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-rw-r--r--README2
-rw-r--r--configure.ac18
-rw-r--r--contrib/openocd.udev7
-rw-r--r--src/helper/binarybuffer.c27
-rw-r--r--src/helper/binarybuffer.h5
-rw-r--r--src/jtag/drivers/Makefile.am1
-rw-r--r--src/jtag/drivers/ti_icdi_usb.c730
-rw-r--r--src/jtag/hla/hla_layout.c6
-rw-r--r--src/jtag/hla/hla_layout.h1
-rw-r--r--tcl/board/ek-lm4f120xl.cfg15
-rw-r--r--tcl/board/ek-lm4f232.cfg10
-rw-r--r--tcl/interface/ti-icdi.cfg15
-rw-r--r--tcl/target/stellaris_icdi.cfg34
13 files changed, 858 insertions, 13 deletions
diff --git a/README b/README
index 7b1f4a2..08aa4f2 100644
--- a/README
+++ b/README
@@ -275,6 +275,8 @@ options may be available there:
--enable-stlink Enable building support for the ST-Link JTAG
Programmer
+ --enable-ti-icdi Enable building support for the TI/Stellaris ICDI
+ JTAG Programmer
--enable-osbdm Enable building support for the OSBDM (JTAG only)
Programmer
diff --git a/configure.ac b/configure.ac
index 99f39d4..51d43ba 100644
--- a/configure.ac
+++ b/configure.ac
@@ -477,7 +477,11 @@ AC_ARG_ENABLE([buspirate],
AC_ARG_ENABLE([stlink],
AS_HELP_STRING([--enable-stlink], [Enable building support for the ST-Link JTAG Programmer]),
- [build_hladapter=$enableval], [build_hladapter=no])
+ [build_hladapter_stlink=$enableval], [build_hladapter_stlink=no])
+
+AC_ARG_ENABLE([ti-icdi],
+ AS_HELP_STRING([--enable-ti-icdi], [Enable building support for the TI ICDI JTAG Programmer]),
+ [build_hladapter_icdi=$enableval], [build_hladapter_icdi=no])
AC_ARG_ENABLE([osbdm],
AS_HELP_STRING([--enable-osbdm], [Enable building support for the OSBDM (JTAG only) Programmer]),
@@ -790,10 +794,10 @@ else
AC_DEFINE([BUILD_BUSPIRATE], [0], [0 if you don't want the Buspirate JTAG driver.])
fi
-if test $build_hladapter = yes; then
- AC_DEFINE([BUILD_HLADAPTER], [1], [1 if you want the ST-Link JTAG driver.])
+if test $build_hladapter_stlink = yes -o $build_hladapter_icdi = yes; then
+ AC_DEFINE([BUILD_HLADAPTER], [1], [1 if you want the High Level JTAG driver.])
else
- AC_DEFINE([BUILD_HLADAPTER], [0], [0 if you don't want the ST-Link JTAG driver.])
+ AC_DEFINE([BUILD_HLADAPTER], [0], [0 if you don't want the High Level JTAG driver.])
fi
if test $build_osbdm = yes; then
@@ -1142,8 +1146,8 @@ fi
# Check for libusb1 ported drivers.
build_usb_ng=no
-if test $build_jlink = yes -o $build_hladapter = yes -o $build_osbdm = yes -o \
- $build_opendous = yes -o $build_ftdi = yes
+if test $build_jlink = yes -o $build_hladapter_stlink = yes -o $build_osbdm = yes -o \
+ $build_opendous = yes -o $build_ftdi = yes -o $build_hladapter_icdi = yes
then
build_usb_ng=yes
fi
@@ -1192,7 +1196,7 @@ AM_CONDITIONAL([ULINK], [test $build_ulink = yes])
AM_CONDITIONAL([ARMJTAGEW], [test $build_armjtagew = yes])
AM_CONDITIONAL([REMOTE_BITBANG], [test $build_remote_bitbang = yes])
AM_CONDITIONAL([BUSPIRATE], [test $build_buspirate = yes])
-AM_CONDITIONAL([HLADAPTER], [test $build_hladapter = yes])
+AM_CONDITIONAL([HLADAPTER], [test $build_hladapter_stlink = yes -o $build_hladapter_icdi = yes])
AM_CONDITIONAL([OSBDM], [test $build_osbdm = yes])
AM_CONDITIONAL([OPENDOUS], [test $build_opendous = yes])
AM_CONDITIONAL([SYSFSGPIO], [test $build_sysfsgpio = yes])
diff --git a/contrib/openocd.udev b/contrib/openocd.udev
index 5d4e639..7065014 100644
--- a/contrib/openocd.udev
+++ b/contrib/openocd.udev
@@ -49,12 +49,15 @@ ATTRS{idVendor}=="0640", ATTRS{idProduct}=="002c", MODE="664", GROUP="plugdev"
# Hitex STM32-PerformanceStick
ATTRS{idVendor}=="0640", ATTRS{idProduct}=="002d", MODE="664", GROUP="plugdev"
-# TI/Luminary Stellaris Evaluation Board (several)
+# TI/Luminary Stellaris Evaluation Board FTDI (several)
ATTRS{idVendor}=="0403", ATTRS{idProduct}=="bcd9", MODE="664", GROUP="plugdev"
-# TI/Luminary Stellaris In-Circuit Debug Interface (ICDI) Board
+# TI/Luminary Stellaris In-Circuit Debug Interface FTDI (ICDI) Board
ATTRS{idVendor}=="0403", ATTRS{idProduct}=="bcda", MODE="664", GROUP="plugdev"
+# TI/Luminary Stellaris In-Circuit Debug Interface (ICDI) Board
+ATTRS{idVendor}=="1cbe", ATTRS{idProduct}=="00fd", MODE="664", GROUP="plugdev"
+
# Xverve Signalyzer Tool (DT-USB-ST)
ATTRS{idVendor}=="0403", ATTRS{idProduct}=="bca0", MODE="664", GROUP="plugdev"
diff --git a/src/helper/binarybuffer.c b/src/helper/binarybuffer.c
index d98fa16..a90ec7b 100644
--- a/src/helper/binarybuffer.c
+++ b/src/helper/binarybuffer.c
@@ -370,3 +370,30 @@ void bit_copy_discard(struct bit_copy_queue *q)
free(qe);
}
}
+
+int unhexify(char *bin, const char *hex, int count)
+{
+ int i, tmp;
+
+ for (i = 0; i < count; i++) {
+ if (sscanf(hex + (2 * i), "%02x", &tmp) != 1)
+ return i;
+ bin[i] = tmp;
+ }
+
+ return i;
+}
+
+int hexify(char *hex, const char *bin, int count, int out_maxlen)
+{
+ int i, cmd_len = 0;
+
+ /* May use a length, or a null-terminated string as input. */
+ if (count == 0)
+ count = strlen(bin);
+
+ for (i = 0; i < count; i++)
+ cmd_len += snprintf(hex + cmd_len, out_maxlen - cmd_len, "%02x", bin[i]);
+
+ return cmd_len;
+}
diff --git a/src/helper/binarybuffer.h b/src/helper/binarybuffer.h
index cc0be57..633ed9e 100644
--- a/src/helper/binarybuffer.h
+++ b/src/helper/binarybuffer.h
@@ -156,4 +156,9 @@ int bit_copy_queued(struct bit_copy_queue *q, uint8_t *dst, unsigned dst_offset,
void bit_copy_execute(struct bit_copy_queue *q);
void bit_copy_discard(struct bit_copy_queue *q);
+/* functions to convert to/from hex encoded buffer
+ * used in ti-icdi driver and gdb server */
+int unhexify(char *bin, const char *hex, int count);
+int hexify(char *hex, const char *bin, int count, int out_maxlen);
+
#endif /* BINARYBUFFER_H */
diff --git a/src/jtag/drivers/Makefile.am b/src/jtag/drivers/Makefile.am
index 6d232d2..e064399 100644
--- a/src/jtag/drivers/Makefile.am
+++ b/src/jtag/drivers/Makefile.am
@@ -100,6 +100,7 @@ DRIVERFILES += remote_bitbang.c
endif
if HLADAPTER
DRIVERFILES += stlink_usb.c
+DRIVERFILES += ti_icdi_usb.c
endif
if OSBDM
DRIVERFILES += osbdm.c
diff --git a/src/jtag/drivers/ti_icdi_usb.c b/src/jtag/drivers/ti_icdi_usb.c
new file mode 100644
index 0000000..6729522
--- /dev/null
+++ b/src/jtag/drivers/ti_icdi_usb.c
@@ -0,0 +1,730 @@
+/***************************************************************************
+ * *
+ * Copyright (C) 2012 by Spencer Oliver *
+ * spen@spen-soft.co.uk *
+ * *
+ * 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. *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+/* project specific includes */
+#include <helper/binarybuffer.h>
+#include <jtag/interface.h>
+#include <jtag/hla/hla_layout.h>
+#include <jtag/hla/hla_transport.h>
+#include <jtag/hla/hla_interface.h>
+#include <target/target.h>
+
+#include <target/cortex_m.h>
+
+#include <libusb-1.0/libusb.h>
+
+#define ICDI_WRITE_ENDPOINT 0x02
+#define ICDI_READ_ENDPOINT 0x83
+
+#define ICDI_WRITE_TIMEOUT 1000
+#define ICDI_READ_TIMEOUT 1000
+#define ICDI_PACKET_SIZE 2048
+
+#define PACKET_START "$"
+#define PACKET_END "#"
+
+struct icdi_usb_handle_s {
+ libusb_context *usb_ctx;
+ libusb_device_handle *usb_dev;
+
+ char *read_buffer;
+ char *write_buffer;
+ int max_packet;
+ int read_count;
+};
+
+static int icdi_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer);
+static int icdi_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer);
+
+static int remote_escape_output(const char *buffer, int len, char *out_buf, int *out_len, int out_maxlen)
+{
+ int input_index, output_index;
+
+ output_index = 0;
+
+ for (input_index = 0; input_index < len; input_index++) {
+
+ char b = buffer[input_index];
+
+ if (b == '$' || b == '#' || b == '}' || b == '*') {
+ /* These must be escaped. */
+ if (output_index + 2 > out_maxlen)
+ break;
+ out_buf[output_index++] = '}';
+ out_buf[output_index++] = b ^ 0x20;
+ } else {
+ if (output_index + 1 > out_maxlen)
+ break;
+ out_buf[output_index++] = b;
+ }
+ }
+
+ *out_len = input_index;
+ return output_index;
+}
+
+static int remote_unescape_input(const char *buffer, int len, char *out_buf, int out_maxlen)
+{
+ int input_index, output_index;
+ int escaped;
+
+ output_index = 0;
+ escaped = 0;
+
+ for (input_index = 0; input_index < len; input_index++) {
+
+ char b = buffer[input_index];
+
+ if (output_index + 1 > out_maxlen)
+ LOG_ERROR("Received too much data from the target.");
+
+ if (escaped) {
+ out_buf[output_index++] = b ^ 0x20;
+ escaped = 0;
+ } else if (b == '}')
+ escaped = 1;
+ else
+ out_buf[output_index++] = b;
+ }
+
+ if (escaped)
+ LOG_ERROR("Unmatched escape character in target response.");
+
+ return output_index;
+}
+
+static int icdi_send_packet(void *handle, int len)
+{
+ unsigned char cksum = 0;
+ struct icdi_usb_handle_s *h;
+ int result, retry = 0;
+ int transferred = 0;
+
+ assert(handle != NULL);
+ h = (struct icdi_usb_handle_s *)handle;
+
+ /* check we have a large enough buffer for checksum "#00" */
+ if (len + 3 > h->max_packet) {
+ LOG_ERROR("packet buffer too small");
+ return ERROR_FAIL;
+ }
+
+ /* calculate checksum - offset start of packet */
+ for (int i = 1; i < len; i++)
+ cksum += h->write_buffer[i];
+
+ len += sprintf(&h->write_buffer[len], PACKET_END "%02x", cksum);
+
+#ifdef _DEBUG_USB_COMMS_
+ char buffer[50];
+ char ch = h->write_buffer[1];
+ if (ch == 'x' || ch == 'X')
+ LOG_DEBUG("writing packet: <binary>");
+ else {
+ memcpy(buffer, h->write_buffer, len >= 50 ? 50-1 : len);
+ buffer[len] = 0;
+ LOG_DEBUG("writing packet: %s", buffer);
+ }
+#endif
+
+ while (1) {
+
+ result = libusb_bulk_transfer(h->usb_dev, ICDI_WRITE_ENDPOINT, (unsigned char *)h->write_buffer, len,
+ &transferred, ICDI_WRITE_TIMEOUT);
+ if (result != 0 || transferred != len) {
+ LOG_DEBUG("Error TX Data %d", result);
+ return ERROR_FAIL;
+ }
+
+ /* check that the client got the message ok, or shall we resend */
+ result = libusb_bulk_transfer(h->usb_dev, ICDI_READ_ENDPOINT, (unsigned char *)h->read_buffer, h->max_packet,
+ &transferred, ICDI_READ_TIMEOUT);
+ if (result != 0 || transferred < 1) {
+ LOG_DEBUG("Error RX Data %d", result);
+ return ERROR_FAIL;
+ }
+
+#ifdef _DEBUG_USB_COMMS_
+ LOG_DEBUG("received reply: '%c' : count %d", h->read_buffer[0], transferred);
+#endif
+
+ if (h->read_buffer[0] == '-') {
+ LOG_DEBUG("Resending packet %d", ++retry);
+ } else {
+ if (h->read_buffer[0] != '+')
+ LOG_DEBUG("Unexpected Reply from ICDI: %c", h->read_buffer[0]);
+ break;
+ }
+
+ if (retry == 3) {
+ LOG_DEBUG("maximum nack retries attempted");
+ return ERROR_FAIL;
+ }
+ }
+
+ retry = 0;
+ h->read_count = transferred;
+
+ while (1) {
+
+ /* read reply from icdi */
+ result = libusb_bulk_transfer(h->usb_dev, ICDI_READ_ENDPOINT, (unsigned char *)h->read_buffer + h->read_count,
+ h->max_packet - h->read_count, &transferred, ICDI_READ_TIMEOUT);
+
+#ifdef _DEBUG_USB_COMMS_
+ LOG_DEBUG("received data: count %d", transferred);
+#endif
+
+ /* check for errors but retry for timeout */
+ if (result != 0) {
+
+ if (result == LIBUSB_ERROR_TIMEOUT) {
+ LOG_DEBUG("Error RX timeout %d", result);
+ } else {
+ LOG_DEBUG("Error RX Data %d", result);
+ return ERROR_FAIL;
+ }
+ }
+
+ h->read_count += transferred;
+
+ /* we need to make sure we have a full packet, including checksum */
+ if (h->read_count > 5) {
+
+ /* check that we have received an packet delimiter
+ * we do not validate the checksum
+ * reply should contain $...#AA - so we check for # */
+ if (h->read_buffer[h->read_count - 3] == '#')
+ return ERROR_OK;
+ }
+
+ if (retry++ == 3) {
+ LOG_DEBUG("maximum data retries attempted");
+ break;
+ }
+ }
+
+ return ERROR_FAIL;
+}
+
+static int icdi_send_cmd(void *handle, const char *cmd)
+{
+ struct icdi_usb_handle_s *h;
+ h = (struct icdi_usb_handle_s *)handle;
+
+ int cmd_len = snprintf(h->write_buffer, h->max_packet, PACKET_START "%s", cmd);
+ return icdi_send_packet(handle, cmd_len);
+}
+
+static int icdi_send_remote_cmd(void *handle, const char *data)
+{
+ struct icdi_usb_handle_s *h;
+ h = (struct icdi_usb_handle_s *)handle;
+
+ size_t cmd_len = sprintf(h->write_buffer, PACKET_START "qRcmd,");
+ cmd_len += hexify(h->write_buffer + cmd_len, data, 0, h->max_packet - cmd_len);
+
+ return icdi_send_packet(handle, cmd_len);
+}
+
+static int icdi_get_cmd_result(void *handle)
+{
+ struct icdi_usb_handle_s *h;
+ int offset = 0;
+ char ch;
+
+ assert(handle != NULL);
+ h = (struct icdi_usb_handle_s *)handle;
+
+ do {
+ ch = h->read_buffer[offset++];
+ if (offset > h->read_count)
+ return ERROR_FAIL;
+ } while (ch != '$');
+
+ if (memcmp("OK", h->read_buffer + offset, 2) == 0)
+ return ERROR_OK;
+
+ if (h->read_buffer[offset] == 'E') {
+ /* get error code */
+ char result;
+ if (unhexify(&result, h->read_buffer + offset + 1, 1) != 1)
+ return ERROR_FAIL;
+ return result;
+ }
+
+ /* for now we assume everything else is ok */
+ return ERROR_OK;
+}
+
+static int icdi_usb_idcode(void *handle, uint32_t *idcode)
+{
+ return ERROR_OK;
+}
+
+static int icdi_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
+{
+ return icdi_usb_write_mem32(handle, addr, 1, (uint8_t *)&val);
+}
+
+static enum target_state icdi_usb_state(void *handle)
+{
+ int result;
+ struct icdi_usb_handle_s *h;
+ uint32_t dhcsr;
+
+ h = (struct icdi_usb_handle_s *)handle;
+
+ result = icdi_usb_read_mem32(h, DCB_DHCSR, 1, (uint8_t *)&dhcsr);
+ if (result != ERROR_OK)
+ return TARGET_UNKNOWN;
+
+ if (dhcsr & S_HALT)
+ return TARGET_HALTED;
+
+ return TARGET_RUNNING;
+}
+
+static int icdi_usb_version(void *handle)
+{
+ struct icdi_usb_handle_s *h;
+ h = (struct icdi_usb_handle_s *)handle;
+
+ char version[20];
+
+ /* get info about icdi */
+ int result = icdi_send_remote_cmd(handle, "version");
+ if (result != ERROR_OK)
+ return result;
+
+ if (h->read_count < 8) {
+ LOG_ERROR("Invalid Reply Received");
+ return ERROR_FAIL;
+ }
+
+ /* convert reply */
+ if (unhexify(version, h->read_buffer + 2, 4) != 4) {
+ LOG_WARNING("unable to get ICDI version");
+ return ERROR_OK;
+ }
+
+ /* null terminate and print info */
+ version[4] = 0;
+
+ LOG_INFO("ICDI Firmware version: %s", version);
+
+ return ERROR_OK;
+}
+
+static int icdi_usb_query(void *handle)
+{
+ int result;
+
+ struct icdi_usb_handle_s *h;
+ h = (struct icdi_usb_handle_s *)handle;
+
+ result = icdi_send_cmd(handle, "qSupported");
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("query supported failed: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ /* from this we can get the max packet supported */
+
+ /* query packet buffer size */
+ char *offset = strstr(h->read_buffer, "PacketSize");
+ if (offset) {
+ char *separator;
+ int max_packet;
+
+ max_packet = strtoul(offset + 11, &separator, 16);
+ if (!max_packet)
+ LOG_ERROR("invalid max packet, using defaults");
+ else
+ h->max_packet = max_packet;
+ LOG_DEBUG("max packet supported : %" PRIu32 " bytes", h->max_packet);
+ }
+
+
+ /* if required re allocate packet buffer */
+ if (h->max_packet != ICDI_PACKET_SIZE) {
+ h->read_buffer = realloc(h->read_buffer, h->max_packet);
+ h->write_buffer = realloc(h->write_buffer, h->max_packet);
+ if (h->read_buffer == 0 || h->write_buffer == 0) {
+ LOG_ERROR("unable to reallocate memory");
+ return ERROR_FAIL;
+ }
+ }
+
+ /* set extended mode */
+ result = icdi_send_cmd(handle, "!");
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("unable to enable extended mode: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int icdi_usb_reset(void *handle)
+{
+ /* we do this in hla_target.c */
+ return ERROR_OK;
+}
+
+static int icdi_usb_assert_srst(void *handle, int srst)
+{
+ /* TODO not supported yet */
+ return ERROR_COMMAND_NOTFOUND;
+}
+
+static int icdi_usb_run(void *handle)
+{
+ int result;
+
+ /* resume target at current address */
+ result = icdi_send_cmd(handle, "c");
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("continue failed: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ return result;
+}
+
+static int icdi_usb_halt(void *handle)
+{
+ int result;
+
+ /* this query halts the target ?? */
+ result = icdi_send_cmd(handle, "?");
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("halt failed: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ return result;
+}
+
+static int icdi_usb_step(void *handle)
+{
+ int result;
+
+ /* step target at current address */
+ result = icdi_send_cmd(handle, "s");
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("step failed: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ return result;
+}
+
+static int icdi_usb_read_regs(void *handle)
+{
+ /* currently unsupported */
+ return ERROR_OK;
+}
+
+static int icdi_usb_read_reg(void *handle, int num, uint32_t *val)
+{
+ int result;
+ struct icdi_usb_handle_s *h;
+ char cmd[10];
+
+ h = (struct icdi_usb_handle_s *)handle;
+
+ snprintf(cmd, sizeof(cmd), "p%x", num);
+ result = icdi_send_cmd(handle, cmd);
+ if (result != ERROR_OK)
+ return result;
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("register read failed: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ /* convert result */
+ if (unhexify((char *)val, h->read_buffer + 2, 4) != 4) {
+ LOG_ERROR("failed to convert result");
+ return ERROR_FAIL;
+ }
+
+ return result;
+}
+
+static int icdi_usb_write_reg(void *handle, int num, uint32_t val)
+{
+ int result;
+ char cmd[20];
+
+ int cmd_len = snprintf(cmd, sizeof(cmd), "P%x=", num);
+ hexify(cmd + cmd_len, (char *)&val, 4, sizeof(cmd));
+
+ result = icdi_send_cmd(handle, cmd);
+ if (result != ERROR_OK)
+ return result;
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("register write failed: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ return result;
+}
+
+static int icdi_usb_read_mem(void *handle, uint32_t addr, uint32_t len, uint8_t *buffer)
+{
+ int result;
+ struct icdi_usb_handle_s *h;
+ char cmd[20];
+
+ h = (struct icdi_usb_handle_s *)handle;
+
+ snprintf(cmd, sizeof(cmd), "x%x,%x", addr, len);
+ result = icdi_send_cmd(handle, cmd);
+ if (result != ERROR_OK)
+ return result;
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("memory read failed: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ /* unescape input */
+ int read_len = remote_unescape_input(h->read_buffer + 5, h->read_count - 8, (char *)buffer, len);
+ if (read_len != (int)len) {
+ LOG_ERROR("read more bytes than expected: actual 0x%" PRIx32 " expected 0x%" PRIx32, read_len, len);
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int icdi_usb_write_mem(void *handle, uint32_t addr, uint32_t len, const uint8_t *buffer)
+{
+ int result;
+ struct icdi_usb_handle_s *h;
+
+ h = (struct icdi_usb_handle_s *)handle;
+
+ size_t cmd_len = snprintf(h->write_buffer, h->max_packet, PACKET_START "X%x,%x:", addr, len);
+
+ int out_len;
+ cmd_len += remote_escape_output((char *)buffer, len, h->write_buffer + cmd_len,
+ &out_len, h->max_packet - cmd_len);
+
+ if (out_len < (int)len) {
+ /* for now issue a error as we have no way of allocating a larger buffer */
+ LOG_ERROR("memory buffer too small: requires 0x%" PRIx32 " actual 0x%" PRIx32, out_len, len);
+ return ERROR_FAIL;
+ }
+
+ result = icdi_send_packet(handle, cmd_len);
+ if (result != ERROR_OK)
+ return result;
+
+ /* check result */
+ result = icdi_get_cmd_result(handle);
+ if (result != ERROR_OK) {
+ LOG_ERROR("memory write failed: 0x%x", result);
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int icdi_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer)
+{
+ return icdi_usb_read_mem(handle, addr, len, buffer);
+}
+
+static int icdi_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer)
+{
+ return icdi_usb_write_mem(handle, addr, len, buffer);
+}
+
+static int icdi_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer)
+{
+ return icdi_usb_read_mem(handle, addr, len * 4, buffer);
+}
+
+static int icdi_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer)
+{
+ return icdi_usb_write_mem(handle, addr, len * 4, buffer);
+}
+
+static int icdi_usb_close(void *handle)
+{
+ struct icdi_usb_handle_s *h;
+
+ h = (struct icdi_usb_handle_s *)handle;
+
+ if (h->usb_dev)
+ libusb_close(h->usb_dev);
+
+ if (h->usb_ctx)
+ libusb_exit(h->usb_ctx);
+
+ if (h->read_buffer)
+ free(h->read_buffer);
+
+ if (h->write_buffer)
+ free(h->write_buffer);
+
+ free(handle);
+
+ return ERROR_OK;
+}
+
+static int icdi_usb_open(struct hl_interface_param_s *param, void **fd)
+{
+ int retval;
+ struct icdi_usb_handle_s *h;
+
+ LOG_DEBUG("icdi_usb_open");
+
+ h = calloc(1, sizeof(struct icdi_usb_handle_s));
+
+ if (h == 0) {
+ LOG_ERROR("unable to allocate memory");
+ return ERROR_FAIL;
+ }
+
+ LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
+ param->vid, param->pid);
+
+ if (libusb_init(&h->usb_ctx) != 0) {
+ LOG_ERROR("libusb init failed");
+ goto error_open;
+ }
+
+ h->usb_dev = libusb_open_device_with_vid_pid(h->usb_ctx, param->vid, param->pid);
+ if (!h->usb_dev) {
+ LOG_ERROR("open failed");
+ goto error_open;
+ }
+
+ if (libusb_claim_interface(h->usb_dev, 2)) {
+ LOG_DEBUG("claim interface failed");
+ goto error_open;
+ }
+
+ /* check if mode is supported */
+ retval = ERROR_OK;
+
+ switch (param->transport) {
+#if 0
+ /* TODO place holder as swd is not currently supported */
+ case HL_TRANSPORT_SWD:
+#endif
+ case HL_TRANSPORT_JTAG:
+ break;
+ default:
+ retval = ERROR_FAIL;
+ break;
+ }
+
+ if (retval != ERROR_OK) {
+ LOG_ERROR("mode (transport) not supported by device");
+ goto error_open;
+ }
+
+ /* allocate buffer */
+ h->read_buffer = malloc(ICDI_PACKET_SIZE);
+ h->write_buffer = malloc(ICDI_PACKET_SIZE);
+ h->max_packet = ICDI_PACKET_SIZE;
+
+ if (h->read_buffer == 0 || h->write_buffer == 0) {
+ LOG_DEBUG("malloc failed");
+ goto error_open;
+ }
+
+ /* query icdi version etc */
+ retval = icdi_usb_version(h);
+ if (retval != ERROR_OK)
+ goto error_open;
+
+ /* query icdi support */
+ retval = icdi_usb_query(h);
+ if (retval != ERROR_OK)
+ goto error_open;
+
+ *fd = h;
+
+ /* set the max target read/write buffer in bytes
+ * as we are using gdb binary packets to transfer memory we have to
+ * reserve half the buffer for any possible escape chars plus
+ * at least 64 bytes for the gdb packet header */
+ param->max_buffer = (((h->max_packet - 64) / 4) * 4) / 2;
+
+ return ERROR_OK;
+
+error_open:
+ icdi_usb_close(h);
+
+ return ERROR_FAIL;
+}
+
+struct hl_layout_api_s icdi_usb_layout_api = {
+ .open = icdi_usb_open,
+ .close = icdi_usb_close,
+ .idcode = icdi_usb_idcode,
+ .state = icdi_usb_state,
+ .reset = icdi_usb_reset,
+ .assert_srst = icdi_usb_assert_srst,
+ .run = icdi_usb_run,
+ .halt = icdi_usb_halt,
+ .step = icdi_usb_step,
+ .read_regs = icdi_usb_read_regs,
+ .read_reg = icdi_usb_read_reg,
+ .write_reg = icdi_usb_write_reg,
+ .read_mem8 = icdi_usb_read_mem8,
+ .write_mem8 = icdi_usb_write_mem8,
+ .read_mem32 = icdi_usb_read_mem32,
+ .write_mem32 = icdi_usb_write_mem32,
+ .write_debug_reg = icdi_usb_write_debug_reg
+};
diff --git a/src/jtag/hla/hla_layout.c b/src/jtag/hla/hla_layout.c
index 5565729..54c5314 100644
--- a/src/jtag/hla/hla_layout.c
+++ b/src/jtag/hla/hla_layout.c
@@ -71,6 +71,12 @@ static const struct hl_layout hl_layouts[] = {
.close = hl_layout_close,
.api = &stlink_usb_layout_api,
},
+ {
+ .name = "ti-icdi",
+ .open = hl_layout_open,
+ .close = hl_layout_close,
+ .api = &icdi_usb_layout_api,
+ },
{.name = NULL, /* END OF TABLE */ },
};
diff --git a/src/jtag/hla/hla_layout.h b/src/jtag/hla/hla_layout.h
index 982d71a..3fd361e 100644
--- a/src/jtag/hla/hla_layout.h
+++ b/src/jtag/hla/hla_layout.h
@@ -30,6 +30,7 @@ struct hl_interface_param_s;
/** */
extern struct hl_layout_api_s stlink_usb_layout_api;
+extern struct hl_layout_api_s icdi_usb_layout_api;
/** */
struct hl_layout_api_s {
diff --git a/tcl/board/ek-lm4f120xl.cfg b/tcl/board/ek-lm4f120xl.cfg
new file mode 100644
index 0000000..aa6935c
--- /dev/null
+++ b/tcl/board/ek-lm4f120xl.cfg
@@ -0,0 +1,15 @@
+#
+# TI Stellaris Launchpad ek-lm4f120xl Evaluation Kits
+#
+# http://www.ti.com/tool/ek-lm4f120xl
+#
+
+#
+# NOTE: using the bundled ICDI interface is optional!
+# This interface is not ftdi based as previous boards were
+#
+source [find interface/ti-icdi.cfg]
+
+set WORKAREASIZE 0x8000
+set CHIPNAME lm4f120h5qr
+source [find target/stellaris_icdi.cfg]
diff --git a/tcl/board/ek-lm4f232.cfg b/tcl/board/ek-lm4f232.cfg
index 6e3f8e3..ebbc01d 100644
--- a/tcl/board/ek-lm4f232.cfg
+++ b/tcl/board/ek-lm4f232.cfg
@@ -4,10 +4,12 @@
# http://www.ti.com/tool/ek-lm4f232
#
-# NOTE: using the bundled FT2232 JTAG/SWD/SWO interface is optional!
-# so is using in JTAG mode, as done here.
-source [find interface/luminary-icdi.cfg]
+#
+# NOTE: using the bundled ICDI interface is optional!
+# This interface is not ftdi based as previous boards were
+#
+source [find interface/ti-icdi.cfg]
set WORKAREASIZE 0x8000
set CHIPNAME lm4f23x
-source [find target/stellaris.cfg]
+source [find target/stellaris_icdi.cfg]
diff --git a/tcl/interface/ti-icdi.cfg b/tcl/interface/ti-icdi.cfg
new file mode 100644
index 0000000..16a901e
--- /dev/null
+++ b/tcl/interface/ti-icdi.cfg
@@ -0,0 +1,15 @@
+#
+# TI Stellaris In-Circuit Debug Interface (ICDI) Board
+#
+# This is the propriety ICDI interface used on newer boards such as
+# LM4F232 Evaluation Kit - http://www.ti.com/tool/ek-lm4f232
+# Stellaris Launchpad - http://www.ti.com/stellaris-launchpad
+# http://www.ti.com/tool/ek-lm4f232
+#
+
+interface hla
+hla_layout ti-icdi
+hla_vid_pid 0x1cbe 0x00fd
+
+# unused but set to disable warnings
+adapter_khz 1000
diff --git a/tcl/target/stellaris_icdi.cfg b/tcl/target/stellaris_icdi.cfg
new file mode 100644
index 0000000..11d57c2
--- /dev/null
+++ b/tcl/target/stellaris_icdi.cfg
@@ -0,0 +1,34 @@
+#
+# lm3s icdi pseudo target
+#
+
+if { [info exists CHIPNAME] } {
+ set _CHIPNAME $CHIPNAME
+} else {
+ set _CHIPNAME lm3s
+}
+
+# Work-area is a space in RAM used for flash programming
+# By default use 16kB
+if { [info exists WORKAREASIZE] } {
+ set _WORKAREASIZE $WORKAREASIZE
+} else {
+ set _WORKAREASIZE 0x4000
+}
+
+#
+# possible value are hla_jtag
+# currently swd is not supported
+#
+transport select hla_jtag
+
+# do not check id as icdi currently does not support it
+hla newtap $_CHIPNAME cpu -expected-id 0
+
+set _TARGETNAME $_CHIPNAME.cpu
+target create $_TARGETNAME hla_target -chain-position $_TARGETNAME
+
+$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
+
+# flash configuration ... autodetects sizes, autoprobed
+flash bank $_CHIPNAME.flash stellaris 0 0 0 0 $_TARGETNAME