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stlink_usb.c: add support for STLink V2-1
[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 * Copyright (C) 2012 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
7 * *
8 * This code is based on https://github.com/texane/stlink *
9 * *
10 * This program is free software; you can redistribute it and/or modify *
11 * it under the terms of the GNU General Public License as published by *
12 * the Free Software Foundation; either version 2 of the License, or *
13 * (at your option) any later version. *
14 * *
15 * This program is distributed in the hope that it will be useful, *
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
18 * GNU General Public License for more details. *
19 * *
20 * You should have received a copy of the GNU General Public License *
21 * along with this program; if not, write to the *
22 * Free Software Foundation, Inc., *
23 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
24 ***************************************************************************/
25
26 #ifdef HAVE_CONFIG_H
27 #include "config.h"
28 #endif
29
30 /* project specific includes */
31 #include <helper/binarybuffer.h>
32 #include <jtag/interface.h>
33 #include <jtag/hla/hla_layout.h>
34 #include <jtag/hla/hla_transport.h>
35 #include <jtag/hla/hla_interface.h>
36 #include <target/target.h>
37
38 #include <target/cortex_m.h>
39
40 #include "libusb_common.h"
41
42 #define ENDPOINT_IN 0x80
43 #define ENDPOINT_OUT 0x00
44
45 #define STLINK_WRITE_TIMEOUT 1000
46 #define STLINK_READ_TIMEOUT 1000
47
48 #define STLINK_NULL_EP 0
49 #define STLINK_RX_EP (1|ENDPOINT_IN)
50 #define STLINK_TX_EP (2|ENDPOINT_OUT)
51 #define STLINK_TRACE_EP (3|ENDPOINT_IN)
52
53 #define STLINK_V2_1_TX_EP (1|ENDPOINT_OUT)
54 #define STLINK_V2_1_TRACE_EP (2|ENDPOINT_IN)
55
56 #define STLINK_SG_SIZE (31)
57 #define STLINK_DATA_SIZE (4096)
58 #define STLINK_CMD_SIZE_V2 (16)
59 #define STLINK_CMD_SIZE_V1 (10)
60
61 #define STLINK_V1_PID (0x3744)
62 #define STLINK_V2_PID (0x3748)
63 #define STLINK_V2_1_PID (0x374B)
64
65 /* the current implementation of the stlink limits
66 * 8bit read/writes to max 64 bytes. */
67 #define STLINK_MAX_RW8 (64)
68
69 enum stlink_jtag_api_version {
70 STLINK_JTAG_API_V1 = 1,
71 STLINK_JTAG_API_V2,
72 };
73
74 /** */
75 struct stlink_usb_version {
76 /** */
77 int stlink;
78 /** */
79 int jtag;
80 /** */
81 int swim;
82 /** highest supported jtag api version */
83 enum stlink_jtag_api_version jtag_api_max;
84 };
85
86 /** */
87 struct stlink_usb_handle_s {
88 /** */
89 struct jtag_libusb_device_handle *fd;
90 /** */
91 struct libusb_transfer *trans;
92 /** */
93 uint8_t rx_ep;
94 /** */
95 uint8_t tx_ep;
96 /** */
97 uint8_t trace_ep;
98 /** */
99 uint8_t cmdbuf[STLINK_SG_SIZE];
100 /** */
101 uint8_t cmdidx;
102 /** */
103 uint8_t direction;
104 /** */
105 uint8_t databuf[STLINK_DATA_SIZE];
106 /** */
107 uint32_t max_mem_packet;
108 /** */
109 enum hl_transports transport;
110 /** */
111 struct stlink_usb_version version;
112 /** */
113 uint16_t vid;
114 /** */
115 uint16_t pid;
116 /** this is the currently used jtag api */
117 enum stlink_jtag_api_version jtag_api;
118 /** */
119 struct {
120 /** whether SWO tracing is enabled or not */
121 bool enabled;
122 /** trace data destination file */
123 FILE *output_f;
124 /** trace module source clock (for prescaler) */
125 uint32_t source_hz;
126 /** trace module clock prescaler */
127 uint32_t prescale;
128 } trace;
129 };
130
131 #define STLINK_DEBUG_ERR_OK 0x80
132 #define STLINK_DEBUG_ERR_FAULT 0x81
133 #define STLINK_SWD_AP_WAIT 0x10
134 #define STLINK_SWD_DP_WAIT 0x14
135
136 #define STLINK_CORE_RUNNING 0x80
137 #define STLINK_CORE_HALTED 0x81
138 #define STLINK_CORE_STAT_UNKNOWN -1
139
140 #define STLINK_GET_VERSION 0xF1
141 #define STLINK_DEBUG_COMMAND 0xF2
142 #define STLINK_DFU_COMMAND 0xF3
143 #define STLINK_SWIM_COMMAND 0xF4
144 #define STLINK_GET_CURRENT_MODE 0xF5
145 #define STLINK_GET_TARGET_VOLTAGE 0xF7
146
147 #define STLINK_DEV_DFU_MODE 0x00
148 #define STLINK_DEV_MASS_MODE 0x01
149 #define STLINK_DEV_DEBUG_MODE 0x02
150 #define STLINK_DEV_SWIM_MODE 0x03
151 #define STLINK_DEV_BOOTLOADER_MODE 0x04
152 #define STLINK_DEV_UNKNOWN_MODE -1
153
154 #define STLINK_DFU_EXIT 0x07
155
156 #define STLINK_SWIM_ENTER 0x00
157 #define STLINK_SWIM_EXIT 0x01
158
159 #define STLINK_DEBUG_ENTER_JTAG 0x00
160 #define STLINK_DEBUG_GETSTATUS 0x01
161 #define STLINK_DEBUG_FORCEDEBUG 0x02
162 #define STLINK_DEBUG_APIV1_RESETSYS 0x03
163 #define STLINK_DEBUG_APIV1_READALLREGS 0x04
164 #define STLINK_DEBUG_APIV1_READREG 0x05
165 #define STLINK_DEBUG_APIV1_WRITEREG 0x06
166 #define STLINK_DEBUG_READMEM_32BIT 0x07
167 #define STLINK_DEBUG_WRITEMEM_32BIT 0x08
168 #define STLINK_DEBUG_RUNCORE 0x09
169 #define STLINK_DEBUG_STEPCORE 0x0a
170 #define STLINK_DEBUG_APIV1_SETFP 0x0b
171 #define STLINK_DEBUG_READMEM_8BIT 0x0c
172 #define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
173 #define STLINK_DEBUG_APIV1_CLEARFP 0x0e
174 #define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
175 #define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
176
177 #define STLINK_DEBUG_ENTER_JTAG 0x00
178 #define STLINK_DEBUG_ENTER_SWD 0xa3
179
180 #define STLINK_DEBUG_APIV1_ENTER 0x20
181 #define STLINK_DEBUG_EXIT 0x21
182 #define STLINK_DEBUG_READCOREID 0x22
183
184 #define STLINK_DEBUG_APIV2_ENTER 0x30
185 #define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
186 #define STLINK_DEBUG_APIV2_RESETSYS 0x32
187 #define STLINK_DEBUG_APIV2_READREG 0x33
188 #define STLINK_DEBUG_APIV2_WRITEREG 0x34
189 #define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35
190 #define STLINK_DEBUG_APIV2_READDEBUGREG 0x36
191
192 #define STLINK_DEBUG_APIV2_READALLREGS 0x3A
193 #define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B
194 #define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
195
196 #define STLINK_DEBUG_APIV2_START_TRACE_RX 0x40
197 #define STLINK_DEBUG_APIV2_STOP_TRACE_RX 0x41
198 #define STLINK_DEBUG_APIV2_GET_TRACE_NB 0x42
199
200 #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
201 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
202 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
203
204 #define STLINK_TRACE_SIZE 1024
205 #define STLINK_TRACE_MAX_HZ 2000000
206 #define STLINK_TRACE_MIN_VERSION 13
207
208 /** */
209 enum stlink_mode {
210 STLINK_MODE_UNKNOWN = 0,
211 STLINK_MODE_DFU,
212 STLINK_MODE_MASS,
213 STLINK_MODE_DEBUG_JTAG,
214 STLINK_MODE_DEBUG_SWD,
215 STLINK_MODE_DEBUG_SWIM
216 };
217
218 #define REQUEST_SENSE 0x03
219 #define REQUEST_SENSE_LENGTH 18
220
221 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size);
222
223 /** */
224 static int stlink_usb_xfer_v1_get_status(void *handle)
225 {
226 struct stlink_usb_handle_s *h = handle;
227
228 assert(handle != NULL);
229
230 /* read status */
231 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
232
233 if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)h->cmdbuf,
234 13, STLINK_READ_TIMEOUT) != 13)
235 return ERROR_FAIL;
236
237 uint32_t t1;
238
239 t1 = buf_get_u32(h->cmdbuf, 0, 32);
240
241 /* check for USBS */
242 if (t1 != 0x53425355)
243 return ERROR_FAIL;
244 /*
245 * CSW status:
246 * 0 success
247 * 1 command failure
248 * 2 phase error
249 */
250 if (h->cmdbuf[12] != 0)
251 return ERROR_FAIL;
252
253 return ERROR_OK;
254 }
255
256 /** */
257 static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size)
258 {
259 struct stlink_usb_handle_s *h = handle;
260
261 assert(handle != NULL);
262
263 if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)h->cmdbuf, cmdsize,
264 STLINK_WRITE_TIMEOUT) != cmdsize) {
265 return ERROR_FAIL;
266 }
267
268 if (h->direction == h->tx_ep && size) {
269 if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)buf,
270 size, STLINK_WRITE_TIMEOUT) != size) {
271 LOG_DEBUG("bulk write failed");
272 return ERROR_FAIL;
273 }
274 } else if (h->direction == h->rx_ep && size) {
275 if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)buf,
276 size, STLINK_READ_TIMEOUT) != size) {
277 LOG_DEBUG("bulk read failed");
278 return ERROR_FAIL;
279 }
280 }
281
282 return ERROR_OK;
283 }
284
285 /** */
286 static int stlink_usb_xfer_v1_get_sense(void *handle)
287 {
288 int res;
289 struct stlink_usb_handle_s *h = handle;
290
291 assert(handle != NULL);
292
293 stlink_usb_init_buffer(handle, h->rx_ep, 16);
294
295 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE;
296 h->cmdbuf[h->cmdidx++] = 0;
297 h->cmdbuf[h->cmdidx++] = 0;
298 h->cmdbuf[h->cmdidx++] = 0;
299 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH;
300
301 res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16);
302
303 if (res != ERROR_OK)
304 return res;
305
306 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK)
307 return ERROR_FAIL;
308
309 return ERROR_OK;
310 }
311
312 /** */
313 static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size)
314 {
315 int err, cmdsize = STLINK_CMD_SIZE_V2;
316 struct stlink_usb_handle_s *h = handle;
317
318 assert(handle != NULL);
319
320 if (h->version.stlink == 1)
321 cmdsize = STLINK_SG_SIZE;
322
323 err = stlink_usb_xfer_rw(handle, cmdsize, buf, size);
324
325 if (err != ERROR_OK)
326 return err;
327
328 if (h->version.stlink == 1) {
329 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) {
330 /* check csw status */
331 if (h->cmdbuf[12] == 1) {
332 LOG_DEBUG("get sense");
333 if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK)
334 return ERROR_FAIL;
335 }
336 return ERROR_FAIL;
337 }
338 }
339
340 return ERROR_OK;
341 }
342
343 /** */
344 static int stlink_usb_read_trace(void *handle, const uint8_t *buf, int size)
345 {
346 struct stlink_usb_handle_s *h = handle;
347
348 assert(handle != NULL);
349
350 assert(h->version.stlink >= 2);
351
352 if (jtag_libusb_bulk_read(h->fd, h->trace_ep, (char *)buf,
353 size, STLINK_READ_TIMEOUT) != size) {
354 LOG_ERROR("bulk trace read failed");
355 return ERROR_FAIL;
356 }
357
358 return ERROR_OK;
359 }
360
361 /** */
362 static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size)
363 {
364 struct stlink_usb_handle_s *h = handle;
365
366 /* fill the send buffer */
367 strcpy((char *)h->cmdbuf, "USBC");
368 h->cmdidx += 4;
369 /* csw tag not used */
370 h->cmdidx += 4;
371 buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size);
372 h->cmdidx += 4;
373 h->cmdbuf[h->cmdidx++] = (direction == h->rx_ep ? ENDPOINT_IN : ENDPOINT_OUT);
374 h->cmdbuf[h->cmdidx++] = 0; /* lun */
375 h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1;
376 }
377
378 /** */
379 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size)
380 {
381 struct stlink_usb_handle_s *h = handle;
382
383 h->direction = direction;
384
385 h->cmdidx = 0;
386
387 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
388 memset(h->databuf, 0, STLINK_DATA_SIZE);
389
390 if (h->version.stlink == 1)
391 stlink_usb_xfer_v1_create_cmd(handle, direction, size);
392 }
393
394 static const char * const stlink_usb_error_msg[] = {
395 "unknown"
396 };
397
398 /** */
399 static int stlink_usb_error_check(void *handle)
400 {
401 int res;
402 const char *err_msg = 0;
403 struct stlink_usb_handle_s *h = handle;
404
405 assert(handle != NULL);
406
407 /* TODO: no error checking yet on api V1 */
408 if (h->jtag_api == STLINK_JTAG_API_V1)
409 h->databuf[0] = STLINK_DEBUG_ERR_OK;
410
411 switch (h->databuf[0]) {
412 case STLINK_DEBUG_ERR_OK:
413 res = ERROR_OK;
414 break;
415 case STLINK_DEBUG_ERR_FAULT:
416 default:
417 err_msg = stlink_usb_error_msg[0];
418 res = ERROR_FAIL;
419 break;
420 }
421
422 if (res != ERROR_OK)
423 LOG_DEBUG("status error: %d ('%s')", h->databuf[0], err_msg);
424
425 return res;
426 }
427
428 /** */
429 static int stlink_usb_version(void *handle)
430 {
431 int res;
432 uint16_t v;
433 struct stlink_usb_handle_s *h = handle;
434
435 assert(handle != NULL);
436
437 stlink_usb_init_buffer(handle, h->rx_ep, 6);
438
439 h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION;
440
441 res = stlink_usb_xfer(handle, h->databuf, 6);
442
443 if (res != ERROR_OK)
444 return res;
445
446 v = (h->databuf[0] << 8) | h->databuf[1];
447
448 h->version.stlink = (v >> 12) & 0x0f;
449 h->version.jtag = (v >> 6) & 0x3f;
450 h->version.swim = v & 0x3f;
451 h->vid = buf_get_u32(h->databuf, 16, 16);
452 h->pid = buf_get_u32(h->databuf, 32, 16);
453
454 /* set the supported jtag api version
455 * API V2 is supported since JTAG V11
456 */
457 if (h->version.jtag >= 11)
458 h->version.jtag_api_max = STLINK_JTAG_API_V2;
459 else
460 h->version.jtag_api_max = STLINK_JTAG_API_V1;
461
462 LOG_INFO("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X",
463 h->version.stlink,
464 h->version.jtag,
465 (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2,
466 h->version.swim,
467 h->vid,
468 h->pid);
469
470 return ERROR_OK;
471 }
472
473 static int stlink_usb_check_voltage(void *handle, float *target_voltage)
474 {
475 struct stlink_usb_handle_s *h = handle;
476 uint32_t adc_results[2];
477
478 /* only supported by stlink/v2 and for firmware >= 13 */
479 if (h->version.stlink == 1 || h->version.jtag < 13)
480 return ERROR_COMMAND_NOTFOUND;
481
482 stlink_usb_init_buffer(handle, h->rx_ep, 8);
483
484 h->cmdbuf[h->cmdidx++] = STLINK_GET_TARGET_VOLTAGE;
485
486 int result = stlink_usb_xfer(handle, h->databuf, 8);
487
488 if (result != ERROR_OK)
489 return result;
490
491 /* convert result */
492 adc_results[0] = le_to_h_u32(h->databuf);
493 adc_results[1] = le_to_h_u32(h->databuf + 4);
494
495 *target_voltage = 0;
496
497 if (adc_results[0])
498 *target_voltage = 2 * ((float)adc_results[1]) * (float)(1.2 / adc_results[0]);
499
500 LOG_INFO("Target voltage: %f", (double)*target_voltage);
501
502 return ERROR_OK;
503 }
504
505 /** */
506 static int stlink_usb_current_mode(void *handle, uint8_t *mode)
507 {
508 int res;
509 struct stlink_usb_handle_s *h = handle;
510
511 assert(handle != NULL);
512
513 stlink_usb_init_buffer(handle, h->rx_ep, 2);
514
515 h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE;
516
517 res = stlink_usb_xfer(handle, h->databuf, 2);
518
519 if (res != ERROR_OK)
520 return res;
521
522 *mode = h->databuf[0];
523
524 return ERROR_OK;
525 }
526
527 /** */
528 static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
529 {
530 int res;
531 int rx_size = 0;
532 struct stlink_usb_handle_s *h = handle;
533
534 assert(handle != NULL);
535
536 /* on api V2 we are able the read the latest command
537 * status
538 * TODO: we need the test on api V1 too
539 */
540 if (h->jtag_api == STLINK_JTAG_API_V2)
541 rx_size = 2;
542
543 stlink_usb_init_buffer(handle, h->rx_ep, rx_size);
544
545 switch (type) {
546 case STLINK_MODE_DEBUG_JTAG:
547 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
548 if (h->jtag_api == STLINK_JTAG_API_V1)
549 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
550 else
551 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
552 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG;
553 break;
554 case STLINK_MODE_DEBUG_SWD:
555 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
556 if (h->jtag_api == STLINK_JTAG_API_V1)
557 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
558 else
559 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
560 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD;
561 break;
562 case STLINK_MODE_DEBUG_SWIM:
563 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
564 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER;
565 break;
566 case STLINK_MODE_DFU:
567 case STLINK_MODE_MASS:
568 default:
569 return ERROR_FAIL;
570 }
571
572 res = stlink_usb_xfer(handle, h->databuf, rx_size);
573
574 if (res != ERROR_OK)
575 return res;
576
577 res = stlink_usb_error_check(h);
578
579 return res;
580 }
581
582 /** */
583 static int stlink_usb_mode_leave(void *handle, enum stlink_mode type)
584 {
585 int res;
586 struct stlink_usb_handle_s *h = handle;
587
588 assert(handle != NULL);
589
590 stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0);
591
592 switch (type) {
593 case STLINK_MODE_DEBUG_JTAG:
594 case STLINK_MODE_DEBUG_SWD:
595 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
596 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT;
597 break;
598 case STLINK_MODE_DEBUG_SWIM:
599 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
600 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT;
601 break;
602 case STLINK_MODE_DFU:
603 h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND;
604 h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT;
605 break;
606 case STLINK_MODE_MASS:
607 default:
608 return ERROR_FAIL;
609 }
610
611 res = stlink_usb_xfer(handle, 0, 0);
612
613 if (res != ERROR_OK)
614 return res;
615
616 return ERROR_OK;
617 }
618
619 static int stlink_usb_assert_srst(void *handle, int srst);
620
621 /** */
622 static int stlink_usb_init_mode(void *handle, bool connect_under_reset)
623 {
624 int res;
625 uint8_t mode;
626 enum stlink_mode emode;
627 struct stlink_usb_handle_s *h = handle;
628
629 assert(handle != NULL);
630
631 res = stlink_usb_current_mode(handle, &mode);
632
633 if (res != ERROR_OK)
634 return res;
635
636 LOG_DEBUG("MODE: 0x%02X", mode);
637
638 /* try to exit current mode */
639 switch (mode) {
640 case STLINK_DEV_DFU_MODE:
641 emode = STLINK_MODE_DFU;
642 break;
643 case STLINK_DEV_DEBUG_MODE:
644 emode = STLINK_MODE_DEBUG_SWD;
645 break;
646 case STLINK_DEV_SWIM_MODE:
647 emode = STLINK_MODE_DEBUG_SWIM;
648 break;
649 case STLINK_DEV_BOOTLOADER_MODE:
650 case STLINK_DEV_MASS_MODE:
651 default:
652 emode = STLINK_MODE_UNKNOWN;
653 break;
654 }
655
656 if (emode != STLINK_MODE_UNKNOWN) {
657 res = stlink_usb_mode_leave(handle, emode);
658
659 if (res != ERROR_OK)
660 return res;
661 }
662
663 res = stlink_usb_current_mode(handle, &mode);
664
665 if (res != ERROR_OK)
666 return res;
667
668 /* we check the target voltage here as an aid to debugging connection problems.
669 * the stlink requires the target Vdd to be connected for reliable debugging.
670 * this cmd is supported in all modes except DFU
671 */
672 if (mode != STLINK_DEV_DFU_MODE) {
673
674 float target_voltage;
675
676 /* check target voltage (if supported) */
677 res = stlink_usb_check_voltage(h, &target_voltage);
678
679 if (res != ERROR_OK) {
680 if (res != ERROR_COMMAND_NOTFOUND)
681 LOG_ERROR("voltage check failed");
682 /* attempt to continue as it is not a catastrophic failure */
683 } else {
684 /* check for a sensible target voltage, operating range is 1.65-5.5v
685 * according to datasheet */
686 if (target_voltage < 1.5)
687 LOG_ERROR("target voltage may be too low for reliable debugging");
688 }
689 }
690
691 LOG_DEBUG("MODE: 0x%02X", mode);
692
693 /* set selected mode */
694 switch (h->transport) {
695 case HL_TRANSPORT_SWD:
696 emode = STLINK_MODE_DEBUG_SWD;
697 break;
698 case HL_TRANSPORT_JTAG:
699 emode = STLINK_MODE_DEBUG_JTAG;
700 break;
701 case HL_TRANSPORT_SWIM:
702 emode = STLINK_MODE_DEBUG_SWIM;
703 break;
704 default:
705 emode = STLINK_MODE_UNKNOWN;
706 break;
707 }
708
709 if (emode == STLINK_MODE_UNKNOWN) {
710 LOG_ERROR("selected mode (transport) not supported");
711 return ERROR_FAIL;
712 }
713
714 if (connect_under_reset) {
715 res = stlink_usb_assert_srst(handle, 0);
716 if (res != ERROR_OK)
717 return res;
718 }
719
720 res = stlink_usb_mode_enter(handle, emode);
721
722 if (res != ERROR_OK)
723 return res;
724
725 res = stlink_usb_current_mode(handle, &mode);
726
727 if (res != ERROR_OK)
728 return res;
729
730 LOG_DEBUG("MODE: 0x%02X", mode);
731
732 return ERROR_OK;
733 }
734
735 /** */
736 static int stlink_usb_idcode(void *handle, uint32_t *idcode)
737 {
738 int res;
739 struct stlink_usb_handle_s *h = handle;
740
741 assert(handle != NULL);
742
743 stlink_usb_init_buffer(handle, h->rx_ep, 4);
744
745 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
746 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID;
747
748 res = stlink_usb_xfer(handle, h->databuf, 4);
749
750 if (res != ERROR_OK)
751 return res;
752
753 *idcode = le_to_h_u32(h->databuf);
754
755 LOG_DEBUG("IDCODE: 0x%08" PRIX32, *idcode);
756
757 return ERROR_OK;
758 }
759
760 static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val)
761 {
762 struct stlink_usb_handle_s *h = handle;
763 int res;
764
765 assert(handle != NULL);
766
767 stlink_usb_init_buffer(handle, h->rx_ep, 8);
768
769 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
770 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG;
771 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
772 h->cmdidx += 4;
773
774 res = stlink_usb_xfer(handle, h->databuf, 8);
775
776 if (res != ERROR_OK)
777 return res;
778
779 *val = le_to_h_u32(h->databuf + 4);
780
781 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
782 }
783
784 static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
785 {
786 int res;
787 struct stlink_usb_handle_s *h = handle;
788
789 assert(handle != NULL);
790
791 stlink_usb_init_buffer(handle, h->rx_ep, 2);
792
793 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
794 if (h->jtag_api == STLINK_JTAG_API_V1)
795 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG;
796 else
797 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG;
798 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
799 h->cmdidx += 4;
800 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
801 h->cmdidx += 4;
802
803 res = stlink_usb_xfer(handle, h->databuf, 2);
804
805 if (res != ERROR_OK)
806 return res;
807
808 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
809 }
810
811 /** */
812 static void stlink_usb_trace_read(void *handle)
813 {
814 struct stlink_usb_handle_s *h = handle;
815
816 assert(handle != NULL);
817
818 if (h->trace.enabled && h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
819 int res;
820
821 stlink_usb_init_buffer(handle, h->rx_ep, 10);
822
823 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
824 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GET_TRACE_NB;
825
826 res = stlink_usb_xfer(handle, h->databuf, 2);
827 if (res == ERROR_OK) {
828 uint8_t buf[STLINK_TRACE_SIZE];
829 size_t size = le_to_h_u16(h->databuf);
830
831 if (size > 0) {
832 size = size < sizeof(buf) ? size : sizeof(buf) - 1;
833
834 res = stlink_usb_read_trace(handle, buf, size);
835 if (res == ERROR_OK) {
836 if (h->trace.output_f) {
837 /* Log retrieved trace output */
838 if (fwrite(buf, 1, size, h->trace.output_f) > 0)
839 fflush(h->trace.output_f);
840 }
841 }
842 }
843 }
844 }
845 }
846
847 static int stlink_usb_trace_read_callback(void *handle)
848 {
849 stlink_usb_trace_read(handle);
850 return ERROR_OK;
851 }
852
853 static enum target_state stlink_usb_v2_get_status(void *handle)
854 {
855 int result;
856 uint32_t status;
857
858 result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status);
859 if (result != ERROR_OK)
860 return TARGET_UNKNOWN;
861
862 if (status & S_HALT)
863 return TARGET_HALTED;
864 else if (status & S_RESET_ST)
865 return TARGET_RESET;
866
867 stlink_usb_trace_read(handle);
868
869 return TARGET_RUNNING;
870 }
871
872 /** */
873 static enum target_state stlink_usb_state(void *handle)
874 {
875 int res;
876 struct stlink_usb_handle_s *h = handle;
877
878 assert(handle != NULL);
879
880 if (h->jtag_api == STLINK_JTAG_API_V2)
881 return stlink_usb_v2_get_status(handle);
882
883 stlink_usb_init_buffer(handle, h->rx_ep, 2);
884
885 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
886 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS;
887
888 res = stlink_usb_xfer(handle, h->databuf, 2);
889
890 if (res != ERROR_OK)
891 return TARGET_UNKNOWN;
892
893 if (h->databuf[0] == STLINK_CORE_RUNNING)
894 return TARGET_RUNNING;
895 if (h->databuf[0] == STLINK_CORE_HALTED)
896 return TARGET_HALTED;
897
898 return TARGET_UNKNOWN;
899 }
900
901 /** */
902 static int stlink_usb_reset(void *handle)
903 {
904 int res;
905 struct stlink_usb_handle_s *h = handle;
906
907 assert(handle != NULL);
908
909 stlink_usb_init_buffer(handle, h->rx_ep, 2);
910
911 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
912
913 if (h->jtag_api == STLINK_JTAG_API_V1)
914 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_RESETSYS;
915 else
916 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS;
917
918 res = stlink_usb_xfer(handle, h->databuf, 2);
919
920 if (res != ERROR_OK)
921 return res;
922
923 LOG_DEBUG("RESET: 0x%08X", h->databuf[0]);
924
925 /* the following is not a error under swd (using hardware srst), so return success */
926 if (h->databuf[0] == STLINK_SWD_AP_WAIT || h->databuf[0] == STLINK_SWD_DP_WAIT)
927 return ERROR_OK;
928
929 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
930 }
931
932 static int stlink_usb_assert_srst(void *handle, int srst)
933 {
934 int res;
935 struct stlink_usb_handle_s *h = handle;
936
937 assert(handle != NULL);
938
939 if (h->jtag_api == STLINK_JTAG_API_V1)
940 return ERROR_COMMAND_NOTFOUND;
941
942 stlink_usb_init_buffer(handle, h->rx_ep, 2);
943
944 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
945 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST;
946 h->cmdbuf[h->cmdidx++] = srst;
947
948 res = stlink_usb_xfer(handle, h->databuf, 2);
949
950 if (res != ERROR_OK)
951 return res;
952
953 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
954 }
955
956 /** */
957 static int stlink_configure_target_trace_port(void *handle)
958 {
959 int res;
960 uint32_t reg;
961 struct stlink_usb_handle_s *h = handle;
962
963 assert(handle != NULL);
964
965 /* configure the TPI */
966
967 /* enable the trace subsystem */
968 res = stlink_usb_v2_read_debug_reg(handle, DCB_DEMCR, &reg);
969 if (res != ERROR_OK)
970 goto out;
971 res = stlink_usb_write_debug_reg(handle, DCB_DEMCR, TRCENA|reg);
972 if (res != ERROR_OK)
973 goto out;
974 /* set the TPI clock prescaler */
975 res = stlink_usb_write_debug_reg(handle, TPI_ACPR, h->trace.prescale);
976 if (res != ERROR_OK)
977 goto out;
978 /* select the pin protocol. The STLinkv2 only supports asynchronous
979 * UART emulation (NRZ) mode, so that's what we pick. */
980 res = stlink_usb_write_debug_reg(handle, TPI_SPPR, 0x02);
981 if (res != ERROR_OK)
982 goto out;
983 /* disable continuous formatting */
984 res = stlink_usb_write_debug_reg(handle, TPI_FFCR, (1<<8));
985 if (res != ERROR_OK)
986 goto out;
987
988 /* configure the ITM */
989
990 /* unlock access to the ITM registers */
991 res = stlink_usb_write_debug_reg(handle, ITM_LAR, 0xC5ACCE55);
992 if (res != ERROR_OK)
993 goto out;
994 /* enable trace with ATB ID 1 */
995 res = stlink_usb_write_debug_reg(handle, ITM_TCR, (1<<16)|(1<<0)|(1<<2));
996 if (res != ERROR_OK)
997 goto out;
998 /* trace privilege */
999 res = stlink_usb_write_debug_reg(handle, ITM_TPR, 1);
1000 if (res != ERROR_OK)
1001 goto out;
1002 /* trace port enable (port 0) */
1003 res = stlink_usb_write_debug_reg(handle, ITM_TER, (1<<0));
1004 if (res != ERROR_OK)
1005 goto out;
1006
1007 res = ERROR_OK;
1008 out:
1009 return res;
1010 }
1011
1012 /** */
1013 static void stlink_usb_trace_disable(void *handle)
1014 {
1015 int res = ERROR_OK;
1016 struct stlink_usb_handle_s *h = handle;
1017
1018 assert(handle != NULL);
1019
1020 assert(h->version.jtag >= STLINK_TRACE_MIN_VERSION);
1021
1022 LOG_DEBUG("Tracing: disable\n");
1023
1024 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1025 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1026 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_STOP_TRACE_RX;
1027 res = stlink_usb_xfer(handle, h->databuf, 2);
1028
1029 if (res == ERROR_OK) {
1030 h->trace.enabled = false;
1031 target_unregister_timer_callback(stlink_usb_trace_read_callback, handle);
1032 }
1033 }
1034
1035
1036 /** */
1037 static int stlink_usb_trace_enable(void *handle)
1038 {
1039 int res;
1040 struct stlink_usb_handle_s *h = handle;
1041
1042 assert(handle != NULL);
1043
1044 if (h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
1045 uint32_t trace_hz;
1046
1047 res = stlink_configure_target_trace_port(handle);
1048 if (res != ERROR_OK)
1049 LOG_ERROR("Unable to configure tracing on target\n");
1050
1051 trace_hz = h->trace.prescale > 0 ?
1052 h->trace.source_hz / (h->trace.prescale + 1) :
1053 h->trace.source_hz;
1054
1055 stlink_usb_init_buffer(handle, h->rx_ep, 10);
1056
1057 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1058 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_START_TRACE_RX;
1059 h_u16_to_le(h->cmdbuf+h->cmdidx, (uint16_t)STLINK_TRACE_SIZE);
1060 h->cmdidx += 2;
1061 h_u32_to_le(h->cmdbuf+h->cmdidx, trace_hz);
1062 h->cmdidx += 4;
1063
1064 res = stlink_usb_xfer(handle, h->databuf, 2);
1065
1066 if (res == ERROR_OK) {
1067 h->trace.enabled = true;
1068 LOG_DEBUG("Tracing: recording at %" PRIu32 "Hz\n", trace_hz);
1069 /* We need the trace read function to be called at a
1070 * high-enough frequency to ensure reasonable
1071 * "timeliness" in processing ITM/DWT data.
1072 * TODO: An alternative could be using the asynchronous
1073 * features of the libusb-1.0 API to queue up one or more
1074 * reads in advance and requeue them once they are
1075 * completed. */
1076 target_register_timer_callback(stlink_usb_trace_read_callback, 1, 1, handle);
1077 }
1078 } else {
1079 LOG_ERROR("Tracing is not supported by this version.");
1080 res = ERROR_FAIL;
1081 }
1082
1083 return res;
1084 }
1085
1086 /** */
1087 static int stlink_usb_run(void *handle)
1088 {
1089 int res;
1090 struct stlink_usb_handle_s *h = handle;
1091
1092 assert(handle != NULL);
1093
1094 if (h->jtag_api == STLINK_JTAG_API_V2) {
1095 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN);
1096
1097 /* Try to start tracing, if requested */
1098 if (res == ERROR_OK && h->trace.source_hz && !h->trace.enabled) {
1099 if (stlink_usb_trace_enable(handle) == ERROR_OK)
1100 LOG_DEBUG("Tracing: enabled\n");
1101 else
1102 LOG_ERROR("Tracing: enable failed\n");
1103 }
1104
1105 return res;
1106 }
1107
1108 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1109
1110 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1111 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE;
1112
1113 res = stlink_usb_xfer(handle, h->databuf, 2);
1114
1115 if (res != ERROR_OK)
1116 return res;
1117
1118 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1119 }
1120
1121 /** */
1122 static int stlink_usb_halt(void *handle)
1123 {
1124 int res;
1125 struct stlink_usb_handle_s *h = handle;
1126
1127 assert(handle != NULL);
1128
1129 if (h->jtag_api == STLINK_JTAG_API_V2) {
1130 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1131
1132 if (res == ERROR_OK && h->trace.enabled)
1133 stlink_usb_trace_disable(handle);
1134
1135 return res;
1136 }
1137
1138 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1139
1140 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1141 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG;
1142
1143 res = stlink_usb_xfer(handle, h->databuf, 2);
1144
1145 if (res != ERROR_OK)
1146 return res;
1147
1148 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1149 }
1150
1151 /** */
1152 static int stlink_usb_step(void *handle)
1153 {
1154 int res;
1155 struct stlink_usb_handle_s *h = handle;
1156
1157 assert(handle != NULL);
1158
1159 if (h->jtag_api == STLINK_JTAG_API_V2) {
1160 /* TODO: this emulates the v1 api, it should really use a similar auto mask isr
1161 * that the cortex-m3 currently does. */
1162 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_MASKINTS|C_DEBUGEN);
1163 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_MASKINTS|C_DEBUGEN);
1164 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1165 }
1166
1167 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1168
1169 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1170 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE;
1171
1172 res = stlink_usb_xfer(handle, h->databuf, 2);
1173
1174 if (res != ERROR_OK)
1175 return res;
1176
1177 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1178 }
1179
1180 /** */
1181 static int stlink_usb_read_regs(void *handle)
1182 {
1183 int res;
1184 struct stlink_usb_handle_s *h = handle;
1185
1186 assert(handle != NULL);
1187
1188 stlink_usb_init_buffer(handle, h->rx_ep, 84);
1189
1190 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1191 if (h->jtag_api == STLINK_JTAG_API_V1)
1192 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS;
1193 else
1194 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS;
1195
1196 res = stlink_usb_xfer(handle, h->databuf, 84);
1197
1198 if (res != ERROR_OK)
1199 return res;
1200
1201 return ERROR_OK;
1202 }
1203
1204 /** */
1205 static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
1206 {
1207 int res;
1208 struct stlink_usb_handle_s *h = handle;
1209
1210 assert(handle != NULL);
1211
1212 stlink_usb_init_buffer(handle, h->rx_ep, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1213
1214 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1215 if (h->jtag_api == STLINK_JTAG_API_V1)
1216 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG;
1217 else
1218 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG;
1219 h->cmdbuf[h->cmdidx++] = num;
1220
1221 res = stlink_usb_xfer(handle, h->databuf, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1222
1223 if (res != ERROR_OK)
1224 return res;
1225
1226 if (h->jtag_api == STLINK_JTAG_API_V1)
1227 *val = le_to_h_u32(h->databuf);
1228 else {
1229 *val = le_to_h_u32(h->databuf + 4);
1230 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1231 }
1232
1233 return ERROR_OK;
1234 }
1235
1236 /** */
1237 static int stlink_usb_write_reg(void *handle, int num, uint32_t val)
1238 {
1239 int res;
1240 struct stlink_usb_handle_s *h = handle;
1241
1242 assert(handle != NULL);
1243
1244 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1245
1246 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1247 if (h->jtag_api == STLINK_JTAG_API_V1)
1248 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG;
1249 else
1250 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG;
1251 h->cmdbuf[h->cmdidx++] = num;
1252 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
1253 h->cmdidx += 4;
1254
1255 res = stlink_usb_xfer(handle, h->databuf, 2);
1256
1257 if (res != ERROR_OK)
1258 return res;
1259
1260 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1261 }
1262
1263 static int stlink_usb_get_rw_status(void *handle)
1264 {
1265 int res;
1266 struct stlink_usb_handle_s *h = handle;
1267
1268 assert(handle != NULL);
1269
1270 if (h->jtag_api == STLINK_JTAG_API_V1)
1271 return ERROR_OK;
1272
1273 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1274
1275 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1276 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS;
1277
1278 res = stlink_usb_xfer(handle, h->databuf, 2);
1279
1280 if (res != ERROR_OK)
1281 return res;
1282
1283 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : res;
1284 }
1285
1286 /** */
1287 static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
1288 uint8_t *buffer)
1289 {
1290 int res;
1291 uint16_t read_len = len;
1292 struct stlink_usb_handle_s *h = handle;
1293
1294 assert(handle != NULL);
1295
1296 /* max 8bit read/write is 64bytes */
1297 if (len > STLINK_MAX_RW8) {
1298 LOG_DEBUG("max buffer length exceeded");
1299 return ERROR_FAIL;
1300 }
1301
1302 stlink_usb_init_buffer(handle, h->rx_ep, read_len);
1303
1304 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1305 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT;
1306 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1307 h->cmdidx += 4;
1308 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1309 h->cmdidx += 2;
1310
1311 /* we need to fix read length for single bytes */
1312 if (read_len == 1)
1313 read_len++;
1314
1315 res = stlink_usb_xfer(handle, h->databuf, read_len);
1316
1317 if (res != ERROR_OK)
1318 return res;
1319
1320 memcpy(buffer, h->databuf, len);
1321
1322 return stlink_usb_get_rw_status(handle);
1323 }
1324
1325 /** */
1326 static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len,
1327 const uint8_t *buffer)
1328 {
1329 int res;
1330 struct stlink_usb_handle_s *h = handle;
1331
1332 assert(handle != NULL);
1333
1334 /* max 8bit read/write is 64bytes */
1335 if (len > STLINK_MAX_RW8) {
1336 LOG_DEBUG("max buffer length exceeded");
1337 return ERROR_FAIL;
1338 }
1339
1340 stlink_usb_init_buffer(handle, h->tx_ep, len);
1341
1342 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1343 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT;
1344 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1345 h->cmdidx += 4;
1346 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1347 h->cmdidx += 2;
1348
1349 res = stlink_usb_xfer(handle, buffer, len);
1350
1351 if (res != ERROR_OK)
1352 return res;
1353
1354 return stlink_usb_get_rw_status(handle);
1355 }
1356
1357 /** */
1358 static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
1359 uint8_t *buffer)
1360 {
1361 int res;
1362 struct stlink_usb_handle_s *h = handle;
1363
1364 assert(handle != NULL);
1365
1366 /* data must be a multiple of 4 and word aligned */
1367 if (len % 4 || addr % 4) {
1368 LOG_DEBUG("Invalid data alignment");
1369 return ERROR_TARGET_UNALIGNED_ACCESS;
1370 }
1371
1372 stlink_usb_init_buffer(handle, h->rx_ep, len);
1373
1374 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1375 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT;
1376 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1377 h->cmdidx += 4;
1378 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1379 h->cmdidx += 2;
1380
1381 res = stlink_usb_xfer(handle, h->databuf, len);
1382
1383 if (res != ERROR_OK)
1384 return res;
1385
1386 memcpy(buffer, h->databuf, len);
1387
1388 return stlink_usb_get_rw_status(handle);
1389 }
1390
1391 /** */
1392 static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
1393 const uint8_t *buffer)
1394 {
1395 int res;
1396 struct stlink_usb_handle_s *h = handle;
1397
1398 assert(handle != NULL);
1399
1400 /* data must be a multiple of 4 and word aligned */
1401 if (len % 4 || addr % 4) {
1402 LOG_DEBUG("Invalid data alignment");
1403 return ERROR_TARGET_UNALIGNED_ACCESS;
1404 }
1405
1406 stlink_usb_init_buffer(handle, h->tx_ep, len);
1407
1408 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1409 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT;
1410 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1411 h->cmdidx += 4;
1412 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1413 h->cmdidx += 2;
1414
1415 res = stlink_usb_xfer(handle, buffer, len);
1416
1417 if (res != ERROR_OK)
1418 return res;
1419
1420 return stlink_usb_get_rw_status(handle);
1421 }
1422
1423 static uint32_t stlink_max_block_size(uint32_t tar_autoincr_block, uint32_t address)
1424 {
1425 uint32_t max_tar_block = (tar_autoincr_block - ((tar_autoincr_block - 1) & address));
1426 if (max_tar_block == 0)
1427 max_tar_block = 4;
1428 return max_tar_block;
1429 }
1430
1431 static int stlink_usb_read_mem(void *handle, uint32_t addr, uint32_t size,
1432 uint32_t count, uint8_t *buffer)
1433 {
1434 int retval = ERROR_OK;
1435 uint32_t bytes_remaining;
1436 struct stlink_usb_handle_s *h = handle;
1437
1438 /* calculate byte count */
1439 count *= size;
1440
1441 while (count) {
1442
1443 bytes_remaining = (size == 4) ? \
1444 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1445
1446 if (count < bytes_remaining)
1447 bytes_remaining = count;
1448
1449 /* the stlink only supports 8/32bit memory read/writes
1450 * honour 32bit, all others will be handled as 8bit access */
1451 if (size == 4) {
1452
1453 /* When in jtag mode the stlink uses the auto-increment functinality.
1454 * However it expects us to pass the data correctly, this includes
1455 * alignment and any page boundaries. We already do this as part of the
1456 * adi_v5 implementation, but the stlink is a hla adapter and so this
1457 * needs implementiong manually.
1458 * currently this only affects jtag mode, according to ST they do single
1459 * access in SWD mode - but this may change and so we do it for both modes */
1460
1461 /* we first need to check for any unaligned bytes */
1462 if (addr % 4) {
1463
1464 uint32_t head_bytes = 4 - (addr % 4);
1465 retval = stlink_usb_read_mem8(handle, addr, head_bytes, buffer);
1466 if (retval != ERROR_OK)
1467 return retval;
1468 buffer += head_bytes;
1469 addr += head_bytes;
1470 count -= head_bytes;
1471 bytes_remaining -= head_bytes;
1472 }
1473
1474 if (bytes_remaining % 4)
1475 retval = stlink_usb_read_mem(handle, addr, 1, bytes_remaining, buffer);
1476 else
1477 retval = stlink_usb_read_mem32(handle, addr, bytes_remaining, buffer);
1478 } else
1479 retval = stlink_usb_read_mem8(handle, addr, bytes_remaining, buffer);
1480
1481 if (retval != ERROR_OK)
1482 return retval;
1483
1484 buffer += bytes_remaining;
1485 addr += bytes_remaining;
1486 count -= bytes_remaining;
1487 }
1488
1489 return retval;
1490 }
1491
1492 static int stlink_usb_write_mem(void *handle, uint32_t addr, uint32_t size,
1493 uint32_t count, const uint8_t *buffer)
1494 {
1495 int retval = ERROR_OK;
1496 uint32_t bytes_remaining;
1497 struct stlink_usb_handle_s *h = handle;
1498
1499 /* calculate byte count */
1500 count *= size;
1501
1502 while (count) {
1503
1504 bytes_remaining = (size == 4) ? \
1505 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1506
1507 if (count < bytes_remaining)
1508 bytes_remaining = count;
1509
1510 /* the stlink only supports 8/32bit memory read/writes
1511 * honour 32bit, all others will be handled as 8bit access */
1512 if (size == 4) {
1513
1514 /* When in jtag mode the stlink uses the auto-increment functinality.
1515 * However it expects us to pass the data correctly, this includes
1516 * alignment and any page boundaries. We already do this as part of the
1517 * adi_v5 implementation, but the stlink is a hla adapter and so this
1518 * needs implementiong manually.
1519 * currently this only affects jtag mode, according to ST they do single
1520 * access in SWD mode - but this may change and so we do it for both modes */
1521
1522 /* we first need to check for any unaligned bytes */
1523 if (addr % 4) {
1524
1525 uint32_t head_bytes = 4 - (addr % 4);
1526 retval = stlink_usb_write_mem8(handle, addr, head_bytes, buffer);
1527 if (retval != ERROR_OK)
1528 return retval;
1529 buffer += head_bytes;
1530 addr += head_bytes;
1531 count -= head_bytes;
1532 bytes_remaining -= head_bytes;
1533 }
1534
1535 if (bytes_remaining % 4)
1536 retval = stlink_usb_write_mem(handle, addr, 1, bytes_remaining, buffer);
1537 else
1538 retval = stlink_usb_write_mem32(handle, addr, bytes_remaining, buffer);
1539
1540 } else
1541 retval = stlink_usb_write_mem8(handle, addr, bytes_remaining, buffer);
1542 if (retval != ERROR_OK)
1543 return retval;
1544
1545 buffer += bytes_remaining;
1546 addr += bytes_remaining;
1547 count -= bytes_remaining;
1548 }
1549
1550 return retval;
1551 }
1552
1553 /** */
1554 static int stlink_usb_close(void *fd)
1555 {
1556 struct stlink_usb_handle_s *h = fd;
1557
1558 if (h->fd)
1559 jtag_libusb_close(h->fd);
1560
1561 free(fd);
1562
1563 return ERROR_OK;
1564 }
1565
1566 /** */
1567 static int stlink_usb_open(struct hl_interface_param_s *param, void **fd)
1568 {
1569 int err, retry_count = 1;
1570 struct stlink_usb_handle_s *h;
1571 enum stlink_jtag_api_version api;
1572
1573 LOG_DEBUG("stlink_usb_open");
1574
1575 h = calloc(1, sizeof(struct stlink_usb_handle_s));
1576
1577 if (h == 0) {
1578 LOG_DEBUG("malloc failed");
1579 return ERROR_FAIL;
1580 }
1581
1582 h->transport = param->transport;
1583
1584 const uint16_t vids[] = { param->vid, 0 };
1585 const uint16_t pids[] = { param->pid, 0 };
1586
1587 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
1588 param->vid, param->pid);
1589
1590 /*
1591 On certain host USB configurations(e.g. MacBook Air)
1592 STLINKv2 dongle seems to have its FW in a funky state if,
1593 after plugging it in, you try to use openocd with it more
1594 then once (by launching and closing openocd). In cases like
1595 that initial attempt to read the FW info via
1596 stlink_usb_version will fail and the device has to be reset
1597 in order to become operational.
1598 */
1599 do {
1600 if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) {
1601 LOG_ERROR("open failed");
1602 goto error_open;
1603 }
1604
1605 jtag_libusb_set_configuration(h->fd, 0);
1606
1607 if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
1608 LOG_DEBUG("claim interface failed");
1609 goto error_open;
1610 }
1611
1612 /* RX EP is common for all versions */
1613 h->rx_ep = STLINK_RX_EP;
1614
1615 /* wrap version for first read */
1616 switch (param->pid) {
1617 case STLINK_V1_PID:
1618 h->version.stlink = 1;
1619 h->tx_ep = STLINK_TX_EP;
1620 h->trace_ep = STLINK_TRACE_EP;
1621 break;
1622 case STLINK_V2_1_PID:
1623 h->version.stlink = 2;
1624 h->tx_ep = STLINK_V2_1_TX_EP;
1625 h->trace_ep = STLINK_V2_1_TRACE_EP;
1626 break;
1627 default:
1628 /* fall through - we assume V2 to be the default version*/
1629 case STLINK_V2_PID:
1630 h->version.stlink = 2;
1631 h->tx_ep = STLINK_TX_EP;
1632 h->trace_ep = STLINK_TRACE_EP;
1633 break;
1634 }
1635
1636 /* get the device version */
1637 err = stlink_usb_version(h);
1638
1639 if (err == ERROR_OK) {
1640 break;
1641 } else if (h->version.stlink == 1 ||
1642 retry_count == 0) {
1643 LOG_ERROR("read version failed");
1644 goto error_open;
1645 } else {
1646 err = jtag_libusb_release_interface(h->fd, 0);
1647 if (err != ERROR_OK) {
1648 LOG_ERROR("release interface failed");
1649 goto error_open;
1650 }
1651
1652 err = jtag_libusb_reset_device(h->fd);
1653 if (err != ERROR_OK) {
1654 LOG_ERROR("reset device failed");
1655 goto error_open;
1656 }
1657
1658 jtag_libusb_close(h->fd);
1659 /*
1660 Give the device one second to settle down and
1661 reenumerate.
1662 */
1663 usleep(1 * 1000 * 1000);
1664 retry_count--;
1665 }
1666 } while (1);
1667
1668 /* compare usb vid/pid */
1669 if ((param->vid != h->vid) || (param->pid != h->pid))
1670 LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
1671 param->vid, param->pid,
1672 h->vid, h->pid);
1673
1674 /* check if mode is supported */
1675 err = ERROR_OK;
1676
1677 switch (h->transport) {
1678 case HL_TRANSPORT_SWD:
1679 case HL_TRANSPORT_JTAG:
1680 if (h->version.jtag == 0)
1681 err = ERROR_FAIL;
1682 break;
1683 case HL_TRANSPORT_SWIM:
1684 if (h->version.swim == 0)
1685 err = ERROR_FAIL;
1686 break;
1687 default:
1688 err = ERROR_FAIL;
1689 break;
1690 }
1691
1692 if (err != ERROR_OK) {
1693 LOG_ERROR("mode (transport) not supported by device");
1694 goto error_open;
1695 }
1696
1697 api = h->version.jtag_api_max;
1698
1699 LOG_INFO("using stlink api v%d", api);
1700
1701 /* set the used jtag api, this will default to the newest supported version */
1702 h->jtag_api = api;
1703
1704 if (h->jtag_api >= 2 && param->trace_source_hz > 0) {
1705 uint32_t prescale;
1706
1707 prescale = param->trace_source_hz > STLINK_TRACE_MAX_HZ ?
1708 (param->trace_source_hz / STLINK_TRACE_MAX_HZ) - 1 : 0;
1709
1710 h->trace.output_f = param->trace_f;
1711 h->trace.source_hz = param->trace_source_hz;
1712 h->trace.prescale = prescale;
1713 }
1714
1715 /* initialize the debug hardware */
1716 err = stlink_usb_init_mode(h, param->connect_under_reset);
1717
1718 if (err != ERROR_OK) {
1719 LOG_ERROR("init mode failed");
1720 goto error_open;
1721 }
1722
1723 /* get cpuid, so we can determine the max page size
1724 * start with a safe default */
1725 h->max_mem_packet = (1 << 10);
1726
1727 uint8_t buffer[4];
1728 err = stlink_usb_read_mem32(h, CPUID, 4, buffer);
1729 if (err == ERROR_OK) {
1730 uint32_t cpuid = le_to_h_u32(buffer);
1731 int i = (cpuid >> 4) & 0xf;
1732 if (i == 4 || i == 3) {
1733 /* Cortex-M3/M4 has 4096 bytes autoincrement range */
1734 h->max_mem_packet = (1 << 12);
1735 }
1736 }
1737
1738 LOG_DEBUG("Using TAR autoincrement: %" PRIu32, h->max_mem_packet);
1739
1740 *fd = h;
1741
1742 return ERROR_OK;
1743
1744 error_open:
1745 stlink_usb_close(h);
1746
1747 return ERROR_FAIL;
1748 }
1749
1750 /** */
1751 struct hl_layout_api_s stlink_usb_layout_api = {
1752 /** */
1753 .open = stlink_usb_open,
1754 /** */
1755 .close = stlink_usb_close,
1756 /** */
1757 .idcode = stlink_usb_idcode,
1758 /** */
1759 .state = stlink_usb_state,
1760 /** */
1761 .reset = stlink_usb_reset,
1762 /** */
1763 .assert_srst = stlink_usb_assert_srst,
1764 /** */
1765 .run = stlink_usb_run,
1766 /** */
1767 .halt = stlink_usb_halt,
1768 /** */
1769 .step = stlink_usb_step,
1770 /** */
1771 .read_regs = stlink_usb_read_regs,
1772 /** */
1773 .read_reg = stlink_usb_read_reg,
1774 /** */
1775 .write_reg = stlink_usb_write_reg,
1776 /** */
1777 .read_mem = stlink_usb_read_mem,
1778 /** */
1779 .write_mem = stlink_usb_write_mem,
1780 /** */
1781 .write_debug_reg = stlink_usb_write_debug_reg
1782 };
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