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stlink: avoid null pointer dereference in stlink_usb_close()
[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 /* "WAIT" responses will be retried (with exponential backoff) at
70 * most this many times before failing to caller.
71 */
72 #define MAX_WAIT_RETRIES 8
73
74 enum stlink_jtag_api_version {
75 STLINK_JTAG_API_V1 = 1,
76 STLINK_JTAG_API_V2,
77 };
78
79 /** */
80 struct stlink_usb_version {
81 /** */
82 int stlink;
83 /** */
84 int jtag;
85 /** */
86 int swim;
87 /** highest supported jtag api version */
88 enum stlink_jtag_api_version jtag_api_max;
89 };
90
91 /** */
92 struct stlink_usb_handle_s {
93 /** */
94 struct jtag_libusb_device_handle *fd;
95 /** */
96 struct libusb_transfer *trans;
97 /** */
98 uint8_t rx_ep;
99 /** */
100 uint8_t tx_ep;
101 /** */
102 uint8_t trace_ep;
103 /** */
104 uint8_t cmdbuf[STLINK_SG_SIZE];
105 /** */
106 uint8_t cmdidx;
107 /** */
108 uint8_t direction;
109 /** */
110 uint8_t databuf[STLINK_DATA_SIZE];
111 /** */
112 uint32_t max_mem_packet;
113 /** */
114 enum hl_transports transport;
115 /** */
116 struct stlink_usb_version version;
117 /** */
118 uint16_t vid;
119 /** */
120 uint16_t pid;
121 /** this is the currently used jtag api */
122 enum stlink_jtag_api_version jtag_api;
123 /** */
124 struct {
125 /** whether SWO tracing is enabled or not */
126 bool enabled;
127 /** trace data destination file */
128 FILE *output_f;
129 /** trace module source clock (for prescaler) */
130 uint32_t source_hz;
131 /** trace module clock prescaler */
132 uint32_t prescale;
133 } trace;
134 /** reconnect is needed next time we try to query the
135 * status */
136 bool reconnect_pending;
137 };
138
139 #define STLINK_DEBUG_ERR_OK 0x80
140 #define STLINK_DEBUG_ERR_FAULT 0x81
141 #define STLINK_SWD_AP_WAIT 0x10
142 #define STLINK_SWD_DP_WAIT 0x14
143
144 #define STLINK_CORE_RUNNING 0x80
145 #define STLINK_CORE_HALTED 0x81
146 #define STLINK_CORE_STAT_UNKNOWN -1
147
148 #define STLINK_GET_VERSION 0xF1
149 #define STLINK_DEBUG_COMMAND 0xF2
150 #define STLINK_DFU_COMMAND 0xF3
151 #define STLINK_SWIM_COMMAND 0xF4
152 #define STLINK_GET_CURRENT_MODE 0xF5
153 #define STLINK_GET_TARGET_VOLTAGE 0xF7
154
155 #define STLINK_DEV_DFU_MODE 0x00
156 #define STLINK_DEV_MASS_MODE 0x01
157 #define STLINK_DEV_DEBUG_MODE 0x02
158 #define STLINK_DEV_SWIM_MODE 0x03
159 #define STLINK_DEV_BOOTLOADER_MODE 0x04
160 #define STLINK_DEV_UNKNOWN_MODE -1
161
162 #define STLINK_DFU_EXIT 0x07
163
164 #define STLINK_SWIM_ENTER 0x00
165 #define STLINK_SWIM_EXIT 0x01
166
167 #define STLINK_DEBUG_ENTER_JTAG 0x00
168 #define STLINK_DEBUG_GETSTATUS 0x01
169 #define STLINK_DEBUG_FORCEDEBUG 0x02
170 #define STLINK_DEBUG_APIV1_RESETSYS 0x03
171 #define STLINK_DEBUG_APIV1_READALLREGS 0x04
172 #define STLINK_DEBUG_APIV1_READREG 0x05
173 #define STLINK_DEBUG_APIV1_WRITEREG 0x06
174 #define STLINK_DEBUG_READMEM_32BIT 0x07
175 #define STLINK_DEBUG_WRITEMEM_32BIT 0x08
176 #define STLINK_DEBUG_RUNCORE 0x09
177 #define STLINK_DEBUG_STEPCORE 0x0a
178 #define STLINK_DEBUG_APIV1_SETFP 0x0b
179 #define STLINK_DEBUG_READMEM_8BIT 0x0c
180 #define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
181 #define STLINK_DEBUG_APIV1_CLEARFP 0x0e
182 #define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
183 #define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
184
185 #define STLINK_DEBUG_ENTER_JTAG 0x00
186 #define STLINK_DEBUG_ENTER_SWD 0xa3
187
188 #define STLINK_DEBUG_APIV1_ENTER 0x20
189 #define STLINK_DEBUG_EXIT 0x21
190 #define STLINK_DEBUG_READCOREID 0x22
191
192 #define STLINK_DEBUG_APIV2_ENTER 0x30
193 #define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
194 #define STLINK_DEBUG_APIV2_RESETSYS 0x32
195 #define STLINK_DEBUG_APIV2_READREG 0x33
196 #define STLINK_DEBUG_APIV2_WRITEREG 0x34
197 #define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35
198 #define STLINK_DEBUG_APIV2_READDEBUGREG 0x36
199
200 #define STLINK_DEBUG_APIV2_READALLREGS 0x3A
201 #define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B
202 #define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
203
204 #define STLINK_DEBUG_APIV2_START_TRACE_RX 0x40
205 #define STLINK_DEBUG_APIV2_STOP_TRACE_RX 0x41
206 #define STLINK_DEBUG_APIV2_GET_TRACE_NB 0x42
207 #define STLINK_DEBUG_APIV2_SWD_SET_FREQ 0x43
208
209 #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
210 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
211 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
212
213 #define STLINK_TRACE_SIZE 1024
214 #define STLINK_TRACE_MAX_HZ 2000000
215 #define STLINK_TRACE_MIN_VERSION 13
216
217 /** */
218 enum stlink_mode {
219 STLINK_MODE_UNKNOWN = 0,
220 STLINK_MODE_DFU,
221 STLINK_MODE_MASS,
222 STLINK_MODE_DEBUG_JTAG,
223 STLINK_MODE_DEBUG_SWD,
224 STLINK_MODE_DEBUG_SWIM
225 };
226
227 #define REQUEST_SENSE 0x03
228 #define REQUEST_SENSE_LENGTH 18
229
230 static const struct {
231 int speed;
232 int speed_divisor;
233 } stlink_khz_to_speed_map[] = {
234 {4000, 0},
235 {1800, 1}, /* default */
236 {1200, 2},
237 {950, 3},
238 {480, 7},
239 {240, 15},
240 {125, 31},
241 {100, 40},
242 {50, 79},
243 {25, 158},
244 {15, 265},
245 {5, 798}
246 };
247
248 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size);
249
250 /** */
251 static int stlink_usb_xfer_v1_get_status(void *handle)
252 {
253 struct stlink_usb_handle_s *h = handle;
254
255 assert(handle != NULL);
256
257 /* read status */
258 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
259
260 if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)h->cmdbuf,
261 13, STLINK_READ_TIMEOUT) != 13)
262 return ERROR_FAIL;
263
264 uint32_t t1;
265
266 t1 = buf_get_u32(h->cmdbuf, 0, 32);
267
268 /* check for USBS */
269 if (t1 != 0x53425355)
270 return ERROR_FAIL;
271 /*
272 * CSW status:
273 * 0 success
274 * 1 command failure
275 * 2 phase error
276 */
277 if (h->cmdbuf[12] != 0)
278 return ERROR_FAIL;
279
280 return ERROR_OK;
281 }
282
283 /** */
284 static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size)
285 {
286 struct stlink_usb_handle_s *h = handle;
287
288 assert(handle != NULL);
289
290 if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)h->cmdbuf, cmdsize,
291 STLINK_WRITE_TIMEOUT) != cmdsize) {
292 return ERROR_FAIL;
293 }
294
295 if (h->direction == h->tx_ep && size) {
296 if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)buf,
297 size, STLINK_WRITE_TIMEOUT) != size) {
298 LOG_DEBUG("bulk write failed");
299 return ERROR_FAIL;
300 }
301 } else if (h->direction == h->rx_ep && size) {
302 if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)buf,
303 size, STLINK_READ_TIMEOUT) != size) {
304 LOG_DEBUG("bulk read failed");
305 return ERROR_FAIL;
306 }
307 }
308
309 return ERROR_OK;
310 }
311
312 /** */
313 static int stlink_usb_xfer_v1_get_sense(void *handle)
314 {
315 int res;
316 struct stlink_usb_handle_s *h = handle;
317
318 assert(handle != NULL);
319
320 stlink_usb_init_buffer(handle, h->rx_ep, 16);
321
322 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE;
323 h->cmdbuf[h->cmdidx++] = 0;
324 h->cmdbuf[h->cmdidx++] = 0;
325 h->cmdbuf[h->cmdidx++] = 0;
326 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH;
327
328 res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16);
329
330 if (res != ERROR_OK)
331 return res;
332
333 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK)
334 return ERROR_FAIL;
335
336 return ERROR_OK;
337 }
338
339 /** */
340 static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size)
341 {
342 int err, cmdsize = STLINK_CMD_SIZE_V2;
343 struct stlink_usb_handle_s *h = handle;
344
345 assert(handle != NULL);
346
347 if (h->version.stlink == 1)
348 cmdsize = STLINK_SG_SIZE;
349
350 err = stlink_usb_xfer_rw(handle, cmdsize, buf, size);
351
352 if (err != ERROR_OK)
353 return err;
354
355 if (h->version.stlink == 1) {
356 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) {
357 /* check csw status */
358 if (h->cmdbuf[12] == 1) {
359 LOG_DEBUG("get sense");
360 if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK)
361 return ERROR_FAIL;
362 }
363 return ERROR_FAIL;
364 }
365 }
366
367 return ERROR_OK;
368 }
369
370
371 /**
372 Converts an STLINK status code held in the first byte of a response
373 to an openocd error, logs any error/wait status as debug output.
374 */
375 static int stlink_usb_error_check(void *handle)
376 {
377 struct stlink_usb_handle_s *h = handle;
378
379 assert(handle != NULL);
380
381 /* TODO: no error checking yet on api V1 */
382 if (h->jtag_api == STLINK_JTAG_API_V1)
383 h->databuf[0] = STLINK_DEBUG_ERR_OK;
384
385 switch (h->databuf[0]) {
386 case STLINK_DEBUG_ERR_OK:
387 return ERROR_OK;
388 case STLINK_DEBUG_ERR_FAULT:
389 LOG_DEBUG("SWD fault response (0x%x)", STLINK_DEBUG_ERR_FAULT);
390 return ERROR_FAIL;
391 case STLINK_SWD_AP_WAIT:
392 LOG_DEBUG("wait status SWD_AP_WAIT (0x%x)", STLINK_SWD_AP_WAIT);
393 return ERROR_WAIT;
394 case STLINK_SWD_DP_WAIT:
395 LOG_DEBUG("wait status SWD_DP_WAIT (0x%x)", STLINK_SWD_AP_WAIT);
396 return ERROR_WAIT;
397 default:
398 LOG_DEBUG("unknown/unexpected STLINK status code 0x%x", h->databuf[0]);
399 return ERROR_FAIL;
400 }
401 }
402
403
404 /** Issue an STLINK command via USB transfer, with retries on any wait status responses.
405
406 Works for commands where the STLINK_DEBUG status is returned in the first
407 byte of the response packet.
408
409 Returns an openocd result code.
410 */
411 static int stlink_cmd_allow_retry(void *handle, const uint8_t *buf, int size)
412 {
413 int retries = 0;
414 int res;
415 while (1) {
416 res = stlink_usb_xfer(handle, buf, size);
417 if (res != ERROR_OK)
418 return res;
419 res = stlink_usb_error_check(handle);
420 if (res == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
421 usleep((1<<retries++) * 1000);
422 continue;
423 }
424 return res;
425 }
426 }
427
428 /** */
429 static int stlink_usb_read_trace(void *handle, const uint8_t *buf, int size)
430 {
431 struct stlink_usb_handle_s *h = handle;
432
433 assert(handle != NULL);
434
435 assert(h->version.stlink >= 2);
436
437 if (jtag_libusb_bulk_read(h->fd, h->trace_ep, (char *)buf,
438 size, STLINK_READ_TIMEOUT) != size) {
439 LOG_ERROR("bulk trace read failed");
440 return ERROR_FAIL;
441 }
442
443 return ERROR_OK;
444 }
445
446 /** */
447 static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size)
448 {
449 struct stlink_usb_handle_s *h = handle;
450
451 /* fill the send buffer */
452 strcpy((char *)h->cmdbuf, "USBC");
453 h->cmdidx += 4;
454 /* csw tag not used */
455 h->cmdidx += 4;
456 buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size);
457 h->cmdidx += 4;
458 h->cmdbuf[h->cmdidx++] = (direction == h->rx_ep ? ENDPOINT_IN : ENDPOINT_OUT);
459 h->cmdbuf[h->cmdidx++] = 0; /* lun */
460 h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1;
461 }
462
463 /** */
464 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size)
465 {
466 struct stlink_usb_handle_s *h = handle;
467
468 h->direction = direction;
469
470 h->cmdidx = 0;
471
472 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
473 memset(h->databuf, 0, STLINK_DATA_SIZE);
474
475 if (h->version.stlink == 1)
476 stlink_usb_xfer_v1_create_cmd(handle, direction, size);
477 }
478
479 /** */
480 static int stlink_usb_version(void *handle)
481 {
482 int res;
483 uint16_t v;
484 struct stlink_usb_handle_s *h = handle;
485
486 assert(handle != NULL);
487
488 stlink_usb_init_buffer(handle, h->rx_ep, 6);
489
490 h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION;
491
492 res = stlink_usb_xfer(handle, h->databuf, 6);
493
494 if (res != ERROR_OK)
495 return res;
496
497 v = (h->databuf[0] << 8) | h->databuf[1];
498
499 h->version.stlink = (v >> 12) & 0x0f;
500 h->version.jtag = (v >> 6) & 0x3f;
501 h->version.swim = v & 0x3f;
502 h->vid = buf_get_u32(h->databuf, 16, 16);
503 h->pid = buf_get_u32(h->databuf, 32, 16);
504
505 /* set the supported jtag api version
506 * API V2 is supported since JTAG V11
507 */
508 if (h->version.jtag >= 11)
509 h->version.jtag_api_max = STLINK_JTAG_API_V2;
510 else
511 h->version.jtag_api_max = STLINK_JTAG_API_V1;
512
513 LOG_INFO("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X",
514 h->version.stlink,
515 h->version.jtag,
516 (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2,
517 h->version.swim,
518 h->vid,
519 h->pid);
520
521 return ERROR_OK;
522 }
523
524 static int stlink_usb_check_voltage(void *handle, float *target_voltage)
525 {
526 struct stlink_usb_handle_s *h = handle;
527 uint32_t adc_results[2];
528
529 /* only supported by stlink/v2 and for firmware >= 13 */
530 if (h->version.stlink == 1 || h->version.jtag < 13)
531 return ERROR_COMMAND_NOTFOUND;
532
533 stlink_usb_init_buffer(handle, h->rx_ep, 8);
534
535 h->cmdbuf[h->cmdidx++] = STLINK_GET_TARGET_VOLTAGE;
536
537 int result = stlink_usb_xfer(handle, h->databuf, 8);
538
539 if (result != ERROR_OK)
540 return result;
541
542 /* convert result */
543 adc_results[0] = le_to_h_u32(h->databuf);
544 adc_results[1] = le_to_h_u32(h->databuf + 4);
545
546 *target_voltage = 0;
547
548 if (adc_results[0])
549 *target_voltage = 2 * ((float)adc_results[1]) * (float)(1.2 / adc_results[0]);
550
551 LOG_INFO("Target voltage: %f", (double)*target_voltage);
552
553 return ERROR_OK;
554 }
555
556 static int stlink_usb_set_swdclk(void *handle, uint16_t clk_divisor)
557 {
558 struct stlink_usb_handle_s *h = handle;
559
560 assert(handle != NULL);
561
562 /* only supported by stlink/v2 and for firmware >= 22 */
563 if (h->version.stlink == 1 || h->version.jtag < 22)
564 return ERROR_COMMAND_NOTFOUND;
565
566 stlink_usb_init_buffer(handle, h->rx_ep, 2);
567
568 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
569 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_SWD_SET_FREQ;
570 h_u16_to_le(h->cmdbuf+h->cmdidx, clk_divisor);
571 h->cmdidx += 2;
572
573 int result = stlink_cmd_allow_retry(handle, h->databuf, 2);
574
575 if (result != ERROR_OK)
576 return result;
577
578 return ERROR_OK;
579 }
580
581 /** */
582 static int stlink_usb_current_mode(void *handle, uint8_t *mode)
583 {
584 int res;
585 struct stlink_usb_handle_s *h = handle;
586
587 assert(handle != NULL);
588
589 stlink_usb_init_buffer(handle, h->rx_ep, 2);
590
591 h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE;
592
593 res = stlink_usb_xfer(handle, h->databuf, 2);
594
595 if (res != ERROR_OK)
596 return res;
597
598 *mode = h->databuf[0];
599
600 return ERROR_OK;
601 }
602
603 /** */
604 static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
605 {
606 int rx_size = 0;
607 struct stlink_usb_handle_s *h = handle;
608
609 assert(handle != NULL);
610
611 /* on api V2 we are able the read the latest command
612 * status
613 * TODO: we need the test on api V1 too
614 */
615 if (h->jtag_api == STLINK_JTAG_API_V2)
616 rx_size = 2;
617
618 stlink_usb_init_buffer(handle, h->rx_ep, rx_size);
619
620 switch (type) {
621 case STLINK_MODE_DEBUG_JTAG:
622 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
623 if (h->jtag_api == STLINK_JTAG_API_V1)
624 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
625 else
626 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
627 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG;
628 break;
629 case STLINK_MODE_DEBUG_SWD:
630 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
631 if (h->jtag_api == STLINK_JTAG_API_V1)
632 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
633 else
634 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
635 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD;
636 break;
637 case STLINK_MODE_DEBUG_SWIM:
638 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
639 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER;
640 break;
641 case STLINK_MODE_DFU:
642 case STLINK_MODE_MASS:
643 default:
644 return ERROR_FAIL;
645 }
646
647 return stlink_cmd_allow_retry(handle, h->databuf, rx_size);
648 }
649
650 /** */
651 static int stlink_usb_mode_leave(void *handle, enum stlink_mode type)
652 {
653 int res;
654 struct stlink_usb_handle_s *h = handle;
655
656 assert(handle != NULL);
657
658 stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0);
659
660 switch (type) {
661 case STLINK_MODE_DEBUG_JTAG:
662 case STLINK_MODE_DEBUG_SWD:
663 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
664 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT;
665 break;
666 case STLINK_MODE_DEBUG_SWIM:
667 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
668 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT;
669 break;
670 case STLINK_MODE_DFU:
671 h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND;
672 h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT;
673 break;
674 case STLINK_MODE_MASS:
675 default:
676 return ERROR_FAIL;
677 }
678
679 res = stlink_usb_xfer(handle, 0, 0);
680
681 if (res != ERROR_OK)
682 return res;
683
684 return ERROR_OK;
685 }
686
687 static int stlink_usb_assert_srst(void *handle, int srst);
688
689 static enum stlink_mode stlink_get_mode(enum hl_transports t)
690 {
691 switch (t) {
692 case HL_TRANSPORT_SWD:
693 return STLINK_MODE_DEBUG_SWD;
694 case HL_TRANSPORT_JTAG:
695 return STLINK_MODE_DEBUG_JTAG;
696 case HL_TRANSPORT_SWIM:
697 return STLINK_MODE_DEBUG_SWIM;
698 default:
699 return STLINK_MODE_UNKNOWN;
700 }
701 }
702
703 /** */
704 static int stlink_usb_init_mode(void *handle, bool connect_under_reset)
705 {
706 int res;
707 uint8_t mode;
708 enum stlink_mode emode;
709 struct stlink_usb_handle_s *h = handle;
710
711 assert(handle != NULL);
712
713 res = stlink_usb_current_mode(handle, &mode);
714
715 if (res != ERROR_OK)
716 return res;
717
718 LOG_DEBUG("MODE: 0x%02X", mode);
719
720 /* try to exit current mode */
721 switch (mode) {
722 case STLINK_DEV_DFU_MODE:
723 emode = STLINK_MODE_DFU;
724 break;
725 case STLINK_DEV_DEBUG_MODE:
726 emode = STLINK_MODE_DEBUG_SWD;
727 break;
728 case STLINK_DEV_SWIM_MODE:
729 emode = STLINK_MODE_DEBUG_SWIM;
730 break;
731 case STLINK_DEV_BOOTLOADER_MODE:
732 case STLINK_DEV_MASS_MODE:
733 default:
734 emode = STLINK_MODE_UNKNOWN;
735 break;
736 }
737
738 if (emode != STLINK_MODE_UNKNOWN) {
739 res = stlink_usb_mode_leave(handle, emode);
740
741 if (res != ERROR_OK)
742 return res;
743 }
744
745 res = stlink_usb_current_mode(handle, &mode);
746
747 if (res != ERROR_OK)
748 return res;
749
750 /* we check the target voltage here as an aid to debugging connection problems.
751 * the stlink requires the target Vdd to be connected for reliable debugging.
752 * this cmd is supported in all modes except DFU
753 */
754 if (mode != STLINK_DEV_DFU_MODE) {
755
756 float target_voltage;
757
758 /* check target voltage (if supported) */
759 res = stlink_usb_check_voltage(h, &target_voltage);
760
761 if (res != ERROR_OK) {
762 if (res != ERROR_COMMAND_NOTFOUND)
763 LOG_ERROR("voltage check failed");
764 /* attempt to continue as it is not a catastrophic failure */
765 } else {
766 /* check for a sensible target voltage, operating range is 1.65-5.5v
767 * according to datasheet */
768 if (target_voltage < 1.5)
769 LOG_ERROR("target voltage may be too low for reliable debugging");
770 }
771 }
772
773 LOG_DEBUG("MODE: 0x%02X", mode);
774
775 /* set selected mode */
776 emode = stlink_get_mode(h->transport);
777
778 if (emode == STLINK_MODE_UNKNOWN) {
779 LOG_ERROR("selected mode (transport) not supported");
780 return ERROR_FAIL;
781 }
782
783 if (connect_under_reset) {
784 res = stlink_usb_assert_srst(handle, 0);
785 if (res != ERROR_OK)
786 return res;
787 }
788
789 res = stlink_usb_mode_enter(handle, emode);
790
791 if (res != ERROR_OK)
792 return res;
793
794 res = stlink_usb_current_mode(handle, &mode);
795
796 if (res != ERROR_OK)
797 return res;
798
799 LOG_DEBUG("MODE: 0x%02X", mode);
800
801 return ERROR_OK;
802 }
803
804 /** */
805 static int stlink_usb_idcode(void *handle, uint32_t *idcode)
806 {
807 int res;
808 struct stlink_usb_handle_s *h = handle;
809
810 assert(handle != NULL);
811
812 stlink_usb_init_buffer(handle, h->rx_ep, 4);
813
814 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
815 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID;
816
817 res = stlink_usb_xfer(handle, h->databuf, 4);
818
819 if (res != ERROR_OK)
820 return res;
821
822 *idcode = le_to_h_u32(h->databuf);
823
824 LOG_DEBUG("IDCODE: 0x%08" PRIX32, *idcode);
825
826 return ERROR_OK;
827 }
828
829 static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val)
830 {
831 struct stlink_usb_handle_s *h = handle;
832 int res;
833
834 assert(handle != NULL);
835
836 stlink_usb_init_buffer(handle, h->rx_ep, 8);
837
838 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
839 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG;
840 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
841 h->cmdidx += 4;
842
843 res = stlink_cmd_allow_retry(handle, h->databuf, 8);
844 if (res != ERROR_OK)
845 return res;
846
847 *val = le_to_h_u32(h->databuf + 4);
848 return ERROR_OK;
849 }
850
851 static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
852 {
853 struct stlink_usb_handle_s *h = handle;
854
855 assert(handle != NULL);
856
857 stlink_usb_init_buffer(handle, h->rx_ep, 2);
858
859 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
860 if (h->jtag_api == STLINK_JTAG_API_V1)
861 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG;
862 else
863 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG;
864 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
865 h->cmdidx += 4;
866 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
867 h->cmdidx += 4;
868
869 return stlink_cmd_allow_retry(handle, h->databuf, 2);
870 }
871
872 /** */
873 static void stlink_usb_trace_read(void *handle)
874 {
875 struct stlink_usb_handle_s *h = handle;
876
877 assert(handle != NULL);
878
879 if (h->trace.enabled && h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
880 int res;
881
882 stlink_usb_init_buffer(handle, h->rx_ep, 10);
883
884 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
885 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GET_TRACE_NB;
886
887 res = stlink_usb_xfer(handle, h->databuf, 2);
888 if (res == ERROR_OK) {
889 uint8_t buf[STLINK_TRACE_SIZE];
890 size_t size = le_to_h_u16(h->databuf);
891
892 if (size > 0) {
893 size = size < sizeof(buf) ? size : sizeof(buf) - 1;
894
895 res = stlink_usb_read_trace(handle, buf, size);
896 if (res == ERROR_OK) {
897 if (h->trace.output_f) {
898 /* Log retrieved trace output */
899 if (fwrite(buf, 1, size, h->trace.output_f) > 0)
900 fflush(h->trace.output_f);
901 }
902 }
903 }
904 }
905 }
906 }
907
908 static int stlink_usb_trace_read_callback(void *handle)
909 {
910 stlink_usb_trace_read(handle);
911 return ERROR_OK;
912 }
913
914 static enum target_state stlink_usb_v2_get_status(void *handle)
915 {
916 int result;
917 uint32_t status;
918
919 result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status);
920 if (result != ERROR_OK)
921 return TARGET_UNKNOWN;
922
923 if (status & S_HALT)
924 return TARGET_HALTED;
925 else if (status & S_RESET_ST)
926 return TARGET_RESET;
927
928 stlink_usb_trace_read(handle);
929
930 return TARGET_RUNNING;
931 }
932
933 /** */
934 static enum target_state stlink_usb_state(void *handle)
935 {
936 int res;
937 struct stlink_usb_handle_s *h = handle;
938
939 assert(handle != NULL);
940
941 if (h->reconnect_pending) {
942 LOG_INFO("Previous state query failed, trying to reconnect");
943 res = stlink_usb_mode_enter(handle, stlink_get_mode(h->transport));
944
945 if (res != ERROR_OK)
946 return TARGET_UNKNOWN;
947
948 h->reconnect_pending = false;
949 }
950
951 if (h->jtag_api == STLINK_JTAG_API_V2) {
952 res = stlink_usb_v2_get_status(handle);
953 if (res == TARGET_UNKNOWN)
954 h->reconnect_pending = true;
955 return res;
956 }
957
958 stlink_usb_init_buffer(handle, h->rx_ep, 2);
959
960 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
961 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS;
962
963 res = stlink_usb_xfer(handle, h->databuf, 2);
964
965 if (res != ERROR_OK)
966 return TARGET_UNKNOWN;
967
968 if (h->databuf[0] == STLINK_CORE_RUNNING)
969 return TARGET_RUNNING;
970 if (h->databuf[0] == STLINK_CORE_HALTED)
971 return TARGET_HALTED;
972
973 h->reconnect_pending = true;
974
975 return TARGET_UNKNOWN;
976 }
977
978 /** */
979 static int stlink_usb_reset(void *handle)
980 {
981 struct stlink_usb_handle_s *h = handle;
982
983 assert(handle != NULL);
984
985 stlink_usb_init_buffer(handle, h->rx_ep, 2);
986
987 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
988
989 if (h->jtag_api == STLINK_JTAG_API_V1)
990 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_RESETSYS;
991 else
992 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS;
993
994 return stlink_cmd_allow_retry(handle, h->databuf, 2);
995 }
996
997 static int stlink_usb_assert_srst(void *handle, int srst)
998 {
999 struct stlink_usb_handle_s *h = handle;
1000
1001 assert(handle != NULL);
1002
1003 if (h->jtag_api == STLINK_JTAG_API_V1)
1004 return ERROR_COMMAND_NOTFOUND;
1005
1006 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1007
1008 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1009 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST;
1010 h->cmdbuf[h->cmdidx++] = srst;
1011
1012 return stlink_cmd_allow_retry(handle, h->databuf, 2);
1013 }
1014
1015 /** */
1016 static int stlink_configure_target_trace_port(void *handle)
1017 {
1018 int res;
1019 uint32_t reg;
1020 struct stlink_usb_handle_s *h = handle;
1021
1022 assert(handle != NULL);
1023
1024 /* configure the TPI */
1025
1026 /* enable the trace subsystem */
1027 res = stlink_usb_v2_read_debug_reg(handle, DCB_DEMCR, &reg);
1028 if (res != ERROR_OK)
1029 goto out;
1030 res = stlink_usb_write_debug_reg(handle, DCB_DEMCR, TRCENA|reg);
1031 if (res != ERROR_OK)
1032 goto out;
1033 /* set the TPI clock prescaler */
1034 res = stlink_usb_write_debug_reg(handle, TPI_ACPR, h->trace.prescale);
1035 if (res != ERROR_OK)
1036 goto out;
1037 /* select the pin protocol. The STLinkv2 only supports asynchronous
1038 * UART emulation (NRZ) mode, so that's what we pick. */
1039 res = stlink_usb_write_debug_reg(handle, TPI_SPPR, 0x02);
1040 if (res != ERROR_OK)
1041 goto out;
1042 /* disable continuous formatting */
1043 res = stlink_usb_write_debug_reg(handle, TPI_FFCR, (1<<8));
1044 if (res != ERROR_OK)
1045 goto out;
1046
1047 /* configure the ITM */
1048
1049 /* unlock access to the ITM registers */
1050 res = stlink_usb_write_debug_reg(handle, ITM_LAR, 0xC5ACCE55);
1051 if (res != ERROR_OK)
1052 goto out;
1053 /* enable trace with ATB ID 1 */
1054 res = stlink_usb_write_debug_reg(handle, ITM_TCR, (1<<16)|(1<<0)|(1<<2));
1055 if (res != ERROR_OK)
1056 goto out;
1057 /* trace privilege */
1058 res = stlink_usb_write_debug_reg(handle, ITM_TPR, 1);
1059 if (res != ERROR_OK)
1060 goto out;
1061 /* trace port enable (port 0) */
1062 res = stlink_usb_write_debug_reg(handle, ITM_TER, (1<<0));
1063 if (res != ERROR_OK)
1064 goto out;
1065
1066 res = ERROR_OK;
1067 out:
1068 return res;
1069 }
1070
1071 /** */
1072 static void stlink_usb_trace_disable(void *handle)
1073 {
1074 int res = ERROR_OK;
1075 struct stlink_usb_handle_s *h = handle;
1076
1077 assert(handle != NULL);
1078
1079 assert(h->version.jtag >= STLINK_TRACE_MIN_VERSION);
1080
1081 LOG_DEBUG("Tracing: disable");
1082
1083 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1084 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1085 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_STOP_TRACE_RX;
1086 res = stlink_usb_xfer(handle, h->databuf, 2);
1087
1088 if (res == ERROR_OK) {
1089 h->trace.enabled = false;
1090 target_unregister_timer_callback(stlink_usb_trace_read_callback, handle);
1091 }
1092 }
1093
1094
1095 /** */
1096 static int stlink_usb_trace_enable(void *handle)
1097 {
1098 int res;
1099 struct stlink_usb_handle_s *h = handle;
1100
1101 assert(handle != NULL);
1102
1103 if (h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
1104 uint32_t trace_hz;
1105
1106 res = stlink_configure_target_trace_port(handle);
1107 if (res != ERROR_OK)
1108 LOG_ERROR("Unable to configure tracing on target");
1109
1110 trace_hz = h->trace.prescale > 0 ?
1111 h->trace.source_hz / (h->trace.prescale + 1) :
1112 h->trace.source_hz;
1113
1114 stlink_usb_init_buffer(handle, h->rx_ep, 10);
1115
1116 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1117 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_START_TRACE_RX;
1118 h_u16_to_le(h->cmdbuf+h->cmdidx, (uint16_t)STLINK_TRACE_SIZE);
1119 h->cmdidx += 2;
1120 h_u32_to_le(h->cmdbuf+h->cmdidx, trace_hz);
1121 h->cmdidx += 4;
1122
1123 res = stlink_usb_xfer(handle, h->databuf, 2);
1124
1125 if (res == ERROR_OK) {
1126 h->trace.enabled = true;
1127 LOG_DEBUG("Tracing: recording at %" PRIu32 "Hz", trace_hz);
1128 /* We need the trace read function to be called at a
1129 * high-enough frequency to ensure reasonable
1130 * "timeliness" in processing ITM/DWT data.
1131 * TODO: An alternative could be using the asynchronous
1132 * features of the libusb-1.0 API to queue up one or more
1133 * reads in advance and requeue them once they are
1134 * completed. */
1135 target_register_timer_callback(stlink_usb_trace_read_callback, 1, 1, handle);
1136 }
1137 } else {
1138 LOG_ERROR("Tracing is not supported by this version.");
1139 res = ERROR_FAIL;
1140 }
1141
1142 return res;
1143 }
1144
1145 /** */
1146 static int stlink_usb_run(void *handle)
1147 {
1148 int res;
1149 struct stlink_usb_handle_s *h = handle;
1150
1151 assert(handle != NULL);
1152
1153 if (h->jtag_api == STLINK_JTAG_API_V2) {
1154 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN);
1155
1156 /* Try to start tracing, if requested */
1157 if (res == ERROR_OK && h->trace.source_hz && !h->trace.enabled) {
1158 if (stlink_usb_trace_enable(handle) == ERROR_OK)
1159 LOG_DEBUG("Tracing: enabled");
1160 else
1161 LOG_ERROR("Tracing: enable failed");
1162 }
1163
1164 return res;
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_RUNCORE;
1171
1172 return stlink_cmd_allow_retry(handle, h->databuf, 2);
1173 }
1174
1175 /** */
1176 static int stlink_usb_halt(void *handle)
1177 {
1178 int res;
1179 struct stlink_usb_handle_s *h = handle;
1180
1181 assert(handle != NULL);
1182
1183 if (h->jtag_api == STLINK_JTAG_API_V2) {
1184 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1185
1186 if (res == ERROR_OK && h->trace.enabled)
1187 stlink_usb_trace_disable(handle);
1188
1189 return res;
1190 }
1191
1192 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1193
1194 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1195 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG;
1196
1197 return stlink_cmd_allow_retry(handle, h->databuf, 2);
1198 }
1199
1200 /** */
1201 static int stlink_usb_step(void *handle)
1202 {
1203 struct stlink_usb_handle_s *h = handle;
1204
1205 assert(handle != NULL);
1206
1207 if (h->jtag_api == STLINK_JTAG_API_V2) {
1208 /* TODO: this emulates the v1 api, it should really use a similar auto mask isr
1209 * that the cortex-m3 currently does. */
1210 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_MASKINTS|C_DEBUGEN);
1211 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_MASKINTS|C_DEBUGEN);
1212 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1213 }
1214
1215 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1216
1217 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1218 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE;
1219
1220 return stlink_cmd_allow_retry(handle, h->databuf, 2);
1221 }
1222
1223 /** */
1224 static int stlink_usb_read_regs(void *handle)
1225 {
1226 int res;
1227 struct stlink_usb_handle_s *h = handle;
1228
1229 assert(handle != NULL);
1230
1231 stlink_usb_init_buffer(handle, h->rx_ep, 84);
1232
1233 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1234 if (h->jtag_api == STLINK_JTAG_API_V1)
1235 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS;
1236 else
1237 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS;
1238
1239 res = stlink_usb_xfer(handle, h->databuf, 84);
1240
1241 if (res != ERROR_OK)
1242 return res;
1243
1244 return ERROR_OK;
1245 }
1246
1247 /** */
1248 static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
1249 {
1250 int res;
1251 struct stlink_usb_handle_s *h = handle;
1252
1253 assert(handle != NULL);
1254
1255 stlink_usb_init_buffer(handle, h->rx_ep, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1256
1257 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1258 if (h->jtag_api == STLINK_JTAG_API_V1)
1259 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG;
1260 else
1261 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG;
1262 h->cmdbuf[h->cmdidx++] = num;
1263
1264 if (h->jtag_api == STLINK_JTAG_API_V1) {
1265 res = stlink_usb_xfer(handle, h->databuf, 4);
1266 if (res != ERROR_OK)
1267 return res;
1268 *val = le_to_h_u32(h->databuf);
1269 return ERROR_OK;
1270 } else {
1271 res = stlink_cmd_allow_retry(handle, h->databuf, 8);
1272 if (res != ERROR_OK)
1273 return res;
1274 *val = le_to_h_u32(h->databuf + 4);
1275 return ERROR_OK;
1276 }
1277 }
1278
1279 /** */
1280 static int stlink_usb_write_reg(void *handle, int num, uint32_t val)
1281 {
1282 struct stlink_usb_handle_s *h = handle;
1283
1284 assert(handle != NULL);
1285
1286 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1287
1288 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1289 if (h->jtag_api == STLINK_JTAG_API_V1)
1290 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG;
1291 else
1292 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG;
1293 h->cmdbuf[h->cmdidx++] = num;
1294 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
1295 h->cmdidx += 4;
1296
1297 return stlink_cmd_allow_retry(handle, h->databuf, 2);
1298 }
1299
1300 static int stlink_usb_get_rw_status(void *handle)
1301 {
1302 int res;
1303 struct stlink_usb_handle_s *h = handle;
1304
1305 assert(handle != NULL);
1306
1307 if (h->jtag_api == STLINK_JTAG_API_V1)
1308 return ERROR_OK;
1309
1310 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1311
1312 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1313 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS;
1314
1315 res = stlink_usb_xfer(handle, h->databuf, 2);
1316
1317 if (res != ERROR_OK)
1318 return res;
1319
1320 return stlink_usb_error_check(h);
1321 }
1322
1323 /** */
1324 static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
1325 uint8_t *buffer)
1326 {
1327 int res;
1328 uint16_t read_len = len;
1329 struct stlink_usb_handle_s *h = handle;
1330
1331 assert(handle != NULL);
1332
1333 /* max 8bit read/write is 64bytes */
1334 if (len > STLINK_MAX_RW8) {
1335 LOG_DEBUG("max buffer length exceeded");
1336 return ERROR_FAIL;
1337 }
1338
1339 stlink_usb_init_buffer(handle, h->rx_ep, read_len);
1340
1341 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1342 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT;
1343 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1344 h->cmdidx += 4;
1345 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1346 h->cmdidx += 2;
1347
1348 /* we need to fix read length for single bytes */
1349 if (read_len == 1)
1350 read_len++;
1351
1352 res = stlink_usb_xfer(handle, h->databuf, read_len);
1353
1354 if (res != ERROR_OK)
1355 return res;
1356
1357 memcpy(buffer, h->databuf, len);
1358
1359 return stlink_usb_get_rw_status(handle);
1360 }
1361
1362 /** */
1363 static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len,
1364 const uint8_t *buffer)
1365 {
1366 int res;
1367 struct stlink_usb_handle_s *h = handle;
1368
1369 assert(handle != NULL);
1370
1371 /* max 8bit read/write is 64bytes */
1372 if (len > STLINK_MAX_RW8) {
1373 LOG_DEBUG("max buffer length exceeded");
1374 return ERROR_FAIL;
1375 }
1376
1377 stlink_usb_init_buffer(handle, h->tx_ep, len);
1378
1379 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1380 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT;
1381 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1382 h->cmdidx += 4;
1383 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1384 h->cmdidx += 2;
1385
1386 res = stlink_usb_xfer(handle, buffer, len);
1387
1388 if (res != ERROR_OK)
1389 return res;
1390
1391 return stlink_usb_get_rw_status(handle);
1392 }
1393
1394 /** */
1395 static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
1396 uint8_t *buffer)
1397 {
1398 int res;
1399 struct stlink_usb_handle_s *h = handle;
1400
1401 assert(handle != NULL);
1402
1403 /* data must be a multiple of 4 and word aligned */
1404 if (len % 4 || addr % 4) {
1405 LOG_DEBUG("Invalid data alignment");
1406 return ERROR_TARGET_UNALIGNED_ACCESS;
1407 }
1408
1409 stlink_usb_init_buffer(handle, h->rx_ep, len);
1410
1411 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1412 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT;
1413 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1414 h->cmdidx += 4;
1415 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1416 h->cmdidx += 2;
1417
1418 res = stlink_usb_xfer(handle, h->databuf, len);
1419
1420 if (res != ERROR_OK)
1421 return res;
1422
1423 memcpy(buffer, h->databuf, len);
1424
1425 return stlink_usb_get_rw_status(handle);
1426 }
1427
1428 /** */
1429 static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
1430 const uint8_t *buffer)
1431 {
1432 int res;
1433 struct stlink_usb_handle_s *h = handle;
1434
1435 assert(handle != NULL);
1436
1437 /* data must be a multiple of 4 and word aligned */
1438 if (len % 4 || addr % 4) {
1439 LOG_DEBUG("Invalid data alignment");
1440 return ERROR_TARGET_UNALIGNED_ACCESS;
1441 }
1442
1443 stlink_usb_init_buffer(handle, h->tx_ep, len);
1444
1445 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1446 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT;
1447 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1448 h->cmdidx += 4;
1449 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1450 h->cmdidx += 2;
1451
1452 res = stlink_usb_xfer(handle, buffer, len);
1453
1454 if (res != ERROR_OK)
1455 return res;
1456
1457 return stlink_usb_get_rw_status(handle);
1458 }
1459
1460 static uint32_t stlink_max_block_size(uint32_t tar_autoincr_block, uint32_t address)
1461 {
1462 uint32_t max_tar_block = (tar_autoincr_block - ((tar_autoincr_block - 1) & address));
1463 if (max_tar_block == 0)
1464 max_tar_block = 4;
1465 return max_tar_block;
1466 }
1467
1468 static int stlink_usb_read_mem(void *handle, uint32_t addr, uint32_t size,
1469 uint32_t count, uint8_t *buffer)
1470 {
1471 int retval = ERROR_OK;
1472 uint32_t bytes_remaining;
1473 int retries = 0;
1474 struct stlink_usb_handle_s *h = handle;
1475
1476 /* calculate byte count */
1477 count *= size;
1478
1479 while (count) {
1480
1481 bytes_remaining = (size == 4) ? \
1482 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1483
1484 if (count < bytes_remaining)
1485 bytes_remaining = count;
1486
1487 /* the stlink only supports 8/32bit memory read/writes
1488 * honour 32bit, all others will be handled as 8bit access */
1489 if (size == 4) {
1490
1491 /* When in jtag mode the stlink uses the auto-increment functinality.
1492 * However it expects us to pass the data correctly, this includes
1493 * alignment and any page boundaries. We already do this as part of the
1494 * adi_v5 implementation, but the stlink is a hla adapter and so this
1495 * needs implementiong manually.
1496 * currently this only affects jtag mode, according to ST they do single
1497 * access in SWD mode - but this may change and so we do it for both modes */
1498
1499 /* we first need to check for any unaligned bytes */
1500 if (addr % 4) {
1501
1502 uint32_t head_bytes = 4 - (addr % 4);
1503 retval = stlink_usb_read_mem8(handle, addr, head_bytes, buffer);
1504 if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
1505 usleep((1<<retries++) * 1000);
1506 continue;
1507 }
1508 if (retval != ERROR_OK)
1509 return retval;
1510 buffer += head_bytes;
1511 addr += head_bytes;
1512 count -= head_bytes;
1513 bytes_remaining -= head_bytes;
1514 }
1515
1516 if (bytes_remaining % 4)
1517 retval = stlink_usb_read_mem(handle, addr, 1, bytes_remaining, buffer);
1518 else
1519 retval = stlink_usb_read_mem32(handle, addr, bytes_remaining, buffer);
1520 } else
1521 retval = stlink_usb_read_mem8(handle, addr, bytes_remaining, buffer);
1522
1523 if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
1524 usleep((1<<retries++) * 1000);
1525 continue;
1526 }
1527 if (retval != ERROR_OK)
1528 return retval;
1529
1530 buffer += bytes_remaining;
1531 addr += bytes_remaining;
1532 count -= bytes_remaining;
1533 }
1534
1535 return retval;
1536 }
1537
1538 static int stlink_usb_write_mem(void *handle, uint32_t addr, uint32_t size,
1539 uint32_t count, const uint8_t *buffer)
1540 {
1541 int retval = ERROR_OK;
1542 uint32_t bytes_remaining;
1543 int retries = 0;
1544 struct stlink_usb_handle_s *h = handle;
1545
1546 /* calculate byte count */
1547 count *= size;
1548
1549 while (count) {
1550
1551 bytes_remaining = (size == 4) ? \
1552 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1553
1554 if (count < bytes_remaining)
1555 bytes_remaining = count;
1556
1557 /* the stlink only supports 8/32bit memory read/writes
1558 * honour 32bit, all others will be handled as 8bit access */
1559 if (size == 4) {
1560
1561 /* When in jtag mode the stlink uses the auto-increment functinality.
1562 * However it expects us to pass the data correctly, this includes
1563 * alignment and any page boundaries. We already do this as part of the
1564 * adi_v5 implementation, but the stlink is a hla adapter and so this
1565 * needs implementiong manually.
1566 * currently this only affects jtag mode, according to ST they do single
1567 * access in SWD mode - but this may change and so we do it for both modes */
1568
1569 /* we first need to check for any unaligned bytes */
1570 if (addr % 4) {
1571
1572 uint32_t head_bytes = 4 - (addr % 4);
1573 retval = stlink_usb_write_mem8(handle, addr, head_bytes, buffer);
1574 if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
1575 usleep((1<<retries++) * 1000);
1576 continue;
1577 }
1578 if (retval != ERROR_OK)
1579 return retval;
1580 buffer += head_bytes;
1581 addr += head_bytes;
1582 count -= head_bytes;
1583 bytes_remaining -= head_bytes;
1584 }
1585
1586 if (bytes_remaining % 4)
1587 retval = stlink_usb_write_mem(handle, addr, 1, bytes_remaining, buffer);
1588 else
1589 retval = stlink_usb_write_mem32(handle, addr, bytes_remaining, buffer);
1590
1591 } else
1592 retval = stlink_usb_write_mem8(handle, addr, bytes_remaining, buffer);
1593 if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
1594 usleep((1<<retries++) * 1000);
1595 continue;
1596 }
1597 if (retval != ERROR_OK)
1598 return retval;
1599
1600 buffer += bytes_remaining;
1601 addr += bytes_remaining;
1602 count -= bytes_remaining;
1603 }
1604
1605 return retval;
1606 }
1607
1608 /** */
1609 static int stlink_usb_override_target(const char *targetname)
1610 {
1611 return !strcmp(targetname, "cortex_m");
1612 }
1613
1614 static int stlink_speed(void *handle, int khz, bool query)
1615 {
1616 unsigned i;
1617 int speed_index = -1;
1618 int speed_diff = INT_MAX;
1619 struct stlink_usb_handle_s *h = handle;
1620
1621 /* only supported by stlink/v2 and for firmware >= 22 */
1622 if (h && (h->version.stlink == 1 || h->version.jtag < 22))
1623 return khz;
1624
1625 for (i = 0; i < ARRAY_SIZE(stlink_khz_to_speed_map); i++) {
1626 if (khz == stlink_khz_to_speed_map[i].speed) {
1627 speed_index = i;
1628 break;
1629 } else {
1630 int current_diff = khz - stlink_khz_to_speed_map[i].speed;
1631 /* get abs value for comparison */
1632 current_diff = (current_diff > 0) ? current_diff : -current_diff;
1633 if ((current_diff < speed_diff) && khz >= stlink_khz_to_speed_map[i].speed) {
1634 speed_diff = current_diff;
1635 speed_index = i;
1636 }
1637 }
1638 }
1639
1640 bool match = true;
1641
1642 if (speed_index == -1) {
1643 /* this will only be here if we cannot match the slow speed.
1644 * use the slowest speed we support.*/
1645 speed_index = ARRAY_SIZE(stlink_khz_to_speed_map) - 1;
1646 match = false;
1647 } else if (i == ARRAY_SIZE(stlink_khz_to_speed_map))
1648 match = false;
1649
1650 if (!match && query) {
1651 LOG_INFO("Unable to match requested speed %d kHz, using %d kHz", \
1652 khz, stlink_khz_to_speed_map[speed_index].speed);
1653 }
1654
1655 if (h && !query) {
1656 int result = stlink_usb_set_swdclk(h, stlink_khz_to_speed_map[speed_index].speed_divisor);
1657 if (result != ERROR_OK) {
1658 LOG_ERROR("Unable to set adapter speed");
1659 return khz;
1660 }
1661 }
1662
1663 return stlink_khz_to_speed_map[speed_index].speed;
1664 }
1665
1666 /** */
1667 static int stlink_usb_close(void *handle)
1668 {
1669 struct stlink_usb_handle_s *h = handle;
1670
1671 if (h && h->fd)
1672 jtag_libusb_close(h->fd);
1673
1674 free(h);
1675
1676 return ERROR_OK;
1677 }
1678
1679 /** */
1680 static int stlink_usb_open(struct hl_interface_param_s *param, void **fd)
1681 {
1682 int err, retry_count = 1;
1683 struct stlink_usb_handle_s *h;
1684 enum stlink_jtag_api_version api;
1685
1686 LOG_DEBUG("stlink_usb_open");
1687
1688 h = calloc(1, sizeof(struct stlink_usb_handle_s));
1689
1690 if (h == 0) {
1691 LOG_DEBUG("malloc failed");
1692 return ERROR_FAIL;
1693 }
1694
1695 h->transport = param->transport;
1696
1697 const uint16_t vids[] = { param->vid, 0 };
1698 const uint16_t pids[] = { param->pid, 0 };
1699 const char *serial = param->serial;
1700
1701 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x serial: %s",
1702 param->transport, param->vid, param->pid,
1703 param->serial ? param->serial : "");
1704
1705 /*
1706 On certain host USB configurations(e.g. MacBook Air)
1707 STLINKv2 dongle seems to have its FW in a funky state if,
1708 after plugging it in, you try to use openocd with it more
1709 then once (by launching and closing openocd). In cases like
1710 that initial attempt to read the FW info via
1711 stlink_usb_version will fail and the device has to be reset
1712 in order to become operational.
1713 */
1714 do {
1715 if (jtag_libusb_open(vids, pids, serial, &h->fd) != ERROR_OK) {
1716 LOG_ERROR("open failed");
1717 goto error_open;
1718 }
1719
1720 jtag_libusb_set_configuration(h->fd, 0);
1721
1722 if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
1723 LOG_DEBUG("claim interface failed");
1724 goto error_open;
1725 }
1726
1727 /* RX EP is common for all versions */
1728 h->rx_ep = STLINK_RX_EP;
1729
1730 /* wrap version for first read */
1731 switch (param->pid) {
1732 case STLINK_V1_PID:
1733 h->version.stlink = 1;
1734 h->tx_ep = STLINK_TX_EP;
1735 h->trace_ep = STLINK_TRACE_EP;
1736 break;
1737 case STLINK_V2_1_PID:
1738 h->version.stlink = 2;
1739 h->tx_ep = STLINK_V2_1_TX_EP;
1740 h->trace_ep = STLINK_V2_1_TRACE_EP;
1741 break;
1742 default:
1743 /* fall through - we assume V2 to be the default version*/
1744 case STLINK_V2_PID:
1745 h->version.stlink = 2;
1746 h->tx_ep = STLINK_TX_EP;
1747 h->trace_ep = STLINK_TRACE_EP;
1748 break;
1749 }
1750
1751 /* get the device version */
1752 err = stlink_usb_version(h);
1753
1754 if (err == ERROR_OK) {
1755 break;
1756 } else if (h->version.stlink == 1 ||
1757 retry_count == 0) {
1758 LOG_ERROR("read version failed");
1759 goto error_open;
1760 } else {
1761 err = jtag_libusb_release_interface(h->fd, 0);
1762 if (err != ERROR_OK) {
1763 LOG_ERROR("release interface failed");
1764 goto error_open;
1765 }
1766
1767 err = jtag_libusb_reset_device(h->fd);
1768 if (err != ERROR_OK) {
1769 LOG_ERROR("reset device failed");
1770 goto error_open;
1771 }
1772
1773 jtag_libusb_close(h->fd);
1774 /*
1775 Give the device one second to settle down and
1776 reenumerate.
1777 */
1778 usleep(1 * 1000 * 1000);
1779 retry_count--;
1780 }
1781 } while (1);
1782
1783 /* compare usb vid/pid */
1784 if ((param->vid != h->vid) || (param->pid != h->pid))
1785 LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
1786 param->vid, param->pid,
1787 h->vid, h->pid);
1788
1789 /* check if mode is supported */
1790 err = ERROR_OK;
1791
1792 switch (h->transport) {
1793 case HL_TRANSPORT_SWD:
1794 case HL_TRANSPORT_JTAG:
1795 if (h->version.jtag == 0)
1796 err = ERROR_FAIL;
1797 break;
1798 case HL_TRANSPORT_SWIM:
1799 if (h->version.swim == 0)
1800 err = ERROR_FAIL;
1801 break;
1802 default:
1803 err = ERROR_FAIL;
1804 break;
1805 }
1806
1807 if (err != ERROR_OK) {
1808 LOG_ERROR("mode (transport) not supported by device");
1809 goto error_open;
1810 }
1811
1812 api = h->version.jtag_api_max;
1813
1814 LOG_INFO("using stlink api v%d", api);
1815
1816 /* set the used jtag api, this will default to the newest supported version */
1817 h->jtag_api = api;
1818
1819 if (h->jtag_api >= 2 && param->trace_source_hz > 0) {
1820 uint32_t prescale;
1821
1822 prescale = param->trace_source_hz > STLINK_TRACE_MAX_HZ ?
1823 (param->trace_source_hz / STLINK_TRACE_MAX_HZ) - 1 : 0;
1824
1825 h->trace.output_f = param->trace_f;
1826 h->trace.source_hz = param->trace_source_hz;
1827 h->trace.prescale = prescale;
1828 }
1829
1830 /* initialize the debug hardware */
1831 err = stlink_usb_init_mode(h, param->connect_under_reset);
1832
1833 if (err != ERROR_OK) {
1834 LOG_ERROR("init mode failed (unable to connect to the target)");
1835 goto error_open;
1836 }
1837
1838 /* clock speed only supported by stlink/v2 and for firmware >= 22 */
1839 if (h->version.stlink >= 2 && h->version.jtag >= 22) {
1840 LOG_DEBUG("Supported clock speeds are:");
1841
1842 for (unsigned i = 0; i < ARRAY_SIZE(stlink_khz_to_speed_map); i++)
1843 LOG_DEBUG("%d kHz", stlink_khz_to_speed_map[i].speed);
1844
1845 stlink_speed(h, param->initial_interface_speed, false);
1846 }
1847
1848 /* get cpuid, so we can determine the max page size
1849 * start with a safe default */
1850 h->max_mem_packet = (1 << 10);
1851
1852 uint8_t buffer[4];
1853 err = stlink_usb_read_mem32(h, CPUID, 4, buffer);
1854 if (err == ERROR_OK) {
1855 uint32_t cpuid = le_to_h_u32(buffer);
1856 int i = (cpuid >> 4) & 0xf;
1857 if (i == 4 || i == 3) {
1858 /* Cortex-M3/M4 has 4096 bytes autoincrement range */
1859 h->max_mem_packet = (1 << 12);
1860 }
1861 }
1862
1863 LOG_DEBUG("Using TAR autoincrement: %" PRIu32, h->max_mem_packet);
1864
1865 *fd = h;
1866
1867 return ERROR_OK;
1868
1869 error_open:
1870 stlink_usb_close(h);
1871
1872 return ERROR_FAIL;
1873 }
1874
1875 /** */
1876 struct hl_layout_api_s stlink_usb_layout_api = {
1877 /** */
1878 .open = stlink_usb_open,
1879 /** */
1880 .close = stlink_usb_close,
1881 /** */
1882 .idcode = stlink_usb_idcode,
1883 /** */
1884 .state = stlink_usb_state,
1885 /** */
1886 .reset = stlink_usb_reset,
1887 /** */
1888 .assert_srst = stlink_usb_assert_srst,
1889 /** */
1890 .run = stlink_usb_run,
1891 /** */
1892 .halt = stlink_usb_halt,
1893 /** */
1894 .step = stlink_usb_step,
1895 /** */
1896 .read_regs = stlink_usb_read_regs,
1897 /** */
1898 .read_reg = stlink_usb_read_reg,
1899 /** */
1900 .write_reg = stlink_usb_write_reg,
1901 /** */
1902 .read_mem = stlink_usb_read_mem,
1903 /** */
1904 .write_mem = stlink_usb_write_mem,
1905 /** */
1906 .write_debug_reg = stlink_usb_write_debug_reg,
1907 /** */
1908 .override_target = stlink_usb_override_target,
1909 /** */
1910 .speed = stlink_speed,
1911 };
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