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 "libusb_common.h"
  36
  37 #define ENDPOINT_IN     0x80
  38 #define ENDPOINT_OUT    0x00
  39
  40 #define STLINK_RX_EP    (1|ENDPOINT_IN)
  41 #define STLINK_TX_EP    (2|ENDPOINT_OUT)
  42 #define STLINK_CMD_SIZE (16)
  43 #define STLINK_TX_SIZE  (4*128)
  44 #define STLINK_RX_SIZE  (4*128)
  45
  46 enum stlink_jtag_api_version {
  47         STLINK_JTAG_API_V1 = 0,
  48         STLINK_JTAG_API_V2,
  49 };
  50
  51 /** */
  52 struct stlink_usb_version {
  53         /** */
  54         int stlink;
  55         /** */
  56         int jtag;
  57         /** */
  58         int swim;
  59         /** highest supported jtag api version */
  60         enum stlink_jtag_api_version jtag_api_max;
  61 };
  62
  63 /** */
  64 struct stlink_usb_handle_s {
  65         /** */
  66         struct jtag_libusb_device_handle *fd;
  67         /** */
  68         struct libusb_transfer *trans;
  69         /** */
  70         uint8_t txbuf[STLINK_TX_SIZE];
  71         /** */
  72         uint8_t rxbuf[STLINK_RX_SIZE];
  73         /** */
  74         enum stlink_transports transport;
  75         /** */
  76         struct stlink_usb_version version;
  77         /** */
  78         uint16_t vid;
  79         /** */
  80         uint16_t pid;
  81         /** */
  82         uint32_t sg_tag;
  83         /** this is the currently used jtag api */
  84         enum stlink_jtag_api_version jtag_api;
  85 };
  86
  87 #define STLINK_DEBUG_ERR_OK                     0x80
  88 #define STLINK_DEBUG_ERR_FAULT                  0x81
  89 #define STLINK_CORE_RUNNING                     0x80
  90 #define STLINK_CORE_HALTED                      0x81
  91 #define STLINK_CORE_STAT_UNKNOWN                -1
  92
  93 #define STLINK_GET_VERSION                      0xF1
  94 #define STLINK_DEBUG_COMMAND                    0xF2
  95 #define STLINK_DFU_COMMAND                      0xF3
  96 #define STLINK_SWIM_COMMAND                     0xF4
  97 #define STLINK_GET_CURRENT_MODE                 0xF5
  98
  99 #define STLINK_DEV_DFU_MODE                     0x00
 100 #define STLINK_DEV_MASS_MODE                    0x01
 101 #define STLINK_DEV_DEBUG_MODE                   0x02
 102 #define STLINK_DEV_SWIM_MODE                    0x03
 103 #define STLINK_DEV_BOOTLOADER_MODE              0x04
 104 #define STLINK_DEV_UNKNOWN_MODE                 -1
 105
 106 #define STLINK_DFU_EXIT                         0x07
 107
 108 #define STLINK_SWIM_ENTER                       0x00
 109 #define STLINK_SWIM_EXIT                        0x01
 110
 111 #define STLINK_DEBUG_ENTER_JTAG                 0x00
 112 #define STLINK_DEBUG_GETSTATUS                  0x01
 113 #define STLINK_DEBUG_FORCEDEBUG                 0x02
 114 #define STLINK_DEBUG_APIV1_RESETSYS             0x03
 115 #define STLINK_DEBUG_APIV1_READALLREGS          0x04
 116 #define STLINK_DEBUG_APIV1_READREG              0x05
 117 #define STLINK_DEBUG_APIV1_WRITEREG             0x06
 118 #define STLINK_DEBUG_READMEM_32BIT              0x07
 119 #define STLINK_DEBUG_WRITEMEM_32BIT             0x08
 120 #define STLINK_DEBUG_RUNCORE                    0x09
 121 #define STLINK_DEBUG_STEPCORE                   0x0a
 122 #define STLINK_DEBUG_APIV1_SETFP                0x0b
 123 #define STLINK_DEBUG_READMEM_8BIT               0x0c
 124 #define STLINK_DEBUG_WRITEMEM_8BIT              0x0d
 125 #define STLINK_DEBUG_APIV1_CLEARFP              0x0e
 126 #define STLINK_DEBUG_APIV1_WRITEDEBUGREG        0x0f
 127 #define STLINK_DEBUG_APIV1_SETWATCHPOINT        0x10
 128
 129 #define STLINK_DEBUG_ENTER_JTAG                 0x00
 130 #define STLINK_DEBUG_ENTER_SWD                  0xa3
 131
 132 #define STLINK_DEBUG_APIV1_ENTER                0x20
 133 #define STLINK_DEBUG_EXIT                       0x21
 134 #define STLINK_DEBUG_READCOREID                 0x22
 135
 136 #define STLINK_DEBUG_APIV2_ENTER                0x30
 137 #define STLINK_DEBUG_APIV2_READ_IDCODES         0x31
 138 #define STLINK_DEBUG_APIV2_RESETSYS             0x32
 139 #define STLINK_DEBUG_APIV2_READREG              0x33
 140 #define STLINK_DEBUG_APIV2_WRITEREG             0x34
 141
 142 #define STLINK_DEBUG_APIV2_READALLREGS          0x3A
 143
 144 #define STLINK_DEBUG_APIV2_DRIVE_NRST           0x3C
 145
 146 #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW       0x00
 147 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH      0x01
 148 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE     0x02
 149
 150 /** */
 151 enum stlink_mode {
 152         STLINK_MODE_UNKNOWN = 0,
 153         STLINK_MODE_DFU,
 154         STLINK_MODE_MASS,
 155         STLINK_MODE_DEBUG_JTAG,
 156         STLINK_MODE_DEBUG_SWD,
 157         STLINK_MODE_DEBUG_SWIM
 158 };
 159
 160 /** */
 161 static int stlink_usb_xfer_v1_send_cmd(void *handle, const uint8_t *cmd, int cmdsize, int ep, int size)
 162 {
 163         uint8_t sg_buffer[31];
 164         struct stlink_usb_handle_s *h;
 165
 166         assert(handle != NULL);
 167         assert(cmdsize <= 16);
 168
 169         h = (struct stlink_usb_handle_s *)handle;
 170         h->sg_tag = (h->sg_tag + 1) & 1; /* seriously? */
 171
 172         memset(sg_buffer, 0, sizeof(sg_buffer));
 173
 174         h_u32_to_le(sg_buffer, 0x43425355); /* USBC */
 175         h_u32_to_le(&sg_buffer[4], h->sg_tag);
 176         h_u32_to_le(&sg_buffer[8], size);
 177
 178         sg_buffer[12] = (ep == STLINK_RX_EP ? ENDPOINT_IN : ENDPOINT_OUT);
 179         /* sg_buffer[13] = 0; */
 180         sg_buffer[14] = (uint8_t)cmdsize;
 181
 182         memcpy(&sg_buffer[15], cmd, cmdsize);
 183
 184         if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)sg_buffer, sizeof(sg_buffer),
 185                                    1000) != sizeof(sg_buffer)) {
 186                 LOG_DEBUG("send failed\n");
 187                 return ERROR_FAIL;
 188         }
 189
 190         return ERROR_OK;
 191 }
 192
 193 /** */
 194 static int stlink_usb_xfer_v1_get_status(void *handle, uint8_t *sg_buffer, int len)
 195 {
 196         struct stlink_usb_handle_s *h;
 197
 198         assert(handle != NULL);
 199
 200         h = (struct stlink_usb_handle_s *)handle;
 201
 202         /* read status */
 203         memset(sg_buffer, 0, len);
 204
 205         if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)sg_buffer,
 206                                 len, 1000) != len)
 207                 return ERROR_FAIL;
 208
 209         uint32_t t1 = le_to_h_u32(sg_buffer+0);
 210         /* uint32_t t2 = le_to_h_u32(sg_buffer+4); */
 211
 212         /* check for USBS */
 213         if (t1 != 0x53425355)
 214                 return ERROR_FAIL;
 215
 216         return ERROR_OK;
 217 }
 218
 219 /** */
 220 static int stlink_usb_xfer_rw(void *handle, int ep, uint8_t *buf, int size)
 221 {
 222         struct stlink_usb_handle_s *h;
 223
 224         h = (struct stlink_usb_handle_s *)handle;
 225
 226         if (!size)
 227                 return ERROR_OK;
 228
 229         if (ep == STLINK_RX_EP) {
 230                 if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)buf,
 231                                           size, 1000) != size) {
 232                         return ERROR_FAIL;
 233                 }
 234         } else {
 235                 if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)buf,
 236                                           size, 1000) != size) {
 237                         return ERROR_FAIL;
 238                 }
 239         }
 240
 241         return ERROR_OK;
 242 }
 243
 244 /**
 245  * http://en.wikipedia.org/wiki/SCSI_Request_Sense_Command
 246  */
 247 static int stlink_usb_xfer_v1_get_sense(void *handle)
 248 {
 249         int err;
 250
 251         uint8_t cdb[STLINK_CMD_SIZE];
 252         uint8_t sense[18];
 253         uint8_t status[13];
 254
 255         assert(handle != NULL);
 256
 257         memset(cdb, 0, sizeof(cdb));
 258
 259         cdb[0] = 0x03;
 260         cdb[4] = sizeof(sense);
 261
 262         err = stlink_usb_xfer_v1_send_cmd(handle, cdb, sizeof(cdb), STLINK_RX_EP, sizeof(sense));
 263
 264         if (err != ERROR_OK)
 265                 return err;
 266
 267         err = stlink_usb_xfer_rw(handle, STLINK_RX_EP, sense, sizeof(sense));
 268
 269         if (err != ERROR_OK)
 270                 return err;
 271
 272         err = stlink_usb_xfer_v1_get_status(handle, status, sizeof(status));
 273
 274         if (err != ERROR_OK)
 275                 return err;
 276
 277         /* check for sense */
 278         if (status[12] != 0)
 279                 return ERROR_FAIL;
 280
 281         /* if (sense[0] != 0x70 && sense[0] != 0x71) */
 282
 283         return err;
 284 }
 285
 286 /** */
 287 static int stlink_usb_xfer_v1_check_status(void *handle)
 288 {
 289         int err;
 290         uint8_t sg_buffer[13];
 291
 292         err = stlink_usb_xfer_v1_get_status(handle, sg_buffer, sizeof(sg_buffer));
 293
 294         if (err != ERROR_OK)
 295                 return err;
 296
 297         /* check for sense */
 298         if (sg_buffer[12] == 1) {
 299                 LOG_DEBUG("get sense");
 300
 301                 err = stlink_usb_xfer_v1_get_sense(handle);
 302         }
 303
 304         return err;
 305 }
 306
 307 /** */
 308 static int stlink_usb_xfer_v1(void *handle, const uint8_t *cmd, int cmdsize, int ep,
 309                               uint8_t *buf, int size)
 310 {
 311         int err;
 312
 313         assert(handle != NULL);
 314
 315         err = stlink_usb_xfer_v1_send_cmd(handle, cmd, cmdsize, ep, size);
 316
 317         if (err != ERROR_OK)
 318                 return err;
 319
 320         err = stlink_usb_xfer_rw(handle, ep, buf, size);
 321
 322         if (err != ERROR_OK)
 323                 return err;
 324
 325         return stlink_usb_xfer_v1_check_status(handle);
 326 }
 327
 328 /** */
 329 static int stlink_usb_xfer_v2(void *handle, const uint8_t *cmd, int cmdsize, int ep,
 330                               uint8_t *buf, int size)
 331 {
 332         struct stlink_usb_handle_s *h;
 333
 334         assert(handle != NULL);
 335
 336         h = (struct stlink_usb_handle_s *)handle;
 337
 338         if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)cmd, cmdsize,
 339                                    1000) != cmdsize) {
 340                 return ERROR_FAIL;
 341         }
 342
 343         return stlink_usb_xfer_rw(handle, ep, buf, size);
 344 }
 345
 346 /** */
 347 static int stlink_usb_xfer(void *handle, const uint8_t *cmd, int cmdsize, int ep,
 348                               uint8_t *buf, int size)
 349 {
 350         struct stlink_usb_handle_s *h;
 351
 352         assert(handle != NULL);
 353         assert(cmdsize == STLINK_CMD_SIZE);
 354
 355         h = (struct stlink_usb_handle_s *)handle;
 356
 357         if (h->version.stlink == 1) {
 358                 return stlink_usb_xfer_v1(handle, cmd, cmdsize, ep, buf, size);
 359         } else {
 360                 return stlink_usb_xfer_v2(handle, cmd, cmdsize, ep, buf, size);
 361         }
 362 }
 363
 364 /** */
 365 static int stlink_usb_recv(void *handle, const uint8_t *cmd, int cmdsize, uint8_t *rxbuf,
 366                     int rxsize)
 367 {
 368         return stlink_usb_xfer(handle, cmd, cmdsize, STLINK_RX_EP, rxbuf, rxsize);
 369 }
 370
 371 /** */
 372 static void stlink_usb_init_buffer(void *handle)
 373 {
 374         struct stlink_usb_handle_s *h;
 375
 376         assert(handle != NULL);
 377
 378         h = (struct stlink_usb_handle_s *)handle;
 379
 380         memset(h->txbuf, 0, STLINK_TX_SIZE);
 381         memset(h->rxbuf, 0, STLINK_RX_SIZE);
 382 }
 383
 384 static const char * const stlink_usb_error_msg[] = {
 385         "unknown"
 386 };
 387
 388 /** */
 389 static int stlink_usb_error_check(void *handle)
 390 {
 391         int res;
 392         const char *err_msg = 0;
 393         struct stlink_usb_handle_s *h;
 394
 395         assert(handle != NULL);
 396
 397         h = (struct stlink_usb_handle_s *)handle;
 398
 399         /* TODO: no error checking yet on api V1 */
 400         if (h->jtag_api == STLINK_JTAG_API_V1)
 401                 h->rxbuf[0] = STLINK_DEBUG_ERR_OK;
 402
 403         switch (h->rxbuf[0]) {
 404                 case STLINK_DEBUG_ERR_OK:
 405                         res = ERROR_OK;
 406                         break;
 407                 case STLINK_DEBUG_ERR_FAULT:
 408                 default:
 409                         err_msg = stlink_usb_error_msg[0];
 410                         res = ERROR_FAIL;
 411                         break;
 412         }
 413
 414         if (res != ERROR_OK)
 415                 LOG_DEBUG("status error: %d ('%s')", h->rxbuf[0], err_msg);
 416
 417         return res;
 418 }
 419
 420 /** */
 421 static int stlink_usb_version(void *handle)
 422 {
 423         int res;
 424         uint16_t v;
 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);
 432
 433         h->txbuf[0] = STLINK_GET_VERSION;
 434
 435         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 6);
 436
 437         if (res != ERROR_OK)
 438                 return res;
 439
 440         v = (h->rxbuf[0] << 8) | h->rxbuf[1];
 441
 442         h->version.stlink = (v >> 12) & 0x0f;
 443         h->version.jtag = (v >> 6) & 0x3f;
 444         h->version.swim = v & 0x3f;
 445         h->vid = buf_get_u32(h->rxbuf, 16, 16);
 446         h->pid = buf_get_u32(h->rxbuf, 32, 16);
 447
 448         /* set the supported jtag api version
 449          * V1 doesn't support API V2 at all
 450          * V2 support API V2 since JTAG V13
 451          */
 452         if ((h->version.stlink == 2) && (h->version.jtag > 12))
 453                 h->version.jtag_api_max = STLINK_JTAG_API_V2;
 454         else
 455                 h->version.jtag_api_max = STLINK_JTAG_API_V1;
 456
 457         LOG_DEBUG("STLINK v%d JTAG v%d API v%d SWIM v%d VID %04X PID %04X",
 458                 h->version.stlink,
 459                 h->version.jtag,
 460                 (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2,
 461                 h->version.swim,
 462                 h->vid,
 463                 h->pid);
 464
 465         return ERROR_OK;
 466 }
 467
 468 /** */
 469 static int stlink_usb_current_mode(void *handle, uint8_t *mode)
 470 {
 471         int res;
 472         struct stlink_usb_handle_s *h;
 473
 474         assert(handle != NULL);
 475
 476         h = (struct stlink_usb_handle_s *)handle;
 477
 478         stlink_usb_init_buffer(handle);
 479
 480         h->txbuf[0] = STLINK_GET_CURRENT_MODE;
 481
 482         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 483
 484         if (res != ERROR_OK)
 485                 return res;
 486
 487         *mode = h->rxbuf[0];
 488
 489         return ERROR_OK;
 490 }
 491
 492 /** */
 493 static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
 494 {
 495         int res;
 496         int rx_size = 0;
 497         struct stlink_usb_handle_s *h;
 498
 499         assert(handle != NULL);
 500
 501         h = (struct stlink_usb_handle_s *)handle;
 502
 503         stlink_usb_init_buffer(handle);
 504
 505         switch (type) {
 506                 case STLINK_MODE_DEBUG_JTAG:
 507                         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 508                         if (h->jtag_api == STLINK_JTAG_API_V1)
 509                                 h->txbuf[1] = STLINK_DEBUG_APIV1_ENTER;
 510                         else
 511                                 h->txbuf[1] = STLINK_DEBUG_APIV2_ENTER;
 512                         h->txbuf[2] = STLINK_DEBUG_ENTER_JTAG;
 513                         break;
 514                 case STLINK_MODE_DEBUG_SWD:
 515                         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 516                         if (h->jtag_api == STLINK_JTAG_API_V1)
 517                                 h->txbuf[1] = STLINK_DEBUG_APIV1_ENTER;
 518                         else
 519                                 h->txbuf[1] = STLINK_DEBUG_APIV2_ENTER;
 520                         h->txbuf[2] = STLINK_DEBUG_ENTER_SWD;
 521                         break;
 522                 case STLINK_MODE_DEBUG_SWIM:
 523                         h->txbuf[0] = STLINK_SWIM_COMMAND;
 524                         h->txbuf[1] = STLINK_SWIM_ENTER;
 525                         break;
 526                 case STLINK_MODE_DFU:
 527                 case STLINK_MODE_MASS:
 528                 default:
 529                         return ERROR_FAIL;
 530         }
 531
 532         /* on api V2 we are able the read the latest command
 533          * status
 534          * TODO: we need the test on api V1 too
 535          */
 536         if (h->jtag_api == STLINK_JTAG_API_V2)
 537                 rx_size = 2;
 538
 539         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, rx_size);
 540
 541         if (res != ERROR_OK)
 542                 return res;
 543
 544         res = stlink_usb_error_check(h);
 545
 546         return res;
 547 }
 548
 549 /** */
 550 static int stlink_usb_mode_leave(void *handle, enum stlink_mode type)
 551 {
 552         int res;
 553         struct stlink_usb_handle_s *h;
 554
 555         assert(handle != NULL);
 556
 557         h = (struct stlink_usb_handle_s *)handle;
 558
 559         stlink_usb_init_buffer(handle);
 560
 561         switch (type) {
 562                 case STLINK_MODE_DEBUG_JTAG:
 563                 case STLINK_MODE_DEBUG_SWD:
 564                         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 565                         h->txbuf[1] = STLINK_DEBUG_EXIT;
 566                         break;
 567                 case STLINK_MODE_DEBUG_SWIM:
 568                         h->txbuf[0] = STLINK_SWIM_COMMAND;
 569                         h->txbuf[1] = STLINK_SWIM_EXIT;
 570                         break;
 571                 case STLINK_MODE_DFU:
 572                         h->txbuf[0] = STLINK_DFU_COMMAND;
 573                         h->txbuf[1] = STLINK_DFU_EXIT;
 574                         break;
 575                 case STLINK_MODE_MASS:
 576                 default:
 577                         return ERROR_FAIL;
 578         }
 579
 580         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0);
 581
 582         if (res != ERROR_OK)
 583                 return res;
 584
 585         return ERROR_OK;
 586 }
 587
 588 /** */
 589 static int stlink_usb_init_mode(void *handle)
 590 {
 591         int res;
 592         uint8_t mode;
 593         enum stlink_mode emode;
 594         struct stlink_usb_handle_s *h;
 595
 596         assert(handle != NULL);
 597
 598         h = (struct stlink_usb_handle_s *)handle;
 599
 600         res = stlink_usb_current_mode(handle, &mode);
 601
 602         if (res != ERROR_OK)
 603                 return res;
 604
 605         LOG_DEBUG("MODE: %02X", mode);
 606
 607         /* try to exit current mode */
 608         switch (mode) {
 609                 case STLINK_DEV_DFU_MODE:
 610                         emode = STLINK_MODE_DFU;
 611                         break;
 612                 case STLINK_DEV_DEBUG_MODE:
 613                         emode = STLINK_MODE_DEBUG_SWD;
 614                         break;
 615                 case STLINK_DEV_SWIM_MODE:
 616                         emode = STLINK_MODE_DEBUG_SWIM;
 617                         break;
 618                 case STLINK_DEV_BOOTLOADER_MODE:
 619                 case STLINK_DEV_MASS_MODE:
 620                 default:
 621                         emode = STLINK_MODE_UNKNOWN;
 622                         break;
 623         }
 624
 625         if (emode != STLINK_MODE_UNKNOWN) {
 626                 res = stlink_usb_mode_leave(handle, emode);
 627
 628                 if (res != ERROR_OK)
 629                         return res;
 630         }
 631
 632         res = stlink_usb_current_mode(handle, &mode);
 633
 634         if (res != ERROR_OK)
 635                 return res;
 636
 637         LOG_DEBUG("MODE: %02X", mode);
 638
 639         /* set selected mode */
 640         switch (h->transport) {
 641                 case STLINK_TRANSPORT_SWD:
 642                         emode = STLINK_MODE_DEBUG_SWD;
 643                         break;
 644                 case STLINK_TRANSPORT_JTAG:
 645                         emode = STLINK_MODE_DEBUG_JTAG;
 646                         break;
 647                 case STLINK_TRANSPORT_SWIM:
 648                         emode = STLINK_MODE_DEBUG_SWIM;
 649                         break;
 650                 default:
 651                         emode = STLINK_MODE_UNKNOWN;
 652                         break;
 653         }
 654
 655         if (emode == STLINK_MODE_UNKNOWN) {
 656                 LOG_ERROR("selected mode (transport) not supported");
 657                 return ERROR_FAIL;
 658         }
 659
 660         res = stlink_usb_mode_enter(handle, emode);
 661
 662         if (res != ERROR_OK)
 663                 return res;
 664
 665         res = stlink_usb_current_mode(handle, &mode);
 666
 667         if (res != ERROR_OK)
 668                 return res;
 669
 670         LOG_DEBUG("MODE: %02X", mode);
 671
 672         return ERROR_OK;
 673 }
 674
 675 /** */
 676 static int stlink_usb_idcode(void *handle, uint32_t *idcode)
 677 {
 678         int res;
 679         struct stlink_usb_handle_s *h;
 680
 681         assert(handle != NULL);
 682
 683         h = (struct stlink_usb_handle_s *)handle;
 684
 685         stlink_usb_init_buffer(handle);
 686
 687         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 688         h->txbuf[1] = STLINK_DEBUG_READCOREID;
 689
 690         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 4);
 691
 692         if (res != ERROR_OK)
 693                 return res;
 694
 695         *idcode = le_to_h_u32(h->rxbuf);
 696
 697         LOG_DEBUG("IDCODE: %08X", *idcode);
 698
 699         return ERROR_OK;
 700 }
 701
 702 /** */
 703 static enum target_state stlink_usb_state(void *handle)
 704 {
 705         int res;
 706         struct stlink_usb_handle_s *h;
 707
 708         assert(handle != NULL);
 709
 710         h = (struct stlink_usb_handle_s *)handle;
 711
 712         if (h->jtag_api == STLINK_JTAG_API_V2)
 713                 return TARGET_UNKNOWN;
 714
 715         stlink_usb_init_buffer(handle);
 716
 717         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 718         h->txbuf[1] = STLINK_DEBUG_GETSTATUS;
 719
 720         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 721
 722         if (res != ERROR_OK)
 723                 return TARGET_UNKNOWN;
 724
 725         if (h->rxbuf[0] == STLINK_CORE_RUNNING)
 726                 return TARGET_RUNNING;
 727         if (h->rxbuf[0] == STLINK_CORE_HALTED)
 728                 return TARGET_HALTED;
 729
 730         return TARGET_UNKNOWN;
 731 }
 732
 733 /** */
 734 static int stlink_usb_reset(void *handle)
 735 {
 736         int res;
 737         struct stlink_usb_handle_s *h;
 738
 739         assert(handle != NULL);
 740
 741         h = (struct stlink_usb_handle_s *)handle;
 742
 743         stlink_usb_init_buffer(handle);
 744
 745         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 746
 747         if (h->jtag_api == STLINK_JTAG_API_V1)
 748                 h->txbuf[1] = STLINK_DEBUG_APIV1_RESETSYS;
 749         else
 750                 h->txbuf[1] = STLINK_DEBUG_APIV2_RESETSYS;
 751
 752         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 753
 754         if (res != ERROR_OK)
 755                 return res;
 756
 757         LOG_DEBUG("RESET: %08X", h->rxbuf[0]);
 758
 759         return ERROR_OK;
 760 }
 761
 762 /** */
 763 static int stlink_usb_run(void *handle)
 764 {
 765         int res;
 766         struct stlink_usb_handle_s *h;
 767
 768         assert(handle != NULL);
 769
 770         h = (struct stlink_usb_handle_s *)handle;
 771
 772         if (h->jtag_api == STLINK_JTAG_API_V2)
 773                 return ERROR_FAIL;
 774
 775         stlink_usb_init_buffer(handle);
 776
 777         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 778         h->txbuf[1] = STLINK_DEBUG_RUNCORE;
 779
 780         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 781
 782         if (res != ERROR_OK)
 783                 return res;
 784
 785         return ERROR_OK;
 786 }
 787
 788 /** */
 789 static int stlink_usb_halt(void *handle)
 790 {
 791         int res;
 792         struct stlink_usb_handle_s *h;
 793
 794         assert(handle != NULL);
 795
 796         h = (struct stlink_usb_handle_s *)handle;
 797
 798         if (h->jtag_api == STLINK_JTAG_API_V2)
 799                 return ERROR_FAIL;
 800
 801         stlink_usb_init_buffer(handle);
 802
 803         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 804         h->txbuf[1] = STLINK_DEBUG_FORCEDEBUG;
 805
 806         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 807
 808         if (res != ERROR_OK)
 809                 return res;
 810
 811         return ERROR_OK;
 812 }
 813
 814 /** */
 815 static int stlink_usb_step(void *handle)
 816 {
 817         int res;
 818         struct stlink_usb_handle_s *h;
 819
 820         assert(handle != NULL);
 821
 822         h = (struct stlink_usb_handle_s *)handle;
 823
 824         if (h->jtag_api == STLINK_JTAG_API_V2)
 825                 return ERROR_FAIL;
 826
 827         stlink_usb_init_buffer(handle);
 828
 829         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 830         h->txbuf[1] = STLINK_DEBUG_STEPCORE;
 831
 832         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 833
 834         if (res != ERROR_OK)
 835                 return res;
 836
 837         return ERROR_OK;
 838 }
 839
 840 /** */
 841 static int stlink_usb_read_regs(void *handle)
 842 {
 843         int res;
 844         struct stlink_usb_handle_s *h;
 845
 846         assert(handle != NULL);
 847
 848         h = (struct stlink_usb_handle_s *)handle;
 849
 850         stlink_usb_init_buffer(handle);
 851
 852         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 853         if (h->jtag_api == STLINK_JTAG_API_V1)
 854                 h->txbuf[1] = STLINK_DEBUG_APIV1_READALLREGS;
 855         else
 856                 h->txbuf[1] = STLINK_DEBUG_APIV2_READALLREGS;
 857
 858         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 84);
 859
 860         if (res != ERROR_OK)
 861                 return res;
 862
 863         return ERROR_OK;
 864 }
 865
 866 /** */
 867 static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
 868 {
 869         int res;
 870         struct stlink_usb_handle_s *h;
 871
 872         assert(handle != NULL);
 873
 874         h = (struct stlink_usb_handle_s *)handle;
 875
 876         stlink_usb_init_buffer(handle);
 877
 878         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 879         if (h->jtag_api == STLINK_JTAG_API_V1)
 880                 h->txbuf[1] = STLINK_DEBUG_APIV1_READREG;
 881         else
 882                 h->txbuf[1] = STLINK_DEBUG_APIV2_READREG;
 883         h->txbuf[2] = num;
 884
 885         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 4);
 886
 887         if (res != ERROR_OK)
 888                 return res;
 889
 890         *val = le_to_h_u32(h->rxbuf);
 891
 892         return ERROR_OK;
 893 }
 894
 895 /** */
 896 static int stlink_usb_write_reg(void *handle, int num, uint32_t val)
 897 {
 898         int res;
 899         struct stlink_usb_handle_s *h;
 900
 901         assert(handle != NULL);
 902
 903         h = (struct stlink_usb_handle_s *)handle;
 904
 905         stlink_usb_init_buffer(handle);
 906
 907         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 908         if (h->jtag_api == STLINK_JTAG_API_V1)
 909                 h->txbuf[1] = STLINK_DEBUG_APIV1_WRITEREG;
 910         else
 911                 h->txbuf[1] = STLINK_DEBUG_APIV2_WRITEREG;
 912         h->txbuf[2] = num;
 913         h_u32_to_le(h->txbuf + 3, val);
 914
 915         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 916
 917         if (res != ERROR_OK)
 918                 return res;
 919
 920         return ERROR_OK;
 921 }
 922
 923 /** */
 924 static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
 925                           uint8_t *buffer)
 926 {
 927         int res;
 928         uint16_t read_len = len;
 929         struct stlink_usb_handle_s *h;
 930
 931         assert(handle != NULL);
 932
 933         h = (struct stlink_usb_handle_s *)handle;
 934
 935         stlink_usb_init_buffer(handle);
 936
 937         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 938         h->txbuf[1] = STLINK_DEBUG_READMEM_8BIT;
 939         h_u32_to_le(h->txbuf + 2, addr);
 940         h_u16_to_le(h->txbuf + 2 + 4, len);
 941
 942         /* we need to fix read length for single bytes */
 943         if (read_len == 1)
 944                 read_len++;
 945
 946         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, read_len);
 947
 948         if (res != ERROR_OK)
 949                 return res;
 950
 951         memcpy(buffer, h->rxbuf, len);
 952
 953         return ERROR_OK;
 954 }
 955
 956 /** */
 957 static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len,
 958                            const uint8_t *buffer)
 959 {
 960         int res;
 961         struct stlink_usb_handle_s *h;
 962
 963         assert(handle != NULL);
 964
 965         h = (struct stlink_usb_handle_s *)handle;
 966
 967         stlink_usb_init_buffer(handle);
 968
 969         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 970         h->txbuf[1] = STLINK_DEBUG_WRITEMEM_8BIT;
 971         h_u32_to_le(h->txbuf + 2, addr);
 972         h_u16_to_le(h->txbuf + 2 + 4, len);
 973
 974         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0);
 975
 976         if (res != ERROR_OK)
 977                 return res;
 978
 979         res = stlink_usb_recv(handle, (uint8_t *) buffer, len, 0, 0);
 980
 981         if (res != ERROR_OK)
 982                 return res;
 983
 984         return ERROR_OK;
 985 }
 986
 987 /** */
 988 static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
 989                           uint32_t *buffer)
 990 {
 991         int res;
 992         struct stlink_usb_handle_s *h;
 993
 994         assert(handle != NULL);
 995
 996         h = (struct stlink_usb_handle_s *)handle;
 997
 998         stlink_usb_init_buffer(handle);
 999
1000         len *= 4;
1001
1002         h->txbuf[0] = STLINK_DEBUG_COMMAND;
1003         h->txbuf[1] = STLINK_DEBUG_READMEM_32BIT;
1004         h_u32_to_le(h->txbuf + 2, addr);
1005         h_u16_to_le(h->txbuf + 2 + 4, len);
1006
1007         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, len);
1008
1009         if (res != ERROR_OK)
1010                 return res;
1011
1012         memcpy(buffer, h->rxbuf, len);
1013
1014         return ERROR_OK;
1015 }
1016
1017 /** */
1018 static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
1019                            const uint32_t *buffer)
1020 {
1021         int res;
1022         struct stlink_usb_handle_s *h;
1023
1024         assert(handle != NULL);
1025
1026         h = (struct stlink_usb_handle_s *)handle;
1027
1028         stlink_usb_init_buffer(handle);
1029
1030         len *= 4;
1031
1032         h->txbuf[0] = STLINK_DEBUG_COMMAND;
1033         h->txbuf[1] = STLINK_DEBUG_WRITEMEM_32BIT;
1034         h_u32_to_le(h->txbuf + 2, addr);
1035         h_u16_to_le(h->txbuf + 2 + 4, len);
1036
1037         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0);
1038
1039         if (res != ERROR_OK)
1040                 return res;
1041
1042         res = stlink_usb_recv(handle, (uint8_t *) buffer, len, 0, 0);
1043
1044         if (res != ERROR_OK)
1045                 return res;
1046
1047         return ERROR_OK;
1048 }
1049
1050 /** */
1051 static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd)
1052 {
1053         int err;
1054         struct stlink_usb_handle_s *h;
1055
1056         LOG_DEBUG("stlink_usb_open");
1057
1058         h = malloc(sizeof(struct stlink_usb_handle_s));
1059
1060         if (h == 0) {
1061                 LOG_DEBUG("malloc failed");
1062                 return ERROR_FAIL;
1063         }
1064
1065         h->transport = param->transport;
1066
1067         const uint16_t vids[] = { param->vid, 0 };
1068         const uint16_t pids[] = { param->pid, 0 };
1069
1070         LOG_DEBUG("transport: %d vid: %04x pid: %04x", param->transport,
1071                 param->vid, param->pid);
1072
1073         if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) {
1074                 LOG_ERROR("open failed");
1075                 return ERROR_FAIL;
1076         }
1077
1078         jtag_libusb_set_configuration(h->fd, 0);
1079
1080         if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
1081                 LOG_DEBUG("claim interface failed");
1082                 return ERROR_FAIL;
1083         }
1084
1085         /* wrap version for first read */
1086         switch (param->pid) {
1087                 case 0x3744:
1088                         h->version.stlink = 1;
1089                         break;
1090                 default:
1091                         h->version.stlink = 2;
1092                         break;
1093         }
1094
1095         /* get the device version */
1096         err = stlink_usb_version(h);
1097
1098         if (err != ERROR_OK) {
1099                 LOG_ERROR("read version failed");
1100                 jtag_libusb_close(h->fd);
1101                 free(h);
1102                 return err;
1103         }
1104
1105         /* compare usb vid/pid */
1106         if ((param->vid != h->vid) || (param->pid != h->pid))
1107                 LOG_INFO("vid/pid are not identical: %04X/%04X %04X/%04X",
1108                         param->vid, param->pid,
1109                         h->vid, h->pid);
1110
1111         /* check if mode is supported */
1112         err = ERROR_OK;
1113
1114         switch (h->transport) {
1115                 case STLINK_TRANSPORT_SWD:
1116                 case STLINK_TRANSPORT_JTAG:
1117                         if (h->version.jtag == 0)
1118                                 err = ERROR_FAIL;
1119                         break;
1120                 case STLINK_TRANSPORT_SWIM:
1121                         if (h->version.swim == 0)
1122                                 err = ERROR_FAIL;
1123                         break;
1124                 default:
1125                         err = ERROR_FAIL;
1126                         break;
1127         }
1128
1129         if (err != ERROR_OK) {
1130                 LOG_ERROR("mode (transport) not supported by device");
1131                 jtag_libusb_close(h->fd);
1132                 free(h);
1133                 return err;
1134         }
1135
1136         /* set the used jtag api */
1137         h->jtag_api = STLINK_JTAG_API_V1;
1138
1139         /* initialize the debug hardware */
1140         err = stlink_usb_init_mode(h);
1141
1142         if (err != ERROR_OK) {
1143                 LOG_ERROR("init mode failed");
1144                 jtag_libusb_close(h->fd);
1145                 free(h);
1146                 return err;
1147         }
1148
1149         *fd = h;
1150
1151         return ERROR_OK;
1152 }
1153
1154 /** */
1155 static int stlink_usb_close(void *fd)
1156 {
1157         return ERROR_OK;
1158 }
1159
1160 /** */
1161 struct stlink_layout_api_s stlink_usb_layout_api = {
1162         /** */
1163         .open = stlink_usb_open,
1164         /** */
1165         .close = stlink_usb_close,
1166         /** */
1167         .idcode = stlink_usb_idcode,
1168         /** */
1169         .state = stlink_usb_state,
1170         /** */
1171         .reset = stlink_usb_reset,
1172         /** */
1173         .run = stlink_usb_run,
1174         /** */
1175         .halt = stlink_usb_halt,
1176         /** */
1177         .step = stlink_usb_step,
1178         /** */
1179         .read_regs = stlink_usb_read_regs,
1180         /** */
1181         .read_reg = stlink_usb_read_reg,
1182         /** */
1183         .write_reg = stlink_usb_write_reg,
1184         /** */
1185         .read_mem8 = stlink_usb_read_mem8,
1186         /** */
1187         .write_mem8 = stlink_usb_write_mem8,
1188         /** */
1189         .read_mem32 = stlink_usb_read_mem32,
1190         /** */
1191         .write_mem32 = stlink_usb_write_mem32,
1192 };