X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fstlink_usb.c;h=da1d1b56492c8d9eb0c7d518b7e5f976d3586247;hp=06ec4b7028ef3cf788cca9be452c077fd9684e26;hb=ee56c502607760deb1b44b4ab06b1cb3a59029fe;hpb=17fddb4289cb632a414d9780b3c2e60e368fa083 diff --git a/src/jtag/drivers/stlink_usb.c b/src/jtag/drivers/stlink_usb.c index 06ec4b7028..da1d1b5649 100644 --- a/src/jtag/drivers/stlink_usb.c +++ b/src/jtag/drivers/stlink_usb.c @@ -1,4 +1,8 @@ /*************************************************************************** + * SWIM contributions by Ake Rehnman * + * Copyright (C) 2017 Ake Rehnman * + * ake.rehnman(at)gmail.com * + * * * Copyright (C) 2011-2012 by Mathias Kuester * * Mathias Kuester * * * @@ -18,9 +22,7 @@ * GNU General Public License for more details. * * * * You should have received a copy of the GNU General Public License * - * along with this program; if not, write to the * - * Free Software Foundation, Inc., * - * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. * + * along with this program. If not, see . * ***************************************************************************/ #ifdef HAVE_CONFIG_H @@ -29,38 +31,67 @@ /* project specific includes */ #include +#include #include #include #include #include #include +#include #include #include "libusb_common.h" +#ifdef HAVE_LIBUSB1 +#define USE_LIBUSB_ASYNCIO +#endif + #define ENDPOINT_IN 0x80 #define ENDPOINT_OUT 0x00 #define STLINK_WRITE_TIMEOUT 1000 #define STLINK_READ_TIMEOUT 1000 -#define STLINK_NULL_EP 0 -#define STLINK_RX_EP (1|ENDPOINT_IN) -#define STLINK_TX_EP (2|ENDPOINT_OUT) -#define STLINK_TRACE_EP (3|ENDPOINT_IN) -#define STLINK_SG_SIZE (31) -#define STLINK_DATA_SIZE (4096) -#define STLINK_CMD_SIZE_V2 (16) -#define STLINK_CMD_SIZE_V1 (10) - -/* the current implementation of the stlink limits - * 8bit read/writes to max 64 bytes. */ +#define STLINK_NULL_EP 0 +#define STLINK_RX_EP (1|ENDPOINT_IN) +#define STLINK_TX_EP (2|ENDPOINT_OUT) +#define STLINK_TRACE_EP (3|ENDPOINT_IN) + +#define STLINK_V2_1_TX_EP (1|ENDPOINT_OUT) +#define STLINK_V2_1_TRACE_EP (2|ENDPOINT_IN) + +#define STLINK_SG_SIZE (31) +#define STLINK_DATA_SIZE (4096) +#define STLINK_CMD_SIZE_V2 (16) +#define STLINK_CMD_SIZE_V1 (10) + +#define STLINK_V1_PID (0x3744) +#define STLINK_V2_PID (0x3748) +#define STLINK_V2_1_PID (0x374B) +#define STLINK_V2_1_NO_MSD_PID (0x3752) +#define STLINK_V3_USBLOADER_PID (0x374D) +#define STLINK_V3E_PID (0x374E) +#define STLINK_V3S_PID (0x374F) +#define STLINK_V3_2VCP_PID (0x3753) + +/* + * ST-Link/V1, ST-Link/V2 and ST-Link/V2.1 are full-speed USB devices and + * this limits the bulk packet size and the 8bit read/writes to max 64 bytes. + * STLINK-V3 is a high speed USB 2.0 and the limit is 512 bytes from FW V3J6. + */ #define STLINK_MAX_RW8 (64) +#define STLINKV3_MAX_RW8 (512) + +/* "WAIT" responses will be retried (with exponential backoff) at + * most this many times before failing to caller. + */ +#define MAX_WAIT_RETRIES 8 enum stlink_jtag_api_version { STLINK_JTAG_API_V1 = 1, STLINK_JTAG_API_V2, + STLINK_JTAG_API_V3, }; /** */ @@ -71,8 +102,10 @@ struct stlink_usb_version { int jtag; /** */ int swim; - /** highest supported jtag api version */ - enum stlink_jtag_api_version jtag_api_max; + /** jtag api version supported */ + enum stlink_jtag_api_version jtag_api; + /** one bit for each feature supported. See macros STLINK_F_* */ + uint32_t flags; }; /** */ @@ -82,6 +115,12 @@ struct stlink_usb_handle_s { /** */ struct libusb_transfer *trans; /** */ + uint8_t rx_ep; + /** */ + uint8_t tx_ep; + /** */ + uint8_t trace_ep; + /** */ uint8_t cmdbuf[STLINK_SG_SIZE]; /** */ uint8_t cmdidx; @@ -99,25 +138,39 @@ struct stlink_usb_handle_s { uint16_t vid; /** */ uint16_t pid; - /** this is the currently used jtag api */ - enum stlink_jtag_api_version jtag_api; /** */ struct { /** whether SWO tracing is enabled or not */ bool enabled; - /** trace data destination file */ - FILE *output_f; - /** trace module source clock (for prescaler) */ + /** trace module source clock */ uint32_t source_hz; - /** trace module clock prescaler */ - uint32_t prescale; } trace; + /** reconnect is needed next time we try to query the + * status */ + bool reconnect_pending; }; +#define STLINK_SWIM_ERR_OK 0x00 +#define STLINK_SWIM_BUSY 0x01 #define STLINK_DEBUG_ERR_OK 0x80 #define STLINK_DEBUG_ERR_FAULT 0x81 #define STLINK_SWD_AP_WAIT 0x10 +#define STLINK_SWD_AP_FAULT 0x11 +#define STLINK_SWD_AP_ERROR 0x12 +#define STLINK_SWD_AP_PARITY_ERROR 0x13 +#define STLINK_JTAG_GET_IDCODE_ERROR 0x09 +#define STLINK_JTAG_WRITE_ERROR 0x0c +#define STLINK_JTAG_WRITE_VERIF_ERROR 0x0d #define STLINK_SWD_DP_WAIT 0x14 +#define STLINK_SWD_DP_FAULT 0x15 +#define STLINK_SWD_DP_ERROR 0x16 +#define STLINK_SWD_DP_PARITY_ERROR 0x17 + +#define STLINK_SWD_AP_WDATA_ERROR 0x18 +#define STLINK_SWD_AP_STICKY_ERROR 0x19 +#define STLINK_SWD_AP_STICKYORUN_ERROR 0x1a + +#define STLINK_BAD_AP_ERROR 0x1d #define STLINK_CORE_RUNNING 0x80 #define STLINK_CORE_HALTED 0x81 @@ -139,10 +192,37 @@ struct stlink_usb_handle_s { #define STLINK_DFU_EXIT 0x07 -#define STLINK_SWIM_ENTER 0x00 -#define STLINK_SWIM_EXIT 0x01 +/* + STLINK_SWIM_ENTER_SEQ + 1.3ms low then 750Hz then 1.5kHz + + STLINK_SWIM_GEN_RST + STM8 DM pulls reset pin low 50us + + STLINK_SWIM_SPEED + uint8_t (0=low|1=high) + + STLINK_SWIM_WRITEMEM + uint16_t length + uint32_t address + + STLINK_SWIM_RESET + send syncronization seq (16us low, response 64 clocks low) +*/ +#define STLINK_SWIM_ENTER 0x00 +#define STLINK_SWIM_EXIT 0x01 +#define STLINK_SWIM_READ_CAP 0x02 +#define STLINK_SWIM_SPEED 0x03 +#define STLINK_SWIM_ENTER_SEQ 0x04 +#define STLINK_SWIM_GEN_RST 0x05 +#define STLINK_SWIM_RESET 0x06 +#define STLINK_SWIM_ASSERT_RESET 0x07 +#define STLINK_SWIM_DEASSERT_RESET 0x08 +#define STLINK_SWIM_READSTATUS 0x09 +#define STLINK_SWIM_WRITEMEM 0x0a +#define STLINK_SWIM_READMEM 0x0b +#define STLINK_SWIM_READBUF 0x0c -#define STLINK_DEBUG_ENTER_JTAG 0x00 #define STLINK_DEBUG_GETSTATUS 0x01 #define STLINK_DEBUG_FORCEDEBUG 0x02 #define STLINK_DEBUG_APIV1_RESETSYS 0x03 @@ -160,8 +240,9 @@ struct stlink_usb_handle_s { #define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f #define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10 -#define STLINK_DEBUG_ENTER_JTAG 0x00 -#define STLINK_DEBUG_ENTER_SWD 0xa3 +#define STLINK_DEBUG_ENTER_JTAG_RESET 0x00 +#define STLINK_DEBUG_ENTER_SWD_NO_RESET 0xa3 +#define STLINK_DEBUG_ENTER_JTAG_NO_RESET 0xa4 #define STLINK_DEBUG_APIV1_ENTER 0x20 #define STLINK_DEBUG_EXIT 0x21 @@ -179,17 +260,36 @@ struct stlink_usb_handle_s { #define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B #define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C +#define STLINK_DEBUG_APIV2_GETLASTRWSTATUS2 0x3E + #define STLINK_DEBUG_APIV2_START_TRACE_RX 0x40 #define STLINK_DEBUG_APIV2_STOP_TRACE_RX 0x41 #define STLINK_DEBUG_APIV2_GET_TRACE_NB 0x42 +#define STLINK_DEBUG_APIV2_SWD_SET_FREQ 0x43 +#define STLINK_DEBUG_APIV2_JTAG_SET_FREQ 0x44 +#define STLINK_DEBUG_APIV2_READ_DAP_REG 0x45 +#define STLINK_DEBUG_APIV2_WRITE_DAP_REG 0x46 +#define STLINK_DEBUG_APIV2_READMEM_16BIT 0x47 +#define STLINK_DEBUG_APIV2_WRITEMEM_16BIT 0x48 + +#define STLINK_DEBUG_APIV2_INIT_AP 0x4B +#define STLINK_DEBUG_APIV2_CLOSE_AP_DBG 0x4C + +#define STLINK_APIV3_SET_COM_FREQ 0x61 +#define STLINK_APIV3_GET_COM_FREQ 0x62 + +#define STLINK_APIV3_GET_VERSION_EX 0xFB #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02 -#define STLINK_TRACE_SIZE 1024 +#define STLINK_DEBUG_PORT_ACCESS 0xffff + +#define STLINK_TRACE_SIZE 4096 #define STLINK_TRACE_MAX_HZ 2000000 -#define STLINK_TRACE_MIN_VERSION 13 + +#define STLINK_V3_MAX_FREQ_NB 10 /** */ enum stlink_mode { @@ -204,20 +304,244 @@ enum stlink_mode { #define REQUEST_SENSE 0x03 #define REQUEST_SENSE_LENGTH 18 +/* + * Map the relevant features, quirks and workaround for specific firmware + * version of stlink + */ +#define STLINK_F_HAS_TRACE BIT(0) +#define STLINK_F_HAS_SWD_SET_FREQ BIT(1) +#define STLINK_F_HAS_JTAG_SET_FREQ BIT(2) +#define STLINK_F_HAS_MEM_16BIT BIT(3) +#define STLINK_F_HAS_GETLASTRWSTATUS2 BIT(4) +#define STLINK_F_HAS_DAP_REG BIT(5) +#define STLINK_F_QUIRK_JTAG_DP_READ BIT(6) +#define STLINK_F_HAS_AP_INIT BIT(7) +#define STLINK_F_HAS_DPBANKSEL BIT(8) +#define STLINK_F_HAS_RW8_512BYTES BIT(9) + +/* aliases */ +#define STLINK_F_HAS_TARGET_VOLT STLINK_F_HAS_TRACE + +struct speed_map { + int speed; + int speed_divisor; +}; + +/* SWD clock speed */ +static const struct speed_map stlink_khz_to_speed_map_swd[] = { + {4000, 0}, + {1800, 1}, /* default */ + {1200, 2}, + {950, 3}, + {480, 7}, + {240, 15}, + {125, 31}, + {100, 40}, + {50, 79}, + {25, 158}, + {15, 265}, + {5, 798} +}; + +/* JTAG clock speed */ +static const struct speed_map stlink_khz_to_speed_map_jtag[] = { + {18000, 2}, + {9000, 4}, + {4500, 8}, + {2250, 16}, + {1125, 32}, /* default */ + {562, 64}, + {281, 128}, + {140, 256} +}; + static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size); +static int stlink_swim_status(void *handle); +void stlink_dump_speed_map(const struct speed_map *map, unsigned int map_size); +static int stlink_get_com_freq(void *handle, bool is_jtag, struct speed_map *map); +static int stlink_speed(void *handle, int khz, bool query); + +/** */ +static unsigned int stlink_usb_block(void *handle) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (h->version.flags & STLINK_F_HAS_RW8_512BYTES) + return STLINKV3_MAX_RW8; + else + return STLINK_MAX_RW8; +} + + + +#ifdef USE_LIBUSB_ASYNCIO + +static LIBUSB_CALL void sync_transfer_cb(struct libusb_transfer *transfer) +{ + int *completed = transfer->user_data; + *completed = 1; + /* caller interprets result and frees transfer */ +} + + +static void sync_transfer_wait_for_completion(struct libusb_transfer *transfer) +{ + int r, *completed = transfer->user_data; + + /* Assuming a single libusb context exists. There no existing interface into this + * module to pass a libusb context. + */ + struct libusb_context *ctx = NULL; + + while (!*completed) { + r = libusb_handle_events_completed(ctx, completed); + if (r < 0) { + if (r == LIBUSB_ERROR_INTERRUPTED) + continue; + libusb_cancel_transfer(transfer); + continue; + } + } +} + + +static int transfer_error_status(const struct libusb_transfer *transfer) +{ + int r = 0; + + switch (transfer->status) { + case LIBUSB_TRANSFER_COMPLETED: + r = 0; + break; + case LIBUSB_TRANSFER_TIMED_OUT: + r = LIBUSB_ERROR_TIMEOUT; + break; + case LIBUSB_TRANSFER_STALL: + r = LIBUSB_ERROR_PIPE; + break; + case LIBUSB_TRANSFER_OVERFLOW: + r = LIBUSB_ERROR_OVERFLOW; + break; + case LIBUSB_TRANSFER_NO_DEVICE: + r = LIBUSB_ERROR_NO_DEVICE; + break; + case LIBUSB_TRANSFER_ERROR: + case LIBUSB_TRANSFER_CANCELLED: + r = LIBUSB_ERROR_IO; + break; + default: + r = LIBUSB_ERROR_OTHER; + break; + } + + return r; +} + +struct jtag_xfer { + int ep; + uint8_t *buf; + size_t size; + /* Internal */ + int retval; + int completed; + size_t transfer_size; + struct libusb_transfer *transfer; +}; + +static int jtag_libusb_bulk_transfer_n( + jtag_libusb_device_handle * dev_handle, + struct jtag_xfer *transfers, + size_t n_transfers, + int timeout) +{ + int retval = 0; + int returnval = ERROR_OK; + + + for (size_t i = 0; i < n_transfers; ++i) { + transfers[i].retval = 0; + transfers[i].completed = 0; + transfers[i].transfer_size = 0; + transfers[i].transfer = libusb_alloc_transfer(0); + + if (transfers[i].transfer == NULL) { + for (size_t j = 0; j < i; ++j) + libusb_free_transfer(transfers[j].transfer); + + LOG_DEBUG("ERROR, failed to alloc usb transfers"); + for (size_t k = 0; k < n_transfers; ++k) + transfers[k].retval = LIBUSB_ERROR_NO_MEM; + return ERROR_FAIL; + } + } + + for (size_t i = 0; i < n_transfers; ++i) { + libusb_fill_bulk_transfer( + transfers[i].transfer, + dev_handle, + transfers[i].ep, transfers[i].buf, transfers[i].size, + sync_transfer_cb, &transfers[i].completed, timeout); + transfers[i].transfer->type = LIBUSB_TRANSFER_TYPE_BULK; + + retval = libusb_submit_transfer(transfers[i].transfer); + if (retval < 0) { + LOG_DEBUG("ERROR, failed to submit transfer %zu, error %d", i, retval); + + /* Probably no point continuing to submit transfers once a submission fails. + * As a result, tag all remaining transfers as errors. + */ + for (size_t j = i; j < n_transfers; ++j) + transfers[j].retval = retval; + + returnval = ERROR_FAIL; + break; + } + } + + /* Wait for every submitted USB transfer to complete. + */ + for (size_t i = 0; i < n_transfers; ++i) { + if (transfers[i].retval == 0) { + sync_transfer_wait_for_completion(transfers[i].transfer); + + retval = transfer_error_status(transfers[i].transfer); + if (retval) { + returnval = ERROR_FAIL; + transfers[i].retval = retval; + LOG_DEBUG("ERROR, transfer %zu failed, error %d", i, retval); + } else { + /* Assuming actual_length is only valid if there is no transfer error. + */ + transfers[i].transfer_size = transfers[i].transfer->actual_length; + } + } + + libusb_free_transfer(transfers[i].transfer); + transfers[i].transfer = NULL; + } + + return returnval; +} + +#endif + /** */ static int stlink_usb_xfer_v1_get_status(void *handle) { struct stlink_usb_handle_s *h = handle; + int tr, ret; assert(handle != NULL); /* read status */ memset(h->cmdbuf, 0, STLINK_SG_SIZE); - if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)h->cmdbuf, - 13, STLINK_READ_TIMEOUT) != 13) + ret = jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)h->cmdbuf, 13, + STLINK_READ_TIMEOUT, &tr); + if (ret || tr != 13) return ERROR_FAIL; uint32_t t1; @@ -239,27 +563,68 @@ static int stlink_usb_xfer_v1_get_status(void *handle) return ERROR_OK; } -/** */ +#ifdef USE_LIBUSB_ASYNCIO static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size) { struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)h->cmdbuf, cmdsize, - STLINK_WRITE_TIMEOUT) != cmdsize) { - return ERROR_FAIL; + size_t n_transfers = 0; + struct jtag_xfer transfers[2]; + + memset(transfers, 0, sizeof(transfers)); + + transfers[0].ep = h->tx_ep; + transfers[0].buf = h->cmdbuf; + transfers[0].size = cmdsize; + + ++n_transfers; + + if (h->direction == h->tx_ep && size) { + transfers[1].ep = h->tx_ep; + transfers[1].buf = (uint8_t *)buf; + transfers[1].size = size; + + ++n_transfers; + } else if (h->direction == h->rx_ep && size) { + transfers[1].ep = h->rx_ep; + transfers[1].buf = (uint8_t *)buf; + transfers[1].size = size; + + ++n_transfers; } - if (h->direction == STLINK_TX_EP && size) { - if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)buf, - size, STLINK_WRITE_TIMEOUT) != size) { + return jtag_libusb_bulk_transfer_n( + h->fd, + transfers, + n_transfers, + STLINK_WRITE_TIMEOUT); +} +#else +static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size) +{ + struct stlink_usb_handle_s *h = handle; + int tr, ret; + + assert(handle != NULL); + + ret = jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)h->cmdbuf, + cmdsize, STLINK_WRITE_TIMEOUT, &tr); + if (ret || tr != cmdsize) + return ERROR_FAIL; + + if (h->direction == h->tx_ep && size) { + ret = jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)buf, + size, STLINK_WRITE_TIMEOUT, &tr); + if (ret || tr != size) { LOG_DEBUG("bulk write failed"); return ERROR_FAIL; } - } else if (h->direction == STLINK_RX_EP && size) { - if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)buf, - size, STLINK_READ_TIMEOUT) != size) { + } else if (h->direction == h->rx_ep && size) { + ret = jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)buf, + size, STLINK_READ_TIMEOUT, &tr); + if (ret || tr != size) { LOG_DEBUG("bulk read failed"); return ERROR_FAIL; } @@ -267,6 +632,7 @@ static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int return ERROR_OK; } +#endif /** */ static int stlink_usb_xfer_v1_get_sense(void *handle) @@ -276,7 +642,7 @@ static int stlink_usb_xfer_v1_get_sense(void *handle) assert(handle != NULL); - stlink_usb_init_buffer(handle, STLINK_RX_EP, 16); + stlink_usb_init_buffer(handle, h->rx_ep, 16); h->cmdbuf[h->cmdidx++] = REQUEST_SENSE; h->cmdbuf[h->cmdidx++] = 0; @@ -295,16 +661,24 @@ static int stlink_usb_xfer_v1_get_sense(void *handle) return ERROR_OK; } -/** */ -static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size) +/* + transfers block in cmdbuf + indicates number of bytes in the following + data phase. + Ignore the (eventual) error code in the received packet. +*/ +static int stlink_usb_xfer_noerrcheck(void *handle, const uint8_t *buf, int size) { int err, cmdsize = STLINK_CMD_SIZE_V2; struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - if (h->version.stlink == 1) + if (h->version.stlink == 1) { cmdsize = STLINK_SG_SIZE; + /* put length in bCBWCBLength */ + h->cmdbuf[14] = h->cmdidx-15; + } err = stlink_usb_xfer_rw(handle, cmdsize, buf, size); @@ -326,17 +700,161 @@ static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size) return ERROR_OK; } +/** + Converts an STLINK status code held in the first byte of a response + to an openocd error, logs any error/wait status as debug output. +*/ +static int stlink_usb_error_check(void *handle) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (h->transport == HL_TRANSPORT_SWIM) { + switch (h->databuf[0]) { + case STLINK_SWIM_ERR_OK: + return ERROR_OK; + case STLINK_SWIM_BUSY: + return ERROR_WAIT; + default: + LOG_DEBUG("unknown/unexpected STLINK status code 0x%x", h->databuf[0]); + return ERROR_FAIL; + } + } + + /* TODO: no error checking yet on api V1 */ + if (h->version.jtag_api == STLINK_JTAG_API_V1) + h->databuf[0] = STLINK_DEBUG_ERR_OK; + + switch (h->databuf[0]) { + case STLINK_DEBUG_ERR_OK: + return ERROR_OK; + case STLINK_DEBUG_ERR_FAULT: + LOG_DEBUG("SWD fault response (0x%x)", STLINK_DEBUG_ERR_FAULT); + return ERROR_FAIL; + case STLINK_SWD_AP_WAIT: + LOG_DEBUG("wait status SWD_AP_WAIT (0x%x)", STLINK_SWD_AP_WAIT); + return ERROR_WAIT; + case STLINK_SWD_DP_WAIT: + LOG_DEBUG("wait status SWD_DP_WAIT (0x%x)", STLINK_SWD_DP_WAIT); + return ERROR_WAIT; + case STLINK_JTAG_GET_IDCODE_ERROR: + LOG_DEBUG("STLINK_JTAG_GET_IDCODE_ERROR"); + return ERROR_FAIL; + case STLINK_JTAG_WRITE_ERROR: + LOG_DEBUG("Write error"); + return ERROR_FAIL; + case STLINK_JTAG_WRITE_VERIF_ERROR: + LOG_DEBUG("Write verify error, ignoring"); + return ERROR_OK; + case STLINK_SWD_AP_FAULT: + /* git://git.ac6.fr/openocd commit 657e3e885b9ee10 + * returns ERROR_OK with the comment: + * Change in error status when reading outside RAM. + * This fix allows CDT plugin to visualize memory. + */ + LOG_DEBUG("STLINK_SWD_AP_FAULT"); + return ERROR_FAIL; + case STLINK_SWD_AP_ERROR: + LOG_DEBUG("STLINK_SWD_AP_ERROR"); + return ERROR_FAIL; + case STLINK_SWD_AP_PARITY_ERROR: + LOG_DEBUG("STLINK_SWD_AP_PARITY_ERROR"); + return ERROR_FAIL; + case STLINK_SWD_DP_FAULT: + LOG_DEBUG("STLINK_SWD_DP_FAULT"); + return ERROR_FAIL; + case STLINK_SWD_DP_ERROR: + LOG_DEBUG("STLINK_SWD_DP_ERROR"); + return ERROR_FAIL; + case STLINK_SWD_DP_PARITY_ERROR: + LOG_DEBUG("STLINK_SWD_DP_PARITY_ERROR"); + return ERROR_FAIL; + case STLINK_SWD_AP_WDATA_ERROR: + LOG_DEBUG("STLINK_SWD_AP_WDATA_ERROR"); + return ERROR_FAIL; + case STLINK_SWD_AP_STICKY_ERROR: + LOG_DEBUG("STLINK_SWD_AP_STICKY_ERROR"); + return ERROR_FAIL; + case STLINK_SWD_AP_STICKYORUN_ERROR: + LOG_DEBUG("STLINK_SWD_AP_STICKYORUN_ERROR"); + return ERROR_FAIL; + case STLINK_BAD_AP_ERROR: + LOG_DEBUG("STLINK_BAD_AP_ERROR"); + return ERROR_FAIL; + default: + LOG_DEBUG("unknown/unexpected STLINK status code 0x%x", h->databuf[0]); + return ERROR_FAIL; + } +} + +/* + * Wrapper around stlink_usb_xfer_noerrcheck() + * to check the error code in the received packet + */ +static int stlink_usb_xfer_errcheck(void *handle, const uint8_t *buf, int size) +{ + int retval; + + assert(size > 0); + + retval = stlink_usb_xfer_noerrcheck(handle, buf, size); + if (retval != ERROR_OK) + return retval; + + return stlink_usb_error_check(handle); +} + +/** Issue an STLINK command via USB transfer, with retries on any wait status responses. + + Works for commands where the STLINK_DEBUG status is returned in the first + byte of the response packet. For SWIM a SWIM_READSTATUS is requested instead. + + Returns an openocd result code. +*/ +static int stlink_cmd_allow_retry(void *handle, const uint8_t *buf, int size) +{ + int retries = 0; + int res; + struct stlink_usb_handle_s *h = handle; + + while (1) { + if ((h->transport != HL_TRANSPORT_SWIM) || !retries) { + res = stlink_usb_xfer_noerrcheck(handle, buf, size); + if (res != ERROR_OK) + return res; + } + + if (h->transport == HL_TRANSPORT_SWIM) { + res = stlink_swim_status(handle); + if (res != ERROR_OK) + return res; + } + + res = stlink_usb_error_check(handle); + if (res == ERROR_WAIT && retries < MAX_WAIT_RETRIES) { + useconds_t delay_us = (1<version.stlink >= 2); + assert(h->version.flags & STLINK_F_HAS_TRACE); - if (jtag_libusb_bulk_read(h->fd, STLINK_TRACE_EP, (char *)buf, - size, STLINK_READ_TIMEOUT) != size) { + ret = jtag_libusb_bulk_read(h->fd, h->trace_ep, (char *)buf, size, + STLINK_READ_TIMEOUT, &tr); + if (ret || tr != size) { LOG_ERROR("bulk trace read failed"); return ERROR_FAIL; } @@ -344,7 +862,17 @@ static int stlink_usb_read_trace(void *handle, const uint8_t *buf, int size) return ERROR_OK; } -/** */ +/* + this function writes transfer length in + the right place in the cb +*/ +static void stlink_usb_set_cbw_transfer_datalength(void *handle, uint32_t size) +{ + struct stlink_usb_handle_s *h = handle; + + buf_set_u32(h->cmdbuf+8, 0, 32, size); +} + static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size) { struct stlink_usb_handle_s *h = handle; @@ -353,12 +881,16 @@ static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint3 strcpy((char *)h->cmdbuf, "USBC"); h->cmdidx += 4; /* csw tag not used */ + buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, 0); h->cmdidx += 4; + /* cbw data transfer length (in the following data phase in or out) */ buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size); h->cmdidx += 4; - h->cmdbuf[h->cmdidx++] = (direction == STLINK_RX_EP ? ENDPOINT_IN : ENDPOINT_OUT); + /* cbw flags */ + h->cmdbuf[h->cmdidx++] = (direction == h->rx_ep ? ENDPOINT_IN : ENDPOINT_OUT); h->cmdbuf[h->cmdidx++] = 0; /* lun */ - h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1; + /* cdb clength (is filled in at xfer) */ + h->cmdbuf[h->cmdidx++] = 0; } /** */ @@ -377,79 +909,182 @@ static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t siz stlink_usb_xfer_v1_create_cmd(handle, direction, size); } -static const char * const stlink_usb_error_msg[] = { - "unknown" -}; - /** */ -static int stlink_usb_error_check(void *handle) +static int stlink_usb_version(void *handle) { int res; - const char *err_msg = 0; + uint32_t flags; + uint16_t version; + uint8_t v, x, y, jtag, swim, msd, bridge = 0; + char v_str[5 * (1 + 3) + 1]; /* VvJjMmBbSs */ + char *p; struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - /* TODO: no error checking yet on api V1 */ - if (h->jtag_api == STLINK_JTAG_API_V1) - h->databuf[0] = STLINK_DEBUG_ERR_OK; + stlink_usb_init_buffer(handle, h->rx_ep, 6); - switch (h->databuf[0]) { - case STLINK_DEBUG_ERR_OK: - res = ERROR_OK; - break; - case STLINK_DEBUG_ERR_FAULT: - default: - err_msg = stlink_usb_error_msg[0]; - res = ERROR_FAIL; - break; - } + h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION; + + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 6); if (res != ERROR_OK) - LOG_DEBUG("status error: %d ('%s')", h->databuf[0], err_msg); + return res; - return res; -} + version = be_to_h_u16(h->databuf); + v = (version >> 12) & 0x0f; + x = (version >> 6) & 0x3f; + y = version & 0x3f; + + h->vid = le_to_h_u16(h->databuf + 2); + h->pid = le_to_h_u16(h->databuf + 4); + + switch (h->pid) { + case STLINK_V2_1_PID: + case STLINK_V2_1_NO_MSD_PID: + if ((x <= 22 && y == 7) || (x >= 25 && y >= 7 && y <= 12)) { + /* MxSy : STM8 V2.1 - SWIM only */ + msd = x; + swim = y; + jtag = 0; + } else { + /* JxMy : STM32 V2.1 - JTAG/SWD only */ + jtag = x; + msd = y; + swim = 0; + } + break; + default: + jtag = x; + swim = y; + msd = 0; + break; + } -/** */ -static int stlink_usb_version(void *handle) -{ - int res; - uint16_t v; - struct stlink_usb_handle_s *h = handle; + /* STLINK-V3 requires a specific command */ + if (v == 3 && x == 0 && y == 0) { + stlink_usb_init_buffer(handle, h->rx_ep, 16); - assert(handle != NULL); + h->cmdbuf[h->cmdidx++] = STLINK_APIV3_GET_VERSION_EX; - stlink_usb_init_buffer(handle, STLINK_RX_EP, 6); + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 12); + if (res != ERROR_OK) + return res; - h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION; + v = h->databuf[0]; + swim = h->databuf[1]; + jtag = h->databuf[2]; + msd = h->databuf[3]; + bridge = h->databuf[4]; + h->vid = le_to_h_u16(h->databuf + 8); + h->pid = le_to_h_u16(h->databuf + 10); + } - res = stlink_usb_xfer(handle, h->databuf, 6); + h->version.stlink = v; + h->version.jtag = jtag; + h->version.swim = swim; + + flags = 0; + switch (h->version.stlink) { + case 1: + /* ST-LINK/V1 from J11 switch to api-v2 (and support SWD) */ + if (h->version.jtag >= 11) + h->version.jtag_api = STLINK_JTAG_API_V2; + else + h->version.jtag_api = STLINK_JTAG_API_V1; + + break; + case 2: + /* all ST-LINK/V2 and ST-Link/V2.1 use api-v2 */ + h->version.jtag_api = STLINK_JTAG_API_V2; + + /* API for trace from J13 */ + /* API for target voltage from J13 */ + if (h->version.jtag >= 13) + flags |= STLINK_F_HAS_TRACE; + + /* preferred API to get last R/W status from J15 */ + if (h->version.jtag >= 15) + flags |= STLINK_F_HAS_GETLASTRWSTATUS2; + + /* API to set SWD frequency from J22 */ + if (h->version.jtag >= 22) + flags |= STLINK_F_HAS_SWD_SET_FREQ; + + /* API to set JTAG frequency from J24 */ + /* API to access DAP registers from J24 */ + if (h->version.jtag >= 24) { + flags |= STLINK_F_HAS_JTAG_SET_FREQ; + flags |= STLINK_F_HAS_DAP_REG; + } - if (res != ERROR_OK) - return res; + /* Quirk for read DP in JTAG mode (V2 only) from J24, fixed in J32 */ + if (h->version.jtag >= 24 && h->version.jtag < 32) + flags |= STLINK_F_QUIRK_JTAG_DP_READ; - v = (h->databuf[0] << 8) | h->databuf[1]; + /* API to read/write memory at 16 bit from J26 */ + if (h->version.jtag >= 26) + flags |= STLINK_F_HAS_MEM_16BIT; - h->version.stlink = (v >> 12) & 0x0f; - h->version.jtag = (v >> 6) & 0x3f; - h->version.swim = v & 0x3f; - h->vid = buf_get_u32(h->databuf, 16, 16); - h->pid = buf_get_u32(h->databuf, 32, 16); + /* API required to init AP before any AP access from J28 */ + if (h->version.jtag >= 28) + flags |= STLINK_F_HAS_AP_INIT; - /* set the supported jtag api version - * API V2 is supported since JTAG V11 - */ - if (h->version.jtag >= 11) - h->version.jtag_api_max = STLINK_JTAG_API_V2; - else - h->version.jtag_api_max = STLINK_JTAG_API_V1; + /* Banked regs (DPv1 & DPv2) support from V2J32 */ + if (h->version.jtag >= 32) + flags |= STLINK_F_HAS_DPBANKSEL; + + break; + case 3: + /* all STLINK-V3 use api-v3 */ + h->version.jtag_api = STLINK_JTAG_API_V3; + + /* STLINK-V3 is a superset of ST-LINK/V2 */ + + /* API for trace */ + /* API for target voltage */ + flags |= STLINK_F_HAS_TRACE; + + /* preferred API to get last R/W status */ + flags |= STLINK_F_HAS_GETLASTRWSTATUS2; + + /* API to access DAP registers */ + flags |= STLINK_F_HAS_DAP_REG; + + /* API to read/write memory at 16 bit */ + flags |= STLINK_F_HAS_MEM_16BIT; - LOG_INFO("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X", - h->version.stlink, - h->version.jtag, - (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2, - h->version.swim, + /* API required to init AP before any AP access */ + flags |= STLINK_F_HAS_AP_INIT; + + /* Banked regs (DPv1 & DPv2) support from V3J2 */ + if (h->version.jtag >= 2) + flags |= STLINK_F_HAS_DPBANKSEL; + + /* 8bit read/write max packet size 512 bytes from V3J6 */ + if (h->version.jtag >= 6) + flags |= STLINK_F_HAS_RW8_512BYTES; + + break; + default: + break; + } + h->version.flags = flags; + + p = v_str; + p += sprintf(p, "V%d", v); + if (jtag || !msd) + p += sprintf(p, "J%d", jtag); + if (msd) + p += sprintf(p, "M%d", msd); + if (bridge) + p += sprintf(p, "B%d", bridge); + if (swim || !msd) + sprintf(p, "S%d", swim); + + LOG_INFO("STLINK %s (API v%d) VID:PID %04X:%04X", + v_str, + h->version.jtag_api, h->vid, h->pid); @@ -461,15 +1096,15 @@ static int stlink_usb_check_voltage(void *handle, float *target_voltage) struct stlink_usb_handle_s *h = handle; uint32_t adc_results[2]; - /* only supported by stlink/v2 and for firmware >= 13 */ - if (h->version.stlink == 1 || h->version.jtag < 13) + /* no error message, simply quit with error */ + if (!(h->version.flags & STLINK_F_HAS_TARGET_VOLT)) return ERROR_COMMAND_NOTFOUND; - stlink_usb_init_buffer(handle, STLINK_RX_EP, 8); + stlink_usb_init_buffer(handle, h->rx_ep, 8); h->cmdbuf[h->cmdidx++] = STLINK_GET_TARGET_VOLTAGE; - int result = stlink_usb_xfer(handle, h->databuf, 8); + int result = stlink_usb_xfer_noerrcheck(handle, h->databuf, 8); if (result != ERROR_OK) return result; @@ -488,6 +1123,54 @@ static int stlink_usb_check_voltage(void *handle, float *target_voltage) return ERROR_OK; } +static int stlink_usb_set_swdclk(void *handle, uint16_t clk_divisor) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (!(h->version.flags & STLINK_F_HAS_SWD_SET_FREQ)) + return ERROR_COMMAND_NOTFOUND; + + stlink_usb_init_buffer(handle, h->rx_ep, 2); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_SWD_SET_FREQ; + h_u16_to_le(h->cmdbuf+h->cmdidx, clk_divisor); + h->cmdidx += 2; + + int result = stlink_cmd_allow_retry(handle, h->databuf, 2); + + if (result != ERROR_OK) + return result; + + return ERROR_OK; +} + +static int stlink_usb_set_jtagclk(void *handle, uint16_t clk_divisor) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (!(h->version.flags & STLINK_F_HAS_JTAG_SET_FREQ)) + return ERROR_COMMAND_NOTFOUND; + + stlink_usb_init_buffer(handle, h->rx_ep, 2); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_JTAG_SET_FREQ; + h_u16_to_le(h->cmdbuf+h->cmdidx, clk_divisor); + h->cmdidx += 2; + + int result = stlink_cmd_allow_retry(handle, h->databuf, 2); + + if (result != ERROR_OK) + return result; + + return ERROR_OK; +} + /** */ static int stlink_usb_current_mode(void *handle, uint8_t *mode) { @@ -496,11 +1179,11 @@ static int stlink_usb_current_mode(void *handle, uint8_t *mode) assert(handle != NULL); - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE; - res = stlink_usb_xfer(handle, h->databuf, 2); + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 2); if (res != ERROR_OK) return res; @@ -513,7 +1196,6 @@ static int stlink_usb_current_mode(void *handle, uint8_t *mode) /** */ static int stlink_usb_mode_enter(void *handle, enum stlink_mode type) { - int res; int rx_size = 0; struct stlink_usb_handle_s *h = handle; @@ -523,31 +1205,33 @@ static int stlink_usb_mode_enter(void *handle, enum stlink_mode type) * status * TODO: we need the test on api V1 too */ - if (h->jtag_api == STLINK_JTAG_API_V2) + if (h->version.jtag_api != STLINK_JTAG_API_V1) rx_size = 2; - stlink_usb_init_buffer(handle, STLINK_RX_EP, rx_size); + stlink_usb_init_buffer(handle, h->rx_ep, rx_size); switch (type) { case STLINK_MODE_DEBUG_JTAG: h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - if (h->jtag_api == STLINK_JTAG_API_V1) + if (h->version.jtag_api == STLINK_JTAG_API_V1) h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER; else h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER; - h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG_NO_RESET; break; case STLINK_MODE_DEBUG_SWD: h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - if (h->jtag_api == STLINK_JTAG_API_V1) + if (h->version.jtag_api == STLINK_JTAG_API_V1) h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER; else h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER; - h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD_NO_RESET; break; case STLINK_MODE_DEBUG_SWIM: h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER; + /* no answer for this function... */ + rx_size = 0; break; case STLINK_MODE_DFU: case STLINK_MODE_MASS: @@ -555,14 +1239,7 @@ static int stlink_usb_mode_enter(void *handle, enum stlink_mode type) return ERROR_FAIL; } - res = stlink_usb_xfer(handle, h->databuf, rx_size); - - if (res != ERROR_OK) - return res; - - res = stlink_usb_error_check(h); - - return res; + return stlink_cmd_allow_retry(handle, h->databuf, rx_size); } /** */ @@ -594,7 +1271,7 @@ static int stlink_usb_mode_leave(void *handle, enum stlink_mode type) return ERROR_FAIL; } - res = stlink_usb_xfer(handle, 0, 0); + res = stlink_usb_xfer_noerrcheck(handle, 0, 0); if (res != ERROR_OK) return res; @@ -604,8 +1281,22 @@ static int stlink_usb_mode_leave(void *handle, enum stlink_mode type) static int stlink_usb_assert_srst(void *handle, int srst); +static enum stlink_mode stlink_get_mode(enum hl_transports t) +{ + switch (t) { + case HL_TRANSPORT_SWD: + return STLINK_MODE_DEBUG_SWD; + case HL_TRANSPORT_JTAG: + return STLINK_MODE_DEBUG_JTAG; + case HL_TRANSPORT_SWIM: + return STLINK_MODE_DEBUG_SWIM; + default: + return STLINK_MODE_UNKNOWN; + } +} + /** */ -static int stlink_usb_init_mode(void *handle, bool connect_under_reset) +static int stlink_usb_init_mode(void *handle, bool connect_under_reset, int initial_interface_speed) { int res; uint8_t mode; @@ -677,43 +1368,257 @@ static int stlink_usb_init_mode(void *handle, bool connect_under_reset) LOG_DEBUG("MODE: 0x%02X", mode); /* set selected mode */ - switch (h->transport) { - case HL_TRANSPORT_SWD: - emode = STLINK_MODE_DEBUG_SWD; - break; - case HL_TRANSPORT_JTAG: - emode = STLINK_MODE_DEBUG_JTAG; - break; - case HL_TRANSPORT_SWIM: - emode = STLINK_MODE_DEBUG_SWIM; - break; - default: - emode = STLINK_MODE_UNKNOWN; - break; - } + emode = stlink_get_mode(h->transport); if (emode == STLINK_MODE_UNKNOWN) { LOG_ERROR("selected mode (transport) not supported"); return ERROR_FAIL; } + /* set the speed before entering the mode, as the chip discovery phase should be done at this speed too */ + if (h->transport == HL_TRANSPORT_JTAG) { + if (h->version.flags & STLINK_F_HAS_JTAG_SET_FREQ) { + stlink_dump_speed_map(stlink_khz_to_speed_map_jtag, ARRAY_SIZE(stlink_khz_to_speed_map_jtag)); + stlink_speed(h, initial_interface_speed, false); + } + } else if (h->transport == HL_TRANSPORT_SWD) { + if (h->version.flags & STLINK_F_HAS_SWD_SET_FREQ) { + stlink_dump_speed_map(stlink_khz_to_speed_map_swd, ARRAY_SIZE(stlink_khz_to_speed_map_swd)); + stlink_speed(h, initial_interface_speed, false); + } + } + + if (h->version.jtag_api == STLINK_JTAG_API_V3) { + struct speed_map map[STLINK_V3_MAX_FREQ_NB]; + + stlink_get_com_freq(h, (h->transport == HL_TRANSPORT_JTAG), map); + stlink_dump_speed_map(map, ARRAY_SIZE(map)); + stlink_speed(h, initial_interface_speed, false); + } + + /* preliminary SRST assert: + * We want SRST is asserted before activating debug signals (mode_enter). + * As the required mode has not been set, the adapter may not know what pin to use. + * Tested firmware STLINK v2 JTAG v29 API v2 SWIM v0 uses T_NRST pin by default + * Tested firmware STLINK v2 JTAG v27 API v2 SWIM v6 uses T_NRST pin by default + * after power on, SWIM_RST stays unchanged */ + if (connect_under_reset && emode != STLINK_MODE_DEBUG_SWIM) + stlink_usb_assert_srst(handle, 0); + /* do not check the return status here, we will + proceed and enter the desired mode below + and try asserting srst again. */ + + res = stlink_usb_mode_enter(handle, emode); + if (res != ERROR_OK) + return res; + + /* assert SRST again: a little bit late but now the adapter knows for sure what pin to use */ if (connect_under_reset) { res = stlink_usb_assert_srst(handle, 0); if (res != ERROR_OK) return res; } - res = stlink_usb_mode_enter(handle, emode); + res = stlink_usb_current_mode(handle, &mode); if (res != ERROR_OK) return res; - res = stlink_usb_current_mode(handle, &mode); + LOG_DEBUG("MODE: 0x%02X", mode); + + return ERROR_OK; +} + +/* request status from last swim request */ +static int stlink_swim_status(void *handle) +{ + struct stlink_usb_handle_s *h = handle; + int res; + + stlink_usb_init_buffer(handle, h->rx_ep, 4); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_READSTATUS; + /* error is checked by the caller */ + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 4); + if (res != ERROR_OK) + return res; + return ERROR_OK; +} +/* + the purpose of this function is unknown... + capabilites? anyway for swim v6 it returns + 0001020600000000 +*/ +__attribute__((unused)) +static int stlink_swim_cap(void *handle, uint8_t *cap) +{ + struct stlink_usb_handle_s *h = handle; + int res; + stlink_usb_init_buffer(handle, h->rx_ep, 8); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_READ_CAP; + h->cmdbuf[h->cmdidx++] = 0x01; + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 8); if (res != ERROR_OK) return res; + memcpy(cap, h->databuf, 8); + return ERROR_OK; +} - LOG_DEBUG("MODE: 0x%02X", mode); +/* debug dongle assert/deassert sreset line */ +static int stlink_swim_assert_reset(void *handle, int reset) +{ + struct stlink_usb_handle_s *h = handle; + int res; + + stlink_usb_init_buffer(handle, h->rx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + if (!reset) + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ASSERT_RESET; + else + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_DEASSERT_RESET; + res = stlink_cmd_allow_retry(handle, h->databuf, 0); + if (res != ERROR_OK) + return res; + return ERROR_OK; +} + +/* + send swim enter seq + 1.3ms low then 750Hz then 1.5kHz +*/ +static int stlink_swim_enter(void *handle) +{ + struct stlink_usb_handle_s *h = handle; + int res; + + stlink_usb_init_buffer(handle, h->rx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER_SEQ; + res = stlink_cmd_allow_retry(handle, h->databuf, 0); + if (res != ERROR_OK) + return res; + return ERROR_OK; +} + +/* switch high/low speed swim */ +static int stlink_swim_speed(void *handle, int speed) +{ + struct stlink_usb_handle_s *h = handle; + int res; + + stlink_usb_init_buffer(handle, h->rx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_SPEED; + if (speed) + h->cmdbuf[h->cmdidx++] = 1; + else + h->cmdbuf[h->cmdidx++] = 0; + res = stlink_cmd_allow_retry(handle, h->databuf, 0); + if (res != ERROR_OK) + return res; + return ERROR_OK; +} + +/* + initiate srst from swim. + nrst is pulled low for 50us. +*/ +static int stlink_swim_generate_rst(void *handle) +{ + struct stlink_usb_handle_s *h = handle; + int res; + + stlink_usb_init_buffer(handle, h->rx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_GEN_RST; + res = stlink_cmd_allow_retry(handle, h->databuf, 0); + if (res != ERROR_OK) + return res; + return ERROR_OK; +} + +/* + send resyncronize sequence + swim is pulled low for 16us + reply is 64 clks low +*/ +static int stlink_swim_resync(void *handle) +{ + struct stlink_usb_handle_s *h = handle; + int res; + + stlink_usb_init_buffer(handle, h->rx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_RESET; + res = stlink_cmd_allow_retry(handle, h->databuf, 0); + if (res != ERROR_OK) + return res; + return ERROR_OK; +} + +static int stlink_swim_writebytes(void *handle, uint32_t addr, uint32_t len, const uint8_t *data) +{ + struct stlink_usb_handle_s *h = handle; + int res; + unsigned int i; + unsigned int datalen = 0; + int cmdsize = STLINK_CMD_SIZE_V2; + + if (len > STLINK_DATA_SIZE) + return ERROR_FAIL; + + if (h->version.stlink == 1) + cmdsize = STLINK_SG_SIZE; + + stlink_usb_init_buffer(handle, h->tx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_WRITEMEM; + h_u16_to_be(h->cmdbuf+h->cmdidx, len); + h->cmdidx += 2; + h_u32_to_be(h->cmdbuf+h->cmdidx, addr); + h->cmdidx += 4; + for (i = 0; i < len; i++) { + if (h->cmdidx == cmdsize) + h->databuf[datalen++] = *(data++); + else + h->cmdbuf[h->cmdidx++] = *(data++); + } + if (h->version.stlink == 1) + stlink_usb_set_cbw_transfer_datalength(handle, datalen); + + res = stlink_cmd_allow_retry(handle, h->databuf, datalen); + if (res != ERROR_OK) + return res; + return ERROR_OK; +} + +static int stlink_swim_readbytes(void *handle, uint32_t addr, uint32_t len, uint8_t *data) +{ + struct stlink_usb_handle_s *h = handle; + int res; + + if (len > STLINK_DATA_SIZE) + return ERROR_FAIL; + + stlink_usb_init_buffer(handle, h->rx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_READMEM; + h_u16_to_be(h->cmdbuf+h->cmdidx, len); + h->cmdidx += 2; + h_u32_to_be(h->cmdbuf+h->cmdidx, addr); + h->cmdidx += 4; + res = stlink_cmd_allow_retry(handle, h->databuf, 0); + if (res != ERROR_OK) + return res; + + stlink_usb_init_buffer(handle, h->rx_ep, len); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_READBUF; + res = stlink_usb_xfer_noerrcheck(handle, data, len); + if (res != ERROR_OK) + return res; return ERROR_OK; } @@ -721,22 +1626,36 @@ static int stlink_usb_init_mode(void *handle, bool connect_under_reset) /** */ static int stlink_usb_idcode(void *handle, uint32_t *idcode) { - int res; + int res, offset; struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - stlink_usb_init_buffer(handle, STLINK_RX_EP, 4); + /* there is no swim read core id cmd */ + if (h->transport == HL_TRANSPORT_SWIM) { + *idcode = 0; + return ERROR_OK; + } + + stlink_usb_init_buffer(handle, h->rx_ep, 12); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID; + if (h->version.jtag_api == STLINK_JTAG_API_V1) { + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID; + + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 4); + offset = 0; + } else { + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READ_IDCODES; - res = stlink_usb_xfer(handle, h->databuf, 4); + res = stlink_usb_xfer_errcheck(handle, h->databuf, 12); + offset = 4; + } if (res != ERROR_OK) return res; - *idcode = le_to_h_u32(h->databuf); + *idcode = le_to_h_u32(h->databuf + offset); LOG_DEBUG("IDCODE: 0x%08" PRIX32, *idcode); @@ -750,34 +1669,31 @@ static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *v assert(handle != NULL); - stlink_usb_init_buffer(handle, STLINK_RX_EP, 8); + stlink_usb_init_buffer(handle, h->rx_ep, 8); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG; h_u32_to_le(h->cmdbuf+h->cmdidx, addr); h->cmdidx += 4; - res = stlink_usb_xfer(handle, h->databuf, 8); - + res = stlink_cmd_allow_retry(handle, h->databuf, 8); if (res != ERROR_OK) return res; *val = le_to_h_u32(h->databuf + 4); - - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; + return ERROR_OK; } static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val) { - int res; struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - if (h->jtag_api == STLINK_JTAG_API_V1) + if (h->version.jtag_api == STLINK_JTAG_API_V1) h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG; else h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG; @@ -786,53 +1702,39 @@ static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val) h_u32_to_le(h->cmdbuf+h->cmdidx, val); h->cmdidx += 4; - res = stlink_usb_xfer(handle, h->databuf, 2); - - if (res != ERROR_OK) - return res; - - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; + return stlink_cmd_allow_retry(handle, h->databuf, 2); } /** */ -static void stlink_usb_trace_read(void *handle) +static int stlink_usb_trace_read(void *handle, uint8_t *buf, size_t *size) { struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - if (h->trace.enabled && h->version.jtag >= STLINK_TRACE_MIN_VERSION) { + if (h->trace.enabled && (h->version.flags & STLINK_F_HAS_TRACE)) { int res; - stlink_usb_init_buffer(handle, STLINK_RX_EP, 10); + stlink_usb_init_buffer(handle, h->rx_ep, 10); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GET_TRACE_NB; - res = stlink_usb_xfer(handle, h->databuf, 2); - if (res == ERROR_OK) { - uint8_t buf[STLINK_TRACE_SIZE]; - size_t size = le_to_h_u16(h->databuf); - - if (size > 0) { - size = size < sizeof(buf) ? size : sizeof(buf) - 1; - - res = stlink_usb_read_trace(handle, buf, size); - if (res == ERROR_OK) { - if (h->trace.output_f) { - /* Log retrieved trace output */ - if (fwrite(buf, 1, size, h->trace.output_f) > 0) - fflush(h->trace.output_f); - } - } - } + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 2); + if (res != ERROR_OK) + return res; + + size_t bytes_avail = le_to_h_u16(h->databuf); + *size = bytes_avail < *size ? bytes_avail : *size - 1; + + if (*size > 0) { + res = stlink_usb_read_trace(handle, buf, *size); + if (res != ERROR_OK) + return res; + return ERROR_OK; } } -} - -static int stlink_usb_trace_read_callback(void *handle) -{ - stlink_usb_trace_read(handle); + *size = 0; return ERROR_OK; } @@ -850,8 +1752,6 @@ static enum target_state stlink_usb_v2_get_status(void *handle) else if (status & S_RESET_ST) return TARGET_RESET; - stlink_usb_trace_read(handle); - return TARGET_RUNNING; } @@ -863,136 +1763,74 @@ static enum target_state stlink_usb_state(void *handle) assert(handle != NULL); - if (h->jtag_api == STLINK_JTAG_API_V2) - return stlink_usb_v2_get_status(handle); - - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); - - h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS; + if (h->transport == HL_TRANSPORT_SWIM) { + res = stlink_usb_mode_enter(handle, stlink_get_mode(h->transport)); + if (res != ERROR_OK) + return TARGET_UNKNOWN; - res = stlink_usb_xfer(handle, h->databuf, 2); + res = stlink_swim_resync(handle); + if (res != ERROR_OK) + return TARGET_UNKNOWN; - if (res != ERROR_OK) - return TARGET_UNKNOWN; + return ERROR_OK; + } - if (h->databuf[0] == STLINK_CORE_RUNNING) - return TARGET_RUNNING; - if (h->databuf[0] == STLINK_CORE_HALTED) - return TARGET_HALTED; + if (h->reconnect_pending) { + LOG_INFO("Previous state query failed, trying to reconnect"); + res = stlink_usb_mode_enter(handle, stlink_get_mode(h->transport)); - return TARGET_UNKNOWN; -} + if (res != ERROR_OK) + return TARGET_UNKNOWN; -/** */ -static int stlink_usb_reset(void *handle) -{ - int res; - struct stlink_usb_handle_s *h = handle; + h->reconnect_pending = false; + } - assert(handle != NULL); + if (h->version.jtag_api != STLINK_JTAG_API_V1) { + res = stlink_usb_v2_get_status(handle); + if (res == TARGET_UNKNOWN) + h->reconnect_pending = true; + return res; + } - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS; - if (h->jtag_api == STLINK_JTAG_API_V1) - h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_RESETSYS; - else - h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS; - - res = stlink_usb_xfer(handle, h->databuf, 2); + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 2); if (res != ERROR_OK) - return res; + return TARGET_UNKNOWN; - LOG_DEBUG("RESET: 0x%08X", h->databuf[0]); + if (h->databuf[0] == STLINK_CORE_RUNNING) + return TARGET_RUNNING; + if (h->databuf[0] == STLINK_CORE_HALTED) + return TARGET_HALTED; - /* the following is not a error under swd (using hardware srst), so return success */ - if (h->databuf[0] == STLINK_SWD_AP_WAIT || h->databuf[0] == STLINK_SWD_DP_WAIT) - return ERROR_OK; + h->reconnect_pending = true; - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; + return TARGET_UNKNOWN; } static int stlink_usb_assert_srst(void *handle, int srst) { - int res; struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - if (h->jtag_api == STLINK_JTAG_API_V1) + if (h->transport == HL_TRANSPORT_SWIM) + return stlink_swim_assert_reset(handle, srst); + + if (h->version.stlink == 1) return ERROR_COMMAND_NOTFOUND; - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST; h->cmdbuf[h->cmdidx++] = srst; - res = stlink_usb_xfer(handle, h->databuf, 2); - - if (res != ERROR_OK) - return res; - - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; -} - -/** */ -static int stlink_configure_target_trace_port(void *handle) -{ - int res; - uint32_t reg; - struct stlink_usb_handle_s *h = handle; - - assert(handle != NULL); - - /* configure the TPI */ - - /* enable the trace subsystem */ - res = stlink_usb_v2_read_debug_reg(handle, DCB_DEMCR, ®); - if (res != ERROR_OK) - goto out; - res = stlink_usb_write_debug_reg(handle, DCB_DEMCR, TRCENA|reg); - if (res != ERROR_OK) - goto out; - /* set the TPI clock prescaler */ - res = stlink_usb_write_debug_reg(handle, TPI_ACPR, h->trace.prescale); - if (res != ERROR_OK) - goto out; - /* select the pin protocol. The STLinkv2 only supports asynchronous - * UART emulation (NRZ) mode, so that's what we pick. */ - res = stlink_usb_write_debug_reg(handle, TPI_SPPR, 0x02); - if (res != ERROR_OK) - goto out; - /* disable continuous formatting */ - res = stlink_usb_write_debug_reg(handle, TPI_FFCR, (1<<8)); - if (res != ERROR_OK) - goto out; - - /* configure the ITM */ - - /* unlock access to the ITM registers */ - res = stlink_usb_write_debug_reg(handle, ITM_LAR, 0xC5ACCE55); - if (res != ERROR_OK) - goto out; - /* enable trace with ATB ID 1 */ - res = stlink_usb_write_debug_reg(handle, ITM_TCR, (1<<16)|(1<<0)|(1<<2)); - if (res != ERROR_OK) - goto out; - /* trace privilege */ - res = stlink_usb_write_debug_reg(handle, ITM_TPR, 1); - if (res != ERROR_OK) - goto out; - /* trace port enable (port 0) */ - res = stlink_usb_write_debug_reg(handle, ITM_TER, (1<<0)); - if (res != ERROR_OK) - goto out; - - res = ERROR_OK; -out: - return res; + return stlink_cmd_allow_retry(handle, h->databuf, 2); } /** */ @@ -1003,19 +1841,17 @@ static void stlink_usb_trace_disable(void *handle) assert(handle != NULL); - assert(h->version.jtag >= STLINK_TRACE_MIN_VERSION); + assert(h->version.flags & STLINK_F_HAS_TRACE); - LOG_DEBUG("Tracing: disable\n"); + LOG_DEBUG("Tracing: disable"); - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_STOP_TRACE_RX; - res = stlink_usb_xfer(handle, h->databuf, 2); + res = stlink_usb_xfer_errcheck(handle, h->databuf, 2); - if (res == ERROR_OK) { + if (res == ERROR_OK) h->trace.enabled = false; - target_unregister_timer_callback(stlink_usb_trace_read_callback, handle); - } } @@ -1027,39 +1863,21 @@ static int stlink_usb_trace_enable(void *handle) assert(handle != NULL); - if (h->version.jtag >= STLINK_TRACE_MIN_VERSION) { - uint32_t trace_hz; - - res = stlink_configure_target_trace_port(handle); - if (res != ERROR_OK) - LOG_ERROR("Unable to configure tracing on target\n"); - - trace_hz = h->trace.prescale > 0 ? - h->trace.source_hz / (h->trace.prescale + 1) : - h->trace.source_hz; - - stlink_usb_init_buffer(handle, STLINK_RX_EP, 10); + if (h->version.flags & STLINK_F_HAS_TRACE) { + stlink_usb_init_buffer(handle, h->rx_ep, 10); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_START_TRACE_RX; h_u16_to_le(h->cmdbuf+h->cmdidx, (uint16_t)STLINK_TRACE_SIZE); h->cmdidx += 2; - h_u32_to_le(h->cmdbuf+h->cmdidx, trace_hz); + h_u32_to_le(h->cmdbuf+h->cmdidx, h->trace.source_hz); h->cmdidx += 4; - res = stlink_usb_xfer(handle, h->databuf, 2); + res = stlink_usb_xfer_errcheck(handle, h->databuf, 2); if (res == ERROR_OK) { h->trace.enabled = true; - LOG_DEBUG("Tracing: recording at %" PRIu32 "Hz\n", trace_hz); - /* We need the trace read function to be called at a - * high-enough frequency to ensure reasonable - * "timeliness" in processing ITM/DWT data. - * TODO: An alternative could be using the asynchronous - * features of the libusb-1.0 API to queue up one or more - * reads in advance and requeue them once they are - * completed. */ - target_register_timer_callback(stlink_usb_trace_read_callback, 1, 1, handle); + LOG_DEBUG("Tracing: recording at %" PRIu32 "Hz", h->trace.source_hz); } } else { LOG_ERROR("Tracing is not supported by this version."); @@ -1070,97 +1888,102 @@ static int stlink_usb_trace_enable(void *handle) } /** */ -static int stlink_usb_run(void *handle) +static int stlink_usb_reset(void *handle) { - int res; struct stlink_usb_handle_s *h = handle; + int retval; assert(handle != NULL); - if (h->jtag_api == STLINK_JTAG_API_V2) { - res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN); - - /* Try to start tracing, if requested */ - if (res == ERROR_OK && h->trace.source_hz && !h->trace.enabled) { - if (stlink_usb_trace_enable(handle) == ERROR_OK) - LOG_DEBUG("Tracing: enabled\n"); - else - LOG_ERROR("Tracing: enable failed\n"); - } + if (h->transport == HL_TRANSPORT_SWIM) + return stlink_swim_generate_rst(handle); - return res; - } - - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE; - res = stlink_usb_xfer(handle, h->databuf, 2); + if (h->version.jtag_api == STLINK_JTAG_API_V1) + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_RESETSYS; + else + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS; - if (res != ERROR_OK) - return res; + retval = stlink_cmd_allow_retry(handle, h->databuf, 2); + if (retval != ERROR_OK) + return retval; + + if (h->trace.enabled) { + stlink_usb_trace_disable(h); + return stlink_usb_trace_enable(h); + } - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; + return ERROR_OK; } /** */ -static int stlink_usb_halt(void *handle) +static int stlink_usb_run(void *handle) { int res; struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - if (h->jtag_api == STLINK_JTAG_API_V2) { - res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN); - - if (res == ERROR_OK && h->trace.enabled) - stlink_usb_trace_disable(handle); + if (h->version.jtag_api != STLINK_JTAG_API_V1) { + res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN); return res; } - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE; + + return stlink_cmd_allow_retry(handle, h->databuf, 2); +} - res = stlink_usb_xfer(handle, h->databuf, 2); +/** */ +static int stlink_usb_halt(void *handle) +{ + int res; + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (h->version.jtag_api != STLINK_JTAG_API_V1) { + res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN); - if (res != ERROR_OK) return res; + } + + stlink_usb_init_buffer(handle, h->rx_ep, 2); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG; - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; + return stlink_cmd_allow_retry(handle, h->databuf, 2); } /** */ static int stlink_usb_step(void *handle) { - int res; struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - if (h->jtag_api == STLINK_JTAG_API_V2) { + if (h->version.jtag_api != STLINK_JTAG_API_V1) { /* TODO: this emulates the v1 api, it should really use a similar auto mask isr - * that the cortex-m3 currently does. */ + * that the Cortex-M3 currently does. */ stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_MASKINTS|C_DEBUGEN); stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_MASKINTS|C_DEBUGEN); return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN); } - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE; - res = stlink_usb_xfer(handle, h->databuf, 2); - - if (res != ERROR_OK) - return res; - - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; + return stlink_cmd_allow_retry(handle, h->databuf, 2); } /** */ @@ -1171,20 +1994,21 @@ static int stlink_usb_read_regs(void *handle) assert(handle != NULL); - stlink_usb_init_buffer(handle, STLINK_RX_EP, 84); + stlink_usb_init_buffer(handle, h->rx_ep, 88); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - if (h->jtag_api == STLINK_JTAG_API_V1) + if (h->version.jtag_api == STLINK_JTAG_API_V1) { + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS; - else + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 84); + /* regs data from offset 0 */ + } else { h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS; + res = stlink_usb_xfer_errcheck(handle, h->databuf, 88); + /* status at offset 0, regs data from offset 4 */ + } - res = stlink_usb_xfer(handle, h->databuf, 84); - - if (res != ERROR_OK) - return res; - - return ERROR_OK; + return res; } /** */ @@ -1195,42 +2019,41 @@ static int stlink_usb_read_reg(void *handle, int num, uint32_t *val) assert(handle != NULL); - stlink_usb_init_buffer(handle, STLINK_RX_EP, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8); + stlink_usb_init_buffer(handle, h->rx_ep, h->version.jtag_api == STLINK_JTAG_API_V1 ? 4 : 8); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - if (h->jtag_api == STLINK_JTAG_API_V1) + if (h->version.jtag_api == STLINK_JTAG_API_V1) h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG; else h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG; h->cmdbuf[h->cmdidx++] = num; - res = stlink_usb_xfer(handle, h->databuf, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8); - - if (res != ERROR_OK) - return res; - - if (h->jtag_api == STLINK_JTAG_API_V1) + if (h->version.jtag_api == STLINK_JTAG_API_V1) { + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 4); + if (res != ERROR_OK) + return res; *val = le_to_h_u32(h->databuf); - else { + return ERROR_OK; + } else { + res = stlink_cmd_allow_retry(handle, h->databuf, 8); + if (res != ERROR_OK) + return res; *val = le_to_h_u32(h->databuf + 4); - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; + return ERROR_OK; } - - return ERROR_OK; } /** */ static int stlink_usb_write_reg(void *handle, int num, uint32_t val) { - int res; struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - if (h->jtag_api == STLINK_JTAG_API_V1) + if (h->version.jtag_api == STLINK_JTAG_API_V1) h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG; else h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG; @@ -1238,35 +2061,28 @@ static int stlink_usb_write_reg(void *handle, int num, uint32_t val) h_u32_to_le(h->cmdbuf+h->cmdidx, val); h->cmdidx += 4; - res = stlink_usb_xfer(handle, h->databuf, 2); - - if (res != ERROR_OK) - return res; - - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; + return stlink_cmd_allow_retry(handle, h->databuf, 2); } static int stlink_usb_get_rw_status(void *handle) { - int res; struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - if (h->jtag_api == STLINK_JTAG_API_V1) + if (h->version.jtag_api == STLINK_JTAG_API_V1) return ERROR_OK; - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS; - - res = stlink_usb_xfer(handle, h->databuf, 2); - - if (res != ERROR_OK) - return res; - - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : res; + if (h->version.flags & STLINK_F_HAS_GETLASTRWSTATUS2) { + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS2; + return stlink_usb_xfer_errcheck(handle, h->databuf, 12); + } else { + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS; + return stlink_usb_xfer_errcheck(handle, h->databuf, 2); + } } /** */ @@ -1279,13 +2095,13 @@ static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, assert(handle != NULL); - /* max 8bit read/write is 64bytes */ - if (len > STLINK_MAX_RW8) { - LOG_DEBUG("max buffer length exceeded"); + /* max 8 bit read/write is 64 bytes or 512 bytes for v3 */ + if (len > stlink_usb_block(h)) { + LOG_DEBUG("max buffer (%d) length exceeded", stlink_usb_block(h)); return ERROR_FAIL; } - stlink_usb_init_buffer(handle, STLINK_RX_EP, read_len); + stlink_usb_init_buffer(handle, h->rx_ep, read_len); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT; @@ -1298,7 +2114,7 @@ static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, if (read_len == 1) read_len++; - res = stlink_usb_xfer(handle, h->databuf, read_len); + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, read_len); if (res != ERROR_OK) return res; @@ -1317,13 +2133,13 @@ static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, assert(handle != NULL); - /* max 8bit read/write is 64bytes */ - if (len > STLINK_MAX_RW8) { - LOG_DEBUG("max buffer length exceeded"); + /* max 8 bit read/write is 64 bytes or 512 bytes for v3 */ + if (len > stlink_usb_block(h)) { + LOG_DEBUG("max buffer length (%d) exceeded", stlink_usb_block(h)); return ERROR_FAIL; } - stlink_usb_init_buffer(handle, STLINK_TX_EP, len); + stlink_usb_init_buffer(handle, h->tx_ep, len); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT; @@ -1332,7 +2148,79 @@ static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, h_u16_to_le(h->cmdbuf+h->cmdidx, len); h->cmdidx += 2; - res = stlink_usb_xfer(handle, buffer, len); + res = stlink_usb_xfer_noerrcheck(handle, buffer, len); + + if (res != ERROR_OK) + return res; + + return stlink_usb_get_rw_status(handle); +} + +/** */ +static int stlink_usb_read_mem16(void *handle, uint32_t addr, uint16_t len, + uint8_t *buffer) +{ + int res; + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (!(h->version.flags & STLINK_F_HAS_MEM_16BIT)) + return ERROR_COMMAND_NOTFOUND; + + /* data must be a multiple of 2 and half-word aligned */ + if (len % 2 || addr % 2) { + LOG_DEBUG("Invalid data alignment"); + return ERROR_TARGET_UNALIGNED_ACCESS; + } + + stlink_usb_init_buffer(handle, h->rx_ep, len); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READMEM_16BIT; + h_u32_to_le(h->cmdbuf+h->cmdidx, addr); + h->cmdidx += 4; + h_u16_to_le(h->cmdbuf+h->cmdidx, len); + h->cmdidx += 2; + + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, len); + + if (res != ERROR_OK) + return res; + + memcpy(buffer, h->databuf, len); + + return stlink_usb_get_rw_status(handle); +} + +/** */ +static int stlink_usb_write_mem16(void *handle, uint32_t addr, uint16_t len, + const uint8_t *buffer) +{ + int res; + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (!(h->version.flags & STLINK_F_HAS_MEM_16BIT)) + return ERROR_COMMAND_NOTFOUND; + + /* data must be a multiple of 2 and half-word aligned */ + if (len % 2 || addr % 2) { + LOG_DEBUG("Invalid data alignment"); + return ERROR_TARGET_UNALIGNED_ACCESS; + } + + stlink_usb_init_buffer(handle, h->tx_ep, len); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEMEM_16BIT; + h_u32_to_le(h->cmdbuf+h->cmdidx, addr); + h->cmdidx += 4; + h_u16_to_le(h->cmdbuf+h->cmdidx, len); + h->cmdidx += 2; + + res = stlink_usb_xfer_noerrcheck(handle, buffer, len); if (res != ERROR_OK) return res; @@ -1355,7 +2243,7 @@ static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, return ERROR_TARGET_UNALIGNED_ACCESS; } - stlink_usb_init_buffer(handle, STLINK_RX_EP, len); + stlink_usb_init_buffer(handle, h->rx_ep, len); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT; @@ -1364,7 +2252,7 @@ static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, h_u16_to_le(h->cmdbuf+h->cmdidx, len); h->cmdidx += 2; - res = stlink_usb_xfer(handle, h->databuf, len); + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, len); if (res != ERROR_OK) return res; @@ -1389,7 +2277,7 @@ static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, return ERROR_TARGET_UNALIGNED_ACCESS; } - stlink_usb_init_buffer(handle, STLINK_TX_EP, len); + stlink_usb_init_buffer(handle, h->tx_ep, len); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT; @@ -1398,7 +2286,7 @@ static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, h_u16_to_le(h->cmdbuf+h->cmdidx, len); h->cmdidx += 2; - res = stlink_usb_xfer(handle, buffer, len); + res = stlink_usb_xfer_noerrcheck(handle, buffer, len); if (res != ERROR_OK) return res; @@ -1419,36 +2307,54 @@ static int stlink_usb_read_mem(void *handle, uint32_t addr, uint32_t size, { int retval = ERROR_OK; uint32_t bytes_remaining; + int retries = 0; struct stlink_usb_handle_s *h = handle; /* calculate byte count */ count *= size; + /* switch to 8 bit if stlink does not support 16 bit memory read */ + if (size == 2 && !(h->version.flags & STLINK_F_HAS_MEM_16BIT)) + size = 1; + while (count) { - bytes_remaining = (size == 4) ? \ - stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8; + bytes_remaining = (size != 1) ? \ + stlink_max_block_size(h->max_mem_packet, addr) : stlink_usb_block(h); if (count < bytes_remaining) bytes_remaining = count; - /* the stlink only supports 8/32bit memory read/writes - * honour 32bit, all others will be handled as 8bit access */ - if (size == 4) { - - /* When in jtag mode the stlink uses the auto-increment functinality. + if (h->transport == HL_TRANSPORT_SWIM) { + retval = stlink_swim_readbytes(handle, addr, bytes_remaining, buffer); + if (retval != ERROR_OK) + return retval; + } else + /* + * all stlink support 8/32bit memory read/writes and only from + * stlink V2J26 there is support for 16 bit memory read/write. + * Honour 32 bit and, if possible, 16 bit too. Otherwise, handle + * as 8bit access. + */ + if (size != 1) { + + /* When in jtag mode the stlink uses the auto-increment functionality. * However it expects us to pass the data correctly, this includes * alignment and any page boundaries. We already do this as part of the * adi_v5 implementation, but the stlink is a hla adapter and so this - * needs implementiong manually. + * needs implementing manually. * currently this only affects jtag mode, according to ST they do single * access in SWD mode - but this may change and so we do it for both modes */ /* we first need to check for any unaligned bytes */ - if (addr % 4) { + if (addr & (size - 1)) { - uint32_t head_bytes = 4 - (addr % 4); + uint32_t head_bytes = size - (addr & (size - 1)); retval = stlink_usb_read_mem8(handle, addr, head_bytes, buffer); + if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) { + usleep((1<version.flags & STLINK_F_HAS_MEM_16BIT)) + size = 1; + while (count) { - bytes_remaining = (size == 4) ? \ - stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8; + bytes_remaining = (size != 1) ? \ + stlink_max_block_size(h->max_mem_packet, addr) : stlink_usb_block(h); if (count < bytes_remaining) bytes_remaining = count; - /* the stlink only supports 8/32bit memory read/writes - * honour 32bit, all others will be handled as 8bit access */ - if (size == 4) { - - /* When in jtag mode the stlink uses the auto-increment functinality. + if (h->transport == HL_TRANSPORT_SWIM) { + retval = stlink_swim_writebytes(handle, addr, bytes_remaining, buffer); + if (retval != ERROR_OK) + return retval; + } else + /* + * all stlink support 8/32bit memory read/writes and only from + * stlink V2J26 there is support for 16 bit memory read/write. + * Honour 32 bit and, if possible, 16 bit too. Otherwise, handle + * as 8bit access. + */ + if (size != 1) { + + /* When in jtag mode the stlink uses the auto-increment functionality. * However it expects us to pass the data correctly, this includes * alignment and any page boundaries. We already do this as part of the * adi_v5 implementation, but the stlink is a hla adapter and so this - * needs implementiong manually. + * needs implementing manually. * currently this only affects jtag mode, according to ST they do single * access in SWD mode - but this may change and so we do it for both modes */ /* we first need to check for any unaligned bytes */ - if (addr % 4) { + if (addr & (size - 1)) { - uint32_t head_bytes = 4 - (addr % 4); + uint32_t head_bytes = size - (addr & (size - 1)); retval = stlink_usb_write_mem8(handle, addr, head_bytes, buffer); + if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) { + usleep((1< 0) ? current_diff : -current_diff; + if ((current_diff < speed_diff) && khz >= map[i].speed) { + speed_diff = current_diff; + speed_index = i; + } + } + } + + if (speed_index == -1) { + /* this will only be here if we cannot match the slow speed. + * use the slowest speed we support.*/ + speed_index = last_valid_speed; + match = false; + } else if (i == map_size) + match = false; + + if (!match && query) { + LOG_INFO("Unable to match requested speed %d kHz, using %d kHz", \ + khz, map[speed_index].speed); + } + + return speed_index; +} + +static int stlink_speed_swd(void *handle, int khz, bool query) +{ + int speed_index; + struct stlink_usb_handle_s *h = handle; + + /* old firmware cannot change it */ + if (!(h->version.flags & STLINK_F_HAS_SWD_SET_FREQ)) + return khz; + + speed_index = stlink_match_speed_map(stlink_khz_to_speed_map_swd, + ARRAY_SIZE(stlink_khz_to_speed_map_swd), khz, query); + + if (!query) { + int result = stlink_usb_set_swdclk(h, stlink_khz_to_speed_map_swd[speed_index].speed_divisor); + if (result != ERROR_OK) { + LOG_ERROR("Unable to set adapter speed"); + return khz; + } + } + + return stlink_khz_to_speed_map_swd[speed_index].speed; +} + +static int stlink_speed_jtag(void *handle, int khz, bool query) +{ + int speed_index; + struct stlink_usb_handle_s *h = handle; + + /* old firmware cannot change it */ + if (!(h->version.flags & STLINK_F_HAS_JTAG_SET_FREQ)) + return khz; + + speed_index = stlink_match_speed_map(stlink_khz_to_speed_map_jtag, + ARRAY_SIZE(stlink_khz_to_speed_map_jtag), khz, query); + + if (!query) { + int result = stlink_usb_set_jtagclk(h, stlink_khz_to_speed_map_jtag[speed_index].speed_divisor); + if (result != ERROR_OK) { + LOG_ERROR("Unable to set adapter speed"); + return khz; + } + } + + return stlink_khz_to_speed_map_jtag[speed_index].speed; +} + +void stlink_dump_speed_map(const struct speed_map *map, unsigned int map_size) +{ + unsigned int i; + + LOG_DEBUG("Supported clock speeds are:"); + for (i = 0; i < map_size; i++) + if (map[i].speed) + LOG_DEBUG("%d kHz", map[i].speed); +} + +static int stlink_get_com_freq(void *handle, bool is_jtag, struct speed_map *map) +{ + struct stlink_usb_handle_s *h = handle; + int i; + + if (h->version.jtag_api != STLINK_JTAG_API_V3) { + LOG_ERROR("Unknown command"); + return 0; + } + + stlink_usb_init_buffer(handle, h->rx_ep, 16); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_APIV3_GET_COM_FREQ; + h->cmdbuf[h->cmdidx++] = is_jtag ? 1 : 0; + + int res = stlink_usb_xfer_errcheck(handle, h->databuf, 52); + + int size = h->databuf[8]; + + if (size > STLINK_V3_MAX_FREQ_NB) + size = STLINK_V3_MAX_FREQ_NB; + + for (i = 0; i < size; i++) { + map[i].speed = le_to_h_u32(&h->databuf[12 + 4 * i]); + map[i].speed_divisor = i; + } + + /* set to zero all the next entries */ + for (i = size; i < STLINK_V3_MAX_FREQ_NB; i++) + map[i].speed = 0; + + return res; +} + +static int stlink_set_com_freq(void *handle, bool is_jtag, unsigned int frequency) +{ + struct stlink_usb_handle_s *h = handle; + + if (h->version.jtag_api != STLINK_JTAG_API_V3) { + LOG_ERROR("Unknown command"); + return 0; + } + + stlink_usb_init_buffer(handle, h->rx_ep, 16); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_APIV3_SET_COM_FREQ; + h->cmdbuf[h->cmdidx++] = is_jtag ? 1 : 0; + h->cmdbuf[h->cmdidx++] = 0; + + h_u32_to_le(&h->cmdbuf[4], frequency); + + return stlink_usb_xfer_errcheck(handle, h->databuf, 8); +} + +static int stlink_speed_v3(void *handle, bool is_jtag, int khz, bool query) +{ + struct stlink_usb_handle_s *h = handle; + int speed_index; + struct speed_map map[STLINK_V3_MAX_FREQ_NB]; + + stlink_get_com_freq(h, is_jtag, map); + + speed_index = stlink_match_speed_map(map, ARRAY_SIZE(map), khz, query); + + if (!query) { + int result = stlink_set_com_freq(h, is_jtag, map[speed_index].speed); + if (result != ERROR_OK) { + LOG_ERROR("Unable to set adapter speed"); + return khz; + } + } + return map[speed_index].speed; +} + +static int stlink_speed(void *handle, int khz, bool query) +{ + struct stlink_usb_handle_s *h = handle; + + if (!handle) + return khz; + + switch (h->transport) { + case HL_TRANSPORT_SWIM: + return stlink_speed_swim(handle, khz, query); + break; + case HL_TRANSPORT_SWD: + if (h->version.jtag_api == STLINK_JTAG_API_V3) + return stlink_speed_v3(handle, false, khz, query); + else + return stlink_speed_swd(handle, khz, query); + break; + case HL_TRANSPORT_JTAG: + if (h->version.jtag_api == STLINK_JTAG_API_V3) + return stlink_speed_v3(handle, true, khz, query); + else + return stlink_speed_jtag(handle, khz, query); + break; + default: + break; + } + + return khz; +} + +/** */ +static int stlink_usb_close(void *handle) { - struct stlink_usb_handle_s *h = fd; + int res; + uint8_t mode; + enum stlink_mode emode; + struct stlink_usb_handle_s *h = handle; + + if (h && h->fd) + res = stlink_usb_current_mode(handle, &mode); + else + res = ERROR_FAIL; + /* do not exit if return code != ERROR_OK, + it prevents us from closing jtag_libusb */ + + if (res == ERROR_OK) { + /* try to exit current mode */ + switch (mode) { + case STLINK_DEV_DFU_MODE: + emode = STLINK_MODE_DFU; + break; + case STLINK_DEV_DEBUG_MODE: + emode = STLINK_MODE_DEBUG_SWD; + break; + case STLINK_DEV_SWIM_MODE: + emode = STLINK_MODE_DEBUG_SWIM; + break; + case STLINK_DEV_BOOTLOADER_MODE: + case STLINK_DEV_MASS_MODE: + default: + emode = STLINK_MODE_UNKNOWN; + break; + } - if (h->fd) + if (emode != STLINK_MODE_UNKNOWN) + stlink_usb_mode_leave(handle, emode); + /* do not check return code, it prevent + us from closing jtag_libusb */ + } + + if (h && h->fd) jtag_libusb_close(h->fd); - free(fd); + free(h); return ERROR_OK; } @@ -1554,7 +2750,6 @@ static int stlink_usb_open(struct hl_interface_param_s *param, void **fd) { int err, retry_count = 1; struct stlink_usb_handle_s *h; - enum stlink_jtag_api_version api; LOG_DEBUG("stlink_usb_open"); @@ -1567,11 +2762,11 @@ static int stlink_usb_open(struct hl_interface_param_s *param, void **fd) h->transport = param->transport; - const uint16_t vids[] = { param->vid, 0 }; - const uint16_t pids[] = { param->pid, 0 }; - - LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport, - param->vid, param->pid); + for (unsigned i = 0; param->vid[i]; i++) { + LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x serial: %s", + param->transport, param->vid[i], param->pid[i], + param->serial ? param->serial : ""); + } /* On certain host USB configurations(e.g. MacBook Air) @@ -1583,7 +2778,7 @@ static int stlink_usb_open(struct hl_interface_param_s *param, void **fd) in order to become operational. */ do { - if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) { + if (jtag_libusb_open(param->vid, param->pid, param->serial, &h->fd) != ERROR_OK) { LOG_ERROR("open failed"); goto error_open; } @@ -1595,14 +2790,42 @@ static int stlink_usb_open(struct hl_interface_param_s *param, void **fd) goto error_open; } + /* RX EP is common for all versions */ + h->rx_ep = STLINK_RX_EP; + + uint16_t pid; + if (jtag_libusb_get_pid(jtag_libusb_get_device(h->fd), &pid) != ERROR_OK) { + LOG_DEBUG("libusb_get_pid failed"); + goto error_open; + } + /* wrap version for first read */ - switch (param->pid) { - case 0x3744: - h->version.stlink = 1; - break; - default: - h->version.stlink = 2; - break; + switch (pid) { + case STLINK_V1_PID: + h->version.stlink = 1; + h->tx_ep = STLINK_TX_EP; + break; + case STLINK_V3_USBLOADER_PID: + case STLINK_V3E_PID: + case STLINK_V3S_PID: + case STLINK_V3_2VCP_PID: + h->version.stlink = 3; + h->tx_ep = STLINK_V2_1_TX_EP; + h->trace_ep = STLINK_V2_1_TRACE_EP; + break; + case STLINK_V2_1_PID: + case STLINK_V2_1_NO_MSD_PID: + h->version.stlink = 2; + h->tx_ep = STLINK_V2_1_TX_EP; + h->trace_ep = STLINK_V2_1_TRACE_EP; + break; + default: + /* fall through - we assume V2 to be the default version*/ + case STLINK_V2_PID: + h->version.stlink = 2; + h->tx_ep = STLINK_TX_EP; + h->trace_ep = STLINK_TRACE_EP; + break; } /* get the device version */ @@ -1637,17 +2860,14 @@ static int stlink_usb_open(struct hl_interface_param_s *param, void **fd) } } while (1); - /* compare usb vid/pid */ - if ((param->vid != h->vid) || (param->pid != h->pid)) - LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X", - param->vid, param->pid, - h->vid, h->pid); - /* check if mode is supported */ err = ERROR_OK; switch (h->transport) { case HL_TRANSPORT_SWD: + if (h->version.jtag_api == STLINK_JTAG_API_V1) + err = ERROR_FAIL; + /* fall-through */ case HL_TRANSPORT_JTAG: if (h->version.jtag == 0) err = ERROR_FAIL; @@ -1666,32 +2886,25 @@ static int stlink_usb_open(struct hl_interface_param_s *param, void **fd) goto error_open; } - api = h->version.jtag_api_max; - - LOG_INFO("using stlink api v%d", api); - - /* set the used jtag api, this will default to the newest supported version */ - h->jtag_api = api; - - if (h->jtag_api >= 2 && param->trace_source_hz > 0) { - uint32_t prescale; - - prescale = param->trace_source_hz > STLINK_TRACE_MAX_HZ ? - (param->trace_source_hz / STLINK_TRACE_MAX_HZ) - 1 : 0; - - h->trace.output_f = param->trace_f; - h->trace.source_hz = param->trace_source_hz; - h->trace.prescale = prescale; - } - /* initialize the debug hardware */ - err = stlink_usb_init_mode(h, param->connect_under_reset); + err = stlink_usb_init_mode(h, param->connect_under_reset, param->initial_interface_speed); if (err != ERROR_OK) { - LOG_ERROR("init mode failed"); + LOG_ERROR("init mode failed (unable to connect to the target)"); goto error_open; } + if (h->transport == HL_TRANSPORT_SWIM) { + err = stlink_swim_enter(h); + if (err != ERROR_OK) { + LOG_ERROR("stlink_swim_enter_failed (unable to connect to the target)"); + goto error_open; + } + *fd = h; + h->max_mem_packet = STLINK_DATA_SIZE; + return ERROR_OK; + } + /* get cpuid, so we can determine the max page size * start with a safe default */ h->max_mem_packet = (1 << 10); @@ -1719,6 +2932,136 @@ error_open: return ERROR_FAIL; } +int stlink_config_trace(void *handle, bool enabled, + enum tpiu_pin_protocol pin_protocol, uint32_t port_size, + unsigned int *trace_freq, unsigned int traceclkin_freq, + uint16_t *prescaler) +{ + struct stlink_usb_handle_s *h = handle; + uint16_t presc; + + if (enabled && (!(h->version.flags & STLINK_F_HAS_TRACE) || + pin_protocol != TPIU_PIN_PROTOCOL_ASYNC_UART)) { + LOG_ERROR("The attached ST-LINK version doesn't support this trace mode"); + return ERROR_FAIL; + } + + if (!enabled) { + stlink_usb_trace_disable(h); + return ERROR_OK; + } + + if (*trace_freq > STLINK_TRACE_MAX_HZ) { + LOG_ERROR("ST-LINK doesn't support SWO frequency higher than %u", + STLINK_TRACE_MAX_HZ); + return ERROR_FAIL; + } + + stlink_usb_trace_disable(h); + + if (!*trace_freq) + *trace_freq = STLINK_TRACE_MAX_HZ; + + presc = traceclkin_freq / *trace_freq; + + if (traceclkin_freq % *trace_freq > 0) + presc++; + + if (presc > TPIU_ACPR_MAX_SWOSCALER) { + LOG_ERROR("SWO frequency is not suitable. Please choose a different " + "frequency."); + return ERROR_FAIL; + } + + *prescaler = presc; + h->trace.source_hz = *trace_freq; + + return stlink_usb_trace_enable(h); +} + +/** */ +static int stlink_usb_init_access_port(void *handle, unsigned char ap_num) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (!(h->version.flags & STLINK_F_HAS_AP_INIT)) + return ERROR_COMMAND_NOTFOUND; + + LOG_DEBUG_IO("init ap_num = %d", ap_num); + stlink_usb_init_buffer(handle, h->rx_ep, 16); + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_INIT_AP; + h->cmdbuf[h->cmdidx++] = ap_num; + + return stlink_usb_xfer_errcheck(handle, h->databuf, 2); +} + +/** */ +static int stlink_usb_close_access_port(void *handle, unsigned char ap_num) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (!(h->version.flags & STLINK_F_HAS_AP_INIT)) + return ERROR_COMMAND_NOTFOUND; + + LOG_DEBUG_IO("close ap_num = %d", ap_num); + stlink_usb_init_buffer(handle, h->rx_ep, 16); + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_CLOSE_AP_DBG; + h->cmdbuf[h->cmdidx++] = ap_num; + + return stlink_usb_xfer_errcheck(handle, h->databuf, 2); +} + +/** */ +static int stlink_read_dap_register(void *handle, unsigned short dap_port, + unsigned short addr, uint32_t *val) +{ + struct stlink_usb_handle_s *h = handle; + int retval; + + assert(handle != NULL); + + if (!(h->version.flags & STLINK_F_HAS_DAP_REG)) + return ERROR_COMMAND_NOTFOUND; + + stlink_usb_init_buffer(handle, h->rx_ep, 16); + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READ_DAP_REG; + h_u16_to_le(&h->cmdbuf[2], dap_port); + h_u16_to_le(&h->cmdbuf[4], addr); + + retval = stlink_usb_xfer_errcheck(handle, h->databuf, 8); + *val = le_to_h_u32(h->databuf + 4); + LOG_DEBUG_IO("dap_port_read = %d, addr = 0x%x, value = 0x%x", dap_port, addr, *val); + return retval; +} + +/** */ +static int stlink_write_dap_register(void *handle, unsigned short dap_port, + unsigned short addr, uint32_t val) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (!(h->version.flags & STLINK_F_HAS_DAP_REG)) + return ERROR_COMMAND_NOTFOUND; + + LOG_DEBUG_IO("dap_write port = %d, addr = 0x%x, value = 0x%x", dap_port, addr, val); + stlink_usb_init_buffer(handle, h->rx_ep, 16); + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITE_DAP_REG; + h_u16_to_le(&h->cmdbuf[2], dap_port); + h_u16_to_le(&h->cmdbuf[4], addr); + h_u32_to_le(&h->cmdbuf[6], val); + return stlink_usb_xfer_errcheck(handle, h->databuf, 2); +} + /** */ struct hl_layout_api_s stlink_usb_layout_api = { /** */ @@ -1750,5 +3093,576 @@ struct hl_layout_api_s stlink_usb_layout_api = { /** */ .write_mem = stlink_usb_write_mem, /** */ - .write_debug_reg = stlink_usb_write_debug_reg + .write_debug_reg = stlink_usb_write_debug_reg, + /** */ + .override_target = stlink_usb_override_target, + /** */ + .speed = stlink_speed, + /** */ + .config_trace = stlink_config_trace, + /** */ + .poll_trace = stlink_usb_trace_read, +}; + +/***************************************************************************** + * DAP direct interface + */ + +static struct stlink_usb_handle_s *stlink_dap_handle; +static struct hl_interface_param_s stlink_dap_param; +static DECLARE_BITMAP(opened_ap, DP_APSEL_MAX + 1); +static int stlink_dap_error = ERROR_OK; + +static int stlink_dap_op_queue_dp_read(struct adiv5_dap *dap, unsigned reg, + uint32_t *data); + +/** */ +static int stlink_dap_record_error(int error) +{ + if (stlink_dap_error == ERROR_OK) + stlink_dap_error = error; + return ERROR_OK; +} + +/** */ +static int stlink_dap_get_and_clear_error(void) +{ + int retval = stlink_dap_error; + stlink_dap_error = ERROR_OK; + return retval; +} + +/** */ +static int stlink_dap_open_ap(unsigned short apsel) +{ + int retval; + + /* nothing to do on old versions */ + if (!(stlink_dap_handle->version.flags & STLINK_F_HAS_AP_INIT)) + return ERROR_OK; + + if (apsel > DP_APSEL_MAX) + return ERROR_FAIL; + + if (test_bit(apsel, opened_ap)) + return ERROR_OK; + + retval = stlink_usb_init_access_port(stlink_dap_handle, apsel); + if (retval != ERROR_OK) + return retval; + + LOG_DEBUG("AP %d enabled", apsel); + set_bit(apsel, opened_ap); + return ERROR_OK; +} + +/** */ +static int stlink_dap_closeall_ap(void) +{ + int retval, apsel; + + /* nothing to do on old versions */ + if (!(stlink_dap_handle->version.flags & STLINK_F_HAS_AP_INIT)) + return ERROR_OK; + + for (apsel = 0; apsel <= DP_APSEL_MAX; apsel++) { + if (!test_bit(apsel, opened_ap)) + continue; + retval = stlink_usb_close_access_port(stlink_dap_handle, apsel); + if (retval != ERROR_OK) + return retval; + clear_bit(apsel, opened_ap); + } + return ERROR_OK; +} + +/** */ +static int stlink_dap_reinit_interface(void) +{ + int retval; + enum stlink_mode mode; + + /* + * On JTAG only, it should be enough to call stlink_usb_reset(). But on + * some firmware version it does not work as expected, and there is no + * equivalent for SWD. + * At least for now, to reset the interface quit from JTAG/SWD mode then + * select the mode again. + */ + + mode = stlink_get_mode(stlink_dap_param.transport); + if (!stlink_dap_handle->reconnect_pending) { + stlink_dap_handle->reconnect_pending = true; + stlink_usb_mode_leave(stlink_dap_handle, mode); + } + + retval = stlink_usb_mode_enter(stlink_dap_handle, mode); + if (retval != ERROR_OK) + return retval; + + stlink_dap_handle->reconnect_pending = false; + /* on new FW, calling mode-leave closes all the opened AP; reopen them! */ + if (stlink_dap_handle->version.flags & STLINK_F_HAS_AP_INIT) + for (int apsel = 0; apsel <= DP_APSEL_MAX; apsel++) + if (test_bit(apsel, opened_ap)) { + clear_bit(apsel, opened_ap); + stlink_dap_open_ap(apsel); + } + return ERROR_OK; +} + +/** */ +static int stlink_dap_op_connect(struct adiv5_dap *dap) +{ + uint32_t idcode; + int retval; + + LOG_INFO("stlink_dap_op_connect(%sconnect)", dap->do_reconnect ? "re" : ""); + + /* Check if we should reset srst already when connecting, but not if reconnecting. */ + if (!dap->do_reconnect) { + enum reset_types jtag_reset_config = jtag_get_reset_config(); + + if (jtag_reset_config & RESET_CNCT_UNDER_SRST) { + if (jtag_reset_config & RESET_SRST_NO_GATING) + adapter_assert_reset(); + else + LOG_WARNING("\'srst_nogate\' reset_config option is required"); + } + } + + dap->do_reconnect = false; + dap_invalidate_cache(dap); + + retval = dap_dp_init(dap); + if (retval != ERROR_OK) { + dap->do_reconnect = true; + return retval; + } + + retval = stlink_usb_idcode(stlink_dap_handle, &idcode); + if (retval == ERROR_OK) + LOG_INFO("%s %#8.8" PRIx32, + (stlink_dap_handle->transport == HL_TRANSPORT_JTAG) ? "JTAG IDCODE" : "SWD DPIDR", + idcode); + else + dap->do_reconnect = true; + + return retval; +} + +/** */ +static int stlink_dap_check_reconnect(struct adiv5_dap *dap) +{ + int retval; + + if (!dap->do_reconnect) + return ERROR_OK; + + retval = stlink_dap_reinit_interface(); + if (retval != ERROR_OK) + return retval; + + return stlink_dap_op_connect(dap); +} + +/** */ +static int stlink_dap_op_send_sequence(struct adiv5_dap *dap, enum swd_special_seq seq) +{ + /* Ignore the request */ + return ERROR_OK; +} + +/** */ +static int stlink_dap_op_queue_dp_read(struct adiv5_dap *dap, unsigned reg, + uint32_t *data) +{ + uint32_t dummy; + int retval; + + if (!(stlink_dap_handle->version.flags & STLINK_F_HAS_DPBANKSEL)) + if (reg & 0x000000F0) { + LOG_ERROR("Banked DP registers not supported in current STLink FW"); + return ERROR_COMMAND_NOTFOUND; + } + + retval = stlink_dap_check_reconnect(dap); + if (retval != ERROR_OK) + return retval; + + data = data ? : &dummy; + if (stlink_dap_handle->version.flags & STLINK_F_QUIRK_JTAG_DP_READ + && stlink_dap_handle->transport == HL_TRANSPORT_JTAG) { + /* Quirk required in JTAG. Read RDBUFF to get the data */ + retval = stlink_read_dap_register(stlink_dap_handle, + STLINK_DEBUG_PORT_ACCESS, reg, &dummy); + if (retval == ERROR_OK) + retval = stlink_read_dap_register(stlink_dap_handle, + STLINK_DEBUG_PORT_ACCESS, DP_RDBUFF, data); + } else { + retval = stlink_read_dap_register(stlink_dap_handle, + STLINK_DEBUG_PORT_ACCESS, reg, data); + } + + return stlink_dap_record_error(retval); +} + +/** */ +static int stlink_dap_op_queue_dp_write(struct adiv5_dap *dap, unsigned reg, + uint32_t data) +{ + int retval; + + if (!(stlink_dap_handle->version.flags & STLINK_F_HAS_DPBANKSEL)) + if (reg & 0x000000F0) { + LOG_ERROR("Banked DP registers not supported in current STLink FW"); + return ERROR_COMMAND_NOTFOUND; + } + + if (reg == DP_SELECT && (data & DP_SELECT_DPBANK) != 0) { + /* ignored if STLINK_F_HAS_DPBANKSEL, not properly managed otherwise */ + LOG_DEBUG("Ignoring DPBANKSEL while write SELECT"); + data &= ~DP_SELECT_DPBANK; + } + + retval = stlink_dap_check_reconnect(dap); + if (retval != ERROR_OK) + return retval; + + /* ST-Link does not like that we set CORUNDETECT */ + if (reg == DP_CTRL_STAT) + data &= ~CORUNDETECT; + + retval = stlink_write_dap_register(stlink_dap_handle, + STLINK_DEBUG_PORT_ACCESS, reg, data); + return stlink_dap_record_error(retval); +} + +/** */ +static int stlink_dap_op_queue_ap_read(struct adiv5_ap *ap, unsigned reg, + uint32_t *data) +{ + struct adiv5_dap *dap = ap->dap; + uint32_t dummy; + int retval; + + retval = stlink_dap_check_reconnect(dap); + if (retval != ERROR_OK) + return retval; + + if (reg != AP_REG_IDR) { + retval = stlink_dap_open_ap(ap->ap_num); + if (retval != ERROR_OK) + return retval; + } + data = data ? : &dummy; + retval = stlink_read_dap_register(stlink_dap_handle, ap->ap_num, reg, + data); + dap->stlink_flush_ap_write = false; + return stlink_dap_record_error(retval); +} + +/** */ +static int stlink_dap_op_queue_ap_write(struct adiv5_ap *ap, unsigned reg, + uint32_t data) +{ + struct adiv5_dap *dap = ap->dap; + int retval; + + retval = stlink_dap_check_reconnect(dap); + if (retval != ERROR_OK) + return retval; + + retval = stlink_dap_open_ap(ap->ap_num); + if (retval != ERROR_OK) + return retval; + + retval = stlink_write_dap_register(stlink_dap_handle, ap->ap_num, reg, + data); + dap->stlink_flush_ap_write = true; + return stlink_dap_record_error(retval); +} + +/** */ +static int stlink_dap_op_queue_ap_abort(struct adiv5_dap *dap, uint8_t *ack) +{ + LOG_WARNING("stlink_dap_op_queue_ap_abort()"); + return ERROR_OK; +} + +/** */ +static int stlink_dap_op_run(struct adiv5_dap *dap) +{ + uint32_t ctrlstat, pwrmask; + int retval, saved_retval; + + /* Here no LOG_DEBUG. This is called continuously! */ + + /* + * ST-Link returns immediately after a DAP write, without waiting for it + * to complete. + * Run a dummy read to DP_RDBUFF, as suggested in + * http://infocenter.arm.com/help/topic/com.arm.doc.faqs/ka16363.html + */ + if (dap->stlink_flush_ap_write) { + dap->stlink_flush_ap_write = false; + retval = stlink_dap_op_queue_dp_read(dap, DP_RDBUFF, NULL); + if (retval != ERROR_OK) { + dap->do_reconnect = true; + return retval; + } + } + + saved_retval = stlink_dap_get_and_clear_error(); + + retval = stlink_dap_op_queue_dp_read(dap, DP_CTRL_STAT, &ctrlstat); + if (retval != ERROR_OK) { + dap->do_reconnect = true; + return retval; + } + retval = stlink_dap_get_and_clear_error(); + if (retval != ERROR_OK) { + LOG_ERROR("Fail reading CTRL/STAT register. Force reconnect"); + dap->do_reconnect = true; + return retval; + } + + if (ctrlstat & SSTICKYERR) { + if (stlink_dap_param.transport == HL_TRANSPORT_JTAG) + retval = stlink_dap_op_queue_dp_write(dap, DP_CTRL_STAT, + ctrlstat & (dap->dp_ctrl_stat | SSTICKYERR)); + else + retval = stlink_dap_op_queue_dp_write(dap, DP_ABORT, STKERRCLR); + if (retval != ERROR_OK) { + dap->do_reconnect = true; + return retval; + } + retval = stlink_dap_get_and_clear_error(); + if (retval != ERROR_OK) { + dap->do_reconnect = true; + return retval; + } + } + + /* check for power lost */ + pwrmask = dap->dp_ctrl_stat & (CDBGPWRUPREQ | CSYSPWRUPREQ); + if ((ctrlstat & pwrmask) != pwrmask) + dap->do_reconnect = true; + + return saved_retval; +} + +/** */ +static void stlink_dap_op_quit(struct adiv5_dap *dap) +{ + int retval; + + retval = stlink_dap_closeall_ap(); + if (retval != ERROR_OK) + LOG_ERROR("Error closing APs"); +} + +static int stlink_dap_config_trace(bool enabled, + enum tpiu_pin_protocol pin_protocol, uint32_t port_size, + unsigned int *trace_freq, unsigned int traceclkin_freq, + uint16_t *prescaler) +{ + return stlink_config_trace(stlink_dap_handle, enabled, pin_protocol, + port_size, trace_freq, traceclkin_freq, + prescaler); +} + +static int stlink_dap_trace_read(uint8_t *buf, size_t *size) +{ + return stlink_usb_trace_read(stlink_dap_handle, buf, size); +} + +/** */ +COMMAND_HANDLER(stlink_dap_serial_command) +{ + LOG_DEBUG("stlink_dap_serial_command"); + + if (CMD_ARGC != 1) { + LOG_ERROR("Expected exactly one argument for \"st-link serial \"."); + return ERROR_COMMAND_SYNTAX_ERROR; + } + + if (stlink_dap_param.serial) { + LOG_WARNING("Command \"st-link serial\" already used. Replacing previous value"); + free((void *)stlink_dap_param.serial); + } + + stlink_dap_param.serial = strdup(CMD_ARGV[0]); + return ERROR_OK; +} + +/** */ +COMMAND_HANDLER(stlink_dap_vid_pid) +{ + unsigned int i, max_usb_ids = HLA_MAX_USB_IDS; + + if (CMD_ARGC > max_usb_ids * 2) { + LOG_WARNING("ignoring extra IDs in vid_pid " + "(maximum is %d pairs)", max_usb_ids); + CMD_ARGC = max_usb_ids * 2; + } + if (CMD_ARGC < 2 || (CMD_ARGC & 1)) { + LOG_WARNING("incomplete vid_pid configuration directive"); + return ERROR_COMMAND_SYNTAX_ERROR; + } + for (i = 0; i < CMD_ARGC; i += 2) { + COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], stlink_dap_param.vid[i / 2]); + COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], stlink_dap_param.pid[i / 2]); + } + + /* null termination */ + stlink_dap_param.vid[i / 2] = stlink_dap_param.pid[i / 2] = 0; + + return ERROR_OK; +} + +/** */ +static const struct command_registration stlink_dap_subcommand_handlers[] = { + { + .name = "serial", + .handler = stlink_dap_serial_command, + .mode = COMMAND_CONFIG, + .help = "set the serial number of the adapter", + .usage = "", + }, + { + .name = "vid_pid", + .handler = stlink_dap_vid_pid, + .mode = COMMAND_CONFIG, + .help = "USB VID and PID of the adapter", + .usage = "(vid pid)+", + }, + COMMAND_REGISTRATION_DONE +}; + +/** */ +static const struct command_registration stlink_dap_command_handlers[] = { + { + .name = "st-link", + .mode = COMMAND_ANY, + .help = "perform st-link management", + .chain = stlink_dap_subcommand_handlers, + .usage = "", + }, + COMMAND_REGISTRATION_DONE +}; + +/** */ +static int stlink_dap_init(void) +{ + enum reset_types jtag_reset_config = jtag_get_reset_config(); + int retval; + + LOG_DEBUG("stlink_dap_init()"); + + if (jtag_reset_config & RESET_CNCT_UNDER_SRST) { + if (jtag_reset_config & RESET_SRST_NO_GATING) + stlink_dap_param.connect_under_reset = true; + else + LOG_WARNING("\'srst_nogate\' reset_config option is required"); + } + + if (transport_is_dapdirect_swd()) + stlink_dap_param.transport = HL_TRANSPORT_SWD; + else if (transport_is_dapdirect_jtag()) + stlink_dap_param.transport = HL_TRANSPORT_JTAG; + else { + LOG_ERROR("Unsupported transport"); + return ERROR_FAIL; + } + + retval = stlink_usb_open(&stlink_dap_param, (void **)&stlink_dap_handle); + if (retval != ERROR_OK) + return retval; + + if (!(stlink_dap_handle->version.flags & STLINK_F_HAS_DAP_REG)) { + LOG_ERROR("ST-Link version does not support DAP direct transport"); + return ERROR_FAIL; + } + return ERROR_OK; +} + +/** */ +static int stlink_dap_quit(void) +{ + LOG_DEBUG("stlink_dap_quit()"); + + free((void *)stlink_dap_param.serial); + stlink_dap_param.serial = NULL; + + return stlink_usb_close(stlink_dap_handle); +} + +/** */ +static int stlink_dap_reset(int req_trst, int req_srst) +{ + LOG_DEBUG("stlink_dap_reset(%d)", req_srst); + return stlink_usb_assert_srst(stlink_dap_handle, + req_srst ? STLINK_DEBUG_APIV2_DRIVE_NRST_LOW + : STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH); +} + +/** */ +static int stlink_dap_speed(int speed) +{ + if (speed == 0) { + LOG_ERROR("RTCK not supported. Set nonzero adapter_khz."); + return ERROR_JTAG_NOT_IMPLEMENTED; + } + + stlink_dap_param.initial_interface_speed = speed; + stlink_speed(stlink_dap_handle, speed, false); + return ERROR_OK; +} + +/** */ +static int stlink_dap_khz(int khz, int *jtag_speed) +{ + *jtag_speed = khz; + return ERROR_OK; +} + +/** */ +static int stlink_dap_speed_div(int speed, int *khz) +{ + *khz = speed; + return ERROR_OK; +} + +static const struct dap_ops stlink_dap_ops = { + .connect = stlink_dap_op_connect, + .send_sequence = stlink_dap_op_send_sequence, + .queue_dp_read = stlink_dap_op_queue_dp_read, + .queue_dp_write = stlink_dap_op_queue_dp_write, + .queue_ap_read = stlink_dap_op_queue_ap_read, + .queue_ap_write = stlink_dap_op_queue_ap_write, + .queue_ap_abort = stlink_dap_op_queue_ap_abort, + .run = stlink_dap_op_run, + .sync = NULL, /* optional */ + .quit = stlink_dap_op_quit, /* optional */ +}; + +static const char *const stlink_dap_transport[] = { "dapdirect_jtag", "dapdirect_swd", NULL }; + +struct adapter_driver stlink_dap_adapter_driver = { + .name = "st-link", + .transports = stlink_dap_transport, + .commands = stlink_dap_command_handlers, + + .init = stlink_dap_init, + .quit = stlink_dap_quit, + .reset = stlink_dap_reset, + .speed = stlink_dap_speed, + .khz = stlink_dap_khz, + .speed_div = stlink_dap_speed_div, + .config_trace = stlink_dap_config_trace, + .poll_trace = stlink_dap_trace_read, + + .dap_jtag_ops = &stlink_dap_ops, + .dap_swd_ops = &stlink_dap_ops, };