remote_bitbang: Add SWD support
This adds new command characters to make SWD work with the new split
jtag and swd operations of bitbang.
The command characters are as follows:
O - SWDIO drive 1
o - SWDIO drive 0
c - SWDIO read request
d - SWD write 0 0
e - SWD write 0 1
f - SWD write 1 0
g - SWD write 1 1
Documentation has been updated accordingly. The new commands will be
used by an adapted version of the jtag-openocd applet of the "Glasgow
Debug Tool" (https://github.com/glasgowEmbedded/Glasgow). It has been
tested against an stm32f103 and an at91samd21 target.
contrib/remote/bitbang/remote_bitbang_sysfsgpio.c has also been adapted
to support SWD via the new command set. Some limited testing has been
done using a Raspberry Pi 2 with an stm32f103 and an at91samd21 target
attached.
Change-Id: I8e998a2cb36905142cb16e534483094cd99e8fa7
Signed-off-by: Manuel Wick <manuel@matronix.de>
Signed-off-by: David Ryskalczyk <david.rysk@gmail.com>
Reviewed-on: https://review.openocd.org/c/openocd/+/6044
Tested-by: jenkins
Reviewed-by: Tomas Vanek <vanekt@fbl.cz>
Reviewed-by: Antonio Borneo <borneo.antonio@gmail.com>
This commit is contained in:
Manuel Wick
Tomas Vanek
parent
119a533862
commit
0f70c6c325
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@ -382,7 +382,7 @@ AC_ARG_ENABLE([internal-libjaylink],
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[use_internal_libjaylink=$enableval], [use_internal_libjaylink=no])
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AC_ARG_ENABLE([remote-bitbang],
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AS_HELP_STRING([--enable-remote-bitbang], [Enable building support for the Remote Bitbang jtag driver]),
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AS_HELP_STRING([--enable-remote-bitbang], [Enable building support for the Remote Bitbang driver]),
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[build_remote_bitbang=$enableval], [build_remote_bitbang=no])
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AS_CASE(["${host_cpu}"],
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@ -598,9 +598,9 @@ AS_IF([test "x$use_internal_jimtcl" = "xyes"], [
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AS_IF([test "x$build_remote_bitbang" = "xyes"], [
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build_bitbang=yes
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AC_DEFINE([BUILD_REMOTE_BITBANG], [1], [1 if you want the Remote Bitbang JTAG driver.])
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AC_DEFINE([BUILD_REMOTE_BITBANG], [1], [1 if you want the Remote Bitbang driver.])
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], [
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AC_DEFINE([BUILD_REMOTE_BITBANG], [0], [0 if you don't want the Remote Bitbang JTAG driver.])
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AC_DEFINE([BUILD_REMOTE_BITBANG], [0], [0 if you don't want the Remote Bitbang driver.])
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])
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AS_IF([test "x$build_sysfsgpio" = "xyes"], [
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@ -1,30 +1,31 @@
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// SPDX-License-Identifier: GPL-2.0-or-later
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/***************************************************************************
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* Copyright (C) 2021 by Manuel Wick <manuel@matronix.de> *
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* Copyright (C) 2013 Paul Fertser <fercerpav@gmail.com> *
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* Copyright (C) 2012 by Creative Product Design, marc @ cpdesign.com.au *
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***************************************************************************/
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/*
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This is a test application to be used as a remote bitbang server for
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the OpenOCD remote_bitbang interface driver.
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To compile run:
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gcc -Wall -ansi -pedantic -std=c99 -o remote_bitbang_sysfsgpio remote_bitbang_sysfsgpio.c
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Usage example:
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On Raspberry Pi run:
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socat TCP6-LISTEN:7777,fork EXEC:"sudo ./remote_bitbang_sysfsgpio tck 11 tms 25 tdo 9 tdi 10"
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On host run:
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openocd -c "interface remote_bitbang; remote_bitbang host raspberrypi; remote_bitbang port 7777" \
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-f target/stm32f1x.cfg
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Or if you want to test UNIX sockets, run both on Raspberry Pi:
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socat UNIX-LISTEN:/tmp/remotebitbang-socket,fork EXEC:"sudo ./remote_bitbang_sysfsgpio tck 11 tms 25 tdo 9 tdi 10"
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openocd -c "interface remote_bitbang; remote_bitbang host /tmp/remotebitbang-socket" -f target/stm32f1x.cfg
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* This is a test application to be used as a remote bitbang server for
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* the OpenOCD remote_bitbang interface driver.
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*
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* To compile run:
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* gcc -Wall -ansi -pedantic -std=c99 -o remote_bitbang_sysfsgpio remote_bitbang_sysfsgpio.c
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*
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*
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* Usage example:
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*
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* On Raspberry Pi run:
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* socat TCP6-LISTEN:7777,fork EXEC:"sudo ./remote_bitbang_sysfsgpio tck 11 tms 25 tdo 9 tdi 10"
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*
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* On host run:
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* openocd -c "adapter driver remote_bitbang; remote_bitbang host raspberrypi; remote_bitbang port 7777" \
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* -f target/stm32f1x.cfg
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*
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* Or if you want to test UNIX sockets, run both on Raspberry Pi:
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* socat UNIX-LISTEN:/tmp/remotebitbang-socket,fork EXEC:"sudo ./remote_bitbang_sysfsgpio tck 11 tms 25 tdo 9 tdi 10"
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* openocd -c "adapter driver remote_bitbang; remote_bitbang host /tmp/remotebitbang-socket" -f target/stm32f1x.cfg
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*/
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#include <sys/types.h>
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@ -97,11 +98,14 @@ static void unexport_sysfs_gpio(int gpio)
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* If the gpio is an output, it is initialized according to init_high,
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* otherwise it is ignored.
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*
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* When open_rw is set, the file descriptor will be open as read and write,
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* e.g. for SWDIO (TMS) that is used as input and output.
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*
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* If the gpio is already exported we just show a warning and continue; if
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* openocd happened to crash (or was killed by user) then the gpios will not
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* have been cleaned up.
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*/
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static int setup_sysfs_gpio(int gpio, int is_output, int init_high)
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static int setup_sysfs_gpio(int gpio, int is_output, int init_high, int open_rw)
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{
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char buf[40];
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char gpiostr[4];
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@ -132,7 +136,9 @@ static int setup_sysfs_gpio(int gpio, int is_output, int init_high)
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}
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snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/value", gpio);
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if (is_output)
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if (open_rw)
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ret = open(buf, O_RDWR | O_NONBLOCK | O_SYNC);
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else if (is_output)
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ret = open(buf, O_WRONLY | O_NONBLOCK | O_SYNC);
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else
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ret = open(buf, O_RDONLY | O_NONBLOCK | O_SYNC);
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@ -143,6 +149,37 @@ static int setup_sysfs_gpio(int gpio, int is_output, int init_high)
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return ret;
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}
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/*
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* Change direction for gpio.
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*/
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static int change_dir_sysfs_gpio(int gpio, int is_output, int init_high)
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{
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char buf[40];
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int ret;
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if (!is_gpio_valid(gpio))
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return ERROR_OK;
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snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/direction", gpio);
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ret = open_write_close(buf, is_output ? (init_high ? "high" : "low") : "in");
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if (ret < 0) {
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LOG_ERROR("Couldn't set direction for gpio %d", gpio);
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perror("sysfsgpio: ");
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unexport_sysfs_gpio(gpio);
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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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/* gpio numbers for each gpio. Negative values are invalid */
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static int tck_gpio = -1;
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static int tms_gpio = -1;
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static int tdi_gpio = -1;
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static int tdo_gpio = -1;
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static int trst_gpio = -1;
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static int srst_gpio = -1;
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/*
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* file descriptors for /sys/class/gpio/gpioXX/value
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* Set up during init.
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@ -154,6 +191,15 @@ static int tdo_fd = -1;
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static int trst_fd = -1;
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static int srst_fd = -1;
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/*
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* GPIO state of /sys/class/gpio/gpioXX/value
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*/
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static int last_tck = -1;
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static int last_tms = -1;
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static int last_tms_drive = -1;
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static int last_tdi = -1;
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static int last_initialized = -1;
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/*
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* Bitbang interface read of TDO
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*
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@ -179,26 +225,22 @@ static int sysfsgpio_read(void)
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/*
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* Bitbang interface write of TCK, TMS, TDI
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*
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* Seeing as this is the only function where the outputs are changed,
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* we can cache the old value to avoid needlessly writing it.
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* Output states are changed here and in sysfsgpio_write_swd,
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* which are not used simultaneously, so we can cache the old
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* value to avoid needlessly writing it.
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*/
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static void sysfsgpio_write(int tck, int tms, int tdi)
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{
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const char one[] = "1";
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const char zero[] = "0";
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static int last_tck;
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static int last_tms;
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static int last_tdi;
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static int first_time;
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size_t bytes_written;
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if (!first_time) {
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if (!last_initialized) {
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last_tck = !tck;
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last_tms = !tms;
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last_tdi = !tdi;
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first_time = 1;
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last_initialized = 1;
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}
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if (tdi != last_tdi) {
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@ -251,13 +293,81 @@ static void sysfsgpio_reset(int trst, int srst)
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}
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}
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/* gpio numbers for each gpio. Negative values are invalid */
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static int tck_gpio = -1;
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static int tms_gpio = -1;
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static int tdi_gpio = -1;
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static int tdo_gpio = -1;
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static int trst_gpio = -1;
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static int srst_gpio = -1;
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/*
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* Bitbang interface set direction of SWDIO (TMS)
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*/
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static void sysfsgpio_swdio_drive(int is_output)
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{
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int ret;
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if (is_output != 0 && last_tms == -1)
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last_tms = 0;
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ret = change_dir_sysfs_gpio(tms_gpio, (is_output != 0) ? 1 : 0, last_tms);
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if (ret != ERROR_OK)
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LOG_WARNING("Failed to change SWDIO (TMS) direction to output");
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else
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last_tms_drive = (is_output != 0) ? 1 : 0;
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}
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/*
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* Bitbang interface read of SWDIO (TMS)
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*
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* The sysfs value will read back either '0' or '1'. The trick here is to call
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* lseek to bypass buffering in the sysfs kernel driver.
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*/
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static int sysfsgpio_swdio_read(void)
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{
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char buf[1];
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/* important to seek to signal sysfs of new read */
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lseek(tms_fd, 0, SEEK_SET);
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int ret = read(tms_fd, &buf, sizeof(buf));
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if (ret < 0) {
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LOG_WARNING("reading swdio (tms) failed");
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return 0;
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}
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return buf[0];
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}
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/*
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* Bitbang interface write of SWCLK (TCK) and SWDIO (TMS)
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*
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* Output states are changed here and in sysfsgpio_write, which
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* are not used simultaneously, so we can cache the old value
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* to avoid needlessly writing it.
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*/
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static void sysfsgpio_swd_write(int swclk, int swdio)
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{
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static const char one[] = "1";
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static const char zero[] = "0";
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size_t bytes_written;
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if (!last_initialized) {
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last_tck = !swclk;
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last_tms = !swdio;
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last_initialized = 1;
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}
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if (last_tms_drive == 1 && swdio != last_tms) {
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bytes_written = write(tms_fd, swdio ? &one : &zero, 1);
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if (bytes_written != 1)
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LOG_WARNING("writing swdio (tms) failed");
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}
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/* write clk last */
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if (swclk != last_tck) {
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bytes_written = write(tck_fd, swclk ? &one : &zero, 1);
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if (bytes_written != 1)
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LOG_WARNING("writing swclk (tck) failed");
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}
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last_tms = swdio;
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last_tck = swclk;
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}
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/* helper func to close and cleanup files only if they were valid/ used */
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static void cleanup_fd(int fd, int gpio)
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@ -293,13 +403,21 @@ static void process_remote_protocol(void)
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char d = c - 'r';
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sysfsgpio_reset(!!(d & 2),
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(d & 1));
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} else if (c >= '0' && c <= '0' + 7) {/* Write */
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} else if (c >= '0' && c <= '0' + 7) { /* Write */
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char d = c - '0';
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sysfsgpio_write(!!(d & 4),
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!!(d & 2),
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(d & 1));
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} else if (c == 'R')
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putchar(sysfsgpio_read());
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else if (c == 'c') /* SWDIO read */
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putchar(sysfsgpio_swdio_read());
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else if (c == 'o' || c == 'O') /* SWDIO drive */
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sysfsgpio_swdio_drive(c == 'o' ? 0 : 1);
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else if (c >= 'd' && c <= 'g') { /* SWD write */
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char d = c - 'd';
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sysfsgpio_swd_write((d & 2), (d & 1));
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}
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else
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LOG_ERROR("Unknown command '%c' received", c);
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}
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@ -307,7 +425,7 @@ static void process_remote_protocol(void)
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int main(int argc, char *argv[])
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{
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LOG_WARNING("SysfsGPIO remote_bitbang JTAG driver\n");
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LOG_WARNING("SysfsGPIO remote_bitbang JTAG+SWD driver\n");
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for (int i = 1; i < argc; i++) {
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if (!strcmp(argv[i], "tck"))
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@ -349,36 +467,39 @@ int main(int argc, char *argv[])
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* Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
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* as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
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*/
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tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0);
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tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0, 0);
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if (tck_fd < 0)
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goto out_error;
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tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1);
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tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1, 1);
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if (tms_fd < 0)
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goto out_error;
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last_tms_drive = 0;
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tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0);
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tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0, 0);
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if (tdi_fd < 0)
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goto out_error;
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tdo_fd = setup_sysfs_gpio(tdo_gpio, 0, 0);
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tdo_fd = setup_sysfs_gpio(tdo_gpio, 0, 0, 0);
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if (tdo_fd < 0)
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goto out_error;
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/* assume active low */
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if (trst_gpio > 0) {
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trst_fd = setup_sysfs_gpio(trst_gpio, 1, 1);
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trst_fd = setup_sysfs_gpio(trst_gpio, 1, 1, 0);
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if (trst_fd < 0)
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goto out_error;
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}
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/* assume active low */
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if (srst_gpio > 0) {
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srst_fd = setup_sysfs_gpio(srst_gpio, 1, 1);
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srst_fd = setup_sysfs_gpio(srst_gpio, 1, 1, 0);
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if (srst_fd < 0)
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goto out_error;
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}
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last_initialized = 0;
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LOG_WARNING("SysfsGPIO nums: tck = %d, tms = %d, tdi = %d, tdo = %d",
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tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
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LOG_WARNING("SysfsGPIO num: srst = %d", srst_gpio);
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|
|
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@ -1,15 +1,19 @@
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/** @remote_bitbangpage OpenOCD Developer's Guide
|
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|
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The remote_bitbang JTAG driver is used to drive JTAG from a remote process. The
|
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remote_bitbang driver communicates via TCP or UNIX sockets with some remote
|
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process using an ASCII encoding of the bitbang interface. The remote process
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presumably then drives the JTAG however it pleases. The remote process should
|
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act as a server, listening for connections from the openocd remote_bitbang
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driver.
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The remote_bitbang JTAG+SWD driver is used to drive JTAG and/or SWD from a
|
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remote process. The remote_bitbang driver communicates via TCP or UNIX
|
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sockets with some remote process using an ASCII encoding of the bitbang
|
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interface. The remote process presumably then drives the JTAG/SWD however
|
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it pleases. The remote process should act as a server, listening for
|
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connections from the openocd remote_bitbang driver.
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|
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The remote bitbang driver is useful for debugging software running on
|
||||
processors which are being simulated.
|
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|
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There also is an implementation of the server-side protocol for the
|
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Glasgow Debug Tool (https://github.com/glasgowEmbedded/Glasgow) through
|
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the jtag-openocd applet.
|
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|
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The bitbang interface consists of the following functions.
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blink on
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|
@ -24,11 +28,20 @@ write tck tms tdi
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reset trst srst
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Set the value of trst, srst.
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swdio_drive
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Set the output enable of the bidirectional swdio (tms) pin
|
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|
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swdio_read
|
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Sample the value of swdio (tms).
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|
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swd_write
|
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Set the value of swclk (tck) and swdio (tms).
|
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|
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An additional function, quit, is added to the remote_bitbang interface to
|
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indicate there will be no more requests and the connection with the remote
|
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driver should be closed.
|
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|
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These five functions are encoded in ASCII by assigning a single character to
|
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These eight functions are encoded in ASCII by assigning a single character to
|
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each possible request. The assignments are:
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B - Blink on
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|
@ -47,7 +60,14 @@ each possible request. The assignments are:
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s - Reset 0 1
|
||||
t - Reset 1 0
|
||||
u - Reset 1 1
|
||||
O - SWDIO drive 1
|
||||
o - SWDIO drive 0
|
||||
c - SWDIO read request
|
||||
d - SWD write 0 0
|
||||
e - SWD write 0 1
|
||||
f - SWD write 1 0
|
||||
g - SWD write 1 1
|
||||
|
||||
The read response is encoded in ASCII as either digit 0 or 1.
|
||||
The read responses are encoded in ASCII as either digit 0 or 1.
|
||||
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -2810,9 +2810,9 @@ If not specified, default 0xFFFF is used.
|
|||
@end deffn
|
||||
|
||||
@deffn {Interface Driver} {remote_bitbang}
|
||||
Drive JTAG from a remote process. This sets up a UNIX or TCP socket connection
|
||||
with a remote process and sends ASCII encoded bitbang requests to that process
|
||||
instead of directly driving JTAG.
|
||||
Drive JTAG and SWD from a remote process. This sets up a UNIX or TCP socket
|
||||
connection with a remote process and sends ASCII encoded bitbang requests to
|
||||
that process instead of directly driving JTAG and SWD.
|
||||
|
||||
The remote_bitbang driver is useful for debugging software running on
|
||||
processors which are being simulated.
|
||||
|
|
|
|||
|
|
@ -3,6 +3,8 @@
|
|||
/***************************************************************************
|
||||
* Copyright (C) 2011 by Richard Uhler *
|
||||
* ruhler@mit.edu *
|
||||
* *
|
||||
* Copyright (C) 2021 by Manuel Wick <manuel@matronix.de> *
|
||||
***************************************************************************/
|
||||
|
||||
#ifdef HAVE_CONFIG_H
|
||||
|
|
@ -220,11 +222,35 @@ static int remote_bitbang_blink(int on)
|
|||
return remote_bitbang_queue(c, FLUSH_SEND_BUF);
|
||||
}
|
||||
|
||||
static void remote_bitbang_swdio_drive(bool is_output)
|
||||
{
|
||||
char c = is_output ? 'O' : 'o';
|
||||
if (remote_bitbang_queue(c, FLUSH_SEND_BUF) == ERROR_FAIL)
|
||||
LOG_ERROR("Error setting direction for swdio");
|
||||
}
|
||||
|
||||
static int remote_bitbang_swdio_read(void)
|
||||
{
|
||||
if (remote_bitbang_queue('c', FLUSH_SEND_BUF) != ERROR_FAIL)
|
||||
return remote_bitbang_read_sample();
|
||||
else
|
||||
return BB_ERROR;
|
||||
}
|
||||
|
||||
static int remote_bitbang_swd_write(int swclk, int swdio)
|
||||
{
|
||||
char c = 'd' + ((swclk ? 0x2 : 0x0) | (swdio ? 0x1 : 0x0));
|
||||
return remote_bitbang_queue(c, NO_FLUSH);
|
||||
}
|
||||
|
||||
static struct bitbang_interface remote_bitbang_bitbang = {
|
||||
.buf_size = sizeof(remote_bitbang_recv_buf) - 1,
|
||||
.sample = &remote_bitbang_sample,
|
||||
.read_sample = &remote_bitbang_read_sample,
|
||||
.write = &remote_bitbang_write,
|
||||
.swdio_read = &remote_bitbang_swdio_read,
|
||||
.swdio_drive = &remote_bitbang_swdio_drive,
|
||||
.swd_write = &remote_bitbang_swd_write,
|
||||
.blink = &remote_bitbang_blink,
|
||||
};
|
||||
|
||||
|
|
@ -349,6 +375,8 @@ COMMAND_HANDLER(remote_bitbang_handle_remote_bitbang_host_command)
|
|||
return ERROR_COMMAND_SYNTAX_ERROR;
|
||||
}
|
||||
|
||||
static const char * const remote_bitbang_transports[] = { "jtag", "swd", NULL };
|
||||
|
||||
static const struct command_registration remote_bitbang_subcommand_handlers[] = {
|
||||
{
|
||||
.name = "port",
|
||||
|
|
@ -401,7 +429,7 @@ static struct jtag_interface remote_bitbang_interface = {
|
|||
|
||||
struct adapter_driver remote_bitbang_adapter_driver = {
|
||||
.name = "remote_bitbang",
|
||||
.transports = jtag_only,
|
||||
.transports = remote_bitbang_transports,
|
||||
.commands = remote_bitbang_command_handlers,
|
||||
|
||||
.init = &remote_bitbang_init,
|
||||
|
|
@ -409,4 +437,5 @@ struct adapter_driver remote_bitbang_adapter_driver = {
|
|||
.reset = &remote_bitbang_reset,
|
||||
|
||||
.jtag_ops = &remote_bitbang_interface,
|
||||
.swd_ops = &bitbang_swd,
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue