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 int stlink_usb_send(void *handle, const uint8_t *cmd, int cmdsize, uint8_t *txbuf,
 373                     int txsize)
 374 {
 375         return stlink_usb_xfer(handle, cmd, cmdsize, STLINK_TX_EP, txbuf, txsize);
 376 }
 377
 378 /** */
 379 static void stlink_usb_init_buffer(void *handle)
 380 {
 381         struct stlink_usb_handle_s *h;
 382
 383         assert(handle != NULL);
 384
 385         h = (struct stlink_usb_handle_s *)handle;
 386
 387         memset(h->txbuf, 0, STLINK_TX_SIZE);
 388         memset(h->rxbuf, 0, STLINK_RX_SIZE);
 389 }
 390
 391 static const char * const stlink_usb_error_msg[] = {
 392         "unknown"
 393 };
 394
 395 /** */
 396 static int stlink_usb_error_check(void *handle)
 397 {
 398         int res;
 399         const char *err_msg = 0;
 400         struct stlink_usb_handle_s *h;
 401
 402         assert(handle != NULL);
 403
 404         h = (struct stlink_usb_handle_s *)handle;
 405
 406         /* TODO: no error checking yet on api V1 */
 407         if (h->jtag_api == STLINK_JTAG_API_V1)
 408                 h->rxbuf[0] = STLINK_DEBUG_ERR_OK;
 409
 410         switch (h->rxbuf[0]) {
 411                 case STLINK_DEBUG_ERR_OK:
 412                         res = ERROR_OK;
 413                         break;
 414                 case STLINK_DEBUG_ERR_FAULT:
 415                 default:
 416                         err_msg = stlink_usb_error_msg[0];
 417                         res = ERROR_FAIL;
 418                         break;
 419         }
 420
 421         if (res != ERROR_OK)
 422                 LOG_DEBUG("status error: %d ('%s')", h->rxbuf[0], err_msg);
 423
 424         return res;
 425 }
 426
 427 /** */
 428 static int stlink_usb_version(void *handle)
 429 {
 430         int res;
 431         uint16_t v;
 432         struct stlink_usb_handle_s *h;
 433
 434         assert(handle != NULL);
 435
 436         h = (struct stlink_usb_handle_s *)handle;
 437
 438         stlink_usb_init_buffer(handle);
 439
 440         h->txbuf[0] = STLINK_GET_VERSION;
 441
 442         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 6);
 443
 444         if (res != ERROR_OK)
 445                 return res;
 446
 447         v = (h->rxbuf[0] << 8) | h->rxbuf[1];
 448
 449         h->version.stlink = (v >> 12) & 0x0f;
 450         h->version.jtag = (v >> 6) & 0x3f;
 451         h->version.swim = v & 0x3f;
 452         h->vid = buf_get_u32(h->rxbuf, 16, 16);
 453         h->pid = buf_get_u32(h->rxbuf, 32, 16);
 454
 455         /* set the supported jtag api version
 456          * V1 doesn't support API V2 at all
 457          * V2 support API V2 since JTAG V13
 458          */
 459         if ((h->version.stlink == 2) && (h->version.jtag > 12))
 460                 h->version.jtag_api_max = STLINK_JTAG_API_V2;
 461         else
 462                 h->version.jtag_api_max = STLINK_JTAG_API_V1;
 463
 464         LOG_DEBUG("STLINK v%d JTAG v%d API v%d SWIM v%d VID %04X PID %04X",
 465                 h->version.stlink,
 466                 h->version.jtag,
 467                 (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2,
 468                 h->version.swim,
 469                 h->vid,
 470                 h->pid);
 471
 472         return ERROR_OK;
 473 }
 474
 475 /** */
 476 static int stlink_usb_current_mode(void *handle, uint8_t *mode)
 477 {
 478         int res;
 479         struct stlink_usb_handle_s *h;
 480
 481         assert(handle != NULL);
 482
 483         h = (struct stlink_usb_handle_s *)handle;
 484
 485         stlink_usb_init_buffer(handle);
 486
 487         h->txbuf[0] = STLINK_GET_CURRENT_MODE;
 488
 489         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 490
 491         if (res != ERROR_OK)
 492                 return res;
 493
 494         *mode = h->rxbuf[0];
 495
 496         return ERROR_OK;
 497 }
 498
 499 /** */
 500 static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
 501 {
 502         int res;
 503         int rx_size = 0;
 504         struct stlink_usb_handle_s *h;
 505
 506         assert(handle != NULL);
 507
 508         h = (struct stlink_usb_handle_s *)handle;
 509
 510         stlink_usb_init_buffer(handle);
 511
 512         switch (type) {
 513                 case STLINK_MODE_DEBUG_JTAG:
 514                         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 515                         if (h->jtag_api == STLINK_JTAG_API_V1)
 516                                 h->txbuf[1] = STLINK_DEBUG_APIV1_ENTER;
 517                         else
 518                                 h->txbuf[1] = STLINK_DEBUG_APIV2_ENTER;
 519                         h->txbuf[2] = STLINK_DEBUG_ENTER_JTAG;
 520                         break;
 521                 case STLINK_MODE_DEBUG_SWD:
 522                         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 523                         if (h->jtag_api == STLINK_JTAG_API_V1)
 524                                 h->txbuf[1] = STLINK_DEBUG_APIV1_ENTER;
 525                         else
 526                                 h->txbuf[1] = STLINK_DEBUG_APIV2_ENTER;
 527                         h->txbuf[2] = STLINK_DEBUG_ENTER_SWD;
 528                         break;
 529                 case STLINK_MODE_DEBUG_SWIM:
 530                         h->txbuf[0] = STLINK_SWIM_COMMAND;
 531                         h->txbuf[1] = STLINK_SWIM_ENTER;
 532                         break;
 533                 case STLINK_MODE_DFU:
 534                 case STLINK_MODE_MASS:
 535                 default:
 536                         return ERROR_FAIL;
 537         }
 538
 539         /* on api V2 we are able the read the latest command
 540          * status
 541          * TODO: we need the test on api V1 too
 542          */
 543         if (h->jtag_api == STLINK_JTAG_API_V2)
 544                 rx_size = 2;
 545
 546         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, rx_size);
 547
 548         if (res != ERROR_OK)
 549                 return res;
 550
 551         res = stlink_usb_error_check(h);
 552
 553         return res;
 554 }
 555
 556 /** */
 557 static int stlink_usb_mode_leave(void *handle, enum stlink_mode type)
 558 {
 559         int res;
 560         struct stlink_usb_handle_s *h;
 561
 562         assert(handle != NULL);
 563
 564         h = (struct stlink_usb_handle_s *)handle;
 565
 566         stlink_usb_init_buffer(handle);
 567
 568         switch (type) {
 569                 case STLINK_MODE_DEBUG_JTAG:
 570                 case STLINK_MODE_DEBUG_SWD:
 571                         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 572                         h->txbuf[1] = STLINK_DEBUG_EXIT;
 573                         break;
 574                 case STLINK_MODE_DEBUG_SWIM:
 575                         h->txbuf[0] = STLINK_SWIM_COMMAND;
 576                         h->txbuf[1] = STLINK_SWIM_EXIT;
 577                         break;
 578                 case STLINK_MODE_DFU:
 579                         h->txbuf[0] = STLINK_DFU_COMMAND;
 580                         h->txbuf[1] = STLINK_DFU_EXIT;
 581                         break;
 582                 case STLINK_MODE_MASS:
 583                 default:
 584                         return ERROR_FAIL;
 585         }
 586
 587         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0);
 588
 589         if (res != ERROR_OK)
 590                 return res;
 591
 592         return ERROR_OK;
 593 }
 594
 595 /** */
 596 static int stlink_usb_init_mode(void *handle)
 597 {
 598         int res;
 599         uint8_t mode;
 600         enum stlink_mode emode;
 601         struct stlink_usb_handle_s *h;
 602
 603         assert(handle != NULL);
 604
 605         h = (struct stlink_usb_handle_s *)handle;
 606
 607         res = stlink_usb_current_mode(handle, &mode);
 608
 609         if (res != ERROR_OK)
 610                 return res;
 611
 612         LOG_DEBUG("MODE: %02X", mode);
 613
 614         /* try to exit current mode */
 615         switch (mode) {
 616                 case STLINK_DEV_DFU_MODE:
 617                         emode = STLINK_MODE_DFU;
 618                         break;
 619                 case STLINK_DEV_DEBUG_MODE:
 620                         emode = STLINK_MODE_DEBUG_SWD;
 621                         break;
 622                 case STLINK_DEV_SWIM_MODE:
 623                         emode = STLINK_MODE_DEBUG_SWIM;
 624                         break;
 625                 case STLINK_DEV_BOOTLOADER_MODE:
 626                 case STLINK_DEV_MASS_MODE:
 627                 default:
 628                         emode = STLINK_MODE_UNKNOWN;
 629                         break;
 630         }
 631
 632         if (emode != STLINK_MODE_UNKNOWN) {
 633                 res = stlink_usb_mode_leave(handle, emode);
 634
 635                 if (res != ERROR_OK)
 636                         return res;
 637         }
 638
 639         res = stlink_usb_current_mode(handle, &mode);
 640
 641         if (res != ERROR_OK)
 642                 return res;
 643
 644         LOG_DEBUG("MODE: %02X", mode);
 645
 646         /* set selected mode */
 647         switch (h->transport) {
 648                 case STLINK_TRANSPORT_SWD:
 649                         emode = STLINK_MODE_DEBUG_SWD;
 650                         break;
 651                 case STLINK_TRANSPORT_JTAG:
 652                         emode = STLINK_MODE_DEBUG_JTAG;
 653                         break;
 654                 case STLINK_TRANSPORT_SWIM:
 655                         emode = STLINK_MODE_DEBUG_SWIM;
 656                         break;
 657                 default:
 658                         emode = STLINK_MODE_UNKNOWN;
 659                         break;
 660         }
 661
 662         if (emode == STLINK_MODE_UNKNOWN) {
 663                 LOG_ERROR("selected mode (transport) not supported");
 664                 return ERROR_FAIL;
 665         }
 666
 667         res = stlink_usb_mode_enter(handle, emode);
 668
 669         if (res != ERROR_OK)
 670                 return res;
 671
 672         res = stlink_usb_current_mode(handle, &mode);
 673
 674         if (res != ERROR_OK)
 675                 return res;
 676
 677         LOG_DEBUG("MODE: %02X", mode);
 678
 679         return ERROR_OK;
 680 }
 681
 682 /** */
 683 static int stlink_usb_idcode(void *handle, uint32_t *idcode)
 684 {
 685         int res;
 686         struct stlink_usb_handle_s *h;
 687
 688         assert(handle != NULL);
 689
 690         h = (struct stlink_usb_handle_s *)handle;
 691
 692         stlink_usb_init_buffer(handle);
 693
 694         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 695         h->txbuf[1] = STLINK_DEBUG_READCOREID;
 696
 697         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 4);
 698
 699         if (res != ERROR_OK)
 700                 return res;
 701
 702         *idcode = le_to_h_u32(h->rxbuf);
 703
 704         LOG_DEBUG("IDCODE: %08X", *idcode);
 705
 706         return ERROR_OK;
 707 }
 708
 709 /** */
 710 static enum target_state stlink_usb_state(void *handle)
 711 {
 712         int res;
 713         struct stlink_usb_handle_s *h;
 714
 715         assert(handle != NULL);
 716
 717         h = (struct stlink_usb_handle_s *)handle;
 718
 719         if (h->jtag_api == STLINK_JTAG_API_V2)
 720                 return TARGET_UNKNOWN;
 721
 722         stlink_usb_init_buffer(handle);
 723
 724         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 725         h->txbuf[1] = STLINK_DEBUG_GETSTATUS;
 726
 727         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 728
 729         if (res != ERROR_OK)
 730                 return TARGET_UNKNOWN;
 731
 732         if (h->rxbuf[0] == STLINK_CORE_RUNNING)
 733                 return TARGET_RUNNING;
 734         if (h->rxbuf[0] == STLINK_CORE_HALTED)
 735                 return TARGET_HALTED;
 736
 737         return TARGET_UNKNOWN;
 738 }
 739
 740 /** */
 741 static int stlink_usb_reset(void *handle)
 742 {
 743         int res;
 744         struct stlink_usb_handle_s *h;
 745
 746         assert(handle != NULL);
 747
 748         h = (struct stlink_usb_handle_s *)handle;
 749
 750         stlink_usb_init_buffer(handle);
 751
 752         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 753
 754         if (h->jtag_api == STLINK_JTAG_API_V1)
 755                 h->txbuf[1] = STLINK_DEBUG_APIV1_RESETSYS;
 756         else
 757                 h->txbuf[1] = STLINK_DEBUG_APIV2_RESETSYS;
 758
 759         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 760
 761         if (res != ERROR_OK)
 762                 return res;
 763
 764         LOG_DEBUG("RESET: %08X", h->rxbuf[0]);
 765
 766         return ERROR_OK;
 767 }
 768
 769 /** */
 770 static int stlink_usb_run(void *handle)
 771 {
 772         int res;
 773         struct stlink_usb_handle_s *h;
 774
 775         assert(handle != NULL);
 776
 777         h = (struct stlink_usb_handle_s *)handle;
 778
 779         if (h->jtag_api == STLINK_JTAG_API_V2)
 780                 return ERROR_FAIL;
 781
 782         stlink_usb_init_buffer(handle);
 783
 784         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 785         h->txbuf[1] = STLINK_DEBUG_RUNCORE;
 786
 787         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 788
 789         if (res != ERROR_OK)
 790                 return res;
 791
 792         return ERROR_OK;
 793 }
 794
 795 /** */
 796 static int stlink_usb_halt(void *handle)
 797 {
 798         int res;
 799         struct stlink_usb_handle_s *h;
 800
 801         assert(handle != NULL);
 802
 803         h = (struct stlink_usb_handle_s *)handle;
 804
 805         if (h->jtag_api == STLINK_JTAG_API_V2)
 806                 return ERROR_FAIL;
 807
 808         stlink_usb_init_buffer(handle);
 809
 810         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 811         h->txbuf[1] = STLINK_DEBUG_FORCEDEBUG;
 812
 813         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 814
 815         if (res != ERROR_OK)
 816                 return res;
 817
 818         return ERROR_OK;
 819 }
 820
 821 /** */
 822 static int stlink_usb_step(void *handle)
 823 {
 824         int res;
 825         struct stlink_usb_handle_s *h;
 826
 827         assert(handle != NULL);
 828
 829         h = (struct stlink_usb_handle_s *)handle;
 830
 831         if (h->jtag_api == STLINK_JTAG_API_V2)
 832                 return ERROR_FAIL;
 833
 834         stlink_usb_init_buffer(handle);
 835
 836         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 837         h->txbuf[1] = STLINK_DEBUG_STEPCORE;
 838
 839         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 840
 841         if (res != ERROR_OK)
 842                 return res;
 843
 844         return ERROR_OK;
 845 }
 846
 847 /** */
 848 static int stlink_usb_read_regs(void *handle)
 849 {
 850         int res;
 851         struct stlink_usb_handle_s *h;
 852
 853         assert(handle != NULL);
 854
 855         h = (struct stlink_usb_handle_s *)handle;
 856
 857         stlink_usb_init_buffer(handle);
 858
 859         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 860         if (h->jtag_api == STLINK_JTAG_API_V1)
 861                 h->txbuf[1] = STLINK_DEBUG_APIV1_READALLREGS;
 862         else
 863                 h->txbuf[1] = STLINK_DEBUG_APIV2_READALLREGS;
 864
 865         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 84);
 866
 867         if (res != ERROR_OK)
 868                 return res;
 869
 870         return ERROR_OK;
 871 }
 872
 873 /** */
 874 static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
 875 {
 876         int res;
 877         struct stlink_usb_handle_s *h;
 878
 879         assert(handle != NULL);
 880
 881         h = (struct stlink_usb_handle_s *)handle;
 882
 883         stlink_usb_init_buffer(handle);
 884
 885         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 886         if (h->jtag_api == STLINK_JTAG_API_V1)
 887                 h->txbuf[1] = STLINK_DEBUG_APIV1_READREG;
 888         else
 889                 h->txbuf[1] = STLINK_DEBUG_APIV2_READREG;
 890         h->txbuf[2] = num;
 891
 892         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 4);
 893
 894         if (res != ERROR_OK)
 895                 return res;
 896
 897         *val = le_to_h_u32(h->rxbuf);
 898
 899         return ERROR_OK;
 900 }
 901
 902 /** */
 903 static int stlink_usb_write_reg(void *handle, int num, uint32_t val)
 904 {
 905         int res;
 906         struct stlink_usb_handle_s *h;
 907
 908         assert(handle != NULL);
 909
 910         h = (struct stlink_usb_handle_s *)handle;
 911
 912         stlink_usb_init_buffer(handle);
 913
 914         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 915         if (h->jtag_api == STLINK_JTAG_API_V1)
 916                 h->txbuf[1] = STLINK_DEBUG_APIV1_WRITEREG;
 917         else
 918                 h->txbuf[1] = STLINK_DEBUG_APIV2_WRITEREG;
 919         h->txbuf[2] = num;
 920         h_u32_to_le(h->txbuf + 3, val);
 921
 922         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
 923
 924         if (res != ERROR_OK)
 925                 return res;
 926
 927         return ERROR_OK;
 928 }
 929
 930 /** */
 931 static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
 932                           uint8_t *buffer)
 933 {
 934         int res;
 935         uint16_t read_len = len;
 936         struct stlink_usb_handle_s *h;
 937
 938         assert(handle != NULL);
 939
 940         h = (struct stlink_usb_handle_s *)handle;
 941
 942         stlink_usb_init_buffer(handle);
 943
 944         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 945         h->txbuf[1] = STLINK_DEBUG_READMEM_8BIT;
 946         h_u32_to_le(h->txbuf + 2, addr);
 947         h_u16_to_le(h->txbuf + 2 + 4, len);
 948
 949         /* we need to fix read length for single bytes */
 950         if (read_len == 1)
 951                 read_len++;
 952
 953         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, read_len);
 954
 955         if (res != ERROR_OK)
 956                 return res;
 957
 958         memcpy(buffer, h->rxbuf, len);
 959
 960         return ERROR_OK;
 961 }
 962
 963 /** */
 964 static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len,
 965                            const uint8_t *buffer)
 966 {
 967         int res;
 968         struct stlink_usb_handle_s *h;
 969
 970         assert(handle != NULL);
 971
 972         h = (struct stlink_usb_handle_s *)handle;
 973
 974         stlink_usb_init_buffer(handle);
 975
 976         h->txbuf[0] = STLINK_DEBUG_COMMAND;
 977         h->txbuf[1] = STLINK_DEBUG_WRITEMEM_8BIT;
 978         h_u32_to_le(h->txbuf + 2, addr);
 979         h_u16_to_le(h->txbuf + 2 + 4, len);
 980
 981         res = stlink_usb_send(handle, h->txbuf, STLINK_CMD_SIZE, (uint8_t *) buffer, len);
 982
 983         if (res != ERROR_OK)
 984                 return res;
 985
 986         return ERROR_OK;
 987 }
 988
 989 /** */
 990 static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
 991                           uint32_t *buffer)
 992 {
 993         int res;
 994         struct stlink_usb_handle_s *h;
 995
 996         assert(handle != NULL);
 997
 998         h = (struct stlink_usb_handle_s *)handle;
 999
1000         stlink_usb_init_buffer(handle);
1001
1002         len *= 4;
1003
1004         h->txbuf[0] = STLINK_DEBUG_COMMAND;
1005         h->txbuf[1] = STLINK_DEBUG_READMEM_32BIT;
1006         h_u32_to_le(h->txbuf + 2, addr);
1007         h_u16_to_le(h->txbuf + 2 + 4, len);
1008
1009         res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, len);
1010
1011         if (res != ERROR_OK)
1012                 return res;
1013
1014         memcpy(buffer, h->rxbuf, len);
1015
1016         return ERROR_OK;
1017 }
1018
1019 /** */
1020 static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
1021                            const uint32_t *buffer)
1022 {
1023         int res;
1024         struct stlink_usb_handle_s *h;
1025
1026         assert(handle != NULL);
1027
1028         h = (struct stlink_usb_handle_s *)handle;
1029
1030         stlink_usb_init_buffer(handle);
1031
1032         len *= 4;
1033
1034         h->txbuf[0] = STLINK_DEBUG_COMMAND;
1035         h->txbuf[1] = STLINK_DEBUG_WRITEMEM_32BIT;
1036         h_u32_to_le(h->txbuf + 2, addr);
1037         h_u16_to_le(h->txbuf + 2 + 4, len);
1038
1039         res = stlink_usb_send(handle, h->txbuf, STLINK_CMD_SIZE, (uint8_t *) buffer, len);
1040
1041         if (res != ERROR_OK)
1042                 return res;
1043
1044         return ERROR_OK;
1045 }
1046
1047 /** */
1048 static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd)
1049 {
1050         int err;
1051         struct stlink_usb_handle_s *h;
1052
1053         LOG_DEBUG("stlink_usb_open");
1054
1055         h = malloc(sizeof(struct stlink_usb_handle_s));
1056
1057         if (h == 0) {
1058                 LOG_DEBUG("malloc failed");
1059                 return ERROR_FAIL;
1060         }
1061
1062         h->transport = param->transport;
1063
1064         const uint16_t vids[] = { param->vid, 0 };
1065         const uint16_t pids[] = { param->pid, 0 };
1066
1067         LOG_DEBUG("transport: %d vid: %04x pid: %04x", param->transport,
1068                 param->vid, param->pid);
1069
1070         if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) {
1071                 LOG_ERROR("open failed");
1072                 return ERROR_FAIL;
1073         }
1074
1075         jtag_libusb_set_configuration(h->fd, 0);
1076
1077         if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
1078                 LOG_DEBUG("claim interface failed");
1079                 return ERROR_FAIL;
1080         }
1081
1082         /* wrap version for first read */
1083         switch (param->pid) {
1084                 case 0x3744:
1085                         h->version.stlink = 1;
1086                         break;
1087                 default:
1088                         h->version.stlink = 2;
1089                         break;
1090         }
1091
1092         /* get the device version */
1093         err = stlink_usb_version(h);
1094
1095         if (err != ERROR_OK) {
1096                 LOG_ERROR("read version failed");
1097                 jtag_libusb_close(h->fd);
1098                 free(h);
1099                 return err;
1100         }
1101
1102         /* compare usb vid/pid */
1103         if ((param->vid != h->vid) || (param->pid != h->pid))
1104                 LOG_INFO("vid/pid are not identical: %04X/%04X %04X/%04X",
1105                         param->vid, param->pid,
1106                         h->vid, h->pid);
1107
1108         /* check if mode is supported */
1109         err = ERROR_OK;
1110
1111         switch (h->transport) {
1112                 case STLINK_TRANSPORT_SWD:
1113                 case STLINK_TRANSPORT_JTAG:
1114                         if (h->version.jtag == 0)
1115                                 err = ERROR_FAIL;
1116                         break;
1117                 case STLINK_TRANSPORT_SWIM:
1118                         if (h->version.swim == 0)
1119                                 err = ERROR_FAIL;
1120                         break;
1121                 default:
1122                         err = ERROR_FAIL;
1123                         break;
1124         }
1125
1126         if (err != ERROR_OK) {
1127                 LOG_ERROR("mode (transport) not supported by device");
1128                 jtag_libusb_close(h->fd);
1129                 free(h);
1130                 return err;
1131         }
1132
1133         /* set the used jtag api */
1134         h->jtag_api = STLINK_JTAG_API_V1;
1135
1136         /* initialize the debug hardware */
1137         err = stlink_usb_init_mode(h);
1138
1139         if (err != ERROR_OK) {
1140                 LOG_ERROR("init mode failed");
1141                 jtag_libusb_close(h->fd);
1142                 free(h);
1143                 return err;
1144         }
1145
1146         *fd = h;
1147
1148         return ERROR_OK;
1149 }
1150
1151 /** */
1152 static int stlink_usb_close(void *fd)
1153 {
1154         return ERROR_OK;
1155 }
1156
1157 /** */
1158 struct stlink_layout_api_s stlink_usb_layout_api = {
1159         /** */
1160         .open = stlink_usb_open,
1161         /** */
1162         .close = stlink_usb_close,
1163         /** */
1164         .idcode = stlink_usb_idcode,
1165         /** */
1166         .state = stlink_usb_state,
1167         /** */
1168         .reset = stlink_usb_reset,
1169         /** */
1170         .run = stlink_usb_run,
1171         /** */
1172         .halt = stlink_usb_halt,
1173         /** */
1174         .step = stlink_usb_step,
1175         /** */
1176         .read_regs = stlink_usb_read_regs,
1177         /** */
1178         .read_reg = stlink_usb_read_reg,
1179         /** */
1180         .write_reg = stlink_usb_write_reg,
1181         /** */
1182         .read_mem8 = stlink_usb_read_mem8,
1183         /** */
1184         .write_mem8 = stlink_usb_write_mem8,
1185         /** */
1186         .read_mem32 = stlink_usb_read_mem32,
1187         /** */
1188         .write_mem32 = stlink_usb_write_mem32,
1189 };