controller-fw: initial jtag programming draft

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "controller/fw/libopencm3"]
+	path = controller/fw/libopencm3
+	url = https://github.com/libopencm3/libopencm3
+[submodule "controller/fw/mspdebug"]
+	path = controller/fw/mspdebug
+	url = https://github.com/dlbeer/mspdebug

controller/fw/libopencm3

@@ -0,0 +1 @@
+Subproject commit cb0661f81de5b1cae52ca99c7b5985b678176db7

controller/fw/mspdebug

@@ -0,0 +1 @@
+Subproject commit b506542094de19a0a11e638a7e34e0bc4adf8d7c

controller/fw/mspdebug_wrapper.c

@@ -1,9 +1,78 @@
 
-#include "sr_global.h"
+#include <unistd.h>
+#include <errno.h>
+
+#include <libopencm3/stm32/gpio.h>
 
 #include "output.h"
 #include "jtaglib.h"
 
+#include "sr_global.h"
+#include "mspdebug_wrapper.h"
+
+#define BLOCK_SIZE 512 /* bytes */
+
+
+static struct jtdev sr_jtdev;
+
+
+int flash_and_reset(size_t img_start, size_t img_len, ssize_t (*read_block)(int addr, size_t len, uint8_t *out))
+{
+	union {
+		uint8_t bytes[BLOCK_SIZE];
+		uint16_t words[BLOCK_SIZE/2];
+	} block;
+
+	/* Initialize JTAG connection */
+	unsigned int jtag_id = jtag_init(&sr_jtdev);
+
+	if (sr_jtdev.failed)
+		return -EPIPE;
+
+	if (jtag_id != 0x89 && jtag_id != 0x91)
+		return -EINVAL;
+
+	/* Clear flash */
+	jtag_erase_flash(&sr_jtdev, JTAG_ERASE_MAIN, 0);
+	if (sr_jtdev.failed)
+		return -EPIPE;
+
+	/* Write flash */
+	for (size_t p = img_start; p < img_start + img_len; p += BLOCK_SIZE) {
+		ssize_t nin = read_block(p, BLOCK_SIZE, block.bytes);
+
+		if (nin < 0)
+			return nin;
+
+		if (nin & 1) { /* pad unaligned */
+			block.bytes[nin] = 0;
+			nin ++;
+		}
+		
+		/* Convert to little-endian */
+		for (ssize_t i=0; i<nin/2; i++)
+			block.words[i] = htole(block.words[i]);
+
+		jtag_write_flash(&sr_jtdev, p, nin/2, block.words);
+		if (sr_jtdev.failed)
+			return -EPIPE;
+	}
+
+	/* Verify flash */
+	/* FIXME
+	word = jtag_read_mem(NULL, 16, addr+index );
+	*/
+
+	/* Execute power on reset */
+	jtag_execute_puc(&sr_jtdev);
+	if (sr_jtdev.failed)
+		return -EPIPE;
+
+	return 0;
+}
+
+/* mspdebug HAL shim */
+
 int printc_err(const char *fmt, ...) {
 	UNUSED(fmt);
 	/* ignore */
@@ -18,7 +87,7 @@ static void sr_jtdev_connect(struct jtdev *p) {
 	/* ignore */
 }
 
-static enum sr_gpio_types {
+enum sr_gpio_types {
 	SR_GPIO_TCK,
 	SR_GPIO_TMS,
 	SR_GPIO_TDI,
@@ -29,41 +98,67 @@ static enum sr_gpio_types {
 };
 
 struct {
-	uint32_t port, uint16_t num,
+	uint32_t port;
+	uint16_t num;
 } gpios[SR_NUM_GPIOS] = {
-	[SR_GPIO_TCK] = {},
-	[SR_GPIO_TMS] = {},
-	[SR_GPIO_TDI] = {},
-	[SR_GPIO_RST] = {},
-	[SR_GPIO_TST] = {},
-	[SR_GPIO_TDO] = {},
+	[SR_GPIO_TCK] = {GPIOD, 8},
+	[SR_GPIO_TMS] = {GPIOD, 9},
+	[SR_GPIO_TDI] = {GPIOD, 10},
+	[SR_GPIO_RST] = {GPIOD, 11},
+	[SR_GPIO_TST] = {GPIOD, 12},
+	[SR_GPIO_TDO] = {GPIOD, 13},
 };
 
+static void sr_gpio_write(int num, int out) {
+	if (out)
+		gpio_set(gpios[num].port, gpios[num].num);
+	else
+		gpio_clear(gpios[num].port, gpios[num].num);
+}
+
 static void sr_jtdev_tck(struct jtdev *p, int out) {
+	UNUSED(p);
+	sr_gpio_write(SR_GPIO_TCK, out);
 }
 
 static void sr_jtdev_tms(struct jtdev *p, int out) {
+	UNUSED(p);
+	sr_gpio_write(SR_GPIO_TMS, out);
 }
 
 static void sr_jtdev_tdi(struct jtdev *p, int out) {
+	UNUSED(p);
+	sr_gpio_write(SR_GPIO_TDI, out);
 }
 
 static void sr_jtdev_rst(struct jtdev *p, int out) {
+	UNUSED(p);
+	sr_gpio_write(SR_GPIO_RST, out);
 }
 
 static void sr_jtdev_tst(struct jtdev *p, int out) {
+	UNUSED(p);
+	sr_gpio_write(SR_GPIO_TST, out);
 }
 
 static int sr_jtdev_tdo_get(struct jtdev *p) {
+	return gpio_get(gpios[SR_GPIO_TST].port, gpios[SR_GPIO_TST].num);
 }
 
 static void sr_jtdev_tclk(struct jtdev *p, int out) {
+	UNUSED(p);
+	sr_gpio_write(SR_GPIO_TST, out);
 }
 
 static int sr_jtdev_tclk_get(struct jtdev *p) {
+	return gpio_get(gpios[SR_GPIO_TDI].port, gpios[SR_GPIO_TDI].num);
 }
 
 static void sr_jtdev_tclk_strobe(struct jtdev *p, unsigned int count) {
+	while (count--) {
+		gpio_set(gpios[SR_GPIO_TDI].port, gpios[SR_GPIO_TDI].num);
+		gpio_clear(gpios[SR_GPIO_TDI].port, gpios[SR_GPIO_TDI].num);
+	}
 }
 
 static void sr_jtdev_led_green(struct jtdev *p, int out) {
@@ -80,11 +175,11 @@ static void sr_jtdev_led_red(struct jtdev *p, int out) {
 
 
 static struct jtdev_func sr_jtdev_vtable = {
-	.jtdev_open = 0,
-	.jtdev_close = 0,
+	.jtdev_open = NULL,
+	.jtdev_close = NULL,
 
-	.jtdev_power_off = 0,
-	.jtdev_release = 0,
+	.jtdev_power_off = NULL,
+	.jtdev_release = NULL,
 
 	.jtdev_power_on = sr_jtdev_power_on,
 	.jtdev_connect = sr_jtdev_connect,

controller/fw/mspdebug_wrapper.h

@@ -0,0 +1,6 @@
+#ifndef __MSPDEBUG_WRAPPER_H__
+#define __MSPDEBUG_WRAPPER_H__
+
+int flash_and_reset(size_t img_start, size_t img_len, ssize_t (*read_block)(int addr, size_t len, uint8_t *out));
+
+#endif /* __MSPDEBUG_WRAPPER_H__ */

controller/fw/sr_global.h

@@ -0,0 +1,8 @@
+#ifndef __SR_GLOBAL_H__
+#define __SR_GLOBAL_H__
+
+#define UNUSED(x) ((void) x)
+
+static inline uint16_t htole(uint16_t val) { return val; }
+
+#endif /* __SR_GLOBAL_H__ */