X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fstlink_usb.c;h=da1d1b56492c8d9eb0c7d518b7e5f976d3586247;hp=64d3364076ae08fb353e3e360f28080db98e7168;hb=ee56c502607760deb1b44b4ab06b1cb3a59029fe;hpb=571db4379129c7f700c71220fa3df5f80e575c89 diff --git a/src/jtag/drivers/stlink_usb.c b/src/jtag/drivers/stlink_usb.c index 64d3364076..da1d1b5649 100644 --- a/src/jtag/drivers/stlink_usb.c +++ b/src/jtag/drivers/stlink_usb.c @@ -1,7 +1,14 @@ /*************************************************************************** - * Copyright (C) 2011 by Mathias Kuester * + * SWIM contributions by Ake Rehnman * + * Copyright (C) 2017 Ake Rehnman * + * ake.rehnman(at)gmail.com * + * * + * Copyright (C) 2011-2012 by Mathias Kuester * * Mathias Kuester * * * + * Copyright (C) 2012 by Spencer Oliver * + * spen@spen-soft.co.uk * + * * * This code is based on https://github.com/texane/stlink * * * * This program is free software; you can redistribute it and/or modify * @@ -15,9 +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., * - * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * + * along with this program. If not, see . * ***************************************************************************/ #ifdef HAVE_CONFIG_H @@ -26,22 +31,68 @@ /* project specific includes */ #include +#include #include -#include -#include -#include +#include +#include +#include #include +#include + +#include #include "libusb_common.h" -#define ENDPOINT_IN 0x80 -#define ENDPOINT_OUT 0x00 +#ifdef HAVE_LIBUSB1 +#define USE_LIBUSB_ASYNCIO +#endif -#define STLINK_RX_EP (1|ENDPOINT_IN) -#define STLINK_TX_EP (2|ENDPOINT_OUT) -#define STLINK_CMD_SIZE (16) -#define STLINK_TX_SIZE (4*128) -#define STLINK_RX_SIZE (4*128) +#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_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, +}; /** */ struct stlink_usb_version { @@ -51,6 +102,10 @@ struct stlink_usb_version { int jtag; /** */ int swim; + /** jtag api version supported */ + enum stlink_jtag_api_version jtag_api; + /** one bit for each feature supported. See macros STLINK_F_* */ + uint32_t flags; }; /** */ @@ -60,11 +115,23 @@ struct stlink_usb_handle_s { /** */ struct libusb_transfer *trans; /** */ - uint8_t txbuf[STLINK_TX_SIZE]; + uint8_t rx_ep; + /** */ + uint8_t tx_ep; + /** */ + uint8_t trace_ep; + /** */ + uint8_t cmdbuf[STLINK_SG_SIZE]; /** */ - uint8_t rxbuf[STLINK_RX_SIZE]; + uint8_t cmdidx; /** */ - enum stlink_transports transport; + uint8_t direction; + /** */ + uint8_t databuf[STLINK_DATA_SIZE]; + /** */ + uint32_t max_mem_packet; + /** */ + enum hl_transports transport; /** */ struct stlink_usb_version version; /** */ @@ -72,55 +139,157 @@ struct stlink_usb_handle_s { /** */ uint16_t pid; /** */ - uint32_t sg_tag; + struct { + /** whether SWO tracing is enabled or not */ + bool enabled; + /** trace module source clock */ + uint32_t source_hz; + } trace; + /** reconnect is needed next time we try to query the + * status */ + bool reconnect_pending; }; -#define STLINK_OK 0x80 -#define STLINK_FALSE 0x81 -#define STLINK_CORE_RUNNING 0x80 -#define STLINK_CORE_HALTED 0x81 -#define STLINK_CORE_STAT_UNKNOWN -1 - -#define STLINK_GET_VERSION 0xF1 -#define STLINK_DEBUG_COMMAND 0xF2 -#define STLINK_DFU_COMMAND 0xF3 -#define STLINK_SWIM_COMMAND 0xF4 -#define STLINK_GET_CURRENT_MODE 0xF5 - -#define STLINK_DEV_DFU_MODE 0x00 -#define STLINK_DEV_MASS_MODE 0x01 -#define STLINK_DEV_DEBUG_MODE 0x02 -#define STLINK_DEV_SWIM_MODE 0x03 -#define STLINK_DEV_UNKNOWN_MODE -1 - -#define STLINK_DFU_EXIT 0x07 - -#define STLINK_SWIM_ENTER 0x00 -#define STLINK_SWIM_EXIT 0x01 - -#define STLINK_DEBUG_ENTER_JTAG 0x00 -#define STLINK_DEBUG_GETSTATUS 0x01 -#define STLINK_DEBUG_FORCEDEBUG 0x02 -#define STLINK_DEBUG_RESETSYS 0x03 -#define STLINK_DEBUG_READALLREGS 0x04 -#define STLINK_DEBUG_READREG 0x05 -#define STLINK_DEBUG_WRITEREG 0x06 -#define STLINK_DEBUG_READMEM_32BIT 0x07 -#define STLINK_DEBUG_WRITEMEM_32BIT 0x08 -#define STLINK_DEBUG_RUNCORE 0x09 -#define STLINK_DEBUG_STEPCORE 0x0a -#define STLINK_DEBUG_SETFP 0x0b -#define STLINK_DEBUG_READMEM_8BIT 0x0c -#define STLINK_DEBUG_WRITEMEM_8BIT 0x0d -#define STLINK_DEBUG_CLEARFP 0x0e -#define STLINK_DEBUG_WRITEDEBUGREG 0x0f - -#define STLINK_DEBUG_ENTER_JTAG 0x00 -#define STLINK_DEBUG_ENTER_SWD 0xa3 - -#define STLINK_DEBUG_ENTER 0x20 -#define STLINK_DEBUG_EXIT 0x21 -#define STLINK_DEBUG_READCOREID 0x22 +#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 +#define STLINK_CORE_STAT_UNKNOWN -1 + +#define STLINK_GET_VERSION 0xF1 +#define STLINK_DEBUG_COMMAND 0xF2 +#define STLINK_DFU_COMMAND 0xF3 +#define STLINK_SWIM_COMMAND 0xF4 +#define STLINK_GET_CURRENT_MODE 0xF5 +#define STLINK_GET_TARGET_VOLTAGE 0xF7 + +#define STLINK_DEV_DFU_MODE 0x00 +#define STLINK_DEV_MASS_MODE 0x01 +#define STLINK_DEV_DEBUG_MODE 0x02 +#define STLINK_DEV_SWIM_MODE 0x03 +#define STLINK_DEV_BOOTLOADER_MODE 0x04 +#define STLINK_DEV_UNKNOWN_MODE -1 + +#define STLINK_DFU_EXIT 0x07 + +/* + 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_GETSTATUS 0x01 +#define STLINK_DEBUG_FORCEDEBUG 0x02 +#define STLINK_DEBUG_APIV1_RESETSYS 0x03 +#define STLINK_DEBUG_APIV1_READALLREGS 0x04 +#define STLINK_DEBUG_APIV1_READREG 0x05 +#define STLINK_DEBUG_APIV1_WRITEREG 0x06 +#define STLINK_DEBUG_READMEM_32BIT 0x07 +#define STLINK_DEBUG_WRITEMEM_32BIT 0x08 +#define STLINK_DEBUG_RUNCORE 0x09 +#define STLINK_DEBUG_STEPCORE 0x0a +#define STLINK_DEBUG_APIV1_SETFP 0x0b +#define STLINK_DEBUG_READMEM_8BIT 0x0c +#define STLINK_DEBUG_WRITEMEM_8BIT 0x0d +#define STLINK_DEBUG_APIV1_CLEARFP 0x0e +#define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f +#define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10 + +#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 +#define STLINK_DEBUG_READCOREID 0x22 + +#define STLINK_DEBUG_APIV2_ENTER 0x30 +#define STLINK_DEBUG_APIV2_READ_IDCODES 0x31 +#define STLINK_DEBUG_APIV2_RESETSYS 0x32 +#define STLINK_DEBUG_APIV2_READREG 0x33 +#define STLINK_DEBUG_APIV2_WRITEREG 0x34 +#define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35 +#define STLINK_DEBUG_APIV2_READDEBUGREG 0x36 + +#define STLINK_DEBUG_APIV2_READALLREGS 0x3A +#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_DEBUG_PORT_ACCESS 0xffff + +#define STLINK_TRACE_SIZE 4096 +#define STLINK_TRACE_MAX_HZ 2000000 + +#define STLINK_V3_MAX_FREQ_NB 10 /** */ enum stlink_mode { @@ -132,269 +301,894 @@ enum stlink_mode { STLINK_MODE_DEBUG_SWIM }; +#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 void stlink_usb_recv_v1_create_cmd(char *b, int s, uint32_t tag, uint32_t rxsize, - uint8_t flag, uint8_t lun, uint8_t length) +static unsigned int stlink_usb_block(void *handle) { - int i = 0; + struct stlink_usb_handle_s *h = handle; - memset(b, 0x00, s); + assert(handle != NULL); - /* fill the send buffer */ - strcpy(b, "USBC"); - i += 4; + if (h->version.flags & STLINK_F_HAS_RW8_512BYTES) + return STLINKV3_MAX_RW8; + else + return STLINK_MAX_RW8; +} + + + +#ifdef USE_LIBUSB_ASYNCIO - buf_set_u32(b+i, 0, 32, tag); - i += 4; - buf_set_u32(b+i, 0, 32, rxsize); - i += 4; - b[i++] = flag; - b[i++] = lun; - b[i++] = length; +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 int stlink_usb_recv_v1_mass_storage_cmd(void *handle, const uint8_t *txbuf, int txsize, uint8_t *rxbuf, - int rxsize) + +static void sync_transfer_wait_for_completion(struct libusb_transfer *transfer) { - char sg_buffer[31]; - struct stlink_usb_handle_s *h; + 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; + } + } +} - assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - h->sg_tag = (h->sg_tag + 1) & 1; +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; +} - stlink_usb_recv_v1_create_cmd(sg_buffer, 31, h->sg_tag, rxsize, STLINK_TX_EP, 0x00, txsize); +struct jtag_xfer { + int ep; + uint8_t *buf; + size_t size; + /* Internal */ + int retval; + int completed; + size_t transfer_size; + struct libusb_transfer *transfer; +}; - memcpy(sg_buffer+15, txbuf, 10); +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; - if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)sg_buffer, 31, - 1000) != 31) { - printf("send failed\n"); - return ERROR_FAIL; + + 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; + } } - return ERROR_OK; + 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; } -#define REQUEST_SENSE 0x03 -#define REQUEST_SENSE_LENGTH 18 +#endif + /** */ -static int stlink_usb_recv_v1_get_status(void *handle, char *sg_buffer, int len) +static int stlink_usb_xfer_v1_get_status(void *handle) { - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; + int tr, ret; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - /* read status */ - memset(sg_buffer, 0x00, len); + memset(h->cmdbuf, 0, STLINK_SG_SIZE); - if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)sg_buffer, - len, 1000) != len) + 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, t2; + uint32_t t1; - t1 = buf_get_u32(sg_buffer+0, 0, 32); - t2 = buf_get_u32(sg_buffer+4, 0, 32); + t1 = buf_get_u32(h->cmdbuf, 0, 32); /* check for USBS */ if (t1 != 0x53425355) return ERROR_FAIL; + /* + * CSW status: + * 0 success + * 1 command failure + * 2 phase error + */ + if (h->cmdbuf[12] != 0) + return ERROR_FAIL; return ERROR_OK; } -/** */ -static int stlink_usb_recv_v1_get_sense(void *handle) +#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; - char cdb[16]; - char sg_buffer[31]; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - h->sg_tag = (h->sg_tag + 1) & 1; + size_t n_transfers = 0; + struct jtag_xfer transfers[2]; - cdb[0] = REQUEST_SENSE; - cdb[4] = REQUEST_SENSE_LENGTH; + memset(transfers, 0, sizeof(transfers)); - stlink_usb_recv_v1_create_cmd(sg_buffer, 31, h->sg_tag, REQUEST_SENSE_LENGTH, STLINK_TX_EP, - 0x00, 16); + transfers[0].ep = h->tx_ep; + transfers[0].buf = h->cmdbuf; + transfers[0].size = cmdsize; - memcpy(sg_buffer+15, cdb, 16); + ++n_transfers; - if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)sg_buffer, 16, - 1000) != 16) - return ERROR_FAIL; + if (h->direction == h->tx_ep && size) { + transfers[1].ep = h->tx_ep; + transfers[1].buf = (uint8_t *)buf; + transfers[1].size = size; - if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)cdb, - 16, 1000) != 16) - return ERROR_FAIL; + ++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; - if (stlink_usb_recv_v1_get_status(handle, sg_buffer, 13) != ERROR_OK) - return ERROR_FAIL; - /* check for sense */ - if (sg_buffer[12] != 0) + ++n_transfers; + } + + 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 (sense[0] != 0x70 && sense[0] != 0x71) */ + 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 == 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; + } + } return ERROR_OK; } +#endif /** */ -static int stlink_usb_recv_v1(void *handle, const uint8_t *txbuf, int txsize, uint8_t *rxbuf, - int rxsize) +static int stlink_usb_xfer_v1_get_sense(void *handle) { - int err; - char sg_buffer[31]; - struct stlink_usb_handle_s *h; + int res; + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + stlink_usb_init_buffer(handle, h->rx_ep, 16); + + h->cmdbuf[h->cmdidx++] = REQUEST_SENSE; + h->cmdbuf[h->cmdidx++] = 0; + h->cmdbuf[h->cmdidx++] = 0; + h->cmdbuf[h->cmdidx++] = 0; + h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH; + + res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16); + + if (res != ERROR_OK) + return res; + + if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) + return ERROR_FAIL; + + return ERROR_OK; +} + +/* + 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); - h = (struct stlink_usb_handle_s *)handle; + if (h->version.stlink == 1) { + cmdsize = STLINK_SG_SIZE; + /* put length in bCBWCBLength */ + h->cmdbuf[14] = h->cmdidx-15; + } - err = stlink_usb_recv_v1_mass_storage_cmd(handle, txbuf, txsize, rxbuf, rxsize); + err = stlink_usb_xfer_rw(handle, cmdsize, buf, size); if (err != ERROR_OK) return err; - if (rxsize && rxbuf) { - if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)rxbuf, - rxsize, 1000) != rxsize) { - LOG_DEBUG("jtag_libusb_bulk_read"); + if (h->version.stlink == 1) { + if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) { + /* check csw status */ + if (h->cmdbuf[12] == 1) { + LOG_DEBUG("get sense"); + if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK) + return ERROR_FAIL; + } return ERROR_FAIL; } } - if (stlink_usb_recv_v1_get_status(handle, sg_buffer, 13) != ERROR_OK) - return ERROR_FAIL; - /* check for sense */ - if (sg_buffer[12] == 1) { - LOG_DEBUG("get sense"); - err = stlink_usb_recv_v1_get_sense(handle); - } - return err; + return ERROR_OK; } -/** */ -static int stlink_usb_recv_v2(void *handle, const uint8_t *txbuf, int txsize, uint8_t *rxbuf, - int rxsize) +/** + 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; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - - if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)txbuf, txsize, - 1000) != txsize) { - return ERROR_FAIL; + 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; + } } - if (rxsize && rxbuf) { - if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)rxbuf, - rxsize, 1000) != rxsize) { + + /* 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.flags & STLINK_F_HAS_TRACE); - if (h->version.stlink == 1) { - return stlink_usb_recv_v1(handle, txbuf, txsize, rxbuf, rxsize); - } else { - if (txsize < STLINK_CMD_SIZE) - txsize = STLINK_CMD_SIZE; - return stlink_usb_recv_v2(handle, txbuf, txsize, rxbuf, rxsize); + 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; } + + 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; + + /* fill the send buffer */ + 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; + /* cbw flags */ + h->cmdbuf[h->cmdidx++] = (direction == h->rx_ep ? ENDPOINT_IN : ENDPOINT_OUT); + h->cmdbuf[h->cmdidx++] = 0; /* lun */ + /* cdb clength (is filled in at xfer) */ + h->cmdbuf[h->cmdidx++] = 0; } /** */ -static void stlink_usb_init_buffer(void *handle) +static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size) { - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; - assert(handle != NULL); + h->direction = direction; - h = (struct stlink_usb_handle_s *)handle; + h->cmdidx = 0; - memset(h->txbuf, 0, STLINK_CMD_SIZE); + memset(h->cmdbuf, 0, STLINK_SG_SIZE); + memset(h->databuf, 0, STLINK_DATA_SIZE); + + if (h->version.stlink == 1) + stlink_usb_xfer_v1_create_cmd(handle, direction, size); } /** */ static int stlink_usb_version(void *handle) { int res; - uint16_t v; - struct stlink_usb_handle_s *h; + 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); - h = (struct stlink_usb_handle_s *)handle; + stlink_usb_init_buffer(handle, h->rx_ep, 6); - stlink_usb_init_buffer(handle); + h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION; - h->txbuf[0] = STLINK_GET_VERSION; - - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 6); + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 6); if (res != ERROR_OK) return res; - v = (h->rxbuf[0] << 8) | h->rxbuf[1]; + 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; + } + + /* STLINK-V3 requires a specific command */ + if (v == 3 && x == 0 && y == 0) { + stlink_usb_init_buffer(handle, h->rx_ep, 16); + + h->cmdbuf[h->cmdidx++] = STLINK_APIV3_GET_VERSION_EX; + + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 12); + if (res != ERROR_OK) + return res; + + 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); + } + + 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; + } + + /* 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; + + /* API to read/write memory at 16 bit from J26 */ + if (h->version.jtag >= 26) + flags |= STLINK_F_HAS_MEM_16BIT; + + /* API required to init AP before any AP access from J28 */ + if (h->version.jtag >= 28) + flags |= STLINK_F_HAS_AP_INIT; + + /* 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; + + /* 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; - h->version.stlink = (v >> 12) & 0x0f; - h->version.jtag = (v >> 6) & 0x3f; - h->version.swim = v & 0x3f; - h->vid = buf_get_u32(h->rxbuf, 16, 16); - h->pid = buf_get_u32(h->rxbuf, 32, 16); + /* 8bit read/write max packet size 512 bytes from V3J6 */ + if (h->version.jtag >= 6) + flags |= STLINK_F_HAS_RW8_512BYTES; - LOG_DEBUG("STLINK v%d JTAG v%d SWIM v%d VID %04X PID %04X", - h->version.stlink, - h->version.jtag, - h->version.swim, + 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); return ERROR_OK; } +static int stlink_usb_check_voltage(void *handle, float *target_voltage) +{ + struct stlink_usb_handle_s *h = handle; + uint32_t adc_results[2]; + + /* 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, h->rx_ep, 8); + + h->cmdbuf[h->cmdidx++] = STLINK_GET_TARGET_VOLTAGE; + + int result = stlink_usb_xfer_noerrcheck(handle, h->databuf, 8); + + if (result != ERROR_OK) + return result; + + /* convert result */ + adc_results[0] = le_to_h_u32(h->databuf); + adc_results[1] = le_to_h_u32(h->databuf + 4); + + *target_voltage = 0; + + if (adc_results[0]) + *target_voltage = 2 * ((float)adc_results[1]) * (float)(1.2 / adc_results[0]); + + LOG_INFO("Target voltage: %f", (double)*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) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + stlink_usb_init_buffer(handle, h->rx_ep, 2); - stlink_usb_init_buffer(handle); + h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE; - h->txbuf[0] = STLINK_GET_CURRENT_MODE; - - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2); + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 2); if (res != ERROR_OK) return res; - *mode = h->rxbuf[0]; + *mode = h->databuf[0]; return ERROR_OK; } @@ -402,29 +1196,42 @@ 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; - struct stlink_usb_handle_s *h; + int rx_size = 0; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + /* on api V2 we are able the read the latest command + * status + * TODO: we need the test on api V1 too + */ + if (h->version.jtag_api != STLINK_JTAG_API_V1) + rx_size = 2; - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, h->rx_ep, rx_size); switch (type) { case STLINK_MODE_DEBUG_JTAG: - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_ENTER; - h->txbuf[2] = STLINK_DEBUG_ENTER_JTAG; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + 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_NO_RESET; break; case STLINK_MODE_DEBUG_SWD: - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_ENTER; - h->txbuf[2] = STLINK_DEBUG_ENTER_SWD; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + 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_NO_RESET; break; case STLINK_MODE_DEBUG_SWIM: - h->txbuf[0] = STLINK_SWIM_COMMAND; - h->txbuf[1] = STLINK_SWIM_ENTER; + 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: @@ -432,69 +1239,78 @@ static int stlink_usb_mode_enter(void *handle, enum stlink_mode type) return ERROR_FAIL; } - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0); - if (res != ERROR_OK) - return res; - - return ERROR_OK; + return stlink_cmd_allow_retry(handle, h->databuf, rx_size); } /** */ static int stlink_usb_mode_leave(void *handle, enum stlink_mode type) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0); switch (type) { case STLINK_MODE_DEBUG_JTAG: case STLINK_MODE_DEBUG_SWD: - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_EXIT; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT; break; case STLINK_MODE_DEBUG_SWIM: - h->txbuf[0] = STLINK_SWIM_COMMAND; - h->txbuf[1] = STLINK_SWIM_EXIT; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT; break; case STLINK_MODE_DFU: - h->txbuf[0] = STLINK_DFU_COMMAND; - h->txbuf[1] = STLINK_DFU_EXIT; + h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT; break; case STLINK_MODE_MASS: default: return ERROR_FAIL; } - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0); + res = stlink_usb_xfer_noerrcheck(handle, 0, 0); + if (res != ERROR_OK) return res; return ERROR_OK; } +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) +static int stlink_usb_init_mode(void *handle, bool connect_under_reset, int initial_interface_speed) { int res; uint8_t mode; enum stlink_mode emode; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - res = stlink_usb_current_mode(handle, &mode); if (res != ERROR_OK) return res; - LOG_DEBUG("MODE: %02X", mode); + LOG_DEBUG("MODE: 0x%02X", mode); /* try to exit current mode */ switch (mode) { @@ -507,6 +1323,8 @@ static int stlink_usb_init_mode(void *handle) 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; @@ -524,502 +1342,1728 @@ static int stlink_usb_init_mode(void *handle) if (res != ERROR_OK) return res; - LOG_DEBUG("MODE: %02X", mode); + /* we check the target voltage here as an aid to debugging connection problems. + * the stlink requires the target Vdd to be connected for reliable debugging. + * this cmd is supported in all modes except DFU + */ + if (mode != STLINK_DEV_DFU_MODE) { + + float target_voltage; + + /* check target voltage (if supported) */ + res = stlink_usb_check_voltage(h, &target_voltage); + + if (res != ERROR_OK) { + if (res != ERROR_COMMAND_NOTFOUND) + LOG_ERROR("voltage check failed"); + /* attempt to continue as it is not a catastrophic failure */ + } else { + /* check for a sensible target voltage, operating range is 1.65-5.5v + * according to datasheet */ + if (target_voltage < 1.5) + LOG_ERROR("target voltage may be too low for reliable debugging"); + } + } + + LOG_DEBUG("MODE: 0x%02X", mode); /* set selected mode */ - switch (h->transport) { - case STLINK_TRANSPORT_SWD: - emode = STLINK_MODE_DEBUG_SWD; - break; - case STLINK_TRANSPORT_JTAG: - emode = STLINK_MODE_DEBUG_JTAG; - break; - case STLINK_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; } - res = stlink_usb_mode_enter(handle, emode); + /* 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_current_mode(handle, &mode); if (res != ERROR_OK) return res; - LOG_DEBUG("MODE: %02X", mode); + LOG_DEBUG("MODE: 0x%02X", mode); return ERROR_OK; } -/** */ -static int stlink_usb_idcode(void *handle, uint32_t *idcode) +/* request status from last swim request */ +static int stlink_swim_status(void *handle) { + struct stlink_usb_handle_s *h = handle; int res; - struct stlink_usb_handle_s *h; - - assert(handle != NULL); - - h = (struct stlink_usb_handle_s *)handle; - - stlink_usb_init_buffer(handle); - - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_READCOREID; - - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 4); + 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; - *idcode = le_to_h_u32(h->rxbuf); + 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("IDCODE: %08X", *idcode); +/* 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; } -/** */ -static enum target_state stlink_usb_state(void *handle) +/* + 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; - struct stlink_usb_handle_s *h; - - assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + 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; +} - stlink_usb_init_buffer(handle); +/* switch high/low speed swim */ +static int stlink_swim_speed(void *handle, int speed) +{ + struct stlink_usb_handle_s *h = handle; + int res; - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_GETSTATUS; + 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; +} - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2); +/* + 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 TARGET_UNKNOWN; + return res; + return ERROR_OK; +} - if (h->rxbuf[0] == STLINK_CORE_RUNNING) - return TARGET_RUNNING; - if (h->rxbuf[0] == STLINK_CORE_HALTED) - return TARGET_HALTED; +/* + 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; - return TARGET_UNKNOWN; + 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_usb_reset(void *handle) +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; - struct stlink_usb_handle_s *h; + unsigned int i; + unsigned int datalen = 0; + int cmdsize = STLINK_CMD_SIZE_V2; - assert(handle != NULL); + if (len > STLINK_DATA_SIZE) + return ERROR_FAIL; - h = (struct stlink_usb_handle_s *)handle; + 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); - stlink_usb_init_buffer(handle); + res = stlink_cmd_allow_retry(handle, h->databuf, datalen); + if (res != ERROR_OK) + return res; + return ERROR_OK; +} - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_RESETSYS; +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; - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2); + 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; - LOG_DEBUG("RESET: %08X", h->rxbuf[0]); + 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; } /** */ -static int stlink_usb_run(void *handle) +static int stlink_usb_idcode(void *handle, uint32_t *idcode) { - int res; - struct stlink_usb_handle_s *h; + int res, offset; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + /* 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); - stlink_usb_init_buffer(handle); + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + if (h->version.jtag_api == STLINK_JTAG_API_V1) { + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID; - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_RUNCORE; + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 4); + offset = 0; + } else { + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READ_IDCODES; - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2); + res = stlink_usb_xfer_errcheck(handle, h->databuf, 12); + offset = 4; + } if (res != ERROR_OK) return res; + *idcode = le_to_h_u32(h->databuf + offset); + + LOG_DEBUG("IDCODE: 0x%08" PRIX32, *idcode); + return ERROR_OK; } -/** */ -static int stlink_usb_halt(void *handle) +static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val) { + struct stlink_usb_handle_s *h = handle; int res; - struct stlink_usb_handle_s *h; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, h->rx_ep, 8); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_FORCEDEBUG; - - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2); + 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_cmd_allow_retry(handle, h->databuf, 8); if (res != ERROR_OK) return res; + *val = le_to_h_u32(h->databuf + 4); return ERROR_OK; } +static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + stlink_usb_init_buffer(handle, h->rx_ep, 2); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + 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; + h_u32_to_le(h->cmdbuf+h->cmdidx, addr); + h->cmdidx += 4; + h_u32_to_le(h->cmdbuf+h->cmdidx, val); + h->cmdidx += 4; + + return stlink_cmd_allow_retry(handle, h->databuf, 2); +} + /** */ -static int stlink_usb_step(void *handle) +static int stlink_usb_trace_read(void *handle, uint8_t *buf, size_t *size) { - int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + if (h->trace.enabled && (h->version.flags & STLINK_F_HAS_TRACE)) { + int res; - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, h->rx_ep, 10); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_STEPCORE; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GET_TRACE_NB; - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2); + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 2); + if (res != ERROR_OK) + return res; - 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; + } + } + *size = 0; return ERROR_OK; } +static enum target_state stlink_usb_v2_get_status(void *handle) +{ + int result; + uint32_t status; + + result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status); + if (result != ERROR_OK) + return TARGET_UNKNOWN; + + if (status & S_HALT) + return TARGET_HALTED; + else if (status & S_RESET_ST) + return TARGET_RESET; + + return TARGET_RUNNING; +} + /** */ -static int stlink_usb_read_regs(void *handle) +static enum target_state stlink_usb_state(void *handle) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + 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_swim_resync(handle); + if (res != ERROR_OK) + return TARGET_UNKNOWN; + + return ERROR_OK; + } - stlink_usb_init_buffer(handle); + if (h->reconnect_pending) { + LOG_INFO("Previous state query failed, trying to reconnect"); + res = stlink_usb_mode_enter(handle, stlink_get_mode(h->transport)); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_READALLREGS; + if (res != ERROR_OK) + return TARGET_UNKNOWN; - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 84); + h->reconnect_pending = false; + } - if (res != ERROR_OK) + 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; + } - return ERROR_OK; + stlink_usb_init_buffer(handle, h->rx_ep, 2); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS; + + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, 2); + + if (res != ERROR_OK) + return TARGET_UNKNOWN; + + if (h->databuf[0] == STLINK_CORE_RUNNING) + return TARGET_RUNNING; + if (h->databuf[0] == STLINK_CORE_HALTED) + return TARGET_HALTED; + + h->reconnect_pending = true; + + return TARGET_UNKNOWN; } -/** */ -static int stlink_usb_read_reg(void *handle, int num, uint32_t *val) +static int stlink_usb_assert_srst(void *handle, int srst) { - int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + if (h->transport == HL_TRANSPORT_SWIM) + return stlink_swim_assert_reset(handle, srst); - stlink_usb_init_buffer(handle); + if (h->version.stlink == 1) + return ERROR_COMMAND_NOTFOUND; - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_READREG; - h->txbuf[2] = num; + stlink_usb_init_buffer(handle, h->rx_ep, 2); - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 4); + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST; + h->cmdbuf[h->cmdidx++] = srst; - if (res != ERROR_OK) - return res; + return stlink_cmd_allow_retry(handle, h->databuf, 2); +} + +/** */ +static void stlink_usb_trace_disable(void *handle) +{ + int res = ERROR_OK; + struct stlink_usb_handle_s *h = handle; - *val = le_to_h_u32(h->rxbuf); + assert(handle != NULL); - return ERROR_OK; + assert(h->version.flags & STLINK_F_HAS_TRACE); + + LOG_DEBUG("Tracing: disable"); + + 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_errcheck(handle, h->databuf, 2); + + if (res == ERROR_OK) + h->trace.enabled = false; } + /** */ -static int stlink_usb_write_reg(void *handle, int num, uint32_t val) +static int stlink_usb_trace_enable(void *handle) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + if (h->version.flags & STLINK_F_HAS_TRACE) { + stlink_usb_init_buffer(handle, h->rx_ep, 10); - stlink_usb_init_buffer(handle); + 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, h->trace.source_hz); + h->cmdidx += 4; - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_WRITEREG; - h->txbuf[2] = num; - h_u32_to_le(h->txbuf + 3, val); + res = stlink_usb_xfer_errcheck(handle, h->databuf, 2); - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2); - - if (res != ERROR_OK) - return res; + if (res == ERROR_OK) { + h->trace.enabled = true; + LOG_DEBUG("Tracing: recording at %" PRIu32 "Hz", h->trace.source_hz); + } + } else { + LOG_ERROR("Tracing is not supported by this version."); + res = ERROR_FAIL; + } - return ERROR_OK; + return res; } /** */ -static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, - uint8_t *buffer) +static int stlink_usb_reset(void *handle) { - int res; - uint16_t read_len = len; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; + int retval; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - - stlink_usb_init_buffer(handle); + if (h->transport == HL_TRANSPORT_SWIM) + return stlink_swim_generate_rst(handle); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_READMEM_8BIT; - h_u32_to_le(h->txbuf + 2, addr); - h_u16_to_le(h->txbuf + 2 + 4, len); + stlink_usb_init_buffer(handle, h->rx_ep, 2); - /* we need to fix read length for single bytes */ - if (read_len == 1) - read_len++; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, read_len); + 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; - memcpy(buffer, h->rxbuf, len); + if (h->trace.enabled) { + stlink_usb_trace_disable(h); + return stlink_usb_trace_enable(h); + } return ERROR_OK; } /** */ -static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, - const uint8_t *buffer) +static int stlink_usb_run(void *handle) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - - stlink_usb_init_buffer(handle); - - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_WRITEMEM_8BIT; - h_u32_to_le(h->txbuf + 2, addr); - h_u16_to_le(h->txbuf + 2 + 4, len); + if (h->version.jtag_api != STLINK_JTAG_API_V1) { + res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN); - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0); - - if (res != ERROR_OK) return res; + } - res = stlink_usb_recv(handle, (uint8_t *) buffer, len, 0, 0); + stlink_usb_init_buffer(handle, h->rx_ep, 2); - if (res != ERROR_OK) - return res; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE; - return ERROR_OK; + return stlink_cmd_allow_retry(handle, h->databuf, 2); } /** */ -static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, - uint32_t *buffer) +static int stlink_usb_halt(void *handle) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + if (h->version.jtag_api != STLINK_JTAG_API_V1) { + res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN); - stlink_usb_init_buffer(handle); + return res; + } - len *= 4; + stlink_usb_init_buffer(handle, h->rx_ep, 2); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_READMEM_32BIT; - h_u32_to_le(h->txbuf + 2, addr); - h_u16_to_le(h->txbuf + 2 + 4, len); + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG; - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, len); + return stlink_cmd_allow_retry(handle, h->databuf, 2); +} - if (res != ERROR_OK) - return res; +/** */ +static int stlink_usb_step(void *handle) +{ + struct stlink_usb_handle_s *h = handle; - memcpy(buffer, h->rxbuf, len); + assert(handle != NULL); - return ERROR_OK; + 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. */ + 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, h->rx_ep, 2); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE; + + return stlink_cmd_allow_retry(handle, h->databuf, 2); } /** */ -static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, - const uint32_t *buffer) +static int stlink_usb_read_regs(void *handle) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + stlink_usb_init_buffer(handle, h->rx_ep, 88); - stlink_usb_init_buffer(handle); + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + if (h->version.jtag_api == STLINK_JTAG_API_V1) { - len *= 4; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS; + 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 */ + } - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_WRITEMEM_32BIT; - h_u32_to_le(h->txbuf + 2, addr); - h_u16_to_le(h->txbuf + 2 + 4, len); + return res; +} - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0); +/** */ +static int stlink_usb_read_reg(void *handle, int num, uint32_t *val) +{ + int res; + struct stlink_usb_handle_s *h = handle; - if (res != ERROR_OK) - return res; + assert(handle != NULL); - res = stlink_usb_recv(handle, (uint8_t *) buffer, len, 0, 0); + stlink_usb_init_buffer(handle, h->rx_ep, h->version.jtag_api == STLINK_JTAG_API_V1 ? 4 : 8); - if (res != ERROR_OK) - return res; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + 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; - return ERROR_OK; + 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); + 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 ERROR_OK; + } } /** */ -static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd) +static int stlink_usb_write_reg(void *handle, int num, uint32_t val) { - int err; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; - LOG_DEBUG("stlink_usb_open"); + assert(handle != NULL); - h = malloc(sizeof(struct stlink_usb_handle_s)); + stlink_usb_init_buffer(handle, h->rx_ep, 2); - if (h == 0) { - LOG_DEBUG("malloc failed"); - return ERROR_FAIL; - } + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + 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; + h->cmdbuf[h->cmdidx++] = num; + h_u32_to_le(h->cmdbuf+h->cmdidx, val); + h->cmdidx += 4; - h->transport = param->transport; + return stlink_cmd_allow_retry(handle, h->databuf, 2); +} - const uint16_t vids[] = { param->vid, 0 }; - const uint16_t pids[] = { param->pid, 0 }; +static int stlink_usb_get_rw_status(void *handle) +{ + struct stlink_usb_handle_s *h = handle; - LOG_DEBUG("transport: %d vid: %04x pid: %04x", param->transport, - param->vid, param->pid); + assert(handle != NULL); - if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) { - LOG_ERROR("open failed"); - return ERROR_FAIL; - } + if (h->version.jtag_api == STLINK_JTAG_API_V1) + return ERROR_OK; - jtag_libusb_set_configuration(h->fd, 0); + stlink_usb_init_buffer(handle, h->rx_ep, 2); - if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) { - LOG_DEBUG("claim interface failed"); - return ERROR_FAIL; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + 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); } +} - /* wrap version for first read */ - switch (param->pid) { - case 0x3744: - h->version.stlink = 1; - break; - default: - h->version.stlink = 2; +/** */ +static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, + uint8_t *buffer) +{ + int res; + uint16_t read_len = len; + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + /* 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, h->rx_ep, read_len); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT; + h_u32_to_le(h->cmdbuf+h->cmdidx, addr); + h->cmdidx += 4; + h_u16_to_le(h->cmdbuf+h->cmdidx, len); + h->cmdidx += 2; + + /* we need to fix read length for single bytes */ + if (read_len == 1) + read_len++; + + res = stlink_usb_xfer_noerrcheck(handle, h->databuf, read_len); + + if (res != ERROR_OK) + return res; + + memcpy(buffer, h->databuf, len); + + return stlink_usb_get_rw_status(handle); +} + +/** */ +static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, + const uint8_t *buffer) +{ + int res; + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + /* 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, h->tx_ep, len); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT; + 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; + + 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; + + return stlink_usb_get_rw_status(handle); +} + +/** */ +static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, + uint8_t *buffer) +{ + int res; + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + /* data must be a multiple of 4 and word aligned */ + if (len % 4 || addr % 4) { + 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_READMEM_32BIT; + 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_mem32(void *handle, uint32_t addr, uint16_t len, + const uint8_t *buffer) +{ + int res; + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + /* data must be a multiple of 4 and word aligned */ + if (len % 4 || addr % 4) { + 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_WRITEMEM_32BIT; + 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; + + return stlink_usb_get_rw_status(handle); +} + +static uint32_t stlink_max_block_size(uint32_t tar_autoincr_block, uint32_t address) +{ + uint32_t max_tar_block = (tar_autoincr_block - ((tar_autoincr_block - 1) & address)); + if (max_tar_block == 0) + max_tar_block = 4; + return max_tar_block; +} + +static int stlink_usb_read_mem(void *handle, uint32_t addr, uint32_t size, + uint32_t count, uint8_t *buffer) +{ + 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 != 1) ? \ + stlink_max_block_size(h->max_mem_packet, addr) : stlink_usb_block(h); + + if (count < bytes_remaining) + bytes_remaining = count; + + 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 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 & (size - 1)) { + + 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 != 1) ? \ + stlink_max_block_size(h->max_mem_packet, addr) : stlink_usb_block(h); + + if (count < bytes_remaining) + bytes_remaining = count; + + 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 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 & (size - 1)) { + + 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; + } + } } - /* get the device version */ - err = stlink_usb_version(h); + 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) +{ + 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 (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(h); + + return ERROR_OK; +} + +/** */ +static int stlink_usb_open(struct hl_interface_param_s *param, void **fd) +{ + int err, retry_count = 1; + struct stlink_usb_handle_s *h; + + LOG_DEBUG("stlink_usb_open"); + + h = calloc(1, sizeof(struct stlink_usb_handle_s)); + + if (h == 0) { + LOG_DEBUG("malloc failed"); + return ERROR_FAIL; + } + + h->transport = param->transport; + + 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) + STLINKv2 dongle seems to have its FW in a funky state if, + after plugging it in, you try to use openocd with it more + then once (by launching and closing openocd). In cases like + that initial attempt to read the FW info via + stlink_usb_version will fail and the device has to be reset + in order to become operational. + */ + do { + if (jtag_libusb_open(param->vid, param->pid, param->serial, &h->fd) != ERROR_OK) { + LOG_ERROR("open failed"); + goto error_open; + } + + jtag_libusb_set_configuration(h->fd, 0); + + if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) { + LOG_DEBUG("claim interface failed"); + 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 (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 */ + err = stlink_usb_version(h); + + if (err == ERROR_OK) { + break; + } else if (h->version.stlink == 1 || + retry_count == 0) { + LOG_ERROR("read version failed"); + goto error_open; + } else { + err = jtag_libusb_release_interface(h->fd, 0); + if (err != ERROR_OK) { + LOG_ERROR("release interface failed"); + goto error_open; + } + + err = jtag_libusb_reset_device(h->fd); + if (err != ERROR_OK) { + LOG_ERROR("reset device failed"); + goto error_open; + } + + jtag_libusb_close(h->fd); + /* + Give the device one second to settle down and + reenumerate. + */ + usleep(1 * 1000 * 1000); + retry_count--; + } + } while (1); + + /* 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; + break; + case HL_TRANSPORT_SWIM: + if (h->version.swim == 0) + err = ERROR_FAIL; + break; + default: + err = ERROR_FAIL; + break; + } + + if (err != ERROR_OK) { + LOG_ERROR("mode (transport) not supported by device"); + goto error_open; + } + + /* initialize the debug hardware */ + err = stlink_usb_init_mode(h, param->connect_under_reset, param->initial_interface_speed); + + if (err != ERROR_OK) { + 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); + + uint8_t buffer[4]; + err = stlink_usb_read_mem32(h, CPUID, 4, buffer); + if (err == ERROR_OK) { + uint32_t cpuid = le_to_h_u32(buffer); + int i = (cpuid >> 4) & 0xf; + if (i == 4 || i == 3) { + /* Cortex-M3/M4 has 4096 bytes autoincrement range */ + h->max_mem_packet = (1 << 12); + } + } + + LOG_DEBUG("Using TAR autoincrement: %" PRIu32, h->max_mem_packet); + + *fd = h; + + return ERROR_OK; + +error_open: + stlink_usb_close(h); + + 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; - if (err != ERROR_OK) { - LOG_ERROR("read version failed"); - jtag_libusb_close(h->fd); - free(h); - return err; - } + assert(handle != NULL); - /* compare usb vid/pid */ - if ((param->vid != h->vid) || (param->pid != h->pid)) - LOG_INFO("vid/pid are not identical: %04X/%04X %04X/%04X", - param->vid, param->pid, - h->vid, h->pid); + if (!(h->version.flags & STLINK_F_HAS_AP_INIT)) + return ERROR_COMMAND_NOTFOUND; - /* check if mode is supported */ - err = ERROR_OK; + 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; - switch (h->transport) { - case STLINK_TRANSPORT_SWD: - case STLINK_TRANSPORT_JTAG: - if (h->version.jtag == 0) - err = ERROR_FAIL; - break; - case STLINK_TRANSPORT_SWIM: - if (h->version.swim == 0) - err = ERROR_FAIL; - break; - default: - err = ERROR_FAIL; - break; - } + return stlink_usb_xfer_errcheck(handle, h->databuf, 2); +} - if (err != ERROR_OK) { - LOG_ERROR("mode (transport) not supported by device"); - jtag_libusb_close(h->fd); - free(h); - return err; - } +/** */ +static int stlink_usb_close_access_port(void *handle, unsigned char ap_num) +{ + struct stlink_usb_handle_s *h = handle; - err = stlink_usb_init_mode(h); + assert(handle != NULL); - if (err != ERROR_OK) { - LOG_ERROR("init mode failed"); - jtag_libusb_close(h->fd); - free(h); - return err; - } + if (!(h->version.flags & STLINK_F_HAS_AP_INIT)) + return ERROR_COMMAND_NOTFOUND; - *fd = h; + 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 ERROR_OK; + return stlink_usb_xfer_errcheck(handle, h->databuf, 2); } /** */ -static int stlink_usb_close(void *fd) +static int stlink_read_dap_register(void *handle, unsigned short dap_port, + unsigned short addr, uint32_t *val) { - return ERROR_OK; + 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 stlink_layout_api_s stlink_usb_layout_api = { +struct hl_layout_api_s stlink_usb_layout_api = { /** */ .open = stlink_usb_open, /** */ @@ -1031,6 +3075,8 @@ struct stlink_layout_api_s stlink_usb_layout_api = { /** */ .reset = stlink_usb_reset, /** */ + .assert_srst = stlink_usb_assert_srst, + /** */ .run = stlink_usb_run, /** */ .halt = stlink_usb_halt, @@ -1043,11 +3089,580 @@ struct stlink_layout_api_s stlink_usb_layout_api = { /** */ .write_reg = stlink_usb_write_reg, /** */ - .read_mem8 = stlink_usb_read_mem8, + .read_mem = stlink_usb_read_mem, + /** */ + .write_mem = stlink_usb_write_mem, + /** */ + .write_debug_reg = stlink_usb_write_debug_reg, /** */ - .write_mem8 = stlink_usb_write_mem8, + .override_target = stlink_usb_override_target, /** */ - .read_mem32 = stlink_usb_read_mem32, + .speed = stlink_speed, /** */ - .write_mem32 = stlink_usb_write_mem32, + .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, };