bldc/blackmagic/bm_if.c

/*
	Copyright 2019 Benjamin Vedder	benjamin@vedder.se

	This file is part of the VESC firmware.

	The VESC firmware 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 3 of the License, or
    (at your option) any later version.

    The VESC firmware 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, see <http://www.gnu.org/licenses/>.
    */

#include "bm_if.h"
#include "platform.h"
#include "general.h"
#include "target.h"
#include "commands.h"
#include "terminal.h"
#include "exception.h"
#include "target_internal.h"
#include "adiv5.h"

// Global variables
long cortexm_wait_timeout = 2000; /* Timeout to wait for Cortex to react on halt command. */

// Private variables
static target *cur_target = 0;
static volatile bool target_print_en = true;

// Private functions
static void target_destroy_callback(struct target_controller *tc, target *t) {
	(void)tc;

	if (t == cur_target) {
		cur_target = 0;
	}
}

static void target_printf(struct target_controller *tc, const char *fmt, va_list ap) {
	(void)tc;

	if (target_print_en) {
		char *buf;
		if (vasprintf(&buf, fmt, ap) < 0) {
			return;
		}
		commands_printf(buf);
		free(buf);
	}
}

static struct target_controller gdb_controller = {
	.destroy_callback = target_destroy_callback,
	.printf = target_printf,

	.open = 0,
	.close = 0,
	.read = 0,
	.write = 0,
	.lseek = 0,
	.rename = 0,
	.unlink = 0,
	.stat = 0,
	.fstat = 0,
	.gettimeofday = 0,
	.isatty = 0,
	.system = 0,
};

static void display_target(int i, target *t, void *context) {
	(void)context;
	commands_printf("%2d   %c  %s", i, target_attached(t)?'*':' ', target_driver_name(t));
}

static int idcode_to_device(uint32_t idcode) {
	int ret = -1;

	switch (idcode) {
	case 0x413: ret = 1; break; // STM32F40x

	case 0x001D: /* nRF51822 (rev 1) QFAA CA/C0 */
	case 0x001E: /* nRF51422 (rev 1) QFAA CA */
	case 0x0020: /* nRF51822 (rev 1) CEAA BA */
	case 0x0024: /* nRF51422 (rev 1) QFAA C0 */
	case 0x002A: /* nRF51822 (rev 2) QFAA FA0 */
	case 0x004A: /* nRF51822 (rev 3) QFAA G1 */
	case 0x002D: /* nRF51422 (rev 2) QFAA DAA */
	case 0x002E: /* nRF51422 (rev 2) QFAA E0 */
	case 0x002F: /* nRF51822 (rev 1) CEAA B0 */
	case 0x0031: /* nRF51422 (rev 1) CEAA A0A */
	case 0x003C: /* nRF51822 (rev 2) QFAA G0 */
	case 0x0057: /* nRF51422 (rev 2) QFAA G2 */
	case 0x0040: /* nRF51822 (rev 2) CEAA CA0 */
	case 0x0044: /* nRF51822 (rev 2) QFAA GC0 */
	case 0x0047: /* nRF51822 (rev 2) CEAA DA0 */
	case 0x004D: /* nRF51822 (rev 2) CEAA D00 */
	case 0x0050: /* nRF51422 (rev 2) CEAA B0 */
	case 0x0072: /* nRF51822 (rev 3) QFAA H0 */
	case 0x0073: /* nRF51422 (rev 3) QFAA F0 */
	case 0x0079: /* nRF51822 (rev 3) CEAA E0 */
	case 0x007A: /* nRF51422 (rev 3) CEAA C0 */
	case 0x008F: /* nRF51822 (rev 3) QFAA H1 See https://devzone.nordicsemi.com/question/97769/can-someone-conform-the-config-id-code-for-the-nrf51822qfaah1/ */
	case 0x00D1: /* nRF51822 (rev 3) QFAA H2 */
	case 0x0114: /* nRF51802 (rev ?) QFAA A1 */
	case 0x0138: /* nRF51822 (rev 3) QFAA H3 */
		ret = 3; break;
	case 0x0026: /* nRF51822 (rev 1) QFAB AA */
	case 0x0027: /* nRF51822 (rev 1) QFAB A0 */
	case 0x004C: /* nRF51822 (rev 2) QFAB B0 */
	case 0x0061: /* nRF51422 (rev 2) QFAB A00 */
	case 0x007B: /* nRF51822 (rev 3) QFAB C0 */
	case 0x007C: /* nRF51422 (rev 3) QFAB B0 */
	case 0x007D: /* nRF51822 (rev 3) CDAB A0 */
	case 0x007E: /* nRF51422 (rev 3) CDAB A0 */
		ret = 2; break;
	case 0x0071: /* nRF51422 (rev 3) QFAC AB */
	case 0x0083: /* nRF51822 (rev 3) QFAC A0 */
	case 0x0084: /* nRF51422 (rev 3) QFAC A1 */
	case 0x0085: /* nRF51422 (rev 3) QFAC A0 */
	case 0x0086: /* nRF51422 (rev 3) QFAC A1 */
	case 0x0087: /* nRF51822 (rev 3) CFAC A0 */
	case 0x0088: /* nRF51422 (rev 3) CFAC A0 */
	case 0x0169: /* nRF51822 (rev 3) Taiyo EYSGJNZWY*/
		ret = 4; break;
	case 0x00AC: /* nRF52832 Preview QFAA BA0 */
	case 0x00C7: /* nRF52832 (rev 1) QFAA B00 */
	case 0x00E3: /* nRF52832 (rev 1) CIAA B?? */
	case 0x0139: /* nRF52832 (rev 2) ??AA B?0 */
	case 0x0141: /* nRF52832 ?? */
	case 0x0147: /* nRF52832 (rev 2) QFAA E1  */
	case 0x014F: /* nRF52832 (rev 2) CIAA E1  */
		ret = 7; break;
	case 0x00EB: /* nRF52840 Preview QIAA AA0 */
	case 0x0150: /* nRF52840 QIAA C0 */
	case 0x015B: /* nRF52840 ?? */
	case 0x01EB: /* nRF52840 ?? */
		ret = 8; break;

	case 0x422: ret = 9; break; // STM32F30x

	case 0x415: ret = 10; break; // STM32L47x

	default: ret = -2; break;
	}

	return ret;
}

static int swdp_scan_twice(void) {
	int devs = adiv5_swdp_scan();

	if(devs <= 0) {
		devs = adiv5_swdp_scan();
	}

	return devs;
}

// Terminal commands
static void terminal_swdp_scan(int argc, const char **argv) {
	(void)argc;
	(void)argv;

	target_print_en = true;
	bm_set_enabled(true);

	int devs = swdp_scan_twice();

	if(devs <= 0) {
		commands_printf("SW-DP scan failed!");
	} else {
		commands_printf("Available Targets:");
		commands_printf("No. Att Driver");

		if (!target_foreach(display_target, NULL)) {
			commands_printf("No usable targets found.");
		}
	}
}

static void terminal_attach(int argc, const char **argv) {
	if (argc == 2) {
		int addr = -1;
		sscanf(argv[1], "%d", &addr);

		if (addr >= 0) {
			bm_set_enabled(true);
			target_print_en = true;
			cur_target = target_attach_n(addr, &gdb_controller);

			if(cur_target) {
				commands_printf("OK!\n");
			} else {
				commands_printf("Could not attach target.\n");
			}
		} else {
			commands_printf("Invalid argument.\n");
		}
	} else {
		commands_printf("This command requires one argument.\n");
	}
}

static void terminal_flash_erase(int argc, const char **argv) {
	if (argc == 3) {
		unsigned int addr = -1;
		int len = -1;
		sscanf(argv[1], "%x", &addr);
		sscanf(argv[2], "%d", &len);

		if (len >= 0) {
			if (cur_target) {
				bm_set_enabled(true);
				target_print_en = true;
				target_reset(cur_target);
				bool res = target_flash_erase(cur_target, addr, len);

				if(res == 0) {
					commands_printf("OK!\n");
				} else {
					commands_printf("Could erase flash.\n");
				}
			} else {
				commands_printf("No target attached\n");
			}
		} else {
			commands_printf("Invalid argument(s).\n");
		}
	} else {
		commands_printf("This command requires two arguments.\n");
	}
}

static void terminal_target_help(int argc, const char **argv) {
	(void)argc;
	(void)argv;

	if (cur_target) {
		bm_set_enabled(true);
		target_print_en = true;
		target_command_help(cur_target);
	} else {
		commands_printf("No target attached\n");
	}
}

static void terminal_target_cmd(int argc, const char **argv) {
	if (cur_target) {
		target_print_en = true;

		bm_set_enabled(true);

		int res = target_command(cur_target, argc - 1, argv + 1);

		if (res == 0) {
			commands_printf("Done.\n");
		} else if (res < 0) {
			commands_printf("Invalid command\n");
		} else {
			commands_printf("Command failed: %d\n", res);
		}
	} else {
		commands_printf("No target attached\n");
	}
}

static void terminal_reset(int argc, const char **argv) {
	(void)argc;
	(void)argv;

	if (cur_target) {
		target_reset(cur_target);
		commands_printf("Done.\n");
	} else {
		commands_printf("No target attached\n");
	}
}

static void terminal_detach(int argc, const char **argv) {
	(void)argc;
	(void)argv;

	if (cur_target) {
		target_detach(cur_target);
		cur_target = 0;
		bm_set_enabled(false);
		commands_printf("Done.\n");
	} else {
		commands_printf("No target attached\n");
	}
}

#ifdef NRF5x_SWDIO_GPIO
static void terminal_map_nrf5_pins(int argc, const char **argv) {
	(void)argc;
	(void)argv;

	if (argc == 2) {
		int use_pins = -1;
		sscanf(argv[1], "%d", &use_pins);

		if (use_pins == 0) {
			bm_default_swd_pins();
			commands_printf("Setting default SWD Pins\n");
		} else if (use_pins == 1) {
			bm_change_swd_pins(NRF5x_SWDIO_GPIO, NRF5x_SWDIO_PIN, NRF5x_SWCLK_GPIO, NRF5x_SWCLK_PIN);
			commands_printf("Setting NRF5 Pins\n");
		} else {
			commands_printf("Argument should be 1 or 0\n");
		}
	} else {
		commands_printf("This command requires one argument.\n");
	}
}
#endif

void bm_init(void) {
	terminal_register_command_callback(
			"bm_swdp_scan",
			"BlackMagic: Scan SWD",
			0,
			terminal_swdp_scan);

	terminal_register_command_callback(
			"bm_attach",
			"BlackMagic: Attach target",
			"[index]",
			terminal_attach);

	terminal_register_command_callback(
			"bm_flash_erase",
			"BlackMagic: Erase flash memory",
			"[hex_addr] [len]",
			terminal_flash_erase);

	terminal_register_command_callback(
			"bm_target_help",
			"BlackMagic: Show target commands",
			0,
			terminal_target_help);

	terminal_register_command_callback(
			"bm_target_cmd",
			"BlackMagic: Run command on target",
			"[...]",
			terminal_target_cmd);

	terminal_register_command_callback(
			"bm_reset",
			"BlackMagic: Reset target",
			0,
			terminal_reset);

	terminal_register_command_callback(
			"bm_detach",
			"BlackMagic: Detach target",
			0,
			terminal_detach);
#ifdef NRF5x_SWDIO_GPIO
	terminal_register_command_callback(
			"bm_map_nrf5_pins",
			"BlackMagic: Use built-in nrf5 swd pins",
			"[use_pins 0,1]",
			terminal_map_nrf5_pins);
#endif
}

/**
 * Enable SWD pins as outputs.
 *
 * @param enabled
 * true: SWD pins are used as outputs. Will prevent programmers
 * from accessing this VESC over SWD.
 *
 * false: Use SWD pins as SWD interface. Then this VESC can be
 * programmed over SWD again.
 */
void bm_set_enabled(bool enabled) {
	static bool enabled_now = false;

	if (enabled == enabled_now) {
		return;
	} else {
		enabled_now = enabled;
	}

	if (enabled) {
		SWDIO_MODE_FLOAT();
		palSetPadMode(SWCLK_PORT, SWCLK_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
	} else {
		palSetPadMode(SWDIO_PORT, SWDIO_PIN, PAL_MODE_INPUT);
		palSetPadMode(SWCLK_PORT, SWCLK_PIN, PAL_MODE_INPUT);

		// The above does not activate SWD again, so do it explicitly for the SWD pins.
		palSetPadMode(GPIOA, 13, PAL_MODE_ALTERNATE(0));
		palSetPadMode(GPIOA, 14, PAL_MODE_ALTERNATE(0));
	}
}

/**
 * Connect to target and check type.
 *
 * @return
 * -2: Could not recognize target
 * -1: Could not connect
 *  1: Target is STM32F40x
 *  2: Target is NRF51822 128K/16K
 *  3: Target is NRF51822 256K/16K
 *  4: Target is NRF51822 256K/32K
 *  5: Target is NRF52832 256K/32K
 *  6: Target is NRF52832 256K/64K
 *  7: Target is NRF52832 512K/64K
 *  8: Target is NRF52840 1M/256K
 */
int bm_connect(void) {
	int ret = -1;

	bm_set_enabled(true);
	target_print_en = false;

	int devs = swdp_scan_twice();

	if (devs > 0) {
		cur_target = target_attach_n(1, &gdb_controller);

		if (cur_target) {
			ret = idcode_to_device(target_idcode(cur_target));
			if (ret < 0) {
				commands_printf("Unknown idcode: 0x%04X\n", target_idcode(cur_target));
			}
		}
	}

	if (ret < 0) {
		bm_disconnect();
	}

	return ret;
}

/**
 * Erase all flash on target.
 *
 * @return
 * -3: Erase failed
 * -2: Could not recognize target
 * -1: Not connected
 *  1: Success
 */
int bm_erase_flash_all(void) {
	int ret = -1;

	if (cur_target) {
		target_print_en = false;

		target_reset(cur_target);
		const char *argv[1];
		argv[0] = "erase_mass";
		ret = target_command(cur_target, 1, argv) ? -3 : 1;

//		switch (idcode_to_device(target_idcode(cur_target))) {
//		case 2:
//			target_reset(cur_target);
//			ret = target_flash_erase(cur_target, 0, 128 * 1024) ? -3 : 1;
//			break;
//
//		case 3:
//		case 4:
//		case 5:
//		case 6:
//			target_reset(cur_target);
//			ret = target_flash_erase(cur_target, 0, 256 * 1024) ? -3 : 1;
//			break;
//
//		case 7:
//			target_reset(cur_target);
//			ret = target_flash_erase(cur_target, 0, 512 * 1024) ? -3 : 1;
//			break;
//
//		case 1: {
//			const char *argv[1];
//			argv[0] = "erase_mass";
//			ret = target_command(cur_target, 1, argv) ? -3 : 1;
//		} break;
//
//		case 8:
//			target_reset(cur_target);
//			ret = target_flash_erase(cur_target, 0, 1024 * 1024) ? -3 : 1;
//			break;
//
//		default:
//			ret = -2;
//			break;
//		}
	}

	return ret;
}

/**
 * Write to flash memory on target.
 *
 * @param addr
 * Address to write to
 *
 * @param data
 * The data to write
 *
 * @param len
 * Length of the data
 *
 * @return
 * -2: Write failed
 * -1: Not connected
 *  1: Success
 */
int bm_write_flash(uint32_t addr, const void *data, uint32_t len) {
	int ret = -1;

	if (cur_target) {
		target_print_en = false;
		ret = target_flash_write(cur_target, addr, data, len) ? -2 : 1;
	}

	return ret;
}

/**
 * Write target memory.
 *
 * @param addr
 * Address to write to
 *
 * @param data
 * The data to write
 *
 * @param len
 * Length of the data
 *
 * @return
 * -2: Write failed
 * -1: Not connected
 *  1: Success
 */
int bm_mem_write(uint32_t addr, const void *data, uint32_t len) {
	int ret = -1;

	if (cur_target) {
		target_print_en = false;
		ret = target_mem_write(cur_target, addr, data, len) ? -2 : 1;
	}

	return ret;
}

/**
 * Read target memory
 *
 * @param addr
 * Address to read from
 *
 * @param data
 * Store the data here
 *
 * @param len
 * Length of the data
 *
 * @return
 * -2: Read failed
 * -1: Not connected
 *  1: Success
 */
int bm_mem_read(uint32_t addr, void *data, uint32_t len) {
	int ret = -1;

	if (cur_target) {
		target_print_en = false;
		target_flash_done(cur_target);
		ret = target_mem_read(cur_target, data, addr, len) ? -2 : 1;
	}

	return ret;
}

/**
 * Reboot target.
 *
 * @return
 * -2: Flash done failed
 * -1: Not connected
 *  1: Success
 */
int bm_reboot(void) {
	int ret = -1;

	if (cur_target) {
		target_print_en = false;
		ret = target_flash_done(cur_target) ? -2 : 1;
		target_reset(cur_target);
	}

	return ret;
}

/**
 * Halt target execution.
 */
void bm_halt_req(void) {
	if (cur_target) {
		target_print_en = false;
		target_halt_request(cur_target);
	}
}

/**
 * Leave debug mode of NRF5x device. Will reduce the sleep power consumption
 * significantly.
 */
void bm_leave_nrf_debug_mode(void) {
	bm_set_enabled(true);

	if (!target_list) {
		swdp_scan_twice();
	}

	if (target_list) {
		if (strncmp(target_list[0].driver, "Nordic", 6) == 0) {
			adiv5_dp_write(((ADIv5_AP_t**)target_list[0].priv)[0]->dp, ADIV5_DP_CTRLSTAT, 0);
		}
	}

	bm_set_enabled(false);
}

/**
 * Disconnect from target and release SWD bus
 */
void bm_disconnect(void) {
	if (cur_target) {
		target_print_en = false;
		target_flash_done(cur_target); // Ignore for now
		target_detach(cur_target);
		cur_target = 0;
	}

	bm_leave_nrf_debug_mode();

	bm_set_enabled(false);
}

/**
 * Change SWD pins.
 *
 * @param swdio_port
 * new SWDIO port
 *
 * @param swdio_pin
 * new SWDIO pin
 *
 * @param swclk_port
 * new SWCLK port
 *
 * @param swclk_pin
 * new SWCLK pin
 */
void bm_change_swd_pins(stm32_gpio_t *swdio_port, int swdio_pin,
		stm32_gpio_t *swclk_port, int swclk_pin) {
	bm_set_enabled(false);
	platform_swdio_port = swdio_port;
	platform_swdio_pin = swdio_pin;
	platform_swclk_port = swclk_port;
	platform_swclk_pin = swclk_pin;
}

/**
 * Use default SWD pins
 */
void bm_default_swd_pins(void) {
	bm_set_enabled(false);
	platform_swdio_port = SWDIO_PORT_DEFAULT;
	platform_swdio_pin = SWDIO_PIN_DEFAULT;
	platform_swclk_port = SWCLK_PORT_DEFAULT;
	platform_swclk_pin = SWCLK_PIN_DEFAULT;
}