3ac0 100644 --- a/src/jtag/drivers/sysfsgpio.c +++ b/src/jtag/drivers/sysfsgpio.c @@ -1,21 +1,12 @@ +// SPDX-License-Identifier: GPL-2.0-or-later + /*************************************************************************** * Copyright (C) 2012 by Creative Product Design, marc @ cpdesign.com.au * - * * - * 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. * ***************************************************************************/ + +/* 2014-12: Addition of the SWD protocol support is based on the initial work + * on bcm2835gpio.c by Paul Fertser and modifications by Jean-Christian de Rivaz. */ + /** * @file * This driver implements a bitbang jtag interface using gpio lines via @@ -27,7 +18,7 @@ * * A gpio is required for tck, tms, tdi and tdo. One or both of srst and trst * must be also be specified. The required jtag gpios are specified via the - * sysfsgpio_jtag_nums command or the relevant sysfsgpio_XXX_num commang. + * sysfsgpio_jtag_nums command or the relevant sysfsgpio_XXX_num commands. * The srst and trst gpios are set via the sysfsgpio_srst_num and * sysfsgpio_trst_num respectively. GPIO numbering follows the kernel * convention of starting from 0. @@ -50,17 +41,19 @@ #include "config.h" #endif +#include #include +#include #include "bitbang.h" /* * Helper func to determine if gpio number valid * - * Assume here that there will be less than 1000 gpios on a system + * Assume here that there will be less than 10000 gpios on a system */ -static int is_gpio_valid(int gpio) +static bool is_gpio_valid(int gpio) { - return gpio >= 0 && gpio < 1000; + return gpio >= 0 && gpio < 10000; } /* @@ -87,7 +80,7 @@ static int open_write_close(const char *name, const char *valstr) */ static void unexport_sysfs_gpio(int gpio) { - char gpiostr[4]; + char gpiostr[5]; if (!is_gpio_valid(gpio)) return; @@ -95,8 +88,6 @@ static void unexport_sysfs_gpio(int gpio) 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; } /* @@ -110,8 +101,9 @@ static void unexport_sysfs_gpio(int gpio) */ static int setup_sysfs_gpio(int gpio, int is_output, int init_high) { + struct timeval timeout, now; char buf[40]; - char gpiostr[4]; + char gpiostr[5]; int ret; if (!is_gpio_valid(gpio)) @@ -124,32 +116,60 @@ static int setup_sysfs_gpio(int gpio, int is_output, int init_high) LOG_WARNING("gpio %d is already exported", gpio); } else { LOG_ERROR("Couldn't export gpio %d", gpio); - perror("sysfsgpio: "); + LOG_ERROR("sysfsgpio: %s", strerror(errno)); return ERROR_FAIL; } } + gettimeofday(&timeout, NULL); + timeval_add_time(&timeout, 0, 500000); + snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/direction", gpio); - ret = open_write_close(buf, is_output ? (init_high ? "high" : "low") : "in"); + for (;;) { + ret = open_write_close(buf, is_output ? (init_high ? "high" : "low") : "in"); + if (ret >= 0 || errno != EACCES) + break; + gettimeofday(&now, NULL); + if (timeval_compare(&now, &timeout) >= 0) + break; + jtag_sleep(10000); + } if (ret < 0) { LOG_ERROR("Couldn't set direction for gpio %d", gpio); - perror("sysfsgpio: "); + LOG_ERROR("sysfsgpio: %s", strerror(errno)); unexport_sysfs_gpio(gpio); return ERROR_FAIL; } snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/value", gpio); - 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) + for (;;) { + ret = open(buf, O_RDWR | O_NONBLOCK | O_SYNC); + if (ret >= 0 || errno != EACCES) + break; + gettimeofday(&now, NULL); + if (timeval_compare(&now, &timeout) >= 0) + break; + jtag_sleep(10000); + } + if (ret < 0) { + LOG_ERROR("Couldn't open value for gpio %d", gpio); + LOG_ERROR("sysfsgpio: %s", strerror(errno)); unexport_sysfs_gpio(gpio); + } return ret; } +/* 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; +static int swclk_gpio = -1; +static int swdio_gpio = -1; + /* * file descriptors for /sys/class/gpio/gpioXX/value * Set up during init. @@ -160,6 +180,74 @@ static int tdi_fd = -1; static int tdo_fd = -1; static int trst_fd = -1; static int srst_fd = -1; +static int swclk_fd = -1; +static int swdio_fd = -1; + +static int last_swclk; +static int last_swdio; +static bool last_stored; +static bool swdio_input; + +static void sysfsgpio_swdio_drive(bool is_output) +{ + char buf[40]; + int ret; + + snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/direction", swdio_gpio); + ret = open_write_close(buf, is_output ? "high" : "in"); + if (ret < 0) { + LOG_ERROR("Couldn't set direction for gpio %d", swdio_gpio); + LOG_ERROR("sysfsgpio: %s", strerror(errno)); + } + + last_stored = false; + swdio_input = !is_output; +} + +static int sysfsgpio_swdio_read(void) +{ + char buf[1]; + + /* important to seek to signal sysfs of new read */ + lseek(swdio_fd, 0, SEEK_SET); + int ret = read(swdio_fd, &buf, sizeof(buf)); + + if (ret < 0) { + LOG_WARNING("reading swdio failed"); + return 0; + } + + return buf[0] != '0'; +} + +static int sysfsgpio_swd_write(int swclk, int swdio) +{ + const char one[] = "1"; + const char zero[] = "0"; + + size_t bytes_written; + + if (!swdio_input) { + if (!last_stored || (swdio != last_swdio)) { + bytes_written = write(swdio_fd, swdio ? &one : &zero, 1); + if (bytes_written != 1) + LOG_WARNING("writing swdio failed"); + } + } + + /* write swclk last */ + if (!last_stored || (swclk != last_swclk)) { + bytes_written = write(swclk_fd, swclk ? &one : &zero, 1); + if (bytes_written != 1) + LOG_WARNING("writing swclk failed"); + } + + last_swdio = swdio; + last_swclk = swclk; + last_stored = true; + + return ERROR_OK; +} /* * Bitbang interface read of TDO @@ -167,7 +255,7 @@ static int srst_fd = -1; * 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) +static bb_value_t sysfsgpio_read(void) { char buf[1]; @@ -180,7 +268,7 @@ static int sysfsgpio_read(void) return 0; } - return buf[0] == '1'; + return buf[0] == '0' ? BB_LOW : BB_HIGH; } /* @@ -189,7 +277,7 @@ static int sysfsgpio_read(void) * Seeing as this is the only function where the outputs are changed, * we can cache the old value to avoid needlessly writing it. */ -static void sysfsgpio_write(int tck, int tms, int tdi) +static int sysfsgpio_write(int tck, int tms, int tdi) { const char one[] = "1"; const char zero[] = "0"; @@ -230,6 +318,8 @@ static void sysfsgpio_write(int tck, int tms, int tdi) last_tdi = tdi; last_tms = tms; last_tck = tck; + + return ERROR_OK; } /* @@ -237,8 +327,9 @@ static void sysfsgpio_write(int tck, int tms, int tdi) * * (1) assert or (0) deassert reset lines */ -static void sysfsgpio_reset(int trst, int srst) +static int sysfsgpio_reset(int trst, int srst) { + LOG_DEBUG("sysfsgpio_reset"); const char one[] = "1"; const char zero[] = "0"; size_t bytes_written; @@ -256,38 +347,10 @@ static void sysfsgpio_reset(int trst, int srst) if (bytes_written != 1) LOG_WARNING("writing trst failed"); } -} - -/* No speed control is implemented yet */ -static int sysfsgpio_speed(int speed) -{ - return ERROR_OK; -} - -static int sysfsgpio_khz(int khz, int *jtag_speed) -{ - /* no adaptive clocking */ - if (khz == 0) - return ERROR_FAIL; - *jtag_speed = 0; return ERROR_OK; } -static int sysfsgpio_speed_div(int speed, int *khz) -{ - *khz = 1; - 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; - COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionums) { if (CMD_ARGC == 4) { @@ -299,8 +362,8 @@ COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionums) return ERROR_COMMAND_SYNTAX_ERROR; } - command_print(CMD_CTX, - "SysfsGPIO nums: tck = %d, tms = %d, tdi = %d, tdi = %d", + command_print(CMD, + "SysfsGPIO nums: tck = %d, tms = %d, tdi = %d, tdo = %d", tck_gpio, tms_gpio, tdi_gpio, tdo_gpio); return ERROR_OK; @@ -311,7 +374,7 @@ COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_tck) if (CMD_ARGC == 1) COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio); - command_print(CMD_CTX, "SysfsGPIO num: tck = %d", tck_gpio); + command_print(CMD, "SysfsGPIO num: tck = %d", tck_gpio); return ERROR_OK; } @@ -320,7 +383,7 @@ COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_tms) if (CMD_ARGC == 1) COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tms_gpio); - command_print(CMD_CTX, "SysfsGPIO num: tms = %d", tms_gpio); + command_print(CMD, "SysfsGPIO num: tms = %d", tms_gpio); return ERROR_OK; } @@ -329,7 +392,7 @@ COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_tdo) if (CMD_ARGC == 1) COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdo_gpio); - command_print(CMD_CTX, "SysfsGPIO num: tdo = %d", tdo_gpio); + command_print(CMD, "SysfsGPIO num: tdo = %d", tdo_gpio); return ERROR_OK; } @@ -338,7 +401,7 @@ COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_tdi) if (CMD_ARGC == 1) COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdi_gpio); - command_print(CMD_CTX, "SysfsGPIO num: tdi = %d", tdi_gpio); + command_print(CMD, "SysfsGPIO num: tdi = %d", tdi_gpio); return ERROR_OK; } @@ -347,7 +410,7 @@ COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_srst) if (CMD_ARGC == 1) COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], srst_gpio); - command_print(CMD_CTX, "SysfsGPIO num: srst = %d", srst_gpio); + command_print(CMD, "SysfsGPIO num: srst = %d", srst_gpio); return ERROR_OK; } @@ -356,53 +419,125 @@ COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_trst) if (CMD_ARGC == 1) COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], trst_gpio); - command_print(CMD_CTX, "SysfsGPIO num: trst = %d", trst_gpio); + command_print(CMD, "SysfsGPIO num: trst = %d", trst_gpio); return ERROR_OK; } -static const struct command_registration sysfsgpio_command_handlers[] = { +COMMAND_HANDLER(sysfsgpio_handle_swd_gpionums) +{ + if (CMD_ARGC == 2) { + COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio); + COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio); + } else if (CMD_ARGC != 0) { + return ERROR_COMMAND_SYNTAX_ERROR; + } + + command_print(CMD, + "SysfsGPIO nums: swclk = %d, swdio = %d", + swclk_gpio, swdio_gpio); + + return ERROR_OK; +} + +COMMAND_HANDLER(sysfsgpio_handle_swd_gpionum_swclk) +{ + if (CMD_ARGC == 1) + COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio); + + command_print(CMD, "SysfsGPIO num: swclk = %d", swclk_gpio); + return ERROR_OK; +} + +COMMAND_HANDLER(sysfsgpio_handle_swd_gpionum_swdio) +{ + if (CMD_ARGC == 1) + COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_gpio); + + command_print(CMD, "SysfsGPIO num: swdio = %d", swdio_gpio); + return ERROR_OK; +} + +static const struct command_registration sysfsgpio_subcommand_handlers[] = { { - .name = "sysfsgpio_jtag_nums", + .name = "jtag_nums", .handler = &sysfsgpio_handle_jtag_gpionums, .mode = COMMAND_CONFIG, .help = "gpio numbers for tck, tms, tdi, tdo. (in that order)", - .usage = "(tck tms tdi tdo)* ", + .usage = "[tck tms tdi tdo]", }, { - .name = "sysfsgpio_tck_num", + .name = "tck_num", .handler = &sysfsgpio_handle_jtag_gpionum_tck, .mode = COMMAND_CONFIG, .help = "gpio number for tck.", + .usage = "[tck]", }, { - .name = "sysfsgpio_tms_num", + .name = "tms_num", .handler = &sysfsgpio_handle_jtag_gpionum_tms, .mode = COMMAND_CONFIG, .help = "gpio number for tms.", + .usage = "[tms]", }, { - .name = "sysfsgpio_tdo_num", + .name = "tdo_num", .handler = &sysfsgpio_handle_jtag_gpionum_tdo, .mode = COMMAND_CONFIG, .help = "gpio number for tdo.", + .usage = "[tdo]", }, { - .name = "sysfsgpio_tdi_num", + .name = "tdi_num", .handler = &sysfsgpio_handle_jtag_gpionum_tdi, .mode = COMMAND_CONFIG, .help = "gpio number for tdi.", + .usage = "[tdi]", }, { - .name = "sysfsgpio_srst_num", + .name = "srst_num", .handler = &sysfsgpio_handle_jtag_gpionum_srst, .mode = COMMAND_CONFIG, .help = "gpio number for srst.", + .usage = "[srst]", }, { - .name = "sysfsgpio_trst_num", + .name = "trst_num", .handler = &sysfsgpio_handle_jtag_gpionum_trst, .mode = COMMAND_CONFIG, .help = "gpio number for trst.", + .usage = "[trst]", + }, + { + .name = "swd_nums", + .handler = &sysfsgpio_handle_swd_gpionums, + .mode = COMMAND_CONFIG, + .help = "gpio numbers for swclk, swdio. (in that order)", + .usage = "[swclk swdio]", + }, + { + .name = "swclk_num", + .handler = &sysfsgpio_handle_swd_gpionum_swclk, + .mode = COMMAND_CONFIG, + .help = "gpio number for swclk.", + .usage = "[swclk]", + }, + { + .name = "swdio_num", + .handler = &sysfsgpio_handle_swd_gpionum_swdio, + .mode = COMMAND_CONFIG, + .help = "gpio number for swdio.", + .usage = "[swdio]", + }, + COMMAND_REGISTRATION_DONE +}; + +static const struct command_registration sysfsgpio_command_handlers[] = { + { + .name = "sysfsgpio", + .mode = COMMAND_ANY, + .help = "perform sysfsgpio management", + .chain = sysfsgpio_subcommand_handlers, + .usage = "", }, COMMAND_REGISTRATION_DONE }; @@ -410,24 +545,33 @@ static const struct command_registration sysfsgpio_command_handlers[] = { static int sysfsgpio_init(void); static int sysfsgpio_quit(void); -struct jtag_interface sysfsgpio_interface = { - .name = "sysfsgpio", +static const char * const sysfsgpio_transports[] = { "jtag", "swd", NULL }; + +static struct jtag_interface sysfsgpio_interface = { .supported = DEBUG_CAP_TMS_SEQ, .execute_queue = bitbang_execute_queue, - .transports = jtag_only, - .speed = sysfsgpio_speed, - .khz = sysfsgpio_khz, - .speed_div = sysfsgpio_speed_div, +}; + +struct adapter_driver sysfsgpio_adapter_driver = { + .name = "sysfsgpio", + .transports = sysfsgpio_transports, .commands = sysfsgpio_command_handlers, + .init = sysfsgpio_init, .quit = sysfsgpio_quit, + .reset = sysfsgpio_reset, + + .jtag_ops = &sysfsgpio_interface, + .swd_ops = &bitbang_swd, }; static struct bitbang_interface sysfsgpio_bitbang = { .read = sysfsgpio_read, .write = sysfsgpio_write, - .reset = sysfsgpio_reset, - .blink = 0 + .swdio_read = sysfsgpio_swdio_read, + .swdio_drive = sysfsgpio_swdio_drive, + .swd_write = sysfsgpio_swd_write, + .blink = NULL, }; /* helper func to close and cleanup files only if they were valid/ used */ @@ -443,71 +587,105 @@ static void cleanup_fd(int fd, int 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); + if (transport_is_jtag()) { + 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); + } + if (transport_is_swd()) { + cleanup_fd(swclk_fd, swclk_gpio); + cleanup_fd(swdio_fd, swdio_gpio); + } cleanup_fd(srst_fd, srst_gpio); } +static bool sysfsgpio_jtag_mode_possible(void) +{ + if (!is_gpio_valid(tck_gpio)) + return false; + if (!is_gpio_valid(tms_gpio)) + return false; + if (!is_gpio_valid(tdi_gpio)) + return false; + if (!is_gpio_valid(tdo_gpio)) + return false; + return true; +} + +static bool sysfsgpio_swd_mode_possible(void) +{ + if (!is_gpio_valid(swclk_gpio)) + return false; + if (!is_gpio_valid(swdio_gpio)) + return false; + return true; +} + static int sysfsgpio_init(void) { bitbang_interface = &sysfsgpio_bitbang; - LOG_INFO("SysfsGPIO JTAG bitbang driver"); - - 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; - } - - if (!is_gpio_valid(trst_gpio) && !is_gpio_valid(srst_gpio)) { - LOG_ERROR("Require at least one of trst or srst gpios to be specified"); - return ERROR_JTAG_INIT_FAILED; - } + LOG_INFO("SysfsGPIO JTAG/SWD bitbang driver"); /* * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST * as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high. + * For SWD, SWCLK and SWDIO are configures as output high. */ - tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0); - if (tck_fd < 0) - goto out_error; - tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1); - if (tms_fd < 0) - goto out_error; + if (transport_is_jtag()) { + if (!sysfsgpio_jtag_mode_possible()) { + LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode"); + return ERROR_JTAG_INIT_FAILED; + } - tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0); - if (tdi_fd < 0) - goto out_error; + tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0); + if (tck_fd < 0) + goto out_error; - tdo_fd = setup_sysfs_gpio(tdo_gpio, 0, 0); - if (tdo_fd < 0) - goto out_error; + tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1); + if (tms_fd < 0) + goto out_error; - /* assume active low*/ - trst_fd = setup_sysfs_gpio(trst_gpio, 1, 1); - if (trst_gpio > 0 && trst_fd < 0) - goto out_error; + tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0); + if (tdi_fd < 0) + goto out_error; + + tdo_fd = setup_sysfs_gpio(tdo_gpio, 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); + if (trst_fd < 0) + goto out_error; + } + } + + if (transport_is_swd()) { + if (!sysfsgpio_swd_mode_possible()) { + LOG_ERROR("Require swclk and swdio gpio for SWD mode"); + return ERROR_JTAG_INIT_FAILED; + } + + swclk_fd = setup_sysfs_gpio(swclk_gpio, 1, 0); + if (swclk_fd < 0) + goto out_error; + + swdio_fd = setup_sysfs_gpio(swdio_gpio, 1, 0); + if (swdio_fd < 0) + goto out_error; + } /* assume active low*/ - srst_fd = setup_sysfs_gpio(srst_gpio, 1, 1); - if (srst_gpio > 0 && srst_fd < 0) - goto out_error; + if (srst_gpio >= 0) { + srst_fd = setup_sysfs_gpio(srst_gpio, 1, 1); + if (srst_fd < 0) + goto out_error; + } return ERROR_OK; @@ -521,4 +699,3 @@ static int sysfsgpio_quit(void) cleanup_all_fds(); return ERROR_OK; } -