2 # GoodFET Client Library
4 # (C) 2009 Travis Goodspeed <travis at radiantmachines.com>
6 # This code is being rewritten and refactored. You've been warned!
8 import sys, time, string, cStringIO, struct, glob, os;
11 fmt = ("B", "<H", None, "<L")
13 def getClient(name="GoodFET"):
14 import GoodFET, GoodFETCC, GoodFETAVR, GoodFETSPI, GoodFETMSP430, GoodFETNRF, GoodFETCCSPI;
15 if(name=="GoodFET" or name=="monitor"): return GoodFET.GoodFET();
16 elif name=="cc" or name=="cc51": return GoodFETCC.GoodFETCC();
17 elif name=="cc2420" or name=="ccspi": return GoodFETCCSPI.GoodFETCCSPI();
18 elif name=="avr": return GoodFETAVR.GoodFETAVR();
19 elif name=="spi": return GoodFETSPI.GoodFETSPI();
20 elif name=="msp430": return GoodFETMSP430.GoodFETMSP430();
21 elif name=="nrf": return GoodFETNRF.GoodFETNRF();
23 print "Unsupported target: %s" % name;
27 """GoodFET Symbol Table"""
28 db=sqlite3.connect(":memory:");
30 def __init__(self, *args, **kargs):
31 self.db.execute("create table if not exists symbols(adr,name,memory,size,comment);");
36 c.execute("select adr,memory from symbols where name=?",(name,));
42 except:# sqlite3.OperationalError:
46 def define(self,adr,name,comment="",memory="vn",size=16):
47 self.db.execute("insert into symbols(adr,name,memory,size,comment)"
48 "values(?,?,?,?,?);", (
49 adr,name,memory,size,comment));
50 #print "Set %s=%s." % (name,adr);
52 """py-bluez class for emulating py-serial."""
53 def __init__(self,btaddr):
55 if btaddr==None or btaddr=="none" or btaddr=="bluetooth":
56 print "performing inquiry..."
57 nearby_devices = bluetooth.discover_devices(lookup_names = True)
58 print "found %d devices" % len(nearby_devices)
59 for addr, name in nearby_devices:
60 print " %s - '%s'" % (addr, name)
61 #TODO switch to wildcards.
62 if name=='FireFly-A6BD':
67 print "Please set $GOODFET to the address of your device.";
69 print "Identified GoodFET at %s" % btaddr;
71 # Manually use the portnumber.
74 print "Connecting to %s on port %i." % (btaddr, port);
75 sock=bluetooth.BluetoothSocket(bluetooth.RFCOMM);
77 sock.connect((btaddr,port));
78 sock.settimeout(10); #IMPORTANT Must be patient.
80 ##This is what we'd do for a normal reset.
82 #while not str.endswith("goodfet.sf.net/"):
86 # Instead, just return and hope for the best.
95 def read(self,length):
98 while len(data)<length:
99 data=data+self.sock.recv(length-len(data));
102 """GoodFET Client Library"""
113 symbols=SymbolTable();
115 def __init__(self, *args, **kargs):
117 def getConsole(self):
118 from GoodFETConsole import GoodFETConsole;
119 return GoodFETConsole(self);
120 def name2adr(self,name):
121 return self.symbols.get(name);
124 def serInit(self, port=None, timeout=2, attemptlimit=None):
125 """Open a serial port of some kind."""
129 port=os.environ.get("GOODFET");
130 if port=="bluetooth" or (port is not None and re.match("..:..:..:..:..:..",port)):
131 self.btInit(port,2,attemptlimit);
133 self.pyserInit(port,timeout,attemptlimit);
134 def btInit(self, port, timeout, attemptlimit):
135 """Open a bluetooth port.""";
136 #self.verbose=True; #For debugging BT.
137 self.serialport=GoodFETbtser(port);
139 def pyserInit(self, port, timeout, attemptlimit):
140 """Open the serial port"""
141 # Make timeout None to wait forever, 0 for non-blocking mode.
144 if os.name=='nt' and sys.version.find('64 bit')!=-1:
145 print "WARNING: PySerial requires a 32-bit Python build in Windows.";
147 if port is None and os.environ.get("GOODFET")!=None:
148 glob_list = glob.glob(os.environ.get("GOODFET"));
149 if len(glob_list) > 0:
152 port = os.environ.get("GOODFET");
154 glob_list = glob.glob("/dev/tty.usbserial*");
155 if len(glob_list) > 0:
158 glob_list = glob.glob("/dev/ttyUSB*");
159 if len(glob_list) > 0:
162 glob_list = glob.glob("/dev/ttyU0");
163 if len(glob_list) > 0:
165 if port is None and os.name=='nt':
166 from scanwin32 import winScan;
168 for order,comport,desc,hwid in sorted(scan.comports()):
170 if hwid.index('FTDI')==0:
172 #print "Using FTDI port %s" % port
178 if(os.environ.get("platform")=='arduino' or os.environ.get("board")=='arduino'):
179 baud=19200; #Slower, for now.
180 self.serialport = serial.Serial(
184 parity = serial.PARITY_NONE,
192 while self.verb!=0x7F or self.data!="http://goodfet.sf.net/":
193 #while self.data!="http://goodfet.sf.net/":
194 #print "'%s'!=\n'%s'" % (self.data,"http://goodfet.sf.net/");
195 if attemptlimit is not None and attempts >= attemptlimit:
198 print "Resyncing. See the GoodFET FAQ about missing info flash.";
199 #self.serialport.flushInput()
200 #self.serialport.flushOutput()
202 #TelosB reset, prefer software to I2C SPST Switch.
203 if (os.environ.get("platform")=='telosb' or os.environ.get("board")=='telosb'):
204 #print "TelosB Reset";
206 elif (os.environ.get("board")=='zolertiaz1' or os.environ.get("board")=='z1'):
207 self.bslResetZ1(invokeBSL=0);
208 elif (os.environ.get("board")=='apimote1'):
209 #Explicitly set RTS and DTR to halt board.
210 self.serialport.setRTS(1);
211 self.serialport.setDTR(1);
212 #RTS pin, not DTR is used for reset.
213 self.serialport.setRTS(0);
214 #print "Resetting Apimote not yet tested.";
216 #Explicitly set RTS and DTR to halt board.
217 self.serialport.setRTS(1);
218 self.serialport.setDTR(1);
219 #Drop DTR, which is !RST, low to begin the app.
220 self.serialport.setDTR(0);
222 #self.serialport.write(chr(0x80));
223 #self.serialport.write(chr(0x80));
224 #self.serialport.write(chr(0x80));
225 #self.serialport.write(chr(0x80));
228 #self.serialport.flushInput()
229 #self.serialport.flushOutput()
232 self.readcmd(); #Read the first command.
233 #print "Got %02x,%02x:'%s'" % (self.app,self.verb,self.data);
235 #Retry again. This usually times out, but helps connect.
237 #print "Retry got %02x,%02x:'%s'" % (self.app,self.verb,self.data);
238 #Here we have a connection, but maybe not a good one.
239 #print "We have a connection."
241 olds=self.infostring();
242 clocking=self.monitorclocking();
243 for foo in range(1,30):
244 if not self.monitorecho():
246 print "Comm error on %i try, resyncing out of %s." % (foo,
250 if self.verbose: print "Connected after %02i attempts." % attempts;
251 self.mon_connected();
252 self.serialport.setTimeout(12);
254 self.serialport.close();
255 def telosSetSCL(self, level):
256 self.serialport.setRTS(not level)
257 def telosSetSDA(self, level):
258 self.serialport.setDTR(not level)
260 def telosI2CStart(self):
265 def telosI2CStop(self):
270 def telosI2CWriteBit(self, bit):
272 self.telosSetSDA(bit)
278 def telosI2CWriteByte(self, byte):
279 self.telosI2CWriteBit( byte & 0x80 );
280 self.telosI2CWriteBit( byte & 0x40 );
281 self.telosI2CWriteBit( byte & 0x20 );
282 self.telosI2CWriteBit( byte & 0x10 );
283 self.telosI2CWriteBit( byte & 0x08 );
284 self.telosI2CWriteBit( byte & 0x04 );
285 self.telosI2CWriteBit( byte & 0x02 );
286 self.telosI2CWriteBit( byte & 0x01 );
287 self.telosI2CWriteBit( 0 ); # "acknowledge"
289 def telosI2CWriteCmd(self, addr, cmdbyte):
291 self.telosI2CWriteByte( 0x90 | (addr << 1) )
292 self.telosI2CWriteByte( cmdbyte )
294 def bslResetZ1(self, invokeBSL=0):
296 Applies BSL entry sequence on RST/NMI and TEST/VPP pins
298 invokeBSL = 1: complete sequence
299 invokeBSL = 0: only RST/NMI pin accessed
301 By now only BSL mode is accessed
304 #if DEBUG > 1: sys.stderr.write("* bslReset(invokeBSL=%s)\n" % invokeBSL)
306 #sys.stderr.write("in Z1 bsl reset...\n")
308 self.writepicROM(0xFF, 0xFF)
310 #sys.stderr.write("z1 bsl reset done...\n")
312 #sys.stderr.write("in Z1 reset...\n")
314 self.writepicROM(0xFF, 0xFE)
316 #sys.stderr.write("z1 reset done...\n")
317 def writepicROM(self, address, data):
318 ''' Writes data to @address'''
319 for i in range(7,-1,-1):
320 self.picROMclock((address >> i) & 0x01)
323 for i in range(7,-1,-1):
324 s = ((data >> i) & 0x01)
327 r = not self.picROMclock(s, True)
329 r = not self.picROMclock(s)
330 recbuf = (recbuf << 1) + r
332 self.picROMclock(0, True)
334 #while not self.serial.getCTS():
338 def readpicROM(self, address):
339 ''' reads a byte from @address'''
340 for i in range(7,-1,-1):
341 self.picROMclock((address >> i) & 0x01)
345 for i in range(7,-1,-1):
346 r = self.picROMclock(0)
347 recbuf = (recbuf << 1) + r
352 #This seems more reliable when slowed.
353 def picROMclock(self, masterout, slow = True):
354 #print "setting masterout to "+str(masterout)
355 self.serialport.setRTS(masterout)
356 self.serialport.setDTR(1)
358 self.serialport.setDTR(0)
361 return self.serialport.getCTS()
363 def picROMfastclock(self, masterout):
364 #print "setting masterout to "+str(masterout)
365 self.serialport.setRTS(masterout)
366 self.serialport.setDTR(1)
367 self.serialport.setDTR(0)
369 return self.serialport.getCTS()
371 def telosBReset(self,invokeBSL=0):
372 # "BSL entry sequence at dedicated JTAG pins"
373 # rst !s0: 0 0 0 0 1 1
374 # tck !s1: 1 0 1 0 0 1
377 # "BSL entry sequence at shared JTAG pins"
378 # rst !s0: 0 0 0 0 1 1
379 # tck !s1: 0 1 0 1 1 0
383 self.telosI2CWriteCmd(0,1)
384 self.telosI2CWriteCmd(0,3)
385 self.telosI2CWriteCmd(0,1)
386 self.telosI2CWriteCmd(0,3)
387 self.telosI2CWriteCmd(0,2)
388 self.telosI2CWriteCmd(0,0)
390 self.telosI2CWriteCmd(0,3)
391 self.telosI2CWriteCmd(0,2)
393 # This line was not defined inside the else: block, not sure where it
395 self.telosI2CWriteCmd(0,0)
396 time.sleep(0.250) #give MSP430's oscillator time to stabilize
397 self.serialport.flushInput() #clear buffers
400 def getbuffer(self,size=0x1c00):
401 writecmd(0,0xC2,[size&0xFF,(size>>16)&0xFF]);
402 print "Got %02x%02x buffer size." % (self.data[1],self.data[0]);
403 def writecmd(self, app, verb, count=0, data=[]):
404 """Write a command and some data to the GoodFET."""
405 self.serialport.write(chr(app));
406 self.serialport.write(chr(verb));
409 # count=len(data); #Initial count ignored.
411 #print "TX %02x %02x %04x" % (app,verb,count);
413 #little endian 16-bit length
414 self.serialport.write(chr(count&0xFF));
415 self.serialport.write(chr(count>>8));
418 print "Tx: ( 0x%02x, 0x%02x, 0x%04x )" % ( app, verb, count )
420 #print "count=%02x, len(data)=%04x" % (count,len(data));
423 if(isinstance(data,list)):
424 for i in range(0,count):
425 #print "Converting %02x at %i" % (data[i],i)
426 data[i]=chr(data[i]);
428 outstr=''.join(data);
429 self.serialport.write(outstr);
430 if not self.besilent:
431 return self.readcmd()
436 """Read a reply from the GoodFET."""
437 while 1:#self.serialport.inWaiting(): # Loop while input data is available
440 self.app=ord(self.serialport.read(1));
441 #print "APP=%02x" % self.app;
442 self.verb=ord(self.serialport.read(1));
444 #Fixes an obscure bug in the TelosB.
446 while self.verb==0x00:
447 self.verb=ord(self.serialport.read(1));
449 #print "VERB=%02x" % self.verb;
451 ord(self.serialport.read(1))
452 +(ord(self.serialport.read(1))<<8)
456 print "Rx: ( 0x%02x, 0x%02x, 0x%04x )" % ( self.app, self.verb, self.count )
458 #Debugging string; print, but wait.
461 print "# DEBUG %s" % self.serialport.read(self.count)
462 elif self.verb==0xFE:
463 print "# DEBUG 0x%x" % struct.unpack(fmt[self.count-1], self.serialport.read(self.count))[0]
464 elif self.verb==0xFD:
465 #Do nothing, just wait so there's no timeout.
470 self.data=self.serialport.read(self.count);
474 print "Warning: waiting for serial read timed out (most likely).";
475 #print "This shouldn't happen after syncing. Exiting for safety.";
479 def glitchApp(self,app):
480 """Glitch into a device by its application."""
481 self.data=[app&0xff];
482 self.writecmd(self.GLITCHAPP,0x80,1,self.data);
483 #return ord(self.data[0]);
484 def glitchVerb(self,app,verb,data):
485 """Glitch during a transaction."""
486 if data==None: data=[];
487 self.data=[app&0xff, verb&0xFF]+data;
488 self.writecmd(self.GLITCHAPP,0x81,len(self.data),self.data);
489 #return ord(self.data[0]);
490 def glitchstart(self):
491 """Glitch into the AVR application."""
492 self.glitchVerb(self.APP,0x20,None);
493 def glitchstarttime(self):
494 """Measure the timer of the START verb."""
495 return self.glitchTime(self.APP,0x20,None);
496 def glitchTime(self,app,verb,data):
497 """Time the execution of a verb."""
498 if data==None: data=[];
499 self.data=[app&0xff, verb&0xFF]+data;
500 print "Timing app %02x verb %02x." % (app,verb);
501 self.writecmd(self.GLITCHAPP,0x82,len(self.data),self.data);
502 time=ord(self.data[0])+(ord(self.data[1])<<8);
503 print "Timed to be %i." % time;
505 def glitchVoltages(self,low=0x0880, high=0x0fff):
506 """Set glitching voltages. (0x0fff is max.)"""
507 self.data=[low&0xff, (low>>8)&0xff,
508 high&0xff, (high>>8)&0xff];
509 self.writecmd(self.GLITCHAPP,0x90,4,self.data);
510 #return ord(self.data[0]);
511 def glitchRate(self,count=0x0800):
512 """Set glitching count period."""
513 self.data=[count&0xff, (count>>8)&0xff];
514 self.writecmd(self.GLITCHAPP,0x91,2,
516 #return ord(self.data[0]);
520 def silent(self,s=0):
521 """Transmissions halted when 1."""
523 print "besilent is %i" % self.besilent;
524 self.writecmd(0,0xB0,1,[s]);
526 def mon_connected(self):
527 """Announce to the monitor that the connection is good."""
529 self.writecmd(0,0xB1,0,[]);
531 """Write a byte to P5OUT."""
532 self.writecmd(0,0xA1,1,[byte]);
534 """Write a byte to P5DIR."""
535 self.writecmd(0,0xA0,1,[byte]);
537 """Call to an address."""
538 self.writecmd(0,0x30,2,
539 [adr&0xFF,(adr>>8)&0xFF]);
540 def execute(self,code):
541 """Execute supplied code."""
542 self.writecmd(0,0x31,2,#len(code),
544 def MONpeek8(self,address):
545 """Read a byte of memory from the monitor."""
546 self.data=[address&0xff,address>>8];
547 self.writecmd(0,0x02,2,self.data);
549 return ord(self.data[0]);
550 def MONpeek16(self,address):
551 """Read a word of memory from the monitor."""
552 return self.MONpeek8(address)+(self.MONpeek8(address+1)<<8);
553 def peek(self,address):
554 """Read a word of memory from the monitor."""
555 return self.MONpeek8(address)+(self.MONpeek8(address+1)<<8);
556 def eeprompeek(self,address):
557 """Read a word of memory from the monitor."""
558 print "EEPROM peeking not supported for the monitor.";
559 #return self.MONpeek8(address)+(self.MONpeek8(address+1)<<8);
560 def peekbysym(self,name):
561 """Read a value by its symbol name."""
562 #TODO include memory in symbol.
563 reg=self.symbols.get(name);
564 return self.peek8(reg,"data");
565 def pokebysym(self,name,val):
566 """Write a value by its symbol name."""
567 #TODO include memory in symbol.
568 reg=self.symbols.get(name);
569 return self.pokebyte(reg,val);
570 def pokebyte(self,address,value,memory="vn"):
571 """Set a byte of memory by the monitor."""
572 self.data=[address&0xff,address>>8,value];
573 self.writecmd(0,0x03,3,self.data);
574 return ord(self.data[0]);
575 def poke16(self,address,value):
576 """Set a word of memory by the monitor."""
577 self.pokebyte(address,value&0xFF);
578 self.pokebyte(address,(value>>8)&0xFF);
580 def setsecret(self,value):
581 """Set a secret word for later retreival. Used by glitcher."""
582 #self.eeprompoke(0,value);
583 #self.eeprompoke(1,value);
584 print "Secret setting is not yet suppored for this target.";
588 """Get a secret word. Used by glitcher."""
590 print "Secret getting is not yet suppored for this target.";
594 def dumpmem(self,begin,end):
597 print "%04x %04x" % (i, self.MONpeek16(i));
599 def monitor_ram_pattern(self):
600 """Overwrite all of RAM with 0xBEEF."""
601 self.writecmd(0,0x90,0,self.data);
603 def monitor_ram_depth(self):
604 """Determine how many bytes of RAM are unused by looking for 0xBEEF.."""
605 self.writecmd(0,0x91,0,self.data);
606 return ord(self.data[0])+(ord(self.data[1])<<8);
615 def setBaud(self,baud):
616 """Change the baud rate. TODO fix this."""
617 rates=self.baudrates;
619 print "Changing FET baud."
620 self.serialport.write(chr(0x00));
621 self.serialport.write(chr(0x80));
622 self.serialport.write(chr(1));
623 self.serialport.write(chr(baud));
625 print "Changed host baud."
626 self.serialport.setBaudrate(rates[baud]);
628 self.serialport.flushInput()
629 self.serialport.flushOutput()
631 print "Baud is now %i." % rates[baud];
634 return ord(self.serialport.read(1));
636 for r in self.baudrates:
637 print "\nTrying %i" % r;
638 self.serialport.setBaudrate(r);
640 self.serialport.flushInput()
641 self.serialport.flushOutput()
643 for i in range(1,10):
646 print "Read %02x %02x %02x %02x" % (
647 self.readbyte(),self.readbyte(),self.readbyte(),self.readbyte());
648 def monitortest(self):
649 """Self-test several functions through the monitor."""
650 print "Performing monitor self-test.";
651 self.monitorclocking();
652 for f in range(0,3000):
653 a=self.MONpeek16(0x0c00);
654 b=self.MONpeek16(0x0c02);
655 if a!=0x0c04 and a!=0x0c06:
656 print "ERROR Fetched %04x, %04x" % (a,b);
657 self.pokebyte(0x0021,0); #Drop LED
658 if self.MONpeek8(0x0021)!=0:
659 print "ERROR, P1OUT not cleared.";
660 self.pokebyte(0x0021,1); #Light LED
661 if not self.monitorecho():
662 print "Echo test failed.";
663 print "Self-test complete.";
664 self.monitorclocking();
665 def monitorecho(self):
666 data="The quick brown fox jumped over the lazy dog.";
667 self.writecmd(self.MONITORAPP,0x81,len(data),data);
669 print "Comm error recognized by monitorecho(), got:\n%s" % self.data;
673 def monitor_info(self):
674 print "GoodFET with %s MCU" % self.infostring();
675 print "Clocked at %s" % self.monitorclocking();
679 print "Flashing LEDs"
680 self.writecmd(self.MONITORAPP,0xD0,0,"")
682 print "Flashed %d LED." % ord(self.data)
684 print "Unable to process response:", self.data
687 def monitor_list_apps(self, full=False):
689 old_value = self.besilent
690 self.besilent = True # turn off automatic call to readcmd
691 self.writecmd(self.MONITORAPP, 0x82, 1, [int(full)]);
692 self.besilent = old_value
694 # read the build date string
696 print "Build Date: %s" % self.data
697 print "Firmware apps:"
705 def monitorclocking(self):
706 """Return the 16-bit clocking value."""
707 return "0x%04x" % self.monitorgetclock();
709 def monitorsetclock(self,clock):
710 """Set the clocking value."""
711 self.MONpoke16(0x56, clock);
712 def monitorgetclock(self):
713 """Get the clocking value."""
714 if(os.environ.get("platform")=='arduino' or os.environ.get("board")=='arduino'):
716 #Check for MSP430 before peeking this.
717 return self.MONpeek16(0x56);
718 # The following functions ought to be implemented in
721 def infostring(self):
722 if(os.environ.get("platform")=='arduino' or os.environ.get("board")=='arduino'):
725 a=self.MONpeek8(0xff0);
726 b=self.MONpeek8(0xff1);
727 return "%02x%02x" % (a,b);
729 print "Locking Unsupported.";
731 print "Erasure Unsupported.";
737 print "Unimplemented.";
740 print "Unimplemented.";
743 print "Unimplemented.";
746 print "Unimplemented.";
749 print "Unimplemented.";
751 def flash(self,file):
752 """Flash an intel hex file to code memory."""
753 print "Flash not implemented.";
754 def dump(self,file,start=0,stop=0xffff):
755 """Dump an intel hex file from code memory."""
756 print "Dump not implemented.";
757 def peek32(self,address, memory="vn"):
759 return (self.peek16(address,memory)+
760 (self.peek16(address+2,memory)<<16));
761 def peek16(self,address, memory="vn"):
762 """Peek 16 bits of memory."""
763 return (self.peek8(address,memory)+
764 (self.peek8(address+1,memory)<<8));
765 def peek8(self,address, memory="vn"):
766 """Peek a byte of memory."""
767 return self.MONpeek8(address); #monitor
768 def peekblock(self,address,length,memory="vn"):
769 """Return a block of data."""
770 data=range(0,length);
771 for foo in range(0,length):
772 data[foo]=self.peek8(address+foo,memory);
774 def pokeblock(self,address,bytes,memory="vn"):
775 """Poke a block of a data into memory at an address."""
777 self.pokebyte(address,foo,memory);
780 def loadsymbols(self):
781 """Load symbols from a file."""