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stlink_usb: Fix swallowed error on read/write operations, add retries on SWD WAIT...
[openocd.git] / src / jtag / drivers / stlink_usb.c
blob77448d508245e8e704cb9272ed70f52faaf270ce
1 /***************************************************************************
2 * Copyright (C) 2011-2012 by Mathias Kuester *
3 * Mathias Kuester <kesmtp@freenet.de> *
4 * *
5 * Copyright (C) 2012 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
7 * *
8 * This code is based on https://github.com/texane/stlink *
9 * *
10 * This program is free software; you can redistribute it and/or modify *
11 * it under the terms of the GNU General Public License as published by *
12 * the Free Software Foundation; either version 2 of the License, or *
13 * (at your option) any later version. *
14 * *
15 * This program is distributed in the hope that it will be useful, *
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
18 * GNU General Public License for more details. *
19 * *
20 * You should have received a copy of the GNU General Public License *
21 * along with this program; if not, write to the *
22 * Free Software Foundation, Inc., *
23 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
24 ***************************************************************************/
25
26 #ifdef HAVE_CONFIG_H
27 #include "config.h"
28 #endif
29
30 /* project specific includes */
31 #include <helper/binarybuffer.h>
32 #include <jtag/interface.h>
33 #include <jtag/hla/hla_layout.h>
34 #include <jtag/hla/hla_transport.h>
35 #include <jtag/hla/hla_interface.h>
36 #include <target/target.h>
37
38 #include <target/cortex_m.h>
39
40 #include "libusb_common.h"
41
42 #define ENDPOINT_IN 0x80
43 #define ENDPOINT_OUT 0x00
44
45 #define STLINK_WRITE_TIMEOUT 1000
46 #define STLINK_READ_TIMEOUT 1000
47
48 #define STLINK_NULL_EP 0
49 #define STLINK_RX_EP (1|ENDPOINT_IN)
50 #define STLINK_TX_EP (2|ENDPOINT_OUT)
51 #define STLINK_TRACE_EP (3|ENDPOINT_IN)
52
53 #define STLINK_V2_1_TX_EP (1|ENDPOINT_OUT)
54 #define STLINK_V2_1_TRACE_EP (2|ENDPOINT_IN)
55
56 #define STLINK_SG_SIZE (31)
57 #define STLINK_DATA_SIZE (4096)
58 #define STLINK_CMD_SIZE_V2 (16)
59 #define STLINK_CMD_SIZE_V1 (10)
60
61 #define STLINK_V1_PID (0x3744)
62 #define STLINK_V2_PID (0x3748)
63 #define STLINK_V2_1_PID (0x374B)
64
65 /* the current implementation of the stlink limits
66 * 8bit read/writes to max 64 bytes. */
67 #define STLINK_MAX_RW8 (64)
68
69 /* "WAIT" responses will be retried (with exponential backoff) at
70 * most this many times before failing to caller.
71 */
72 #define MAX_WAIT_RETRIES 8
73
74 enum stlink_jtag_api_version {
75 STLINK_JTAG_API_V1 = 1,
76 STLINK_JTAG_API_V2,
77 };
78
79 /** */
80 struct stlink_usb_version {
81 /** */
82 int stlink;
83 /** */
84 int jtag;
85 /** */
86 int swim;
87 /** highest supported jtag api version */
88 enum stlink_jtag_api_version jtag_api_max;
89 };
90
91 /** */
92 struct stlink_usb_handle_s {
93 /** */
94 struct jtag_libusb_device_handle *fd;
95 /** */
96 struct libusb_transfer *trans;
97 /** */
98 uint8_t rx_ep;
99 /** */
100 uint8_t tx_ep;
101 /** */
102 uint8_t trace_ep;
103 /** */
104 uint8_t cmdbuf[STLINK_SG_SIZE];
105 /** */
106 uint8_t cmdidx;
107 /** */
108 uint8_t direction;
109 /** */
110 uint8_t databuf[STLINK_DATA_SIZE];
111 /** */
112 uint32_t max_mem_packet;
113 /** */
114 enum hl_transports transport;
115 /** */
116 struct stlink_usb_version version;
117 /** */
118 uint16_t vid;
119 /** */
120 uint16_t pid;
121 /** this is the currently used jtag api */
122 enum stlink_jtag_api_version jtag_api;
123 /** */
124 struct {
125 /** whether SWO tracing is enabled or not */
126 bool enabled;
127 /** trace data destination file */
128 FILE *output_f;
129 /** trace module source clock (for prescaler) */
130 uint32_t source_hz;
131 /** trace module clock prescaler */
132 uint32_t prescale;
133 } trace;
134 /** reconnect is needed next time we try to query the
135 * status */
136 bool reconnect_pending;
137 };
138
139 #define STLINK_DEBUG_ERR_OK 0x80
140 #define STLINK_DEBUG_ERR_FAULT 0x81
141 #define STLINK_SWD_AP_WAIT 0x10
142 #define STLINK_SWD_DP_WAIT 0x14
143
144 #define STLINK_CORE_RUNNING 0x80
145 #define STLINK_CORE_HALTED 0x81
146 #define STLINK_CORE_STAT_UNKNOWN -1
147
148 #define STLINK_GET_VERSION 0xF1
149 #define STLINK_DEBUG_COMMAND 0xF2
150 #define STLINK_DFU_COMMAND 0xF3
151 #define STLINK_SWIM_COMMAND 0xF4
152 #define STLINK_GET_CURRENT_MODE 0xF5
153 #define STLINK_GET_TARGET_VOLTAGE 0xF7
154
155 #define STLINK_DEV_DFU_MODE 0x00
156 #define STLINK_DEV_MASS_MODE 0x01
157 #define STLINK_DEV_DEBUG_MODE 0x02
158 #define STLINK_DEV_SWIM_MODE 0x03
159 #define STLINK_DEV_BOOTLOADER_MODE 0x04
160 #define STLINK_DEV_UNKNOWN_MODE -1
161
162 #define STLINK_DFU_EXIT 0x07
163
164 #define STLINK_SWIM_ENTER 0x00
165 #define STLINK_SWIM_EXIT 0x01
166
167 #define STLINK_DEBUG_ENTER_JTAG 0x00
168 #define STLINK_DEBUG_GETSTATUS 0x01
169 #define STLINK_DEBUG_FORCEDEBUG 0x02
170 #define STLINK_DEBUG_APIV1_RESETSYS 0x03
171 #define STLINK_DEBUG_APIV1_READALLREGS 0x04
172 #define STLINK_DEBUG_APIV1_READREG 0x05
173 #define STLINK_DEBUG_APIV1_WRITEREG 0x06
174 #define STLINK_DEBUG_READMEM_32BIT 0x07
175 #define STLINK_DEBUG_WRITEMEM_32BIT 0x08
176 #define STLINK_DEBUG_RUNCORE 0x09
177 #define STLINK_DEBUG_STEPCORE 0x0a
178 #define STLINK_DEBUG_APIV1_SETFP 0x0b
179 #define STLINK_DEBUG_READMEM_8BIT 0x0c
180 #define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
181 #define STLINK_DEBUG_APIV1_CLEARFP 0x0e
182 #define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
183 #define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
184
185 #define STLINK_DEBUG_ENTER_JTAG 0x00
186 #define STLINK_DEBUG_ENTER_SWD 0xa3
187
188 #define STLINK_DEBUG_APIV1_ENTER 0x20
189 #define STLINK_DEBUG_EXIT 0x21
190 #define STLINK_DEBUG_READCOREID 0x22
191
192 #define STLINK_DEBUG_APIV2_ENTER 0x30
193 #define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
194 #define STLINK_DEBUG_APIV2_RESETSYS 0x32
195 #define STLINK_DEBUG_APIV2_READREG 0x33
196 #define STLINK_DEBUG_APIV2_WRITEREG 0x34
197 #define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35
198 #define STLINK_DEBUG_APIV2_READDEBUGREG 0x36
199
200 #define STLINK_DEBUG_APIV2_READALLREGS 0x3A
201 #define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B
202 #define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
203
204 #define STLINK_DEBUG_APIV2_START_TRACE_RX 0x40
205 #define STLINK_DEBUG_APIV2_STOP_TRACE_RX 0x41
206 #define STLINK_DEBUG_APIV2_GET_TRACE_NB 0x42
207
208 #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
209 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
210 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
211
212 #define STLINK_TRACE_SIZE 1024
213 #define STLINK_TRACE_MAX_HZ 2000000
214 #define STLINK_TRACE_MIN_VERSION 13
215
216 /** */
217 enum stlink_mode {
218 STLINK_MODE_UNKNOWN = 0,
219 STLINK_MODE_DFU,
220 STLINK_MODE_MASS,
221 STLINK_MODE_DEBUG_JTAG,
222 STLINK_MODE_DEBUG_SWD,
223 STLINK_MODE_DEBUG_SWIM
224 };
225
226 #define REQUEST_SENSE 0x03
227 #define REQUEST_SENSE_LENGTH 18
228
229 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size);
230
231 /** */
232 static int stlink_usb_xfer_v1_get_status(void *handle)
233 {
234 struct stlink_usb_handle_s *h = handle;
235
236 assert(handle != NULL);
237
238 /* read status */
239 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
240
241 if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)h->cmdbuf,
242 13, STLINK_READ_TIMEOUT) != 13)
243 return ERROR_FAIL;
244
245 uint32_t t1;
246
247 t1 = buf_get_u32(h->cmdbuf, 0, 32);
248
249 /* check for USBS */
250 if (t1 != 0x53425355)
251 return ERROR_FAIL;
252 /*
253 * CSW status:
254 * 0 success
255 * 1 command failure
256 * 2 phase error
257 */
258 if (h->cmdbuf[12] != 0)
259 return ERROR_FAIL;
260
261 return ERROR_OK;
262 }
263
264 /** */
265 static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size)
266 {
267 struct stlink_usb_handle_s *h = handle;
268
269 assert(handle != NULL);
270
271 if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)h->cmdbuf, cmdsize,
272 STLINK_WRITE_TIMEOUT) != cmdsize) {
273 return ERROR_FAIL;
274 }
275
276 if (h->direction == h->tx_ep && size) {
277 if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)buf,
278 size, STLINK_WRITE_TIMEOUT) != size) {
279 LOG_DEBUG("bulk write failed");
280 return ERROR_FAIL;
281 }
282 } else if (h->direction == h->rx_ep && size) {
283 if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)buf,
284 size, STLINK_READ_TIMEOUT) != size) {
285 LOG_DEBUG("bulk read failed");
286 return ERROR_FAIL;
287 }
288 }
289
290 return ERROR_OK;
291 }
292
293 /** */
294 static int stlink_usb_xfer_v1_get_sense(void *handle)
295 {
296 int res;
297 struct stlink_usb_handle_s *h = handle;
298
299 assert(handle != NULL);
300
301 stlink_usb_init_buffer(handle, h->rx_ep, 16);
302
303 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE;
304 h->cmdbuf[h->cmdidx++] = 0;
305 h->cmdbuf[h->cmdidx++] = 0;
306 h->cmdbuf[h->cmdidx++] = 0;
307 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH;
308
309 res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16);
310
311 if (res != ERROR_OK)
312 return res;
313
314 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK)
315 return ERROR_FAIL;
316
317 return ERROR_OK;
318 }
319
320 /** */
321 static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size)
322 {
323 int err, cmdsize = STLINK_CMD_SIZE_V2;
324 struct stlink_usb_handle_s *h = handle;
325
326 assert(handle != NULL);
327
328 if (h->version.stlink == 1)
329 cmdsize = STLINK_SG_SIZE;
330
331 err = stlink_usb_xfer_rw(handle, cmdsize, buf, size);
332
333 if (err != ERROR_OK)
334 return err;
335
336 if (h->version.stlink == 1) {
337 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) {
338 /* check csw status */
339 if (h->cmdbuf[12] == 1) {
340 LOG_DEBUG("get sense");
341 if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK)
342 return ERROR_FAIL;
343 }
344 return ERROR_FAIL;
345 }
346 }
347
348 return ERROR_OK;
349 }
350
351
352 /**
353 Converts an STLINK status code held in the first byte of a response
354 to an openocd error, logs any error/wait status as debug output.
355 */
356 static int stlink_usb_error_check(void *handle)
357 {
358 struct stlink_usb_handle_s *h = handle;
359
360 assert(handle != NULL);
361
362 /* TODO: no error checking yet on api V1 */
363 if (h->jtag_api == STLINK_JTAG_API_V1)
364 h->databuf[0] = STLINK_DEBUG_ERR_OK;
365
366 switch (h->databuf[0]) {
367 case STLINK_DEBUG_ERR_OK:
368 return ERROR_OK;
369 case STLINK_DEBUG_ERR_FAULT:
370 LOG_DEBUG("SWD fault response (0x%x)", STLINK_DEBUG_ERR_FAULT);
371 return ERROR_FAIL;
372 case STLINK_SWD_AP_WAIT:
373 LOG_DEBUG("wait status SWD_AP_WAIT (0x%x)", STLINK_SWD_AP_WAIT);
374 return ERROR_WAIT;
375 case STLINK_SWD_DP_WAIT:
376 LOG_DEBUG("wait status SWD_DP_WAIT (0x%x)", STLINK_SWD_AP_WAIT);
377 return ERROR_WAIT;
378 default:
379 LOG_DEBUG("unknown/unexpected STLINK status code 0x%x", h->databuf[0]);
380 return ERROR_FAIL;
381 }
382 }
383
384
385 /** Issue an STLINK command via USB transfer, with retries on any wait status responses.
386
387 Works for commands where the STLINK_DEBUG status is returned in the first
388 byte of the response packet.
389
390 Returns an openocd result code.
391 */
392 static int stlink_cmd_allow_retry(void *handle, const uint8_t *buf, int size)
393 {
394 int retries = 0;
395 int res;
396 while (1) {
397 res = stlink_usb_xfer(handle, buf, size);
398 if (res != ERROR_OK)
399 return res;
400 res = stlink_usb_error_check(handle);
401 if (res == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
402 usleep((1<<retries++) * 1000);
403 continue;
404 }
405 return res;
406 }
407 }
408
409 /** */
410 static int stlink_usb_read_trace(void *handle, const uint8_t *buf, int size)
411 {
412 struct stlink_usb_handle_s *h = handle;
413
414 assert(handle != NULL);
415
416 assert(h->version.stlink >= 2);
417
418 if (jtag_libusb_bulk_read(h->fd, h->trace_ep, (char *)buf,
419 size, STLINK_READ_TIMEOUT) != size) {
420 LOG_ERROR("bulk trace read failed");
421 return ERROR_FAIL;
422 }
423
424 return ERROR_OK;
425 }
426
427 /** */
428 static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size)
429 {
430 struct stlink_usb_handle_s *h = handle;
431
432 /* fill the send buffer */
433 strcpy((char *)h->cmdbuf, "USBC");
434 h->cmdidx += 4;
435 /* csw tag not used */
436 h->cmdidx += 4;
437 buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size);
438 h->cmdidx += 4;
439 h->cmdbuf[h->cmdidx++] = (direction == h->rx_ep ? ENDPOINT_IN : ENDPOINT_OUT);
440 h->cmdbuf[h->cmdidx++] = 0; /* lun */
441 h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1;
442 }
443
444 /** */
445 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size)
446 {
447 struct stlink_usb_handle_s *h = handle;
448
449 h->direction = direction;
450
451 h->cmdidx = 0;
452
453 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
454 memset(h->databuf, 0, STLINK_DATA_SIZE);
455
456 if (h->version.stlink == 1)
457 stlink_usb_xfer_v1_create_cmd(handle, direction, size);
458 }
459
460 /** */
461 static int stlink_usb_version(void *handle)
462 {
463 int res;
464 uint16_t v;
465 struct stlink_usb_handle_s *h = handle;
466
467 assert(handle != NULL);
468
469 stlink_usb_init_buffer(handle, h->rx_ep, 6);
470
471 h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION;
472
473 res = stlink_usb_xfer(handle, h->databuf, 6);
474
475 if (res != ERROR_OK)
476 return res;
477
478 v = (h->databuf[0] << 8) | h->databuf[1];
479
480 h->version.stlink = (v >> 12) & 0x0f;
481 h->version.jtag = (v >> 6) & 0x3f;
482 h->version.swim = v & 0x3f;
483 h->vid = buf_get_u32(h->databuf, 16, 16);
484 h->pid = buf_get_u32(h->databuf, 32, 16);
485
486 /* set the supported jtag api version
487 * API V2 is supported since JTAG V11
488 */
489 if (h->version.jtag >= 11)
490 h->version.jtag_api_max = STLINK_JTAG_API_V2;
491 else
492 h->version.jtag_api_max = STLINK_JTAG_API_V1;
493
494 LOG_INFO("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X",
495 h->version.stlink,
496 h->version.jtag,
497 (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2,
498 h->version.swim,
499 h->vid,
500 h->pid);
501
502 return ERROR_OK;
503 }
504
505 static int stlink_usb_check_voltage(void *handle, float *target_voltage)
506 {
507 struct stlink_usb_handle_s *h = handle;
508 uint32_t adc_results[2];
509
510 /* only supported by stlink/v2 and for firmware >= 13 */
511 if (h->version.stlink == 1 || h->version.jtag < 13)
512 return ERROR_COMMAND_NOTFOUND;
513
514 stlink_usb_init_buffer(handle, h->rx_ep, 8);
515
516 h->cmdbuf[h->cmdidx++] = STLINK_GET_TARGET_VOLTAGE;
517
518 int result = stlink_usb_xfer(handle, h->databuf, 8);
519
520 if (result != ERROR_OK)
521 return result;
522
523 /* convert result */
524 adc_results[0] = le_to_h_u32(h->databuf);
525 adc_results[1] = le_to_h_u32(h->databuf + 4);
526
527 *target_voltage = 0;
528
529 if (adc_results[0])
530 *target_voltage = 2 * ((float)adc_results[1]) * (float)(1.2 / adc_results[0]);
531
532 LOG_INFO("Target voltage: %f", (double)*target_voltage);
533
534 return ERROR_OK;
535 }
536
537 /** */
538 static int stlink_usb_current_mode(void *handle, uint8_t *mode)
539 {
540 int res;
541 struct stlink_usb_handle_s *h = handle;
542
543 assert(handle != NULL);
544
545 stlink_usb_init_buffer(handle, h->rx_ep, 2);
546
547 h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE;
548
549 res = stlink_usb_xfer(handle, h->databuf, 2);
550
551 if (res != ERROR_OK)
552 return res;
553
554 *mode = h->databuf[0];
555
556 return ERROR_OK;
557 }
558
559 /** */
560 static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
561 {
562 int rx_size = 0;
563 struct stlink_usb_handle_s *h = handle;
564
565 assert(handle != NULL);
566
567 /* on api V2 we are able the read the latest command
568 * status
569 * TODO: we need the test on api V1 too
570 */
571 if (h->jtag_api == STLINK_JTAG_API_V2)
572 rx_size = 2;
573
574 stlink_usb_init_buffer(handle, h->rx_ep, rx_size);
575
576 switch (type) {
577 case STLINK_MODE_DEBUG_JTAG:
578 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
579 if (h->jtag_api == STLINK_JTAG_API_V1)
580 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
581 else
582 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
583 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG;
584 break;
585 case STLINK_MODE_DEBUG_SWD:
586 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
587 if (h->jtag_api == STLINK_JTAG_API_V1)
588 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
589 else
590 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
591 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD;
592 break;
593 case STLINK_MODE_DEBUG_SWIM:
594 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
595 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER;
596 break;
597 case STLINK_MODE_DFU:
598 case STLINK_MODE_MASS:
599 default:
600 return ERROR_FAIL;
601 }
602
603 return stlink_cmd_allow_retry(handle, h->databuf, rx_size);
604 }
605
606 /** */
607 static int stlink_usb_mode_leave(void *handle, enum stlink_mode type)
608 {
609 int res;
610 struct stlink_usb_handle_s *h = handle;
611
612 assert(handle != NULL);
613
614 stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0);
615
616 switch (type) {
617 case STLINK_MODE_DEBUG_JTAG:
618 case STLINK_MODE_DEBUG_SWD:
619 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
620 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT;
621 break;
622 case STLINK_MODE_DEBUG_SWIM:
623 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
624 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT;
625 break;
626 case STLINK_MODE_DFU:
627 h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND;
628 h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT;
629 break;
630 case STLINK_MODE_MASS:
631 default:
632 return ERROR_FAIL;
633 }
634
635 res = stlink_usb_xfer(handle, 0, 0);
636
637 if (res != ERROR_OK)
638 return res;
639
640 return ERROR_OK;
641 }
642
643 static int stlink_usb_assert_srst(void *handle, int srst);
644
645 static enum stlink_mode stlink_get_mode(enum hl_transports t)
646 {
647 switch (t) {
648 case HL_TRANSPORT_SWD:
649 return STLINK_MODE_DEBUG_SWD;
650 case HL_TRANSPORT_JTAG:
651 return STLINK_MODE_DEBUG_JTAG;
652 case HL_TRANSPORT_SWIM:
653 return STLINK_MODE_DEBUG_SWIM;
654 default:
655 return STLINK_MODE_UNKNOWN;
656 }
657 }
658
659 /** */
660 static int stlink_usb_init_mode(void *handle, bool connect_under_reset)
661 {
662 int res;
663 uint8_t mode;
664 enum stlink_mode emode;
665 struct stlink_usb_handle_s *h = handle;
666
667 assert(handle != NULL);
668
669 res = stlink_usb_current_mode(handle, &mode);
670
671 if (res != ERROR_OK)
672 return res;
673
674 LOG_DEBUG("MODE: 0x%02X", mode);
675
676 /* try to exit current mode */
677 switch (mode) {
678 case STLINK_DEV_DFU_MODE:
679 emode = STLINK_MODE_DFU;
680 break;
681 case STLINK_DEV_DEBUG_MODE:
682 emode = STLINK_MODE_DEBUG_SWD;
683 break;
684 case STLINK_DEV_SWIM_MODE:
685 emode = STLINK_MODE_DEBUG_SWIM;
686 break;
687 case STLINK_DEV_BOOTLOADER_MODE:
688 case STLINK_DEV_MASS_MODE:
689 default:
690 emode = STLINK_MODE_UNKNOWN;
691 break;
692 }
693
694 if (emode != STLINK_MODE_UNKNOWN) {
695 res = stlink_usb_mode_leave(handle, emode);
696
697 if (res != ERROR_OK)
698 return res;
699 }
700
701 res = stlink_usb_current_mode(handle, &mode);
702
703 if (res != ERROR_OK)
704 return res;
705
706 /* we check the target voltage here as an aid to debugging connection problems.
707 * the stlink requires the target Vdd to be connected for reliable debugging.
708 * this cmd is supported in all modes except DFU
709 */
710 if (mode != STLINK_DEV_DFU_MODE) {
711
712 float target_voltage;
713
714 /* check target voltage (if supported) */
715 res = stlink_usb_check_voltage(h, &target_voltage);
716
717 if (res != ERROR_OK) {
718 if (res != ERROR_COMMAND_NOTFOUND)
719 LOG_ERROR("voltage check failed");
720 /* attempt to continue as it is not a catastrophic failure */
721 } else {
722 /* check for a sensible target voltage, operating range is 1.65-5.5v
723 * according to datasheet */
724 if (target_voltage < 1.5)
725 LOG_ERROR("target voltage may be too low for reliable debugging");
726 }
727 }
728
729 LOG_DEBUG("MODE: 0x%02X", mode);
730
731 /* set selected mode */
732 emode = stlink_get_mode(h->transport);
733
734 if (emode == STLINK_MODE_UNKNOWN) {
735 LOG_ERROR("selected mode (transport) not supported");
736 return ERROR_FAIL;
737 }
738
739 if (connect_under_reset) {
740 res = stlink_usb_assert_srst(handle, 0);
741 if (res != ERROR_OK)
742 return res;
743 }
744
745 res = stlink_usb_mode_enter(handle, emode);
746
747 if (res != ERROR_OK)
748 return res;
749
750 res = stlink_usb_current_mode(handle, &mode);
751
752 if (res != ERROR_OK)
753 return res;
754
755 LOG_DEBUG("MODE: 0x%02X", mode);
756
757 return ERROR_OK;
758 }
759
760 /** */
761 static int stlink_usb_idcode(void *handle, uint32_t *idcode)
762 {
763 int res;
764 struct stlink_usb_handle_s *h = handle;
765
766 assert(handle != NULL);
767
768 stlink_usb_init_buffer(handle, h->rx_ep, 4);
769
770 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
771 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID;
772
773 res = stlink_usb_xfer(handle, h->databuf, 4);
774
775 if (res != ERROR_OK)
776 return res;
777
778 *idcode = le_to_h_u32(h->databuf);
779
780 LOG_DEBUG("IDCODE: 0x%08" PRIX32, *idcode);
781
782 return ERROR_OK;
783 }
784
785 static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val)
786 {
787 struct stlink_usb_handle_s *h = handle;
788 int res;
789
790 assert(handle != NULL);
791
792 stlink_usb_init_buffer(handle, h->rx_ep, 8);
793
794 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
795 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG;
796 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
797 h->cmdidx += 4;
798
799 res = stlink_cmd_allow_retry(handle, h->databuf, 8);
800 if (res != ERROR_OK)
801 return res;
802
803 *val = le_to_h_u32(h->databuf + 4);
804 return ERROR_OK;
805 }
806
807 static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
808 {
809 struct stlink_usb_handle_s *h = handle;
810
811 assert(handle != NULL);
812
813 stlink_usb_init_buffer(handle, h->rx_ep, 2);
814
815 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
816 if (h->jtag_api == STLINK_JTAG_API_V1)
817 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG;
818 else
819 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG;
820 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
821 h->cmdidx += 4;
822 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
823 h->cmdidx += 4;
824
825 return stlink_cmd_allow_retry(handle, h->databuf, 2);
826 }
827
828 /** */
829 static void stlink_usb_trace_read(void *handle)
830 {
831 struct stlink_usb_handle_s *h = handle;
832
833 assert(handle != NULL);
834
835 if (h->trace.enabled && h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
836 int res;
837
838 stlink_usb_init_buffer(handle, h->rx_ep, 10);
839
840 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
841 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GET_TRACE_NB;
842
843 res = stlink_usb_xfer(handle, h->databuf, 2);
844 if (res == ERROR_OK) {
845 uint8_t buf[STLINK_TRACE_SIZE];
846 size_t size = le_to_h_u16(h->databuf);
847
848 if (size > 0) {
849 size = size < sizeof(buf) ? size : sizeof(buf) - 1;
850
851 res = stlink_usb_read_trace(handle, buf, size);
852 if (res == ERROR_OK) {
853 if (h->trace.output_f) {
854 /* Log retrieved trace output */
855 if (fwrite(buf, 1, size, h->trace.output_f) > 0)
856 fflush(h->trace.output_f);
857 }
858 }
859 }
860 }
861 }
862 }
863
864 static int stlink_usb_trace_read_callback(void *handle)
865 {
866 stlink_usb_trace_read(handle);
867 return ERROR_OK;
868 }
869
870 static enum target_state stlink_usb_v2_get_status(void *handle)
871 {
872 int result;
873 uint32_t status;
874
875 result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status);
876 if (result != ERROR_OK)
877 return TARGET_UNKNOWN;
878
879 if (status & S_HALT)
880 return TARGET_HALTED;
881 else if (status & S_RESET_ST)
882 return TARGET_RESET;
883
884 stlink_usb_trace_read(handle);
885
886 return TARGET_RUNNING;
887 }
888
889 /** */
890 static enum target_state stlink_usb_state(void *handle)
891 {
892 int res;
893 struct stlink_usb_handle_s *h = handle;
894
895 assert(handle != NULL);
896
897 if (h->reconnect_pending) {
898 LOG_INFO("Previous state query failed, trying to reconnect");
899 res = stlink_usb_mode_enter(handle, stlink_get_mode(h->transport));
900
901 if (res != ERROR_OK)
902 return TARGET_UNKNOWN;
903
904 h->reconnect_pending = false;
905 }
906
907 if (h->jtag_api == STLINK_JTAG_API_V2) {
908 res = stlink_usb_v2_get_status(handle);
909 if (res == TARGET_UNKNOWN)
910 h->reconnect_pending = true;
911 return res;
912 }
913
914 stlink_usb_init_buffer(handle, h->rx_ep, 2);
915
916 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
917 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS;
918
919 res = stlink_usb_xfer(handle, h->databuf, 2);
920
921 if (res != ERROR_OK)
922 return TARGET_UNKNOWN;
923
924 if (h->databuf[0] == STLINK_CORE_RUNNING)
925 return TARGET_RUNNING;
926 if (h->databuf[0] == STLINK_CORE_HALTED)
927 return TARGET_HALTED;
928
929 h->reconnect_pending = true;
930
931 return TARGET_UNKNOWN;
932 }
933
934 /** */
935 static int stlink_usb_reset(void *handle)
936 {
937 struct stlink_usb_handle_s *h = handle;
938
939 assert(handle != NULL);
940
941 stlink_usb_init_buffer(handle, h->rx_ep, 2);
942
943 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
944
945 if (h->jtag_api == STLINK_JTAG_API_V1)
946 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_RESETSYS;
947 else
948 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS;
949
950 return stlink_cmd_allow_retry(handle, h->databuf, 2);
951 }
952
953 static int stlink_usb_assert_srst(void *handle, int srst)
954 {
955 struct stlink_usb_handle_s *h = handle;
956
957 assert(handle != NULL);
958
959 if (h->jtag_api == STLINK_JTAG_API_V1)
960 return ERROR_COMMAND_NOTFOUND;
961
962 stlink_usb_init_buffer(handle, h->rx_ep, 2);
963
964 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
965 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST;
966 h->cmdbuf[h->cmdidx++] = srst;
967
968 return stlink_cmd_allow_retry(handle, h->databuf, 2);
969 }
970
971 /** */
972 static int stlink_configure_target_trace_port(void *handle)
973 {
974 int res;
975 uint32_t reg;
976 struct stlink_usb_handle_s *h = handle;
977
978 assert(handle != NULL);
979
980 /* configure the TPI */
981
982 /* enable the trace subsystem */
983 res = stlink_usb_v2_read_debug_reg(handle, DCB_DEMCR, &reg);
984 if (res != ERROR_OK)
985 goto out;
986 res = stlink_usb_write_debug_reg(handle, DCB_DEMCR, TRCENA|reg);
987 if (res != ERROR_OK)
988 goto out;
989 /* set the TPI clock prescaler */
990 res = stlink_usb_write_debug_reg(handle, TPI_ACPR, h->trace.prescale);
991 if (res != ERROR_OK)
992 goto out;
993 /* select the pin protocol. The STLinkv2 only supports asynchronous
994 * UART emulation (NRZ) mode, so that's what we pick. */
995 res = stlink_usb_write_debug_reg(handle, TPI_SPPR, 0x02);
996 if (res != ERROR_OK)
997 goto out;
998 /* disable continuous formatting */
999 res = stlink_usb_write_debug_reg(handle, TPI_FFCR, (1<<8));
1000 if (res != ERROR_OK)
1001 goto out;
1002
1003 /* configure the ITM */
1004
1005 /* unlock access to the ITM registers */
1006 res = stlink_usb_write_debug_reg(handle, ITM_LAR, 0xC5ACCE55);
1007 if (res != ERROR_OK)
1008 goto out;
1009 /* enable trace with ATB ID 1 */
1010 res = stlink_usb_write_debug_reg(handle, ITM_TCR, (1<<16)|(1<<0)|(1<<2));
1011 if (res != ERROR_OK)
1012 goto out;
1013 /* trace privilege */
1014 res = stlink_usb_write_debug_reg(handle, ITM_TPR, 1);
1015 if (res != ERROR_OK)
1016 goto out;
1017 /* trace port enable (port 0) */
1018 res = stlink_usb_write_debug_reg(handle, ITM_TER, (1<<0));
1019 if (res != ERROR_OK)
1020 goto out;
1021
1022 res = ERROR_OK;
1023 out:
1024 return res;
1025 }
1026
1027 /** */
1028 static void stlink_usb_trace_disable(void *handle)
1029 {
1030 int res = ERROR_OK;
1031 struct stlink_usb_handle_s *h = handle;
1032
1033 assert(handle != NULL);
1034
1035 assert(h->version.jtag >= STLINK_TRACE_MIN_VERSION);
1036
1037 LOG_DEBUG("Tracing: disable\n");
1038
1039 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1040 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1041 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_STOP_TRACE_RX;
1042 res = stlink_usb_xfer(handle, h->databuf, 2);
1043
1044 if (res == ERROR_OK) {
1045 h->trace.enabled = false;
1046 target_unregister_timer_callback(stlink_usb_trace_read_callback, handle);
1047 }
1048 }
1049
1050
1051 /** */
1052 static int stlink_usb_trace_enable(void *handle)
1053 {
1054 int res;
1055 struct stlink_usb_handle_s *h = handle;
1056
1057 assert(handle != NULL);
1058
1059 if (h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
1060 uint32_t trace_hz;
1061
1062 res = stlink_configure_target_trace_port(handle);
1063 if (res != ERROR_OK)
1064 LOG_ERROR("Unable to configure tracing on target\n");
1065
1066 trace_hz = h->trace.prescale > 0 ?
1067 h->trace.source_hz / (h->trace.prescale + 1) :
1068 h->trace.source_hz;
1069
1070 stlink_usb_init_buffer(handle, h->rx_ep, 10);
1071
1072 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1073 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_START_TRACE_RX;
1074 h_u16_to_le(h->cmdbuf+h->cmdidx, (uint16_t)STLINK_TRACE_SIZE);
1075 h->cmdidx += 2;
1076 h_u32_to_le(h->cmdbuf+h->cmdidx, trace_hz);
1077 h->cmdidx += 4;
1078
1079 res = stlink_usb_xfer(handle, h->databuf, 2);
1080
1081 if (res == ERROR_OK) {
1082 h->trace.enabled = true;
1083 LOG_DEBUG("Tracing: recording at %" PRIu32 "Hz\n", trace_hz);
1084 /* We need the trace read function to be called at a
1085 * high-enough frequency to ensure reasonable
1086 * "timeliness" in processing ITM/DWT data.
1087 * TODO: An alternative could be using the asynchronous
1088 * features of the libusb-1.0 API to queue up one or more
1089 * reads in advance and requeue them once they are
1090 * completed. */
1091 target_register_timer_callback(stlink_usb_trace_read_callback, 1, 1, handle);
1092 }
1093 } else {
1094 LOG_ERROR("Tracing is not supported by this version.");
1095 res = ERROR_FAIL;
1096 }
1097
1098 return res;
1099 }
1100
1101 /** */
1102 static int stlink_usb_run(void *handle)
1103 {
1104 int res;
1105 struct stlink_usb_handle_s *h = handle;
1106
1107 assert(handle != NULL);
1108
1109 if (h->jtag_api == STLINK_JTAG_API_V2) {
1110 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN);
1111
1112 /* Try to start tracing, if requested */
1113 if (res == ERROR_OK && h->trace.source_hz && !h->trace.enabled) {
1114 if (stlink_usb_trace_enable(handle) == ERROR_OK)
1115 LOG_DEBUG("Tracing: enabled\n");
1116 else
1117 LOG_ERROR("Tracing: enable failed\n");
1118 }
1119
1120 return res;
1121 }
1122
1123 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1124
1125 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1126 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE;
1127
1128 return stlink_cmd_allow_retry(handle, h->databuf, 2);
1129 }
1130
1131 /** */
1132 static int stlink_usb_halt(void *handle)
1133 {
1134 int res;
1135 struct stlink_usb_handle_s *h = handle;
1136
1137 assert(handle != NULL);
1138
1139 if (h->jtag_api == STLINK_JTAG_API_V2) {
1140 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1141
1142 if (res == ERROR_OK && h->trace.enabled)
1143 stlink_usb_trace_disable(handle);
1144
1145 return res;
1146 }
1147
1148 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1149
1150 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1151 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG;
1152
1153 return stlink_cmd_allow_retry(handle, h->databuf, 2);
1154 }
1155
1156 /** */
1157 static int stlink_usb_step(void *handle)
1158 {
1159 struct stlink_usb_handle_s *h = handle;
1160
1161 assert(handle != NULL);
1162
1163 if (h->jtag_api == STLINK_JTAG_API_V2) {
1164 /* TODO: this emulates the v1 api, it should really use a similar auto mask isr
1165 * that the cortex-m3 currently does. */
1166 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_MASKINTS|C_DEBUGEN);
1167 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_MASKINTS|C_DEBUGEN);
1168 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1169 }
1170
1171 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1172
1173 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1174 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE;
1175
1176 return stlink_cmd_allow_retry(handle, h->databuf, 2);
1177 }
1178
1179 /** */
1180 static int stlink_usb_read_regs(void *handle)
1181 {
1182 int res;
1183 struct stlink_usb_handle_s *h = handle;
1184
1185 assert(handle != NULL);
1186
1187 stlink_usb_init_buffer(handle, h->rx_ep, 84);
1188
1189 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1190 if (h->jtag_api == STLINK_JTAG_API_V1)
1191 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS;
1192 else
1193 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS;
1194
1195 res = stlink_usb_xfer(handle, h->databuf, 84);
1196
1197 if (res != ERROR_OK)
1198 return res;
1199
1200 return ERROR_OK;
1201 }
1202
1203 /** */
1204 static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
1205 {
1206 int res;
1207 struct stlink_usb_handle_s *h = handle;
1208
1209 assert(handle != NULL);
1210
1211 stlink_usb_init_buffer(handle, h->rx_ep, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1212
1213 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1214 if (h->jtag_api == STLINK_JTAG_API_V1)
1215 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG;
1216 else
1217 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG;
1218 h->cmdbuf[h->cmdidx++] = num;
1219
1220 if (h->jtag_api == STLINK_JTAG_API_V1) {
1221 res = stlink_usb_xfer(handle, h->databuf, 4);
1222 if (res != ERROR_OK)
1223 return res;
1224 *val = le_to_h_u32(h->databuf);
1225 return ERROR_OK;
1226 } else {
1227 res = stlink_cmd_allow_retry(handle, h->databuf, 8);
1228 if (res != ERROR_OK)
1229 return res;
1230 *val = le_to_h_u32(h->databuf + 4);
1231 return ERROR_OK;
1232 }
1233 }
1234
1235 /** */
1236 static int stlink_usb_write_reg(void *handle, int num, uint32_t val)
1237 {
1238 struct stlink_usb_handle_s *h = handle;
1239
1240 assert(handle != NULL);
1241
1242 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1243
1244 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1245 if (h->jtag_api == STLINK_JTAG_API_V1)
1246 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG;
1247 else
1248 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG;
1249 h->cmdbuf[h->cmdidx++] = num;
1250 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
1251 h->cmdidx += 4;
1252
1253 return stlink_cmd_allow_retry(handle, h->databuf, 2);
1254 }
1255
1256 static int stlink_usb_get_rw_status(void *handle)
1257 {
1258 int res;
1259 struct stlink_usb_handle_s *h = handle;
1260
1261 assert(handle != NULL);
1262
1263 if (h->jtag_api == STLINK_JTAG_API_V1)
1264 return ERROR_OK;
1265
1266 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1267
1268 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1269 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS;
1270
1271 res = stlink_usb_xfer(handle, h->databuf, 2);
1272
1273 if (res != ERROR_OK)
1274 return res;
1275
1276 return stlink_usb_error_check(h);
1277 }
1278
1279 /** */
1280 static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
1281 uint8_t *buffer)
1282 {
1283 int res;
1284 uint16_t read_len = len;
1285 struct stlink_usb_handle_s *h = handle;
1286
1287 assert(handle != NULL);
1288
1289 /* max 8bit read/write is 64bytes */
1290 if (len > STLINK_MAX_RW8) {
1291 LOG_DEBUG("max buffer length exceeded");
1292 return ERROR_FAIL;
1293 }
1294
1295 stlink_usb_init_buffer(handle, h->rx_ep, read_len);
1296
1297 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1298 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT;
1299 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1300 h->cmdidx += 4;
1301 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1302 h->cmdidx += 2;
1303
1304 /* we need to fix read length for single bytes */
1305 if (read_len == 1)
1306 read_len++;
1307
1308 res = stlink_usb_xfer(handle, h->databuf, read_len);
1309
1310 if (res != ERROR_OK)
1311 return res;
1312
1313 memcpy(buffer, h->databuf, len);
1314
1315 return stlink_usb_get_rw_status(handle);
1316 }
1317
1318 /** */
1319 static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len,
1320 const uint8_t *buffer)
1321 {
1322 int res;
1323 struct stlink_usb_handle_s *h = handle;
1324
1325 assert(handle != NULL);
1326
1327 /* max 8bit read/write is 64bytes */
1328 if (len > STLINK_MAX_RW8) {
1329 LOG_DEBUG("max buffer length exceeded");
1330 return ERROR_FAIL;
1331 }
1332
1333 stlink_usb_init_buffer(handle, h->tx_ep, len);
1334
1335 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1336 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT;
1337 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1338 h->cmdidx += 4;
1339 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1340 h->cmdidx += 2;
1341
1342 res = stlink_usb_xfer(handle, buffer, len);
1343
1344 if (res != ERROR_OK)
1345 return res;
1346
1347 return stlink_usb_get_rw_status(handle);
1348 }
1349
1350 /** */
1351 static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
1352 uint8_t *buffer)
1353 {
1354 int res;
1355 struct stlink_usb_handle_s *h = handle;
1356
1357 assert(handle != NULL);
1358
1359 /* data must be a multiple of 4 and word aligned */
1360 if (len % 4 || addr % 4) {
1361 LOG_DEBUG("Invalid data alignment");
1362 return ERROR_TARGET_UNALIGNED_ACCESS;
1363 }
1364
1365 stlink_usb_init_buffer(handle, h->rx_ep, len);
1366
1367 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1368 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT;
1369 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1370 h->cmdidx += 4;
1371 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1372 h->cmdidx += 2;
1373
1374 res = stlink_usb_xfer(handle, h->databuf, len);
1375
1376 if (res != ERROR_OK)
1377 return res;
1378
1379 memcpy(buffer, h->databuf, len);
1380
1381 return stlink_usb_get_rw_status(handle);
1382 }
1383
1384 /** */
1385 static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
1386 const uint8_t *buffer)
1387 {
1388 int res;
1389 struct stlink_usb_handle_s *h = handle;
1390
1391 assert(handle != NULL);
1392
1393 /* data must be a multiple of 4 and word aligned */
1394 if (len % 4 || addr % 4) {
1395 LOG_DEBUG("Invalid data alignment");
1396 return ERROR_TARGET_UNALIGNED_ACCESS;
1397 }
1398
1399 stlink_usb_init_buffer(handle, h->tx_ep, len);
1400
1401 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1402 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT;
1403 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1404 h->cmdidx += 4;
1405 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1406 h->cmdidx += 2;
1407
1408 res = stlink_usb_xfer(handle, buffer, len);
1409
1410 if (res != ERROR_OK)
1411 return res;
1412
1413 return stlink_usb_get_rw_status(handle);
1414 }
1415
1416 static uint32_t stlink_max_block_size(uint32_t tar_autoincr_block, uint32_t address)
1417 {
1418 uint32_t max_tar_block = (tar_autoincr_block - ((tar_autoincr_block - 1) & address));
1419 if (max_tar_block == 0)
1420 max_tar_block = 4;
1421 return max_tar_block;
1422 }
1423
1424 static int stlink_usb_read_mem(void *handle, uint32_t addr, uint32_t size,
1425 uint32_t count, uint8_t *buffer)
1426 {
1427 int retval = ERROR_OK;
1428 uint32_t bytes_remaining;
1429 int retries = 0;
1430 struct stlink_usb_handle_s *h = handle;
1431
1432 /* calculate byte count */
1433 count *= size;
1434
1435 while (count) {
1436
1437 bytes_remaining = (size == 4) ? \
1438 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1439
1440 if (count < bytes_remaining)
1441 bytes_remaining = count;
1442
1443 /* the stlink only supports 8/32bit memory read/writes
1444 * honour 32bit, all others will be handled as 8bit access */
1445 if (size == 4) {
1446
1447 /* When in jtag mode the stlink uses the auto-increment functinality.
1448 * However it expects us to pass the data correctly, this includes
1449 * alignment and any page boundaries. We already do this as part of the
1450 * adi_v5 implementation, but the stlink is a hla adapter and so this
1451 * needs implementiong manually.
1452 * currently this only affects jtag mode, according to ST they do single
1453 * access in SWD mode - but this may change and so we do it for both modes */
1454
1455 /* we first need to check for any unaligned bytes */
1456 if (addr % 4) {
1457
1458 uint32_t head_bytes = 4 - (addr % 4);
1459 retval = stlink_usb_read_mem8(handle, addr, head_bytes, buffer);
1460 if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
1461 usleep((1<<retries++) * 1000);
1462 continue;
1463 }
1464 if (retval != ERROR_OK)
1465 return retval;
1466 buffer += head_bytes;
1467 addr += head_bytes;
1468 count -= head_bytes;
1469 bytes_remaining -= head_bytes;
1470 }
1471
1472 if (bytes_remaining % 4)
1473 retval = stlink_usb_read_mem(handle, addr, 1, bytes_remaining, buffer);
1474 else
1475 retval = stlink_usb_read_mem32(handle, addr, bytes_remaining, buffer);
1476 } else
1477 retval = stlink_usb_read_mem8(handle, addr, bytes_remaining, buffer);
1478
1479 if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
1480 usleep((1<<retries++) * 1000);
1481 continue;
1482 }
1483 if (retval != ERROR_OK)
1484 return retval;
1485
1486 buffer += bytes_remaining;
1487 addr += bytes_remaining;
1488 count -= bytes_remaining;
1489 }
1490
1491 return retval;
1492 }
1493
1494 static int stlink_usb_write_mem(void *handle, uint32_t addr, uint32_t size,
1495 uint32_t count, const uint8_t *buffer)
1496 {
1497 int retval = ERROR_OK;
1498 uint32_t bytes_remaining;
1499 int retries = 0;
1500 struct stlink_usb_handle_s *h = handle;
1501
1502 /* calculate byte count */
1503 count *= size;
1504
1505 while (count) {
1506
1507 bytes_remaining = (size == 4) ? \
1508 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1509
1510 if (count < bytes_remaining)
1511 bytes_remaining = count;
1512
1513 /* the stlink only supports 8/32bit memory read/writes
1514 * honour 32bit, all others will be handled as 8bit access */
1515 if (size == 4) {
1516
1517 /* When in jtag mode the stlink uses the auto-increment functinality.
1518 * However it expects us to pass the data correctly, this includes
1519 * alignment and any page boundaries. We already do this as part of the
1520 * adi_v5 implementation, but the stlink is a hla adapter and so this
1521 * needs implementiong manually.
1522 * currently this only affects jtag mode, according to ST they do single
1523 * access in SWD mode - but this may change and so we do it for both modes */
1524
1525 /* we first need to check for any unaligned bytes */
1526 if (addr % 4) {
1527
1528 uint32_t head_bytes = 4 - (addr % 4);
1529 retval = stlink_usb_write_mem8(handle, addr, head_bytes, buffer);
1530 if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
1531 usleep((1<<retries++) * 1000);
1532 continue;
1533 }
1534 if (retval != ERROR_OK)
1535 return retval;
1536 buffer += head_bytes;
1537 addr += head_bytes;
1538 count -= head_bytes;
1539 bytes_remaining -= head_bytes;
1540 }
1541
1542 if (bytes_remaining % 4)
1543 retval = stlink_usb_write_mem(handle, addr, 1, bytes_remaining, buffer);
1544 else
1545 retval = stlink_usb_write_mem32(handle, addr, bytes_remaining, buffer);
1546
1547 } else
1548 retval = stlink_usb_write_mem8(handle, addr, bytes_remaining, buffer);
1549 if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
1550 usleep((1<<retries++) * 1000);
1551 continue;
1552 }
1553 if (retval != ERROR_OK)
1554 return retval;
1555
1556 buffer += bytes_remaining;
1557 addr += bytes_remaining;
1558 count -= bytes_remaining;
1559 }
1560
1561 return retval;
1562 }
1563
1564 /** */
1565 static int stlink_usb_override_target(const char *targetname)
1566 {
1567 return !strcmp(targetname, "cortex_m");
1568 }
1569
1570 /** */
1571 static int stlink_usb_close(void *fd)
1572 {
1573 struct stlink_usb_handle_s *h = fd;
1574
1575 if (h->fd)
1576 jtag_libusb_close(h->fd);
1577
1578 free(fd);
1579
1580 return ERROR_OK;
1581 }
1582
1583 /** */
1584 static int stlink_usb_open(struct hl_interface_param_s *param, void **fd)
1585 {
1586 int err, retry_count = 1;
1587 struct stlink_usb_handle_s *h;
1588 enum stlink_jtag_api_version api;
1589
1590 LOG_DEBUG("stlink_usb_open");
1591
1592 h = calloc(1, sizeof(struct stlink_usb_handle_s));
1593
1594 if (h == 0) {
1595 LOG_DEBUG("malloc failed");
1596 return ERROR_FAIL;
1597 }
1598
1599 h->transport = param->transport;
1600
1601 const uint16_t vids[] = { param->vid, 0 };
1602 const uint16_t pids[] = { param->pid, 0 };
1603
1604 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
1605 param->vid, param->pid);
1606
1607 /*
1608 On certain host USB configurations(e.g. MacBook Air)
1609 STLINKv2 dongle seems to have its FW in a funky state if,
1610 after plugging it in, you try to use openocd with it more
1611 then once (by launching and closing openocd). In cases like
1612 that initial attempt to read the FW info via
1613 stlink_usb_version will fail and the device has to be reset
1614 in order to become operational.
1615 */
1616 do {
1617 if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) {
1618 LOG_ERROR("open failed");
1619 goto error_open;
1620 }
1621
1622 jtag_libusb_set_configuration(h->fd, 0);
1623
1624 if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
1625 LOG_DEBUG("claim interface failed");
1626 goto error_open;
1627 }
1628
1629 /* RX EP is common for all versions */
1630 h->rx_ep = STLINK_RX_EP;
1631
1632 /* wrap version for first read */
1633 switch (param->pid) {
1634 case STLINK_V1_PID:
1635 h->version.stlink = 1;
1636 h->tx_ep = STLINK_TX_EP;
1637 h->trace_ep = STLINK_TRACE_EP;
1638 break;
1639 case STLINK_V2_1_PID:
1640 h->version.stlink = 2;
1641 h->tx_ep = STLINK_V2_1_TX_EP;
1642 h->trace_ep = STLINK_V2_1_TRACE_EP;
1643 break;
1644 default:
1645 /* fall through - we assume V2 to be the default version*/
1646 case STLINK_V2_PID:
1647 h->version.stlink = 2;
1648 h->tx_ep = STLINK_TX_EP;
1649 h->trace_ep = STLINK_TRACE_EP;
1650 break;
1651 }
1652
1653 /* get the device version */
1654 err = stlink_usb_version(h);
1655
1656 if (err == ERROR_OK) {
1657 break;
1658 } else if (h->version.stlink == 1 ||
1659 retry_count == 0) {
1660 LOG_ERROR("read version failed");
1661 goto error_open;
1662 } else {
1663 err = jtag_libusb_release_interface(h->fd, 0);
1664 if (err != ERROR_OK) {
1665 LOG_ERROR("release interface failed");
1666 goto error_open;
1667 }
1668
1669 err = jtag_libusb_reset_device(h->fd);
1670 if (err != ERROR_OK) {
1671 LOG_ERROR("reset device failed");
1672 goto error_open;
1673 }
1674
1675 jtag_libusb_close(h->fd);
1676 /*
1677 Give the device one second to settle down and
1678 reenumerate.
1679 */
1680 usleep(1 * 1000 * 1000);
1681 retry_count--;
1682 }
1683 } while (1);
1684
1685 /* compare usb vid/pid */
1686 if ((param->vid != h->vid) || (param->pid != h->pid))
1687 LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
1688 param->vid, param->pid,
1689 h->vid, h->pid);
1690
1691 /* check if mode is supported */
1692 err = ERROR_OK;
1693
1694 switch (h->transport) {
1695 case HL_TRANSPORT_SWD:
1696 case HL_TRANSPORT_JTAG:
1697 if (h->version.jtag == 0)
1698 err = ERROR_FAIL;
1699 break;
1700 case HL_TRANSPORT_SWIM:
1701 if (h->version.swim == 0)
1702 err = ERROR_FAIL;
1703 break;
1704 default:
1705 err = ERROR_FAIL;
1706 break;
1707 }
1708
1709 if (err != ERROR_OK) {
1710 LOG_ERROR("mode (transport) not supported by device");
1711 goto error_open;
1712 }
1713
1714 api = h->version.jtag_api_max;
1715
1716 LOG_INFO("using stlink api v%d", api);
1717
1718 /* set the used jtag api, this will default to the newest supported version */
1719 h->jtag_api = api;
1720
1721 if (h->jtag_api >= 2 && param->trace_source_hz > 0) {
1722 uint32_t prescale;
1723
1724 prescale = param->trace_source_hz > STLINK_TRACE_MAX_HZ ?
1725 (param->trace_source_hz / STLINK_TRACE_MAX_HZ) - 1 : 0;
1726
1727 h->trace.output_f = param->trace_f;
1728 h->trace.source_hz = param->trace_source_hz;
1729 h->trace.prescale = prescale;
1730 }
1731
1732 /* initialize the debug hardware */
1733 err = stlink_usb_init_mode(h, param->connect_under_reset);
1734
1735 if (err != ERROR_OK) {
1736 LOG_ERROR("init mode failed");
1737 goto error_open;
1738 }
1739
1740 /* get cpuid, so we can determine the max page size
1741 * start with a safe default */
1742 h->max_mem_packet = (1 << 10);
1743
1744 uint8_t buffer[4];
1745 err = stlink_usb_read_mem32(h, CPUID, 4, buffer);
1746 if (err == ERROR_OK) {
1747 uint32_t cpuid = le_to_h_u32(buffer);
1748 int i = (cpuid >> 4) & 0xf;
1749 if (i == 4 || i == 3) {
1750 /* Cortex-M3/M4 has 4096 bytes autoincrement range */
1751 h->max_mem_packet = (1 << 12);
1752 }
1753 }
1754
1755 LOG_DEBUG("Using TAR autoincrement: %" PRIu32, h->max_mem_packet);
1756
1757 *fd = h;
1758
1759 return ERROR_OK;
1760
1761 error_open:
1762 stlink_usb_close(h);
1763
1764 return ERROR_FAIL;
1765 }
1766
1767 /** */
1768 struct hl_layout_api_s stlink_usb_layout_api = {
1769 /** */
1770 .open = stlink_usb_open,
1771 /** */
1772 .close = stlink_usb_close,
1773 /** */
1774 .idcode = stlink_usb_idcode,
1775 /** */
1776 .state = stlink_usb_state,
1777 /** */
1778 .reset = stlink_usb_reset,
1779 /** */
1780 .assert_srst = stlink_usb_assert_srst,
1781 /** */
1782 .run = stlink_usb_run,
1783 /** */
1784 .halt = stlink_usb_halt,
1785 /** */
1786 .step = stlink_usb_step,
1787 /** */
1788 .read_regs = stlink_usb_read_regs,
1789 /** */
1790 .read_reg = stlink_usb_read_reg,
1791 /** */
1792 .write_reg = stlink_usb_write_reg,
1793 /** */
1794 .read_mem = stlink_usb_read_mem,
1795 /** */
1796 .write_mem = stlink_usb_write_mem,
1797 /** */
1798 .write_debug_reg = stlink_usb_write_debug_reg,
1799 /** */
1800 .override_target = stlink_usb_override_target,
1801 };
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