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Remove unnecessary casts
[openocd.git] / src / jtag / drivers / stlink_usb.c
blob957f1d40fdd7bd642837c48a7ab484b2e3e65a7d
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 #define STLINK_SG_SIZE (31)
53 #define STLINK_DATA_SIZE (4096)
54 #define STLINK_CMD_SIZE_V2 (16)
55 #define STLINK_CMD_SIZE_V1 (10)
56
57 /* the current implementation of the stlink limits
58 * 8bit read/writes to max 64 bytes. */
59 #define STLINK_MAX_RW8 (64)
60
61 enum stlink_jtag_api_version {
62 STLINK_JTAG_API_V1 = 1,
63 STLINK_JTAG_API_V2,
64 };
65
66 /** */
67 struct stlink_usb_version {
68 /** */
69 int stlink;
70 /** */
71 int jtag;
72 /** */
73 int swim;
74 /** highest supported jtag api version */
75 enum stlink_jtag_api_version jtag_api_max;
76 };
77
78 /** */
79 struct stlink_usb_handle_s {
80 /** */
81 struct jtag_libusb_device_handle *fd;
82 /** */
83 struct libusb_transfer *trans;
84 /** */
85 uint8_t cmdbuf[STLINK_SG_SIZE];
86 /** */
87 uint8_t cmdidx;
88 /** */
89 uint8_t direction;
90 /** */
91 uint8_t databuf[STLINK_DATA_SIZE];
92 /** */
93 uint32_t max_mem_packet;
94 /** */
95 enum hl_transports transport;
96 /** */
97 struct stlink_usb_version version;
98 /** */
99 uint16_t vid;
100 /** */
101 uint16_t pid;
102 /** this is the currently used jtag api */
103 enum stlink_jtag_api_version jtag_api;
104 /** */
105 struct {
106 /** whether SWO tracing is enabled or not */
107 bool enabled;
108 /** trace data destination file */
109 FILE *output_f;
110 /** trace module source clock (for prescaler) */
111 uint32_t source_hz;
112 /** trace module clock prescaler */
113 uint32_t prescale;
114 } trace;
115 };
116
117 #define STLINK_DEBUG_ERR_OK 0x80
118 #define STLINK_DEBUG_ERR_FAULT 0x81
119 #define STLINK_SWD_AP_WAIT 0x10
120 #define STLINK_SWD_DP_WAIT 0x14
121
122 #define STLINK_CORE_RUNNING 0x80
123 #define STLINK_CORE_HALTED 0x81
124 #define STLINK_CORE_STAT_UNKNOWN -1
125
126 #define STLINK_GET_VERSION 0xF1
127 #define STLINK_DEBUG_COMMAND 0xF2
128 #define STLINK_DFU_COMMAND 0xF3
129 #define STLINK_SWIM_COMMAND 0xF4
130 #define STLINK_GET_CURRENT_MODE 0xF5
131 #define STLINK_GET_TARGET_VOLTAGE 0xF7
132
133 #define STLINK_DEV_DFU_MODE 0x00
134 #define STLINK_DEV_MASS_MODE 0x01
135 #define STLINK_DEV_DEBUG_MODE 0x02
136 #define STLINK_DEV_SWIM_MODE 0x03
137 #define STLINK_DEV_BOOTLOADER_MODE 0x04
138 #define STLINK_DEV_UNKNOWN_MODE -1
139
140 #define STLINK_DFU_EXIT 0x07
141
142 #define STLINK_SWIM_ENTER 0x00
143 #define STLINK_SWIM_EXIT 0x01
144
145 #define STLINK_DEBUG_ENTER_JTAG 0x00
146 #define STLINK_DEBUG_GETSTATUS 0x01
147 #define STLINK_DEBUG_FORCEDEBUG 0x02
148 #define STLINK_DEBUG_APIV1_RESETSYS 0x03
149 #define STLINK_DEBUG_APIV1_READALLREGS 0x04
150 #define STLINK_DEBUG_APIV1_READREG 0x05
151 #define STLINK_DEBUG_APIV1_WRITEREG 0x06
152 #define STLINK_DEBUG_READMEM_32BIT 0x07
153 #define STLINK_DEBUG_WRITEMEM_32BIT 0x08
154 #define STLINK_DEBUG_RUNCORE 0x09
155 #define STLINK_DEBUG_STEPCORE 0x0a
156 #define STLINK_DEBUG_APIV1_SETFP 0x0b
157 #define STLINK_DEBUG_READMEM_8BIT 0x0c
158 #define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
159 #define STLINK_DEBUG_APIV1_CLEARFP 0x0e
160 #define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
161 #define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
162
163 #define STLINK_DEBUG_ENTER_JTAG 0x00
164 #define STLINK_DEBUG_ENTER_SWD 0xa3
165
166 #define STLINK_DEBUG_APIV1_ENTER 0x20
167 #define STLINK_DEBUG_EXIT 0x21
168 #define STLINK_DEBUG_READCOREID 0x22
169
170 #define STLINK_DEBUG_APIV2_ENTER 0x30
171 #define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
172 #define STLINK_DEBUG_APIV2_RESETSYS 0x32
173 #define STLINK_DEBUG_APIV2_READREG 0x33
174 #define STLINK_DEBUG_APIV2_WRITEREG 0x34
175 #define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35
176 #define STLINK_DEBUG_APIV2_READDEBUGREG 0x36
177
178 #define STLINK_DEBUG_APIV2_READALLREGS 0x3A
179 #define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B
180 #define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
181
182 #define STLINK_DEBUG_APIV2_START_TRACE_RX 0x40
183 #define STLINK_DEBUG_APIV2_STOP_TRACE_RX 0x41
184 #define STLINK_DEBUG_APIV2_GET_TRACE_NB 0x42
185
186 #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
187 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
188 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
189
190 #define STLINK_TRACE_SIZE 1024
191 #define STLINK_TRACE_MAX_HZ 2000000
192 #define STLINK_TRACE_MIN_VERSION 13
193
194 /** */
195 enum stlink_mode {
196 STLINK_MODE_UNKNOWN = 0,
197 STLINK_MODE_DFU,
198 STLINK_MODE_MASS,
199 STLINK_MODE_DEBUG_JTAG,
200 STLINK_MODE_DEBUG_SWD,
201 STLINK_MODE_DEBUG_SWIM
202 };
203
204 #define REQUEST_SENSE 0x03
205 #define REQUEST_SENSE_LENGTH 18
206
207 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size);
208
209 /** */
210 static int stlink_usb_xfer_v1_get_status(void *handle)
211 {
212 struct stlink_usb_handle_s *h = handle;
213
214 assert(handle != NULL);
215
216 /* read status */
217 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
218
219 if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)h->cmdbuf,
220 13, STLINK_READ_TIMEOUT) != 13)
221 return ERROR_FAIL;
222
223 uint32_t t1;
224
225 t1 = buf_get_u32(h->cmdbuf, 0, 32);
226
227 /* check for USBS */
228 if (t1 != 0x53425355)
229 return ERROR_FAIL;
230 /*
231 * CSW status:
232 * 0 success
233 * 1 command failure
234 * 2 phase error
235 */
236 if (h->cmdbuf[12] != 0)
237 return ERROR_FAIL;
238
239 return ERROR_OK;
240 }
241
242 /** */
243 static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size)
244 {
245 struct stlink_usb_handle_s *h = handle;
246
247 assert(handle != NULL);
248
249 if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)h->cmdbuf, cmdsize,
250 STLINK_WRITE_TIMEOUT) != cmdsize) {
251 return ERROR_FAIL;
252 }
253
254 if (h->direction == STLINK_TX_EP && size) {
255 if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)buf,
256 size, STLINK_WRITE_TIMEOUT) != size) {
257 LOG_DEBUG("bulk write failed");
258 return ERROR_FAIL;
259 }
260 } else if (h->direction == STLINK_RX_EP && size) {
261 if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)buf,
262 size, STLINK_READ_TIMEOUT) != size) {
263 LOG_DEBUG("bulk read failed");
264 return ERROR_FAIL;
265 }
266 }
267
268 return ERROR_OK;
269 }
270
271 /** */
272 static int stlink_usb_xfer_v1_get_sense(void *handle)
273 {
274 int res;
275 struct stlink_usb_handle_s *h = handle;
276
277 assert(handle != NULL);
278
279 stlink_usb_init_buffer(handle, STLINK_RX_EP, 16);
280
281 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE;
282 h->cmdbuf[h->cmdidx++] = 0;
283 h->cmdbuf[h->cmdidx++] = 0;
284 h->cmdbuf[h->cmdidx++] = 0;
285 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH;
286
287 res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16);
288
289 if (res != ERROR_OK)
290 return res;
291
292 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK)
293 return ERROR_FAIL;
294
295 return ERROR_OK;
296 }
297
298 /** */
299 static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size)
300 {
301 int err, cmdsize = STLINK_CMD_SIZE_V2;
302 struct stlink_usb_handle_s *h = handle;
303
304 assert(handle != NULL);
305
306 if (h->version.stlink == 1)
307 cmdsize = STLINK_SG_SIZE;
308
309 err = stlink_usb_xfer_rw(handle, cmdsize, buf, size);
310
311 if (err != ERROR_OK)
312 return err;
313
314 if (h->version.stlink == 1) {
315 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) {
316 /* check csw status */
317 if (h->cmdbuf[12] == 1) {
318 LOG_DEBUG("get sense");
319 if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK)
320 return ERROR_FAIL;
321 }
322 return ERROR_FAIL;
323 }
324 }
325
326 return ERROR_OK;
327 }
328
329 /** */
330 static int stlink_usb_read_trace(void *handle, const uint8_t *buf, int size)
331 {
332 struct stlink_usb_handle_s *h = handle;
333
334 assert(handle != NULL);
335
336 assert(h->version.stlink >= 2);
337
338 if (jtag_libusb_bulk_read(h->fd, STLINK_TRACE_EP, (char *)buf,
339 size, STLINK_READ_TIMEOUT) != size) {
340 LOG_ERROR("bulk trace read failed");
341 return ERROR_FAIL;
342 }
343
344 return ERROR_OK;
345 }
346
347 /** */
348 static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size)
349 {
350 struct stlink_usb_handle_s *h = handle;
351
352 /* fill the send buffer */
353 strcpy((char *)h->cmdbuf, "USBC");
354 h->cmdidx += 4;
355 /* csw tag not used */
356 h->cmdidx += 4;
357 buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size);
358 h->cmdidx += 4;
359 h->cmdbuf[h->cmdidx++] = (direction == STLINK_RX_EP ? ENDPOINT_IN : ENDPOINT_OUT);
360 h->cmdbuf[h->cmdidx++] = 0; /* lun */
361 h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1;
362 }
363
364 /** */
365 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size)
366 {
367 struct stlink_usb_handle_s *h = handle;
368
369 h->direction = direction;
370
371 h->cmdidx = 0;
372
373 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
374 memset(h->databuf, 0, STLINK_DATA_SIZE);
375
376 if (h->version.stlink == 1)
377 stlink_usb_xfer_v1_create_cmd(handle, direction, size);
378 }
379
380 static const char * const stlink_usb_error_msg[] = {
381 "unknown"
382 };
383
384 /** */
385 static int stlink_usb_error_check(void *handle)
386 {
387 int res;
388 const char *err_msg = 0;
389 struct stlink_usb_handle_s *h = handle;
390
391 assert(handle != NULL);
392
393 /* TODO: no error checking yet on api V1 */
394 if (h->jtag_api == STLINK_JTAG_API_V1)
395 h->databuf[0] = STLINK_DEBUG_ERR_OK;
396
397 switch (h->databuf[0]) {
398 case STLINK_DEBUG_ERR_OK:
399 res = ERROR_OK;
400 break;
401 case STLINK_DEBUG_ERR_FAULT:
402 default:
403 err_msg = stlink_usb_error_msg[0];
404 res = ERROR_FAIL;
405 break;
406 }
407
408 if (res != ERROR_OK)
409 LOG_DEBUG("status error: %d ('%s')", h->databuf[0], err_msg);
410
411 return res;
412 }
413
414 /** */
415 static int stlink_usb_version(void *handle)
416 {
417 int res;
418 uint16_t v;
419 struct stlink_usb_handle_s *h = handle;
420
421 assert(handle != NULL);
422
423 stlink_usb_init_buffer(handle, STLINK_RX_EP, 6);
424
425 h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION;
426
427 res = stlink_usb_xfer(handle, h->databuf, 6);
428
429 if (res != ERROR_OK)
430 return res;
431
432 v = (h->databuf[0] << 8) | h->databuf[1];
433
434 h->version.stlink = (v >> 12) & 0x0f;
435 h->version.jtag = (v >> 6) & 0x3f;
436 h->version.swim = v & 0x3f;
437 h->vid = buf_get_u32(h->databuf, 16, 16);
438 h->pid = buf_get_u32(h->databuf, 32, 16);
439
440 /* set the supported jtag api version
441 * API V2 is supported since JTAG V11
442 */
443 if (h->version.jtag >= 11)
444 h->version.jtag_api_max = STLINK_JTAG_API_V2;
445 else
446 h->version.jtag_api_max = STLINK_JTAG_API_V1;
447
448 LOG_INFO("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X",
449 h->version.stlink,
450 h->version.jtag,
451 (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2,
452 h->version.swim,
453 h->vid,
454 h->pid);
455
456 return ERROR_OK;
457 }
458
459 static int stlink_usb_check_voltage(void *handle, float *target_voltage)
460 {
461 struct stlink_usb_handle_s *h = handle;
462 uint32_t adc_results[2];
463
464 /* only supported by stlink/v2 and for firmware >= 13 */
465 if (h->version.stlink == 1 || h->version.jtag < 13)
466 return ERROR_COMMAND_NOTFOUND;
467
468 stlink_usb_init_buffer(handle, STLINK_RX_EP, 8);
469
470 h->cmdbuf[h->cmdidx++] = STLINK_GET_TARGET_VOLTAGE;
471
472 int result = stlink_usb_xfer(handle, h->databuf, 8);
473
474 if (result != ERROR_OK)
475 return result;
476
477 /* convert result */
478 adc_results[0] = le_to_h_u32(h->databuf);
479 adc_results[1] = le_to_h_u32(h->databuf + 4);
480
481 *target_voltage = 0;
482
483 if (adc_results[0])
484 *target_voltage = 2 * ((float)adc_results[1]) * (float)(1.2 / adc_results[0]);
485
486 LOG_INFO("Target voltage: %f", (double)*target_voltage);
487
488 return ERROR_OK;
489 }
490
491 /** */
492 static int stlink_usb_current_mode(void *handle, uint8_t *mode)
493 {
494 int res;
495 struct stlink_usb_handle_s *h = handle;
496
497 assert(handle != NULL);
498
499 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
500
501 h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE;
502
503 res = stlink_usb_xfer(handle, h->databuf, 2);
504
505 if (res != ERROR_OK)
506 return res;
507
508 *mode = h->databuf[0];
509
510 return ERROR_OK;
511 }
512
513 /** */
514 static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
515 {
516 int res;
517 int rx_size = 0;
518 struct stlink_usb_handle_s *h = handle;
519
520 assert(handle != NULL);
521
522 /* on api V2 we are able the read the latest command
523 * status
524 * TODO: we need the test on api V1 too
525 */
526 if (h->jtag_api == STLINK_JTAG_API_V2)
527 rx_size = 2;
528
529 stlink_usb_init_buffer(handle, STLINK_RX_EP, rx_size);
530
531 switch (type) {
532 case STLINK_MODE_DEBUG_JTAG:
533 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
534 if (h->jtag_api == STLINK_JTAG_API_V1)
535 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
536 else
537 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
538 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG;
539 break;
540 case STLINK_MODE_DEBUG_SWD:
541 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
542 if (h->jtag_api == STLINK_JTAG_API_V1)
543 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
544 else
545 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
546 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD;
547 break;
548 case STLINK_MODE_DEBUG_SWIM:
549 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
550 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER;
551 break;
552 case STLINK_MODE_DFU:
553 case STLINK_MODE_MASS:
554 default:
555 return ERROR_FAIL;
556 }
557
558 res = stlink_usb_xfer(handle, h->databuf, rx_size);
559
560 if (res != ERROR_OK)
561 return res;
562
563 res = stlink_usb_error_check(h);
564
565 return res;
566 }
567
568 /** */
569 static int stlink_usb_mode_leave(void *handle, enum stlink_mode type)
570 {
571 int res;
572 struct stlink_usb_handle_s *h = handle;
573
574 assert(handle != NULL);
575
576 stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0);
577
578 switch (type) {
579 case STLINK_MODE_DEBUG_JTAG:
580 case STLINK_MODE_DEBUG_SWD:
581 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
582 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT;
583 break;
584 case STLINK_MODE_DEBUG_SWIM:
585 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
586 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT;
587 break;
588 case STLINK_MODE_DFU:
589 h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND;
590 h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT;
591 break;
592 case STLINK_MODE_MASS:
593 default:
594 return ERROR_FAIL;
595 }
596
597 res = stlink_usb_xfer(handle, 0, 0);
598
599 if (res != ERROR_OK)
600 return res;
601
602 return ERROR_OK;
603 }
604
605 static int stlink_usb_assert_srst(void *handle, int srst);
606
607 /** */
608 static int stlink_usb_init_mode(void *handle, bool connect_under_reset)
609 {
610 int res;
611 uint8_t mode;
612 enum stlink_mode emode;
613 struct stlink_usb_handle_s *h = handle;
614
615 assert(handle != NULL);
616
617 res = stlink_usb_current_mode(handle, &mode);
618
619 if (res != ERROR_OK)
620 return res;
621
622 LOG_DEBUG("MODE: 0x%02X", mode);
623
624 /* try to exit current mode */
625 switch (mode) {
626 case STLINK_DEV_DFU_MODE:
627 emode = STLINK_MODE_DFU;
628 break;
629 case STLINK_DEV_DEBUG_MODE:
630 emode = STLINK_MODE_DEBUG_SWD;
631 break;
632 case STLINK_DEV_SWIM_MODE:
633 emode = STLINK_MODE_DEBUG_SWIM;
634 break;
635 case STLINK_DEV_BOOTLOADER_MODE:
636 case STLINK_DEV_MASS_MODE:
637 default:
638 emode = STLINK_MODE_UNKNOWN;
639 break;
640 }
641
642 if (emode != STLINK_MODE_UNKNOWN) {
643 res = stlink_usb_mode_leave(handle, emode);
644
645 if (res != ERROR_OK)
646 return res;
647 }
648
649 res = stlink_usb_current_mode(handle, &mode);
650
651 if (res != ERROR_OK)
652 return res;
653
654 /* we check the target voltage here as an aid to debugging connection problems.
655 * the stlink requires the target Vdd to be connected for reliable debugging.
656 * this cmd is supported in all modes except DFU
657 */
658 if (mode != STLINK_DEV_DFU_MODE) {
659
660 float target_voltage;
661
662 /* check target voltage (if supported) */
663 res = stlink_usb_check_voltage(h, &target_voltage);
664
665 if (res != ERROR_OK) {
666 if (res != ERROR_COMMAND_NOTFOUND)
667 LOG_ERROR("voltage check failed");
668 /* attempt to continue as it is not a catastrophic failure */
669 } else {
670 /* check for a sensible target voltage, operating range is 1.65-5.5v
671 * according to datasheet */
672 if (target_voltage < 1.5)
673 LOG_ERROR("target voltage may be too low for reliable debugging");
674 }
675 }
676
677 LOG_DEBUG("MODE: 0x%02X", mode);
678
679 /* set selected mode */
680 switch (h->transport) {
681 case HL_TRANSPORT_SWD:
682 emode = STLINK_MODE_DEBUG_SWD;
683 break;
684 case HL_TRANSPORT_JTAG:
685 emode = STLINK_MODE_DEBUG_JTAG;
686 break;
687 case HL_TRANSPORT_SWIM:
688 emode = STLINK_MODE_DEBUG_SWIM;
689 break;
690 default:
691 emode = STLINK_MODE_UNKNOWN;
692 break;
693 }
694
695 if (emode == STLINK_MODE_UNKNOWN) {
696 LOG_ERROR("selected mode (transport) not supported");
697 return ERROR_FAIL;
698 }
699
700 if (connect_under_reset) {
701 res = stlink_usb_assert_srst(handle, 0);
702 if (res != ERROR_OK)
703 return res;
704 }
705
706 res = stlink_usb_mode_enter(handle, emode);
707
708 if (res != ERROR_OK)
709 return res;
710
711 res = stlink_usb_current_mode(handle, &mode);
712
713 if (res != ERROR_OK)
714 return res;
715
716 LOG_DEBUG("MODE: 0x%02X", mode);
717
718 return ERROR_OK;
719 }
720
721 /** */
722 static int stlink_usb_idcode(void *handle, uint32_t *idcode)
723 {
724 int res;
725 struct stlink_usb_handle_s *h = handle;
726
727 assert(handle != NULL);
728
729 stlink_usb_init_buffer(handle, STLINK_RX_EP, 4);
730
731 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
732 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID;
733
734 res = stlink_usb_xfer(handle, h->databuf, 4);
735
736 if (res != ERROR_OK)
737 return res;
738
739 *idcode = le_to_h_u32(h->databuf);
740
741 LOG_DEBUG("IDCODE: 0x%08X", *idcode);
742
743 return ERROR_OK;
744 }
745
746 static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val)
747 {
748 struct stlink_usb_handle_s *h = handle;
749 int res;
750
751 assert(handle != NULL);
752
753 stlink_usb_init_buffer(handle, STLINK_RX_EP, 8);
754
755 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
756 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG;
757 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
758 h->cmdidx += 4;
759
760 res = stlink_usb_xfer(handle, h->databuf, 8);
761
762 if (res != ERROR_OK)
763 return res;
764
765 *val = le_to_h_u32(h->databuf + 4);
766
767 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
768 }
769
770 static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
771 {
772 int res;
773 struct stlink_usb_handle_s *h = handle;
774
775 assert(handle != NULL);
776
777 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
778
779 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
780 if (h->jtag_api == STLINK_JTAG_API_V1)
781 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG;
782 else
783 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG;
784 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
785 h->cmdidx += 4;
786 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
787 h->cmdidx += 4;
788
789 res = stlink_usb_xfer(handle, h->databuf, 2);
790
791 if (res != ERROR_OK)
792 return res;
793
794 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
795 }
796
797 /** */
798 static void stlink_usb_trace_read(void *handle)
799 {
800 struct stlink_usb_handle_s *h = handle;
801
802 assert(handle != NULL);
803
804 if (h->trace.enabled && h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
805 int res;
806
807 stlink_usb_init_buffer(handle, STLINK_RX_EP, 10);
808
809 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
810 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GET_TRACE_NB;
811
812 res = stlink_usb_xfer(handle, h->databuf, 2);
813 if (res == ERROR_OK) {
814 uint8_t buf[STLINK_TRACE_SIZE];
815 size_t size = le_to_h_u16(h->databuf);
816
817 if (size > 0) {
818 size = size < sizeof(buf) ? size : sizeof(buf) - 1;
819
820 res = stlink_usb_read_trace(handle, buf, size);
821 if (res == ERROR_OK) {
822 if (h->trace.output_f) {
823 /* Log retrieved trace output */
824 if (fwrite(buf, 1, size, h->trace.output_f) > 0)
825 fflush(h->trace.output_f);
826 }
827 }
828 }
829 }
830 }
831 }
832
833 static enum target_state stlink_usb_v2_get_status(void *handle)
834 {
835 int result;
836 uint32_t status;
837
838 result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status);
839 if (result != ERROR_OK)
840 return TARGET_UNKNOWN;
841
842 if (status & S_HALT)
843 return TARGET_HALTED;
844 else if (status & S_RESET_ST)
845 return TARGET_RESET;
846
847 stlink_usb_trace_read(handle);
848
849 return TARGET_RUNNING;
850 }
851
852 /** */
853 static enum target_state stlink_usb_state(void *handle)
854 {
855 int res;
856 struct stlink_usb_handle_s *h = handle;
857
858 assert(handle != NULL);
859
860 if (h->jtag_api == STLINK_JTAG_API_V2)
861 return stlink_usb_v2_get_status(handle);
862
863 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
864
865 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
866 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS;
867
868 res = stlink_usb_xfer(handle, h->databuf, 2);
869
870 if (res != ERROR_OK)
871 return TARGET_UNKNOWN;
872
873 if (h->databuf[0] == STLINK_CORE_RUNNING)
874 return TARGET_RUNNING;
875 if (h->databuf[0] == STLINK_CORE_HALTED)
876 return TARGET_HALTED;
877
878 return TARGET_UNKNOWN;
879 }
880
881 /** */
882 static int stlink_usb_reset(void *handle)
883 {
884 int res;
885 struct stlink_usb_handle_s *h = handle;
886
887 assert(handle != NULL);
888
889 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
890
891 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
892
893 if (h->jtag_api == STLINK_JTAG_API_V1)
894 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_RESETSYS;
895 else
896 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS;
897
898 res = stlink_usb_xfer(handle, h->databuf, 2);
899
900 if (res != ERROR_OK)
901 return res;
902
903 LOG_DEBUG("RESET: 0x%08X", h->databuf[0]);
904
905 /* the following is not a error under swd (using hardware srst), so return success */
906 if (h->databuf[0] == STLINK_SWD_AP_WAIT || h->databuf[0] == STLINK_SWD_DP_WAIT)
907 return ERROR_OK;
908
909 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
910 }
911
912 static int stlink_usb_assert_srst(void *handle, int srst)
913 {
914 int res;
915 struct stlink_usb_handle_s *h = handle;
916
917 assert(handle != NULL);
918
919 if (h->jtag_api == STLINK_JTAG_API_V1)
920 return ERROR_COMMAND_NOTFOUND;
921
922 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
923
924 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
925 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST;
926 h->cmdbuf[h->cmdidx++] = srst;
927
928 res = stlink_usb_xfer(handle, h->databuf, 2);
929
930 if (res != ERROR_OK)
931 return res;
932
933 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
934 }
935
936 /** */
937 static int stlink_configure_target_trace_port(void *handle)
938 {
939 int res;
940 uint32_t reg;
941 struct stlink_usb_handle_s *h = handle;
942
943 assert(handle != NULL);
944
945 /* configure the TPI */
946
947 /* enable the trace subsystem */
948 res = stlink_usb_v2_read_debug_reg(handle, DCB_DEMCR, &reg);
949 if (res != ERROR_OK)
950 goto out;
951 res = stlink_usb_write_debug_reg(handle, DCB_DEMCR, TRCENA|reg);
952 if (res != ERROR_OK)
953 goto out;
954 /* set the TPI clock prescaler */
955 res = stlink_usb_write_debug_reg(handle, TPI_ACPR, h->trace.prescale);
956 if (res != ERROR_OK)
957 goto out;
958 /* select the pin protocol. The STLinkv2 only supports asynchronous
959 * UART emulation (NRZ) mode, so that's what we pick. */
960 res = stlink_usb_write_debug_reg(handle, TPI_SPPR, 0x02);
961 if (res != ERROR_OK)
962 goto out;
963 /* disable continuous formatting */
964 res = stlink_usb_write_debug_reg(handle, TPI_FFCR, (1<<8));
965 if (res != ERROR_OK)
966 goto out;
967
968 /* configure the ITM */
969
970 /* unlock access to the ITM registers */
971 res = stlink_usb_write_debug_reg(handle, ITM_LAR, 0xC5ACCE55);
972 if (res != ERROR_OK)
973 goto out;
974 /* enable trace with ATB ID 1 */
975 res = stlink_usb_write_debug_reg(handle, ITM_TCR, (1<<16)|(1<<0)|(1<<2));
976 if (res != ERROR_OK)
977 goto out;
978 /* trace privilege */
979 res = stlink_usb_write_debug_reg(handle, ITM_TPR, 1);
980 if (res != ERROR_OK)
981 goto out;
982 /* trace port enable (port 0) */
983 res = stlink_usb_write_debug_reg(handle, ITM_TER, (1<<0));
984 if (res != ERROR_OK)
985 goto out;
986
987 res = ERROR_OK;
988 out:
989 return res;
990 }
991
992 /** */
993 static void stlink_usb_trace_disable(void *handle)
994 {
995 int res = ERROR_OK;
996 struct stlink_usb_handle_s *h = handle;
997
998 assert(handle != NULL);
999
1000 assert(h->version.jtag >= STLINK_TRACE_MIN_VERSION);
1001
1002 LOG_DEBUG("Tracing: disable\n");
1003
1004 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1005 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1006 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_STOP_TRACE_RX;
1007 res = stlink_usb_xfer(handle, h->databuf, 2);
1008
1009 if (res == ERROR_OK)
1010 h->trace.enabled = false;
1011 }
1012
1013
1014 /** */
1015 static int stlink_usb_trace_enable(void *handle)
1016 {
1017 int res;
1018 struct stlink_usb_handle_s *h = handle;
1019
1020 assert(handle != NULL);
1021
1022 if (h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
1023 uint32_t trace_hz;
1024
1025 res = stlink_configure_target_trace_port(handle);
1026 if (res != ERROR_OK)
1027 LOG_ERROR("Unable to configure tracing on target\n");
1028
1029 trace_hz = h->trace.prescale > 0 ?
1030 h->trace.source_hz / (h->trace.prescale + 1) :
1031 h->trace.source_hz;
1032
1033 stlink_usb_init_buffer(handle, STLINK_RX_EP, 10);
1034
1035 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1036 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_START_TRACE_RX;
1037 h_u16_to_le(h->cmdbuf+h->cmdidx, (uint16_t)STLINK_TRACE_SIZE);
1038 h->cmdidx += 2;
1039 h_u32_to_le(h->cmdbuf+h->cmdidx, trace_hz);
1040 h->cmdidx += 4;
1041
1042 res = stlink_usb_xfer(handle, h->databuf, 2);
1043
1044 if (res == ERROR_OK) {
1045 h->trace.enabled = true;
1046 LOG_DEBUG("Tracing: recording at %uHz\n", trace_hz);
1047 }
1048 } else {
1049 LOG_ERROR("Tracing is not supported by this version.");
1050 res = ERROR_FAIL;
1051 }
1052
1053 return res;
1054 }
1055
1056 /** */
1057 static int stlink_usb_run(void *handle)
1058 {
1059 int res;
1060 struct stlink_usb_handle_s *h = handle;
1061
1062 assert(handle != NULL);
1063
1064 if (h->jtag_api == STLINK_JTAG_API_V2) {
1065 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN);
1066
1067 /* Try to start tracing, if requested */
1068 if (res == ERROR_OK && h->trace.source_hz) {
1069 if (stlink_usb_trace_enable(handle) == ERROR_OK)
1070 LOG_DEBUG("Tracing: enabled\n");
1071 else
1072 LOG_ERROR("Tracing: enable failed\n");
1073 }
1074
1075 return res;
1076 }
1077
1078 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1079
1080 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1081 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE;
1082
1083 res = stlink_usb_xfer(handle, h->databuf, 2);
1084
1085 if (res != ERROR_OK)
1086 return res;
1087
1088 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1089 }
1090
1091 /** */
1092 static int stlink_usb_halt(void *handle)
1093 {
1094 int res;
1095 struct stlink_usb_handle_s *h = handle;
1096
1097 assert(handle != NULL);
1098
1099 if (h->jtag_api == STLINK_JTAG_API_V2) {
1100 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1101
1102 if (res == ERROR_OK && h->trace.enabled)
1103 stlink_usb_trace_disable(handle);
1104
1105 return res;
1106 }
1107
1108 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1109
1110 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1111 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG;
1112
1113 res = stlink_usb_xfer(handle, h->databuf, 2);
1114
1115 if (res != ERROR_OK)
1116 return res;
1117
1118 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1119 }
1120
1121 /** */
1122 static int stlink_usb_step(void *handle)
1123 {
1124 int res;
1125 struct stlink_usb_handle_s *h = handle;
1126
1127 assert(handle != NULL);
1128
1129 if (h->jtag_api == STLINK_JTAG_API_V2) {
1130 /* TODO: this emulates the v1 api, it should really use a similar auto mask isr
1131 * that the cortex-m3 currently does. */
1132 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_MASKINTS|C_DEBUGEN);
1133 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_MASKINTS|C_DEBUGEN);
1134 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1135 }
1136
1137 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1138
1139 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1140 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE;
1141
1142 res = stlink_usb_xfer(handle, h->databuf, 2);
1143
1144 if (res != ERROR_OK)
1145 return res;
1146
1147 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1148 }
1149
1150 /** */
1151 static int stlink_usb_read_regs(void *handle)
1152 {
1153 int res;
1154 struct stlink_usb_handle_s *h = handle;
1155
1156 assert(handle != NULL);
1157
1158 stlink_usb_init_buffer(handle, STLINK_RX_EP, 84);
1159
1160 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1161 if (h->jtag_api == STLINK_JTAG_API_V1)
1162 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS;
1163 else
1164 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS;
1165
1166 res = stlink_usb_xfer(handle, h->databuf, 84);
1167
1168 if (res != ERROR_OK)
1169 return res;
1170
1171 return ERROR_OK;
1172 }
1173
1174 /** */
1175 static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
1176 {
1177 int res;
1178 struct stlink_usb_handle_s *h = handle;
1179
1180 assert(handle != NULL);
1181
1182 stlink_usb_init_buffer(handle, STLINK_RX_EP, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1183
1184 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1185 if (h->jtag_api == STLINK_JTAG_API_V1)
1186 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG;
1187 else
1188 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG;
1189 h->cmdbuf[h->cmdidx++] = num;
1190
1191 res = stlink_usb_xfer(handle, h->databuf, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1192
1193 if (res != ERROR_OK)
1194 return res;
1195
1196 if (h->jtag_api == STLINK_JTAG_API_V1)
1197 *val = le_to_h_u32(h->databuf);
1198 else {
1199 *val = le_to_h_u32(h->databuf + 4);
1200 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1201 }
1202
1203 return ERROR_OK;
1204 }
1205
1206 /** */
1207 static int stlink_usb_write_reg(void *handle, int num, uint32_t val)
1208 {
1209 int res;
1210 struct stlink_usb_handle_s *h = handle;
1211
1212 assert(handle != NULL);
1213
1214 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1215
1216 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1217 if (h->jtag_api == STLINK_JTAG_API_V1)
1218 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG;
1219 else
1220 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG;
1221 h->cmdbuf[h->cmdidx++] = num;
1222 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
1223 h->cmdidx += 4;
1224
1225 res = stlink_usb_xfer(handle, h->databuf, 2);
1226
1227 if (res != ERROR_OK)
1228 return res;
1229
1230 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1231 }
1232
1233 static int stlink_usb_get_rw_status(void *handle)
1234 {
1235 int res;
1236 struct stlink_usb_handle_s *h = handle;
1237
1238 assert(handle != NULL);
1239
1240 if (h->jtag_api == STLINK_JTAG_API_V1)
1241 return ERROR_OK;
1242
1243 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1244
1245 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1246 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS;
1247
1248 res = stlink_usb_xfer(handle, h->databuf, 2);
1249
1250 if (res != ERROR_OK)
1251 return res;
1252
1253 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : res;
1254 }
1255
1256 /** */
1257 static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
1258 uint8_t *buffer)
1259 {
1260 int res;
1261 uint16_t read_len = len;
1262 struct stlink_usb_handle_s *h = handle;
1263
1264 assert(handle != NULL);
1265
1266 /* max 8bit read/write is 64bytes */
1267 if (len > STLINK_MAX_RW8) {
1268 LOG_DEBUG("max buffer length exceeded");
1269 return ERROR_FAIL;
1270 }
1271
1272 stlink_usb_init_buffer(handle, STLINK_RX_EP, read_len);
1273
1274 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1275 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT;
1276 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1277 h->cmdidx += 4;
1278 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1279 h->cmdidx += 2;
1280
1281 /* we need to fix read length for single bytes */
1282 if (read_len == 1)
1283 read_len++;
1284
1285 res = stlink_usb_xfer(handle, h->databuf, read_len);
1286
1287 if (res != ERROR_OK)
1288 return res;
1289
1290 memcpy(buffer, h->databuf, len);
1291
1292 return stlink_usb_get_rw_status(handle);
1293 }
1294
1295 /** */
1296 static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len,
1297 const uint8_t *buffer)
1298 {
1299 int res;
1300 struct stlink_usb_handle_s *h = handle;
1301
1302 assert(handle != NULL);
1303
1304 /* max 8bit read/write is 64bytes */
1305 if (len > STLINK_MAX_RW8) {
1306 LOG_DEBUG("max buffer length exceeded");
1307 return ERROR_FAIL;
1308 }
1309
1310 stlink_usb_init_buffer(handle, STLINK_TX_EP, len);
1311
1312 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1313 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT;
1314 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1315 h->cmdidx += 4;
1316 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1317 h->cmdidx += 2;
1318
1319 res = stlink_usb_xfer(handle, buffer, len);
1320
1321 if (res != ERROR_OK)
1322 return res;
1323
1324 return stlink_usb_get_rw_status(handle);
1325 }
1326
1327 /** */
1328 static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
1329 uint8_t *buffer)
1330 {
1331 int res;
1332 struct stlink_usb_handle_s *h = handle;
1333
1334 assert(handle != NULL);
1335
1336 /* data must be a multiple of 4 and word aligned */
1337 if (len % 4 || addr % 4) {
1338 LOG_DEBUG("Invalid data alignment");
1339 return ERROR_TARGET_UNALIGNED_ACCESS;
1340 }
1341
1342 stlink_usb_init_buffer(handle, STLINK_RX_EP, len);
1343
1344 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1345 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT;
1346 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1347 h->cmdidx += 4;
1348 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1349 h->cmdidx += 2;
1350
1351 res = stlink_usb_xfer(handle, h->databuf, len);
1352
1353 if (res != ERROR_OK)
1354 return res;
1355
1356 memcpy(buffer, h->databuf, len);
1357
1358 return stlink_usb_get_rw_status(handle);
1359 }
1360
1361 /** */
1362 static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
1363 const uint8_t *buffer)
1364 {
1365 int res;
1366 struct stlink_usb_handle_s *h = handle;
1367
1368 assert(handle != NULL);
1369
1370 /* data must be a multiple of 4 and word aligned */
1371 if (len % 4 || addr % 4) {
1372 LOG_DEBUG("Invalid data alignment");
1373 return ERROR_TARGET_UNALIGNED_ACCESS;
1374 }
1375
1376 stlink_usb_init_buffer(handle, STLINK_TX_EP, len);
1377
1378 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1379 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT;
1380 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1381 h->cmdidx += 4;
1382 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1383 h->cmdidx += 2;
1384
1385 res = stlink_usb_xfer(handle, buffer, len);
1386
1387 if (res != ERROR_OK)
1388 return res;
1389
1390 return stlink_usb_get_rw_status(handle);
1391 }
1392
1393 static uint32_t stlink_max_block_size(uint32_t tar_autoincr_block, uint32_t address)
1394 {
1395 uint32_t max_tar_block = (tar_autoincr_block - ((tar_autoincr_block - 1) & address));
1396 if (max_tar_block == 0)
1397 max_tar_block = 4;
1398 return max_tar_block;
1399 }
1400
1401 static int stlink_usb_read_mem(void *handle, uint32_t addr, uint32_t size,
1402 uint32_t count, uint8_t *buffer)
1403 {
1404 int retval = ERROR_OK;
1405 uint32_t bytes_remaining;
1406 struct stlink_usb_handle_s *h = handle;
1407
1408 /* calculate byte count */
1409 count *= size;
1410
1411 while (count) {
1412
1413 bytes_remaining = (size == 4) ? \
1414 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1415
1416 if (count < bytes_remaining)
1417 bytes_remaining = count;
1418
1419 /* the stlink only supports 8/32bit memory read/writes
1420 * honour 32bit, all others will be handled as 8bit access */
1421 if (size == 4) {
1422
1423 /* When in jtag mode the stlink uses the auto-increment functinality.
1424 * However it expects us to pass the data correctly, this includes
1425 * alignment and any page boundaries. We already do this as part of the
1426 * adi_v5 implementation, but the stlink is a hla adapter and so this
1427 * needs implementiong manually.
1428 * currently this only affects jtag mode, according to ST they do single
1429 * access in SWD mode - but this may change and so we do it for both modes */
1430
1431 /* we first need to check for any unaligned bytes */
1432 if (addr % 4) {
1433
1434 uint32_t head_bytes = 4 - (addr % 4);
1435 retval = stlink_usb_read_mem8(handle, addr, head_bytes, buffer);
1436 if (retval != ERROR_OK)
1437 return retval;
1438 buffer += head_bytes;
1439 addr += head_bytes;
1440 count -= head_bytes;
1441 bytes_remaining -= head_bytes;
1442 }
1443
1444 if (bytes_remaining % 4)
1445 retval = stlink_usb_read_mem(handle, addr, 1, bytes_remaining, buffer);
1446 else
1447 retval = stlink_usb_read_mem32(handle, addr, bytes_remaining, buffer);
1448 } else
1449 retval = stlink_usb_read_mem8(handle, addr, bytes_remaining, buffer);
1450
1451 if (retval != ERROR_OK)
1452 return retval;
1453
1454 buffer += bytes_remaining;
1455 addr += bytes_remaining;
1456 count -= bytes_remaining;
1457 }
1458
1459 return retval;
1460 }
1461
1462 static int stlink_usb_write_mem(void *handle, uint32_t addr, uint32_t size,
1463 uint32_t count, const uint8_t *buffer)
1464 {
1465 int retval = ERROR_OK;
1466 uint32_t bytes_remaining;
1467 struct stlink_usb_handle_s *h = handle;
1468
1469 /* calculate byte count */
1470 count *= size;
1471
1472 while (count) {
1473
1474 bytes_remaining = (size == 4) ? \
1475 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1476
1477 if (count < bytes_remaining)
1478 bytes_remaining = count;
1479
1480 /* the stlink only supports 8/32bit memory read/writes
1481 * honour 32bit, all others will be handled as 8bit access */
1482 if (size == 4) {
1483
1484 /* When in jtag mode the stlink uses the auto-increment functinality.
1485 * However it expects us to pass the data correctly, this includes
1486 * alignment and any page boundaries. We already do this as part of the
1487 * adi_v5 implementation, but the stlink is a hla adapter and so this
1488 * needs implementiong manually.
1489 * currently this only affects jtag mode, according to ST they do single
1490 * access in SWD mode - but this may change and so we do it for both modes */
1491
1492 /* we first need to check for any unaligned bytes */
1493 if (addr % 4) {
1494
1495 uint32_t head_bytes = 4 - (addr % 4);
1496 retval = stlink_usb_write_mem8(handle, addr, head_bytes, buffer);
1497 if (retval != ERROR_OK)
1498 return retval;
1499 buffer += head_bytes;
1500 addr += head_bytes;
1501 count -= head_bytes;
1502 bytes_remaining -= head_bytes;
1503 }
1504
1505 if (bytes_remaining % 4)
1506 retval = stlink_usb_write_mem(handle, addr, 1, bytes_remaining, buffer);
1507 else
1508 retval = stlink_usb_write_mem32(handle, addr, bytes_remaining, buffer);
1509
1510 } else
1511 retval = stlink_usb_write_mem8(handle, addr, bytes_remaining, buffer);
1512 if (retval != ERROR_OK)
1513 return retval;
1514
1515 buffer += bytes_remaining;
1516 addr += bytes_remaining;
1517 count -= bytes_remaining;
1518 }
1519
1520 return retval;
1521 }
1522
1523 /** */
1524 static int stlink_usb_close(void *fd)
1525 {
1526 struct stlink_usb_handle_s *h = fd;
1527
1528 if (h->fd)
1529 jtag_libusb_close(h->fd);
1530
1531 free(fd);
1532
1533 return ERROR_OK;
1534 }
1535
1536 /** */
1537 static int stlink_usb_open(struct hl_interface_param_s *param, void **fd)
1538 {
1539 int err, retry_count = 1;
1540 struct stlink_usb_handle_s *h;
1541 enum stlink_jtag_api_version api;
1542
1543 LOG_DEBUG("stlink_usb_open");
1544
1545 h = calloc(1, sizeof(struct stlink_usb_handle_s));
1546
1547 if (h == 0) {
1548 LOG_DEBUG("malloc failed");
1549 return ERROR_FAIL;
1550 }
1551
1552 h->transport = param->transport;
1553
1554 const uint16_t vids[] = { param->vid, 0 };
1555 const uint16_t pids[] = { param->pid, 0 };
1556
1557 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
1558 param->vid, param->pid);
1559
1560 /*
1561 On certain host USB configurations(e.g. MacBook Air)
1562 STLINKv2 dongle seems to have its FW in a funky state if,
1563 after plugging it in, you try to use openocd with it more
1564 then once (by launching and closing openocd). In cases like
1565 that initial attempt to read the FW info via
1566 stlink_usb_version will fail and the device has to be reset
1567 in order to become operational.
1568 */
1569 do {
1570 if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) {
1571 LOG_ERROR("open failed");
1572 goto error_open;
1573 }
1574
1575 jtag_libusb_set_configuration(h->fd, 0);
1576
1577 if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
1578 LOG_DEBUG("claim interface failed");
1579 goto error_open;
1580 }
1581
1582 /* wrap version for first read */
1583 switch (param->pid) {
1584 case 0x3744:
1585 h->version.stlink = 1;
1586 break;
1587 default:
1588 h->version.stlink = 2;
1589 break;
1590 }
1591
1592 /* get the device version */
1593 err = stlink_usb_version(h);
1594
1595 if (err == ERROR_OK) {
1596 break;
1597 } else if (h->version.stlink == 1 ||
1598 retry_count == 0) {
1599 LOG_ERROR("read version failed");
1600 goto error_open;
1601 } else {
1602 err = jtag_libusb_release_interface(h->fd, 0);
1603 if (err != ERROR_OK) {
1604 LOG_ERROR("release interface failed");
1605 goto error_open;
1606 }
1607
1608 err = jtag_libusb_reset_device(h->fd);
1609 if (err != ERROR_OK) {
1610 LOG_ERROR("reset device failed");
1611 goto error_open;
1612 }
1613
1614 jtag_libusb_close(h->fd);
1615 /*
1616 Give the device one second to settle down and
1617 reenumerate.
1618 */
1619 usleep(1 * 1000 * 1000);
1620 retry_count--;
1621 }
1622 } while (1);
1623
1624 /* compare usb vid/pid */
1625 if ((param->vid != h->vid) || (param->pid != h->pid))
1626 LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
1627 param->vid, param->pid,
1628 h->vid, h->pid);
1629
1630 /* check if mode is supported */
1631 err = ERROR_OK;
1632
1633 switch (h->transport) {
1634 case HL_TRANSPORT_SWD:
1635 case HL_TRANSPORT_JTAG:
1636 if (h->version.jtag == 0)
1637 err = ERROR_FAIL;
1638 break;
1639 case HL_TRANSPORT_SWIM:
1640 if (h->version.swim == 0)
1641 err = ERROR_FAIL;
1642 break;
1643 default:
1644 err = ERROR_FAIL;
1645 break;
1646 }
1647
1648 if (err != ERROR_OK) {
1649 LOG_ERROR("mode (transport) not supported by device");
1650 goto error_open;
1651 }
1652
1653 api = h->version.jtag_api_max;
1654
1655 /* check that user has not requested certain api version
1656 * and if they have check it is supported */
1657 if ((param->api != 0) && (param->api <= h->version.jtag_api_max)) {
1658 api = param->api;
1659 LOG_INFO("using stlink api v%d", api);
1660 }
1661
1662 /* set the used jtag api, this will default to the newest supported version */
1663 h->jtag_api = api;
1664
1665 if (h->jtag_api >= 2 && param->trace_source_hz > 0) {
1666 uint32_t prescale;
1667
1668 prescale = param->trace_source_hz > STLINK_TRACE_MAX_HZ ?
1669 (param->trace_source_hz / STLINK_TRACE_MAX_HZ) - 1 : 0;
1670
1671 h->trace.output_f = param->trace_f;
1672 h->trace.source_hz = param->trace_source_hz;
1673 h->trace.prescale = prescale;
1674 }
1675
1676 /* initialize the debug hardware */
1677 err = stlink_usb_init_mode(h, param->connect_under_reset);
1678
1679 if (err != ERROR_OK) {
1680 LOG_ERROR("init mode failed");
1681 goto error_open;
1682 }
1683
1684 /* get cpuid, so we can determine the max page size
1685 * start with a safe default */
1686 h->max_mem_packet = (1 << 10);
1687
1688 uint8_t buffer[4];
1689 err = stlink_usb_read_mem32(h, CPUID, 4, buffer);
1690 if (err == ERROR_OK) {
1691 uint32_t cpuid = le_to_h_u32(buffer);
1692 int i = (cpuid >> 4) & 0xf;
1693 if (i == 4 || i == 3) {
1694 /* Cortex-M3/M4 has 4096 bytes autoincrement range */
1695 h->max_mem_packet = (1 << 12);
1696 }
1697 }
1698
1699 LOG_DEBUG("Using TAR autoincrement: %" PRIu32, h->max_mem_packet);
1700
1701 *fd = h;
1702
1703 return ERROR_OK;
1704
1705 error_open:
1706 stlink_usb_close(h);
1707
1708 return ERROR_FAIL;
1709 }
1710
1711 /** */
1712 struct hl_layout_api_s stlink_usb_layout_api = {
1713 /** */
1714 .open = stlink_usb_open,
1715 /** */
1716 .close = stlink_usb_close,
1717 /** */
1718 .idcode = stlink_usb_idcode,
1719 /** */
1720 .state = stlink_usb_state,
1721 /** */
1722 .reset = stlink_usb_reset,
1723 /** */
1724 .assert_srst = stlink_usb_assert_srst,
1725 /** */
1726 .run = stlink_usb_run,
1727 /** */
1728 .halt = stlink_usb_halt,
1729 /** */
1730 .step = stlink_usb_step,
1731 /** */
1732 .read_regs = stlink_usb_read_regs,
1733 /** */
1734 .read_reg = stlink_usb_read_reg,
1735 /** */
1736 .write_reg = stlink_usb_write_reg,
1737 /** */
1738 .read_mem = stlink_usb_read_mem,
1739 /** */
1740 .write_mem = stlink_usb_write_mem,
1741 /** */
1742 .write_debug_reg = stlink_usb_write_debug_reg
1743 };
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