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.
145 if os.name=='nt' and sys.version.find('64 bit')!=-1:
146 print "WARNING: PySerial requires a 32-bit Python build in Windows.";
148 if port is None and os.environ.get("GOODFET")!=None:
149 glob_list = glob.glob(os.environ.get("GOODFET"));
150 if len(glob_list) > 0:
153 port = os.environ.get("GOODFET");
155 glob_list = glob.glob("/dev/tty.usbserial*");
156 if len(glob_list) > 0:
159 glob_list = glob.glob("/dev/ttyUSB*");
160 if len(glob_list) > 0:
163 glob_list = glob.glob("/dev/ttyU0");
164 if len(glob_list) > 0:
166 if port is None and os.name=='nt':
167 from scanwin32 import winScan;
169 for order,comport,desc,hwid in sorted(scan.comports()):
171 if hwid.index('FTDI')==0:
173 #print "Using FTDI port %s" % port
179 if(os.environ.get("platform")=='arduino' or os.environ.get("board")=='arduino'):
180 baud=19200; #Slower, for now.
181 self.serialport = serial.Serial(
185 parity = serial.PARITY_NONE,
193 while self.verb!=0x7F or self.data!="http://goodfet.sf.net/":
194 #while self.data!="http://goodfet.sf.net/":
195 #print "'%s'!=\n'%s'" % (self.data,"http://goodfet.sf.net/");
196 if attemptlimit is not None and attempts >= attemptlimit:
198 elif attempts==2 and os.environ.get("board")!='telosb':
199 print "See the GoodFET FAQ about missing info flash.";
200 self.serialport.setTimeout(0.2);
201 #self.serialport.flushInput()
202 #self.serialport.flushOutput()
204 #TelosB reset, prefer software to I2C SPST Switch.
205 if (os.environ.get("board")=='telosb'):
206 #print "TelosB Reset";
208 elif (os.environ.get("board")=='z1'):
209 self.bslResetZ1(invokeBSL=0);
210 elif (os.environ.get("board")=='apimote1') or (os.environ.get("board")=='apimote'):
211 #Explicitly set RTS and DTR to halt board.
212 self.serialport.setRTS(1);
213 self.serialport.setDTR(1);
214 #RTS pin, not DTR is used for reset.
215 self.serialport.setRTS(0);
216 #print "Resetting Apimote not yet tested.";
218 #Explicitly set RTS and DTR to halt board.
219 self.serialport.setRTS(1);
220 self.serialport.setDTR(1);
221 #Drop DTR, which is !RST, low to begin the app.
222 self.serialport.setDTR(0);
224 #self.serialport.write(chr(0x80));
225 #self.serialport.write(chr(0x80));
226 #self.serialport.write(chr(0x80));
227 #self.serialport.write(chr(0x80));
230 #self.serialport.flushInput()
231 #self.serialport.flushOutput()
234 self.readcmd(); #Read the first command.
235 #print "Got %02x,%02x:'%s'" % (self.app,self.verb,self.data);
237 #Retry again. This usually times out, but helps connect.
239 #print "Retry got %02x,%02x:'%s'" % (self.app,self.verb,self.data);
240 #Here we have a connection, but maybe not a good one.
241 #print "We have a connection."
243 olds=self.infostring();
244 clocking=self.monitorclocking();
245 for foo in range(1,30):
246 if not self.monitorecho():
248 print "Comm error on %i try, resyncing out of %s." % (foo,
252 if self.verbose: print "Connected after %02i attempts." % attempts;
253 self.mon_connected();
254 self.serialport.setTimeout(12);
256 self.serialport.close();
257 def telosSetSCL(self, level):
258 self.serialport.setRTS(not level)
259 def telosSetSDA(self, level):
260 self.serialport.setDTR(not level)
262 def telosI2CStart(self):
267 def telosI2CStop(self):
272 def telosI2CWriteBit(self, bit):
274 self.telosSetSDA(bit)
280 def telosI2CWriteByte(self, byte):
281 self.telosI2CWriteBit( byte & 0x80 );
282 self.telosI2CWriteBit( byte & 0x40 );
283 self.telosI2CWriteBit( byte & 0x20 );
284 self.telosI2CWriteBit( byte & 0x10 );
285 self.telosI2CWriteBit( byte & 0x08 );
286 self.telosI2CWriteBit( byte & 0x04 );
287 self.telosI2CWriteBit( byte & 0x02 );
288 self.telosI2CWriteBit( byte & 0x01 );
289 self.telosI2CWriteBit( 0 ); # "acknowledge"
291 def telosI2CWriteCmd(self, addr, cmdbyte):
293 self.telosI2CWriteByte( 0x90 | (addr << 1) )
294 self.telosI2CWriteByte( cmdbyte )
296 def bslResetZ1(self, invokeBSL=0):
298 Applies BSL entry sequence on RST/NMI and TEST/VPP pins
300 invokeBSL = 1: complete sequence
301 invokeBSL = 0: only RST/NMI pin accessed
303 By now only BSL mode is accessed
306 #if DEBUG > 1: sys.stderr.write("* bslReset(invokeBSL=%s)\n" % invokeBSL)
308 #sys.stderr.write("in Z1 bsl reset...\n")
310 self.writepicROM(0xFF, 0xFF)
312 #sys.stderr.write("z1 bsl reset done...\n")
314 #sys.stderr.write("in Z1 reset...\n")
316 self.writepicROM(0xFF, 0xFE)
318 #sys.stderr.write("z1 reset done...\n")
319 def writepicROM(self, address, data):
320 ''' Writes data to @address'''
321 for i in range(7,-1,-1):
322 self.picROMclock((address >> i) & 0x01)
325 for i in range(7,-1,-1):
326 s = ((data >> i) & 0x01)
329 r = not self.picROMclock(s, True)
331 r = not self.picROMclock(s)
332 recbuf = (recbuf << 1) + r
334 self.picROMclock(0, True)
336 #while not self.serial.getCTS():
340 def readpicROM(self, address):
341 ''' reads a byte from @address'''
342 for i in range(7,-1,-1):
343 self.picROMclock((address >> i) & 0x01)
347 for i in range(7,-1,-1):
348 r = self.picROMclock(0)
349 recbuf = (recbuf << 1) + r
354 #This seems more reliable when slowed.
355 def picROMclock(self, masterout, slow = True):
356 #print "setting masterout to "+str(masterout)
357 self.serialport.setRTS(masterout)
358 self.serialport.setDTR(1)
360 self.serialport.setDTR(0)
363 return self.serialport.getCTS()
365 def picROMfastclock(self, masterout):
366 #print "setting masterout to "+str(masterout)
367 self.serialport.setRTS(masterout)
368 self.serialport.setDTR(1)
369 self.serialport.setDTR(0)
371 return self.serialport.getCTS()
373 def telosBReset(self,invokeBSL=0):
374 # "BSL entry sequence at dedicated JTAG pins"
375 # rst !s0: 0 0 0 0 1 1
376 # tck !s1: 1 0 1 0 0 1
379 # "BSL entry sequence at shared JTAG pins"
380 # rst !s0: 0 0 0 0 1 1
381 # tck !s1: 0 1 0 1 1 0
385 self.telosI2CWriteCmd(0,1)
386 self.telosI2CWriteCmd(0,3)
387 self.telosI2CWriteCmd(0,1)
388 self.telosI2CWriteCmd(0,3)
389 self.telosI2CWriteCmd(0,2)
390 self.telosI2CWriteCmd(0,0)
392 self.telosI2CWriteCmd(0,3)
393 self.telosI2CWriteCmd(0,2)
395 # This line was not defined inside the else: block, not sure where it
397 self.telosI2CWriteCmd(0,0)
398 time.sleep(0.250) #give MSP430's oscillator time to stabilize
399 self.serialport.flushInput() #clear buffers
402 def getbuffer(self,size=0x1c00):
403 writecmd(0,0xC2,[size&0xFF,(size>>16)&0xFF]);
404 print "Got %02x%02x buffer size." % (self.data[1],self.data[0]);
405 def writecmd(self, app, verb, count=0, data=[]):
406 """Write a command and some data to the GoodFET."""
407 self.serialport.write(chr(app));
408 self.serialport.write(chr(verb));
411 # count=len(data); #Initial count ignored.
413 #print "TX %02x %02x %04x" % (app,verb,count);
415 #little endian 16-bit length
416 self.serialport.write(chr(count&0xFF));
417 self.serialport.write(chr(count>>8));
420 print "Tx: ( 0x%02x, 0x%02x, 0x%04x )" % ( app, verb, count )
422 #print "count=%02x, len(data)=%04x" % (count,len(data));
425 if(isinstance(data,list)):
426 for i in range(0,count):
427 #print "Converting %02x at %i" % (data[i],i)
428 data[i]=chr(data[i]);
430 outstr=''.join(data);
431 self.serialport.write(outstr);
432 if not self.besilent:
433 return self.readcmd()
438 """Read a reply from the GoodFET."""
439 while 1:#self.serialport.inWaiting(): # Loop while input data is available
442 self.app=ord(self.serialport.read(1));
443 #print "APP=%02x" % self.app;
444 self.verb=ord(self.serialport.read(1));
446 #Fixes an obscure bug in the TelosB.
448 while self.verb==0x00:
449 self.verb=ord(self.serialport.read(1));
451 #print "VERB=%02x" % self.verb;
453 ord(self.serialport.read(1))
454 +(ord(self.serialport.read(1))<<8)
458 print "Rx: ( 0x%02x, 0x%02x, 0x%04x )" % ( self.app, self.verb, self.count )
460 #Debugging string; print, but wait.
463 print "# DEBUG %s" % self.serialport.read(self.count)
464 elif self.verb==0xFE:
465 print "# DEBUG 0x%x" % struct.unpack(fmt[self.count-1], self.serialport.read(self.count))[0]
466 elif self.verb==0xFD:
467 #Do nothing, just wait so there's no timeout.
472 self.data=self.serialport.read(self.count);
476 print "Warning: waiting for serial read timed out (most likely).";
477 #print "This shouldn't happen after syncing. Exiting for safety.";
481 def glitchApp(self,app):
482 """Glitch into a device by its application."""
483 self.data=[app&0xff];
484 self.writecmd(self.GLITCHAPP,0x80,1,self.data);
485 #return ord(self.data[0]);
486 def glitchVerb(self,app,verb,data):
487 """Glitch during a transaction."""
488 if data==None: data=[];
489 self.data=[app&0xff, verb&0xFF]+data;
490 self.writecmd(self.GLITCHAPP,0x81,len(self.data),self.data);
491 #return ord(self.data[0]);
492 def glitchstart(self):
493 """Glitch into the AVR application."""
494 self.glitchVerb(self.APP,0x20,None);
495 def glitchstarttime(self):
496 """Measure the timer of the START verb."""
497 return self.glitchTime(self.APP,0x20,None);
498 def glitchTime(self,app,verb,data):
499 """Time the execution of a verb."""
500 if data==None: data=[];
501 self.data=[app&0xff, verb&0xFF]+data;
502 print "Timing app %02x verb %02x." % (app,verb);
503 self.writecmd(self.GLITCHAPP,0x82,len(self.data),self.data);
504 time=ord(self.data[0])+(ord(self.data[1])<<8);
505 print "Timed to be %i." % time;
507 def glitchVoltages(self,low=0x0880, high=0x0fff):
508 """Set glitching voltages. (0x0fff is max.)"""
509 self.data=[low&0xff, (low>>8)&0xff,
510 high&0xff, (high>>8)&0xff];
511 self.writecmd(self.GLITCHAPP,0x90,4,self.data);
512 #return ord(self.data[0]);
513 def glitchRate(self,count=0x0800):
514 """Set glitching count period."""
515 self.data=[count&0xff, (count>>8)&0xff];
516 self.writecmd(self.GLITCHAPP,0x91,2,
518 #return ord(self.data[0]);
522 def silent(self,s=0):
523 """Transmissions halted when 1."""
525 print "besilent is %i" % self.besilent;
526 self.writecmd(0,0xB0,1,[s]);
528 def mon_connected(self):
529 """Announce to the monitor that the connection is good."""
531 self.writecmd(0,0xB1,0,[]);
533 """Write a byte to P5OUT."""
534 self.writecmd(0,0xA1,1,[byte]);
536 """Write a byte to P5DIR."""
537 self.writecmd(0,0xA0,1,[byte]);
539 """Call to an address."""
540 self.writecmd(0,0x30,2,
541 [adr&0xFF,(adr>>8)&0xFF]);
542 def execute(self,code):
543 """Execute supplied code."""
544 self.writecmd(0,0x31,2,#len(code),
546 def MONpeek8(self,address):
547 """Read a byte of memory from the monitor."""
548 self.data=[address&0xff,address>>8];
549 self.writecmd(0,0x02,2,self.data);
551 return ord(self.data[0]);
552 def MONpeek16(self,address):
553 """Read a word of memory from the monitor."""
554 return self.MONpeek8(address)+(self.MONpeek8(address+1)<<8);
555 def peek(self,address):
556 """Read a word of memory from the monitor."""
557 return self.MONpeek8(address)+(self.MONpeek8(address+1)<<8);
558 def eeprompeek(self,address):
559 """Read a word of memory from the monitor."""
560 print "EEPROM peeking not supported for the monitor.";
561 #return self.MONpeek8(address)+(self.MONpeek8(address+1)<<8);
562 def peekbysym(self,name):
563 """Read a value by its symbol name."""
564 #TODO include memory in symbol.
565 reg=self.symbols.get(name);
566 return self.peek8(reg,"data");
567 def pokebysym(self,name,val):
568 """Write a value by its symbol name."""
569 #TODO include memory in symbol.
570 reg=self.symbols.get(name);
571 return self.pokebyte(reg,val);
572 def pokebyte(self,address,value,memory="vn"):
573 """Set a byte of memory by the monitor."""
574 self.data=[address&0xff,address>>8,value];
575 self.writecmd(0,0x03,3,self.data);
576 return ord(self.data[0]);
577 def poke16(self,address,value):
578 """Set a word of memory by the monitor."""
579 self.MONpoke16(address,value);
580 def MONpoke16(self,address,value):
581 """Set a word of memory by the monitor."""
582 self.pokebyte(address,value&0xFF);
583 self.pokebyte(address,(value>>8)&0xFF);
585 def setsecret(self,value):
586 """Set a secret word for later retreival. Used by glitcher."""
587 #self.eeprompoke(0,value);
588 #self.eeprompoke(1,value);
589 print "Secret setting is not yet suppored for this target.";
593 """Get a secret word. Used by glitcher."""
595 print "Secret getting is not yet suppored for this target.";
599 def dumpmem(self,begin,end):
602 print "%04x %04x" % (i, self.MONpeek16(i));
604 def monitor_ram_pattern(self):
605 """Overwrite all of RAM with 0xBEEF."""
606 self.writecmd(0,0x90,0,self.data);
608 def monitor_ram_depth(self):
609 """Determine how many bytes of RAM are unused by looking for 0xBEEF.."""
610 self.writecmd(0,0x91,0,self.data);
611 return ord(self.data[0])+(ord(self.data[1])<<8);
620 def setBaud(self,baud):
621 """Change the baud rate. TODO fix this."""
622 rates=self.baudrates;
624 print "Changing FET baud."
625 self.serialport.write(chr(0x00));
626 self.serialport.write(chr(0x80));
627 self.serialport.write(chr(1));
628 self.serialport.write(chr(baud));
630 print "Changed host baud."
631 self.serialport.setBaudrate(rates[baud]);
633 self.serialport.flushInput()
634 self.serialport.flushOutput()
636 print "Baud is now %i." % rates[baud];
639 return ord(self.serialport.read(1));
641 for r in self.baudrates:
642 print "\nTrying %i" % r;
643 self.serialport.setBaudrate(r);
645 self.serialport.flushInput()
646 self.serialport.flushOutput()
648 for i in range(1,10):
651 print "Read %02x %02x %02x %02x" % (
652 self.readbyte(),self.readbyte(),self.readbyte(),self.readbyte());
653 def monitortest(self):
654 """Self-test several functions through the monitor."""
655 print "Performing monitor self-test.";
656 self.monitorclocking();
657 for f in range(0,3000):
658 a=self.MONpeek16(0x0c00);
659 b=self.MONpeek16(0x0c02);
660 if a!=0x0c04 and a!=0x0c06:
661 print "ERROR Fetched %04x, %04x" % (a,b);
662 self.pokebyte(0x0021,0); #Drop LED
663 if self.MONpeek8(0x0021)!=0:
664 print "ERROR, P1OUT not cleared.";
665 self.pokebyte(0x0021,1); #Light LED
666 if not self.monitorecho():
667 print "Echo test failed.";
668 print "Self-test complete.";
669 self.monitorclocking();
670 def monitorecho(self):
671 data="The quick brown fox jumped over the lazy dog.";
672 self.writecmd(self.MONITORAPP,0x81,len(data),data);
675 print "Comm error recognized by monitorecho(), got:\n%s" % self.data;
679 def monitor_info(self):
680 print "GoodFET with %s MCU" % self.infostring();
681 print "Clocked at %s" % self.monitorclocking();
685 print "Flashing LEDs"
686 self.writecmd(self.MONITORAPP,0xD0,0,"")
688 print "Flashed %d LED." % ord(self.data)
690 print "Unable to process response:", self.data
693 def monitor_list_apps(self, full=False):
695 old_value = self.besilent
696 self.besilent = True # turn off automatic call to readcmd
697 self.writecmd(self.MONITORAPP, 0x82, 1, [int(full)]);
698 self.besilent = old_value
700 # read the build date string
702 print "Build Date: %s" % self.data
703 print "Firmware apps:"
711 def monitorclocking(self):
712 """Return the 16-bit clocking value."""
713 return "0x%04x" % self.monitorgetclock();
715 def monitorsetclock(self,clock):
716 """Set the clocking value."""
717 self.MONpoke16(0x56, clock);
718 def monitorgetclock(self):
719 """Get the clocking value."""
720 if(os.environ.get("platform")=='arduino' or os.environ.get("board")=='arduino'):
722 #Check for MSP430 before peeking this.
723 return self.MONpeek16(0x56);
724 # The following functions ought to be implemented in
727 def infostring(self):
728 if(os.environ.get("platform")=='arduino' or os.environ.get("board")=='arduino'):
731 a=self.MONpeek8(0xff0);
732 b=self.MONpeek8(0xff1);
733 return "%02x%02x" % (a,b);
735 print "Locking Unsupported.";
737 print "Erasure Unsupported.";
743 print "Unimplemented.";
746 print "Unimplemented.";
749 print "Unimplemented.";
752 print "Unimplemented.";
755 print "Unimplemented.";
757 def flash(self,file):
758 """Flash an intel hex file to code memory."""
759 print "Flash not implemented.";
760 def dump(self,file,start=0,stop=0xffff):
761 """Dump an intel hex file from code memory."""
762 print "Dump not implemented.";
763 def peek32(self,address, memory="vn"):
765 return (self.peek16(address,memory)+
766 (self.peek16(address+2,memory)<<16));
767 def peek16(self,address, memory="vn"):
768 """Peek 16 bits of memory."""
769 return (self.peek8(address,memory)+
770 (self.peek8(address+1,memory)<<8));
771 def peek8(self,address, memory="vn"):
772 """Peek a byte of memory."""
773 return self.MONpeek8(address); #monitor
774 def peekblock(self,address,length,memory="vn"):
775 """Return a block of data."""
776 data=range(0,length);
777 for foo in range(0,length):
778 data[foo]=self.peek8(address+foo,memory);
780 def pokeblock(self,address,bytes,memory="vn"):
781 """Poke a block of a data into memory at an address."""
783 self.pokebyte(address,foo,memory);
786 def loadsymbols(self):
787 """Load symbols from a file."""