708b24b41c8fc00056453dc42dc5e6209b1e1847
[openocd.git] / src / jtag / drivers / stlink_usb.c
1 /***************************************************************************
2 * Copyright (C) 2011-2012 by Mathias Kuester *
3 * Mathias Kuester <kesmtp@freenet.de> *
4 * *
5 * This code is based on https://github.com/texane/stlink *
6 * *
7 * This program is free software; you can redistribute it and/or modify *
8 * it under the terms of the GNU General Public License as published by *
9 * the Free Software Foundation; either version 2 of the License, or *
10 * (at your option) any later version. *
11 * *
12 * This program is distributed in the hope that it will be useful, *
13 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
15 * GNU General Public License for more details. *
16 * *
17 * You should have received a copy of the GNU General Public License *
18 * along with this program; if not, write to the *
19 * Free Software Foundation, Inc., *
20 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
21 ***************************************************************************/
22
23 #ifdef HAVE_CONFIG_H
24 #include "config.h"
25 #endif
26
27 /* project specific includes */
28 #include <helper/binarybuffer.h>
29 #include <jtag/interface.h>
30 #include <jtag/stlink/stlink_layout.h>
31 #include <jtag/stlink/stlink_transport.h>
32 #include <jtag/stlink/stlink_interface.h>
33 #include <target/target.h>
34
35 #include <target/cortex_m.h>
36
37 #include "libusb_common.h"
38
39 #define ENDPOINT_IN 0x80
40 #define ENDPOINT_OUT 0x00
41
42 #define STLINK_NULL_EP 0
43 #define STLINK_RX_EP (1|ENDPOINT_IN)
44 #define STLINK_TX_EP (2|ENDPOINT_OUT)
45 #define STLINK_SG_SIZE (31)
46 #define STLINK_DATA_SIZE (4*128)
47 #define STLINK_CMD_SIZE_V2 (16)
48 #define STLINK_CMD_SIZE_V1 (10)
49
50 enum stlink_jtag_api_version {
51 STLINK_JTAG_API_V1 = 1,
52 STLINK_JTAG_API_V2,
53 };
54
55 /** */
56 struct stlink_usb_version {
57 /** */
58 int stlink;
59 /** */
60 int jtag;
61 /** */
62 int swim;
63 /** highest supported jtag api version */
64 enum stlink_jtag_api_version jtag_api_max;
65 };
66
67 /** */
68 struct stlink_usb_handle_s {
69 /** */
70 struct jtag_libusb_device_handle *fd;
71 /** */
72 struct libusb_transfer *trans;
73 /** */
74 uint8_t cmdbuf[STLINK_SG_SIZE];
75 /** */
76 uint8_t cmdidx;
77 /** */
78 uint8_t direction;
79 /** */
80 uint8_t databuf[STLINK_DATA_SIZE];
81 /** */
82 enum stlink_transports transport;
83 /** */
84 struct stlink_usb_version version;
85 /** */
86 uint16_t vid;
87 /** */
88 uint16_t pid;
89 /** this is the currently used jtag api */
90 enum stlink_jtag_api_version jtag_api;
91 };
92
93 #define STLINK_DEBUG_ERR_OK 0x80
94 #define STLINK_DEBUG_ERR_FAULT 0x81
95 #define STLINK_CORE_RUNNING 0x80
96 #define STLINK_CORE_HALTED 0x81
97 #define STLINK_CORE_STAT_UNKNOWN -1
98
99 #define STLINK_GET_VERSION 0xF1
100 #define STLINK_DEBUG_COMMAND 0xF2
101 #define STLINK_DFU_COMMAND 0xF3
102 #define STLINK_SWIM_COMMAND 0xF4
103 #define STLINK_GET_CURRENT_MODE 0xF5
104
105 #define STLINK_DEV_DFU_MODE 0x00
106 #define STLINK_DEV_MASS_MODE 0x01
107 #define STLINK_DEV_DEBUG_MODE 0x02
108 #define STLINK_DEV_SWIM_MODE 0x03
109 #define STLINK_DEV_BOOTLOADER_MODE 0x04
110 #define STLINK_DEV_UNKNOWN_MODE -1
111
112 #define STLINK_DFU_EXIT 0x07
113
114 #define STLINK_SWIM_ENTER 0x00
115 #define STLINK_SWIM_EXIT 0x01
116
117 #define STLINK_DEBUG_ENTER_JTAG 0x00
118 #define STLINK_DEBUG_GETSTATUS 0x01
119 #define STLINK_DEBUG_FORCEDEBUG 0x02
120 #define STLINK_DEBUG_APIV1_RESETSYS 0x03
121 #define STLINK_DEBUG_APIV1_READALLREGS 0x04
122 #define STLINK_DEBUG_APIV1_READREG 0x05
123 #define STLINK_DEBUG_APIV1_WRITEREG 0x06
124 #define STLINK_DEBUG_READMEM_32BIT 0x07
125 #define STLINK_DEBUG_WRITEMEM_32BIT 0x08
126 #define STLINK_DEBUG_RUNCORE 0x09
127 #define STLINK_DEBUG_STEPCORE 0x0a
128 #define STLINK_DEBUG_APIV1_SETFP 0x0b
129 #define STLINK_DEBUG_READMEM_8BIT 0x0c
130 #define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
131 #define STLINK_DEBUG_APIV1_CLEARFP 0x0e
132 #define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
133 #define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
134
135 #define STLINK_DEBUG_ENTER_JTAG 0x00
136 #define STLINK_DEBUG_ENTER_SWD 0xa3
137
138 #define STLINK_DEBUG_APIV1_ENTER 0x20
139 #define STLINK_DEBUG_EXIT 0x21
140 #define STLINK_DEBUG_READCOREID 0x22
141
142 #define STLINK_DEBUG_APIV2_ENTER 0x30
143 #define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
144 #define STLINK_DEBUG_APIV2_RESETSYS 0x32
145 #define STLINK_DEBUG_APIV2_READREG 0x33
146 #define STLINK_DEBUG_APIV2_WRITEREG 0x34
147 #define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35
148 #define STLINK_DEBUG_APIV2_READDEBUGREG 0x36
149
150 #define STLINK_DEBUG_APIV2_READALLREGS 0x3A
151 #define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B
152 #define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
153
154 #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
155 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
156 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
157
158 /** */
159 enum stlink_mode {
160 STLINK_MODE_UNKNOWN = 0,
161 STLINK_MODE_DFU,
162 STLINK_MODE_MASS,
163 STLINK_MODE_DEBUG_JTAG,
164 STLINK_MODE_DEBUG_SWD,
165 STLINK_MODE_DEBUG_SWIM
166 };
167
168 #define REQUEST_SENSE 0x03
169 #define REQUEST_SENSE_LENGTH 18
170
171 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size);
172
173 /** */
174 static int stlink_usb_xfer_v1_get_status(void *handle)
175 {
176 struct stlink_usb_handle_s *h;
177
178 assert(handle != NULL);
179
180 h = (struct stlink_usb_handle_s *)handle;
181
182 /* read status */
183 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
184
185 if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)h->cmdbuf,
186 13, 1000) != 13)
187 return ERROR_FAIL;
188
189 uint32_t t1;
190
191 t1 = buf_get_u32(h->cmdbuf, 0, 32);
192
193 /* check for USBS */
194 if (t1 != 0x53425355)
195 return ERROR_FAIL;
196 /*
197 * CSW status:
198 * 0 success
199 * 1 command failure
200 * 2 phase error
201 */
202 if (h->cmdbuf[12] != 0)
203 return ERROR_FAIL;
204
205 return ERROR_OK;
206 }
207
208 /** */
209 static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size)
210 {
211 struct stlink_usb_handle_s *h;
212
213 assert(handle != NULL);
214
215 h = (struct stlink_usb_handle_s *)handle;
216
217 if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)h->cmdbuf, cmdsize,
218 1000) != cmdsize) {
219 return ERROR_FAIL;
220 }
221
222 if (h->direction == STLINK_TX_EP && size) {
223 if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)buf,
224 size, 1000) != size) {
225 LOG_DEBUG("bulk write failed");
226 return ERROR_FAIL;
227 }
228 } else if (h->direction == STLINK_RX_EP && size) {
229 if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)buf,
230 size, 1000) != size) {
231 LOG_DEBUG("bulk read failed");
232 return ERROR_FAIL;
233 }
234 }
235
236 return ERROR_OK;
237 }
238
239 /** */
240 static int stlink_usb_xfer_v1_get_sense(void *handle)
241 {
242 int res;
243 struct stlink_usb_handle_s *h;
244
245 assert(handle != NULL);
246
247 h = (struct stlink_usb_handle_s *)handle;
248
249 stlink_usb_init_buffer(handle, STLINK_RX_EP, 16);
250
251 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE;
252 h->cmdbuf[h->cmdidx++] = 0;
253 h->cmdbuf[h->cmdidx++] = 0;
254 h->cmdbuf[h->cmdidx++] = 0;
255 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH;
256
257 res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16);
258
259 if (res != ERROR_OK)
260 return res;
261
262 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK)
263 return ERROR_FAIL;
264
265 return ERROR_OK;
266 }
267
268 /** */
269 static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size)
270 {
271 int err, cmdsize = STLINK_CMD_SIZE_V2;
272 struct stlink_usb_handle_s *h;
273
274 assert(handle != NULL);
275
276 h = (struct stlink_usb_handle_s *)handle;
277
278 if (h->version.stlink == 1)
279 cmdsize = STLINK_SG_SIZE;
280
281 err = stlink_usb_xfer_rw(handle, cmdsize, buf, size);
282
283 if (err != ERROR_OK)
284 return err;
285
286 if (h->version.stlink == 1) {
287 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) {
288 /* check csw status */
289 if (h->cmdbuf[12] == 1) {
290 LOG_DEBUG("get sense");
291 if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK)
292 return ERROR_FAIL;
293 }
294 return ERROR_FAIL;
295 }
296 }
297
298 return ERROR_OK;
299 }
300
301 /** */
302 static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size)
303 {
304 struct stlink_usb_handle_s *h;
305
306 h = (struct stlink_usb_handle_s *)handle;
307
308 /* fill the send buffer */
309 strcpy((char *)h->cmdbuf, "USBC");
310 h->cmdidx += 4;
311 /* csw tag not used */
312 h->cmdidx += 4;
313 buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size);
314 h->cmdidx += 4;
315 h->cmdbuf[h->cmdidx++] = (direction == STLINK_RX_EP ? ENDPOINT_IN : ENDPOINT_OUT);
316 h->cmdbuf[h->cmdidx++] = 0; /* lun */
317 h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1;
318 }
319
320 /** */
321 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size)
322 {
323 struct stlink_usb_handle_s *h;
324
325 h = (struct stlink_usb_handle_s *)handle;
326
327 h->direction = direction;
328
329 h->cmdidx = 0;
330
331 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
332 memset(h->databuf, 0, STLINK_DATA_SIZE);
333
334 if (h->version.stlink == 1)
335 stlink_usb_xfer_v1_create_cmd(handle, direction, size);
336 }
337
338 static const char * const stlink_usb_error_msg[] = {
339 "unknown"
340 };
341
342 /** */
343 static int stlink_usb_error_check(void *handle)
344 {
345 int res;
346 const char *err_msg = 0;
347 struct stlink_usb_handle_s *h;
348
349 assert(handle != NULL);
350
351 h = (struct stlink_usb_handle_s *)handle;
352
353 /* TODO: no error checking yet on api V1 */
354 if (h->jtag_api == STLINK_JTAG_API_V1)
355 h->databuf[0] = STLINK_DEBUG_ERR_OK;
356
357 switch (h->databuf[0]) {
358 case STLINK_DEBUG_ERR_OK:
359 res = ERROR_OK;
360 break;
361 case STLINK_DEBUG_ERR_FAULT:
362 default:
363 err_msg = stlink_usb_error_msg[0];
364 res = ERROR_FAIL;
365 break;
366 }
367
368 if (res != ERROR_OK)
369 LOG_DEBUG("status error: %d ('%s')", h->databuf[0], err_msg);
370
371 return res;
372 }
373
374 /** */
375 static int stlink_usb_version(void *handle)
376 {
377 int res;
378 uint16_t v;
379 struct stlink_usb_handle_s *h;
380
381 assert(handle != NULL);
382
383 h = (struct stlink_usb_handle_s *)handle;
384
385 stlink_usb_init_buffer(handle, STLINK_RX_EP, 6);
386
387 h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION;
388
389 res = stlink_usb_xfer(handle, h->databuf, 6);
390
391 if (res != ERROR_OK)
392 return res;
393
394 v = (h->databuf[0] << 8) | h->databuf[1];
395
396 h->version.stlink = (v >> 12) & 0x0f;
397 h->version.jtag = (v >> 6) & 0x3f;
398 h->version.swim = v & 0x3f;
399 h->vid = buf_get_u32(h->databuf, 16, 16);
400 h->pid = buf_get_u32(h->databuf, 32, 16);
401
402 /* set the supported jtag api version
403 * API V2 is supported since JTAG V11
404 */
405 if (h->version.jtag >= 11)
406 h->version.jtag_api_max = STLINK_JTAG_API_V2;
407 else
408 h->version.jtag_api_max = STLINK_JTAG_API_V1;
409
410 LOG_DEBUG("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X",
411 h->version.stlink,
412 h->version.jtag,
413 (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2,
414 h->version.swim,
415 h->vid,
416 h->pid);
417
418 return ERROR_OK;
419 }
420
421 /** */
422 static int stlink_usb_current_mode(void *handle, uint8_t *mode)
423 {
424 int res;
425 struct stlink_usb_handle_s *h;
426
427 assert(handle != NULL);
428
429 h = (struct stlink_usb_handle_s *)handle;
430
431 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
432
433 h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE;
434
435 res = stlink_usb_xfer(handle, h->databuf, 2);
436
437 if (res != ERROR_OK)
438 return res;
439
440 *mode = h->databuf[0];
441
442 return ERROR_OK;
443 }
444
445 /** */
446 static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
447 {
448 int res;
449 int rx_size = 0;
450 struct stlink_usb_handle_s *h;
451
452 assert(handle != NULL);
453
454 h = (struct stlink_usb_handle_s *)handle;
455
456 /* on api V2 we are able the read the latest command
457 * status
458 * TODO: we need the test on api V1 too
459 */
460 if (h->jtag_api == STLINK_JTAG_API_V2)
461 rx_size = 2;
462
463 stlink_usb_init_buffer(handle, STLINK_RX_EP, rx_size);
464
465 switch (type) {
466 case STLINK_MODE_DEBUG_JTAG:
467 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
468 if (h->jtag_api == STLINK_JTAG_API_V1)
469 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
470 else
471 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
472 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG;
473 break;
474 case STLINK_MODE_DEBUG_SWD:
475 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
476 if (h->jtag_api == STLINK_JTAG_API_V1)
477 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
478 else
479 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
480 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD;
481 break;
482 case STLINK_MODE_DEBUG_SWIM:
483 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
484 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER;
485 break;
486 case STLINK_MODE_DFU:
487 case STLINK_MODE_MASS:
488 default:
489 return ERROR_FAIL;
490 }
491
492 res = stlink_usb_xfer(handle, h->databuf, rx_size);
493
494 if (res != ERROR_OK)
495 return res;
496
497 res = stlink_usb_error_check(h);
498
499 return res;
500 }
501
502 /** */
503 static int stlink_usb_mode_leave(void *handle, enum stlink_mode type)
504 {
505 int res;
506 struct stlink_usb_handle_s *h;
507
508 assert(handle != NULL);
509
510 h = (struct stlink_usb_handle_s *)handle;
511
512 stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0);
513
514 switch (type) {
515 case STLINK_MODE_DEBUG_JTAG:
516 case STLINK_MODE_DEBUG_SWD:
517 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
518 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT;
519 break;
520 case STLINK_MODE_DEBUG_SWIM:
521 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
522 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT;
523 break;
524 case STLINK_MODE_DFU:
525 h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND;
526 h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT;
527 break;
528 case STLINK_MODE_MASS:
529 default:
530 return ERROR_FAIL;
531 }
532
533 res = stlink_usb_xfer(handle, 0, 0);
534
535 if (res != ERROR_OK)
536 return res;
537
538 return ERROR_OK;
539 }
540
541 /** */
542 static int stlink_usb_init_mode(void *handle)
543 {
544 int res;
545 uint8_t mode;
546 enum stlink_mode emode;
547 struct stlink_usb_handle_s *h;
548
549 assert(handle != NULL);
550
551 h = (struct stlink_usb_handle_s *)handle;
552
553 res = stlink_usb_current_mode(handle, &mode);
554
555 if (res != ERROR_OK)
556 return res;
557
558 LOG_DEBUG("MODE: 0x%02X", mode);
559
560 /* try to exit current mode */
561 switch (mode) {
562 case STLINK_DEV_DFU_MODE:
563 emode = STLINK_MODE_DFU;
564 break;
565 case STLINK_DEV_DEBUG_MODE:
566 emode = STLINK_MODE_DEBUG_SWD;
567 break;
568 case STLINK_DEV_SWIM_MODE:
569 emode = STLINK_MODE_DEBUG_SWIM;
570 break;
571 case STLINK_DEV_BOOTLOADER_MODE:
572 case STLINK_DEV_MASS_MODE:
573 default:
574 emode = STLINK_MODE_UNKNOWN;
575 break;
576 }
577
578 if (emode != STLINK_MODE_UNKNOWN) {
579 res = stlink_usb_mode_leave(handle, emode);
580
581 if (res != ERROR_OK)
582 return res;
583 }
584
585 res = stlink_usb_current_mode(handle, &mode);
586
587 if (res != ERROR_OK)
588 return res;
589
590 LOG_DEBUG("MODE: 0x%02X", mode);
591
592 /* set selected mode */
593 switch (h->transport) {
594 case STLINK_TRANSPORT_SWD:
595 emode = STLINK_MODE_DEBUG_SWD;
596 break;
597 case STLINK_TRANSPORT_JTAG:
598 emode = STLINK_MODE_DEBUG_JTAG;
599 break;
600 case STLINK_TRANSPORT_SWIM:
601 emode = STLINK_MODE_DEBUG_SWIM;
602 break;
603 default:
604 emode = STLINK_MODE_UNKNOWN;
605 break;
606 }
607
608 if (emode == STLINK_MODE_UNKNOWN) {
609 LOG_ERROR("selected mode (transport) not supported");
610 return ERROR_FAIL;
611 }
612
613 res = stlink_usb_mode_enter(handle, emode);
614
615 if (res != ERROR_OK)
616 return res;
617
618 res = stlink_usb_current_mode(handle, &mode);
619
620 if (res != ERROR_OK)
621 return res;
622
623 LOG_DEBUG("MODE: 0x%02X", mode);
624
625 return ERROR_OK;
626 }
627
628 /** */
629 static int stlink_usb_idcode(void *handle, uint32_t *idcode)
630 {
631 int res;
632 struct stlink_usb_handle_s *h;
633
634 assert(handle != NULL);
635
636 h = (struct stlink_usb_handle_s *)handle;
637
638 stlink_usb_init_buffer(handle, STLINK_RX_EP, 4);
639
640 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
641 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID;
642
643 res = stlink_usb_xfer(handle, h->databuf, 4);
644
645 if (res != ERROR_OK)
646 return res;
647
648 *idcode = le_to_h_u32(h->databuf);
649
650 LOG_DEBUG("IDCODE: 0x%08X", *idcode);
651
652 return ERROR_OK;
653 }
654
655 static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val)
656 {
657 struct stlink_usb_handle_s *h;
658 int res;
659
660 assert(handle != NULL);
661
662 h = (struct stlink_usb_handle_s *)handle;
663
664 stlink_usb_init_buffer(handle, STLINK_RX_EP, 8);
665
666 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
667 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG;
668 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
669 h->cmdidx += 4;
670
671 res = stlink_usb_xfer(handle, h->databuf, 8);
672
673 if (res != ERROR_OK)
674 return res;
675
676 *val = le_to_h_u32(h->databuf + 4);
677
678 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
679 }
680
681 static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
682 {
683 int res;
684 struct stlink_usb_handle_s *h;
685
686 assert(handle != NULL);
687
688 h = (struct stlink_usb_handle_s *)handle;
689
690 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
691
692 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
693 if (h->jtag_api == STLINK_JTAG_API_V1)
694 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG;
695 else
696 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG;
697 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
698 h->cmdidx += 4;
699 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
700 h->cmdidx += 4;
701
702 res = stlink_usb_xfer(handle, h->databuf, 2);
703
704 if (res != ERROR_OK)
705 return res;
706
707 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
708 }
709
710 static enum target_state stlink_usb_v2_get_status(void *handle)
711 {
712 int result;
713 uint32_t status;
714
715 result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status);
716 if (result != ERROR_OK)
717 return TARGET_UNKNOWN;
718
719 if (status & S_HALT)
720 return TARGET_HALTED;
721 else if (status & S_RESET_ST)
722 return TARGET_RESET;
723
724 return TARGET_RUNNING;
725 }
726
727 /** */
728 static enum target_state stlink_usb_state(void *handle)
729 {
730 int res;
731 struct stlink_usb_handle_s *h;
732
733 assert(handle != NULL);
734
735 h = (struct stlink_usb_handle_s *)handle;
736
737 if (h->jtag_api == STLINK_JTAG_API_V2)
738 return stlink_usb_v2_get_status(handle);
739
740 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
741
742 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
743 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS;
744
745 res = stlink_usb_xfer(handle, h->databuf, 2);
746
747 if (res != ERROR_OK)
748 return TARGET_UNKNOWN;
749
750 if (h->databuf[0] == STLINK_CORE_RUNNING)
751 return TARGET_RUNNING;
752 if (h->databuf[0] == STLINK_CORE_HALTED)
753 return TARGET_HALTED;
754
755 return TARGET_UNKNOWN;
756 }
757
758 /** */
759 static int stlink_usb_reset(void *handle)
760 {
761 int res;
762 struct stlink_usb_handle_s *h;
763
764 assert(handle != NULL);
765
766 h = (struct stlink_usb_handle_s *)handle;
767
768 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
769
770 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
771
772 if (h->jtag_api == STLINK_JTAG_API_V1)
773 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_RESETSYS;
774 else
775 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS;
776
777 res = stlink_usb_xfer(handle, h->databuf, 2);
778
779 if (res != ERROR_OK)
780 return res;
781
782 LOG_DEBUG("RESET: 0x%08X", h->databuf[0]);
783
784 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
785 }
786
787 static int stlink_usb_assert_srst(void *handle, int srst)
788 {
789 int res;
790 struct stlink_usb_handle_s *h;
791
792 assert(handle != NULL);
793
794 h = (struct stlink_usb_handle_s *)handle;
795
796 if (h->jtag_api == STLINK_JTAG_API_V1)
797 return ERROR_COMMAND_NOTFOUND;
798
799 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
800
801 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
802 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST;
803 h->cmdbuf[h->cmdidx++] = srst;
804
805 res = stlink_usb_xfer(handle, h->databuf, 2);
806
807 if (res != ERROR_OK)
808 return res;
809
810 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
811 }
812
813 /** */
814 static int stlink_usb_run(void *handle)
815 {
816 int res;
817 struct stlink_usb_handle_s *h;
818
819 assert(handle != NULL);
820
821 h = (struct stlink_usb_handle_s *)handle;
822
823 if (h->jtag_api == STLINK_JTAG_API_V2)
824 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN);
825
826 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
827
828 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
829 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE;
830
831 res = stlink_usb_xfer(handle, h->databuf, 2);
832
833 if (res != ERROR_OK)
834 return res;
835
836 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
837 }
838
839 /** */
840 static int stlink_usb_halt(void *handle)
841 {
842 int res;
843 struct stlink_usb_handle_s *h;
844
845 assert(handle != NULL);
846
847 h = (struct stlink_usb_handle_s *)handle;
848
849 if (h->jtag_api == STLINK_JTAG_API_V2)
850 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
851
852 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
853
854 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
855 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG;
856
857 res = stlink_usb_xfer(handle, h->databuf, 2);
858
859 if (res != ERROR_OK)
860 return res;
861
862 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
863 }
864
865 /** */
866 static int stlink_usb_step(void *handle)
867 {
868 int res;
869 struct stlink_usb_handle_s *h;
870
871 assert(handle != NULL);
872
873 h = (struct stlink_usb_handle_s *)handle;
874
875 if (h->jtag_api == STLINK_JTAG_API_V2) {
876 /* TODO: this emulates the v1 api, it should really use a similar auto mask isr
877 * that the cortex-m3 currently does. */
878 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_MASKINTS|C_DEBUGEN);
879 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_MASKINTS|C_DEBUGEN);
880 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
881 }
882
883 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
884
885 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
886 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE;
887
888 res = stlink_usb_xfer(handle, h->databuf, 2);
889
890 if (res != ERROR_OK)
891 return res;
892
893 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
894 }
895
896 /** */
897 static int stlink_usb_read_regs(void *handle)
898 {
899 int res;
900 struct stlink_usb_handle_s *h;
901
902 assert(handle != NULL);
903
904 h = (struct stlink_usb_handle_s *)handle;
905
906 stlink_usb_init_buffer(handle, STLINK_RX_EP, 84);
907
908 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
909 if (h->jtag_api == STLINK_JTAG_API_V1)
910 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS;
911 else
912 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS;
913
914 res = stlink_usb_xfer(handle, h->databuf, 84);
915
916 if (res != ERROR_OK)
917 return res;
918
919 return ERROR_OK;
920 }
921
922 /** */
923 static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
924 {
925 int res;
926 struct stlink_usb_handle_s *h;
927
928 assert(handle != NULL);
929
930 h = (struct stlink_usb_handle_s *)handle;
931
932 stlink_usb_init_buffer(handle, STLINK_RX_EP, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
933
934 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
935 if (h->jtag_api == STLINK_JTAG_API_V1)
936 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG;
937 else
938 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG;
939 h->cmdbuf[h->cmdidx++] = num;
940
941 res = stlink_usb_xfer(handle, h->databuf, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
942
943 if (res != ERROR_OK)
944 return res;
945
946 if (h->jtag_api == STLINK_JTAG_API_V1)
947 *val = le_to_h_u32(h->databuf);
948 else {
949 *val = le_to_h_u32(h->databuf + 4);
950 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
951 }
952
953 return ERROR_OK;
954 }
955
956 /** */
957 static int stlink_usb_write_reg(void *handle, int num, uint32_t val)
958 {
959 int res;
960 struct stlink_usb_handle_s *h;
961
962 assert(handle != NULL);
963
964 h = (struct stlink_usb_handle_s *)handle;
965
966 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
967
968 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
969 if (h->jtag_api == STLINK_JTAG_API_V1)
970 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG;
971 else
972 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG;
973 h->cmdbuf[h->cmdidx++] = num;
974 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
975 h->cmdidx += 4;
976
977 res = stlink_usb_xfer(handle, h->databuf, 2);
978
979 if (res != ERROR_OK)
980 return res;
981
982 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
983 }
984
985 static int stlink_usb_get_rw_status(void *handle)
986 {
987 int res;
988 struct stlink_usb_handle_s *h;
989
990 assert(handle != NULL);
991
992 h = (struct stlink_usb_handle_s *)handle;
993
994 if (h->jtag_api == STLINK_JTAG_API_V1)
995 return ERROR_OK;
996
997 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
998
999 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1000 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS;
1001
1002 res = stlink_usb_xfer(handle, h->databuf, 2);
1003
1004 if (res != ERROR_OK)
1005 return res;
1006
1007 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : res;
1008 }
1009
1010 /** */
1011 static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
1012 uint8_t *buffer)
1013 {
1014 int res;
1015 uint16_t read_len = len;
1016 struct stlink_usb_handle_s *h;
1017
1018 assert(handle != NULL);
1019
1020 h = (struct stlink_usb_handle_s *)handle;
1021
1022 stlink_usb_init_buffer(handle, STLINK_RX_EP, read_len);
1023
1024 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1025 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT;
1026 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1027 h->cmdidx += 4;
1028 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1029 h->cmdidx += 2;
1030
1031 /* we need to fix read length for single bytes */
1032 if (read_len == 1)
1033 read_len++;
1034
1035 res = stlink_usb_xfer(handle, h->databuf, read_len);
1036
1037 if (res != ERROR_OK)
1038 return res;
1039
1040 memcpy(buffer, h->databuf, len);
1041
1042 return stlink_usb_get_rw_status(handle);
1043 }
1044
1045 /** */
1046 static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len,
1047 const uint8_t *buffer)
1048 {
1049 int res;
1050 struct stlink_usb_handle_s *h;
1051
1052 assert(handle != NULL);
1053
1054 h = (struct stlink_usb_handle_s *)handle;
1055
1056 stlink_usb_init_buffer(handle, STLINK_TX_EP, len);
1057
1058 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1059 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT;
1060 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1061 h->cmdidx += 4;
1062 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1063 h->cmdidx += 2;
1064
1065 res = stlink_usb_xfer(handle, buffer, len);
1066
1067 if (res != ERROR_OK)
1068 return res;
1069
1070 return stlink_usb_get_rw_status(handle);
1071 }
1072
1073 /** */
1074 static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
1075 uint8_t *buffer)
1076 {
1077 int res;
1078 struct stlink_usb_handle_s *h;
1079
1080 assert(handle != NULL);
1081
1082 h = (struct stlink_usb_handle_s *)handle;
1083
1084 len *= 4;
1085
1086 stlink_usb_init_buffer(handle, STLINK_RX_EP, len);
1087
1088 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1089 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT;
1090 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1091 h->cmdidx += 4;
1092 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1093 h->cmdidx += 2;
1094
1095 res = stlink_usb_xfer(handle, h->databuf, len);
1096
1097 if (res != ERROR_OK)
1098 return res;
1099
1100 memcpy(buffer, h->databuf, len);
1101
1102 return stlink_usb_get_rw_status(handle);
1103 }
1104
1105 /** */
1106 static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
1107 const uint8_t *buffer)
1108 {
1109 int res;
1110 struct stlink_usb_handle_s *h;
1111
1112 assert(handle != NULL);
1113
1114 h = (struct stlink_usb_handle_s *)handle;
1115
1116 len *= 4;
1117
1118 stlink_usb_init_buffer(handle, STLINK_TX_EP, len);
1119
1120 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1121 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT;
1122 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1123 h->cmdidx += 4;
1124 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1125 h->cmdidx += 2;
1126
1127 res = stlink_usb_xfer(handle, buffer, len);
1128
1129 if (res != ERROR_OK)
1130 return res;
1131
1132 return stlink_usb_get_rw_status(handle);
1133 }
1134
1135 /** */
1136 static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd)
1137 {
1138 int err;
1139 struct stlink_usb_handle_s *h;
1140 enum stlink_jtag_api_version api;
1141
1142 LOG_DEBUG("stlink_usb_open");
1143
1144 h = malloc(sizeof(struct stlink_usb_handle_s));
1145
1146 if (h == 0) {
1147 LOG_DEBUG("malloc failed");
1148 return ERROR_FAIL;
1149 }
1150
1151 h->transport = param->transport;
1152
1153 const uint16_t vids[] = { param->vid, 0 };
1154 const uint16_t pids[] = { param->pid, 0 };
1155
1156 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
1157 param->vid, param->pid);
1158
1159 if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) {
1160 LOG_ERROR("open failed");
1161 return ERROR_FAIL;
1162 }
1163
1164 jtag_libusb_set_configuration(h->fd, 0);
1165
1166 if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
1167 LOG_DEBUG("claim interface failed");
1168 return ERROR_FAIL;
1169 }
1170
1171 /* wrap version for first read */
1172 switch (param->pid) {
1173 case 0x3744:
1174 h->version.stlink = 1;
1175 break;
1176 default:
1177 h->version.stlink = 2;
1178 break;
1179 }
1180
1181 /* get the device version */
1182 err = stlink_usb_version(h);
1183
1184 if (err != ERROR_OK) {
1185 LOG_ERROR("read version failed");
1186 jtag_libusb_close(h->fd);
1187 free(h);
1188 return err;
1189 }
1190
1191 /* compare usb vid/pid */
1192 if ((param->vid != h->vid) || (param->pid != h->pid))
1193 LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
1194 param->vid, param->pid,
1195 h->vid, h->pid);
1196
1197 /* check if mode is supported */
1198 err = ERROR_OK;
1199
1200 switch (h->transport) {
1201 case STLINK_TRANSPORT_SWD:
1202 case STLINK_TRANSPORT_JTAG:
1203 if (h->version.jtag == 0)
1204 err = ERROR_FAIL;
1205 break;
1206 case STLINK_TRANSPORT_SWIM:
1207 if (h->version.swim == 0)
1208 err = ERROR_FAIL;
1209 break;
1210 default:
1211 err = ERROR_FAIL;
1212 break;
1213 }
1214
1215 if (err != ERROR_OK) {
1216 LOG_ERROR("mode (transport) not supported by device");
1217 jtag_libusb_close(h->fd);
1218 free(h);
1219 return err;
1220 }
1221
1222 api = h->version.jtag_api_max;
1223
1224 /* check that user has not requested certain api version
1225 * and if they have check it is supported */
1226 if ((param->api != 0) && (param->api <= h->version.jtag_api_max)) {
1227 api = param->api;
1228 LOG_INFO("using stlink api v%d", api);
1229 }
1230
1231 /* set the used jtag api, this will default to the newest supported version */
1232 h->jtag_api = api;
1233
1234 /* initialize the debug hardware */
1235 err = stlink_usb_init_mode(h);
1236
1237 if (err != ERROR_OK) {
1238 LOG_ERROR("init mode failed");
1239 jtag_libusb_close(h->fd);
1240 free(h);
1241 return err;
1242 }
1243
1244 *fd = h;
1245
1246 return ERROR_OK;
1247 }
1248
1249 /** */
1250 static int stlink_usb_close(void *fd)
1251 {
1252 return ERROR_OK;
1253 }
1254
1255 /** */
1256 struct stlink_layout_api_s stlink_usb_layout_api = {
1257 /** */
1258 .open = stlink_usb_open,
1259 /** */
1260 .close = stlink_usb_close,
1261 /** */
1262 .idcode = stlink_usb_idcode,
1263 /** */
1264 .state = stlink_usb_state,
1265 /** */
1266 .reset = stlink_usb_reset,
1267 /** */
1268 .assert_srst = stlink_usb_assert_srst,
1269 /** */
1270 .run = stlink_usb_run,
1271 /** */
1272 .halt = stlink_usb_halt,
1273 /** */
1274 .step = stlink_usb_step,
1275 /** */
1276 .read_regs = stlink_usb_read_regs,
1277 /** */
1278 .read_reg = stlink_usb_read_reg,
1279 /** */
1280 .write_reg = stlink_usb_write_reg,
1281 /** */
1282 .read_mem8 = stlink_usb_read_mem8,
1283 /** */
1284 .write_mem8 = stlink_usb_write_mem8,
1285 /** */
1286 .read_mem32 = stlink_usb_read_mem32,
1287 /** */
1288 .write_mem32 = stlink_usb_write_mem32,
1289 /** */
1290 .write_debug_reg = stlink_usb_write_debug_reg
1291 };