1 /***************************************************************************
2 * Copyright (C) 2011-2012 by Mathias Kuester *
3 * Mathias Kuester <kesmtp@freenet.de> *
5 * Copyright (C) 2012 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
8 * This code is based on https://github.com/texane/stlink *
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. *
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. *
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 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
24 ***************************************************************************/
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>
38 #include <target/cortex_m.h>
40 #include "libusb_common.h"
42 #define ENDPOINT_IN 0x80
43 #define ENDPOINT_OUT 0x00
45 #define STLINK_NULL_EP 0
46 #define STLINK_RX_EP (1|ENDPOINT_IN)
47 #define STLINK_TX_EP (2|ENDPOINT_OUT)
48 #define STLINK_SG_SIZE (31)
49 #define STLINK_DATA_SIZE (4*128)
50 #define STLINK_CMD_SIZE_V2 (16)
51 #define STLINK_CMD_SIZE_V1 (10)
53 enum stlink_jtag_api_version
{
54 STLINK_JTAG_API_V1
= 1,
59 struct stlink_usb_version
{
66 /** highest supported jtag api version */
67 enum stlink_jtag_api_version jtag_api_max
;
71 struct stlink_usb_handle_s
{
73 struct jtag_libusb_device_handle
*fd
;
75 struct libusb_transfer
*trans
;
77 uint8_t cmdbuf
[STLINK_SG_SIZE
];
83 uint8_t databuf
[STLINK_DATA_SIZE
];
85 enum hl_transports transport
;
87 struct stlink_usb_version version
;
92 /** this is the currently used jtag api */
93 enum stlink_jtag_api_version jtag_api
;
96 #define STLINK_DEBUG_ERR_OK 0x80
97 #define STLINK_DEBUG_ERR_FAULT 0x81
98 #define STLINK_SWD_AP_WAIT 0x10
99 #define STLINK_SWD_DP_WAIT 0x14
101 #define STLINK_CORE_RUNNING 0x80
102 #define STLINK_CORE_HALTED 0x81
103 #define STLINK_CORE_STAT_UNKNOWN -1
105 #define STLINK_GET_VERSION 0xF1
106 #define STLINK_DEBUG_COMMAND 0xF2
107 #define STLINK_DFU_COMMAND 0xF3
108 #define STLINK_SWIM_COMMAND 0xF4
109 #define STLINK_GET_CURRENT_MODE 0xF5
110 #define STLINK_GET_TARGET_VOLTAGE 0xF7
112 #define STLINK_DEV_DFU_MODE 0x00
113 #define STLINK_DEV_MASS_MODE 0x01
114 #define STLINK_DEV_DEBUG_MODE 0x02
115 #define STLINK_DEV_SWIM_MODE 0x03
116 #define STLINK_DEV_BOOTLOADER_MODE 0x04
117 #define STLINK_DEV_UNKNOWN_MODE -1
119 #define STLINK_DFU_EXIT 0x07
121 #define STLINK_SWIM_ENTER 0x00
122 #define STLINK_SWIM_EXIT 0x01
124 #define STLINK_DEBUG_ENTER_JTAG 0x00
125 #define STLINK_DEBUG_GETSTATUS 0x01
126 #define STLINK_DEBUG_FORCEDEBUG 0x02
127 #define STLINK_DEBUG_APIV1_RESETSYS 0x03
128 #define STLINK_DEBUG_APIV1_READALLREGS 0x04
129 #define STLINK_DEBUG_APIV1_READREG 0x05
130 #define STLINK_DEBUG_APIV1_WRITEREG 0x06
131 #define STLINK_DEBUG_READMEM_32BIT 0x07
132 #define STLINK_DEBUG_WRITEMEM_32BIT 0x08
133 #define STLINK_DEBUG_RUNCORE 0x09
134 #define STLINK_DEBUG_STEPCORE 0x0a
135 #define STLINK_DEBUG_APIV1_SETFP 0x0b
136 #define STLINK_DEBUG_READMEM_8BIT 0x0c
137 #define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
138 #define STLINK_DEBUG_APIV1_CLEARFP 0x0e
139 #define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
140 #define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
142 #define STLINK_DEBUG_ENTER_JTAG 0x00
143 #define STLINK_DEBUG_ENTER_SWD 0xa3
145 #define STLINK_DEBUG_APIV1_ENTER 0x20
146 #define STLINK_DEBUG_EXIT 0x21
147 #define STLINK_DEBUG_READCOREID 0x22
149 #define STLINK_DEBUG_APIV2_ENTER 0x30
150 #define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
151 #define STLINK_DEBUG_APIV2_RESETSYS 0x32
152 #define STLINK_DEBUG_APIV2_READREG 0x33
153 #define STLINK_DEBUG_APIV2_WRITEREG 0x34
154 #define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35
155 #define STLINK_DEBUG_APIV2_READDEBUGREG 0x36
157 #define STLINK_DEBUG_APIV2_READALLREGS 0x3A
158 #define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B
159 #define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
161 #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
162 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
163 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
167 STLINK_MODE_UNKNOWN
= 0,
170 STLINK_MODE_DEBUG_JTAG
,
171 STLINK_MODE_DEBUG_SWD
,
172 STLINK_MODE_DEBUG_SWIM
175 #define REQUEST_SENSE 0x03
176 #define REQUEST_SENSE_LENGTH 18
178 static void stlink_usb_init_buffer(void *handle
, uint8_t direction
, uint32_t size
);
181 static int stlink_usb_xfer_v1_get_status(void *handle
)
183 struct stlink_usb_handle_s
*h
;
185 assert(handle
!= NULL
);
187 h
= (struct stlink_usb_handle_s
*)handle
;
190 memset(h
->cmdbuf
, 0, STLINK_SG_SIZE
);
192 if (jtag_libusb_bulk_read(h
->fd
, STLINK_RX_EP
, (char *)h
->cmdbuf
,
198 t1
= buf_get_u32(h
->cmdbuf
, 0, 32);
201 if (t1
!= 0x53425355)
209 if (h
->cmdbuf
[12] != 0)
216 static int stlink_usb_xfer_rw(void *handle
, int cmdsize
, const uint8_t *buf
, int size
)
218 struct stlink_usb_handle_s
*h
;
220 assert(handle
!= NULL
);
222 h
= (struct stlink_usb_handle_s
*)handle
;
224 if (jtag_libusb_bulk_write(h
->fd
, STLINK_TX_EP
, (char *)h
->cmdbuf
, cmdsize
,
229 if (h
->direction
== STLINK_TX_EP
&& size
) {
230 if (jtag_libusb_bulk_write(h
->fd
, STLINK_TX_EP
, (char *)buf
,
231 size
, 1000) != size
) {
232 LOG_DEBUG("bulk write failed");
235 } else if (h
->direction
== STLINK_RX_EP
&& size
) {
236 if (jtag_libusb_bulk_read(h
->fd
, STLINK_RX_EP
, (char *)buf
,
237 size
, 1000) != size
) {
238 LOG_DEBUG("bulk read failed");
247 static int stlink_usb_xfer_v1_get_sense(void *handle
)
250 struct stlink_usb_handle_s
*h
;
252 assert(handle
!= NULL
);
254 h
= (struct stlink_usb_handle_s
*)handle
;
256 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 16);
258 h
->cmdbuf
[h
->cmdidx
++] = REQUEST_SENSE
;
259 h
->cmdbuf
[h
->cmdidx
++] = 0;
260 h
->cmdbuf
[h
->cmdidx
++] = 0;
261 h
->cmdbuf
[h
->cmdidx
++] = 0;
262 h
->cmdbuf
[h
->cmdidx
++] = REQUEST_SENSE_LENGTH
;
264 res
= stlink_usb_xfer_rw(handle
, REQUEST_SENSE_LENGTH
, h
->databuf
, 16);
269 if (stlink_usb_xfer_v1_get_status(handle
) != ERROR_OK
)
276 static int stlink_usb_xfer(void *handle
, const uint8_t *buf
, int size
)
278 int err
, cmdsize
= STLINK_CMD_SIZE_V2
;
279 struct stlink_usb_handle_s
*h
;
281 assert(handle
!= NULL
);
283 h
= (struct stlink_usb_handle_s
*)handle
;
285 if (h
->version
.stlink
== 1)
286 cmdsize
= STLINK_SG_SIZE
;
288 err
= stlink_usb_xfer_rw(handle
, cmdsize
, buf
, size
);
293 if (h
->version
.stlink
== 1) {
294 if (stlink_usb_xfer_v1_get_status(handle
) != ERROR_OK
) {
295 /* check csw status */
296 if (h
->cmdbuf
[12] == 1) {
297 LOG_DEBUG("get sense");
298 if (stlink_usb_xfer_v1_get_sense(handle
) != ERROR_OK
)
309 static void stlink_usb_xfer_v1_create_cmd(void *handle
, uint8_t direction
, uint32_t size
)
311 struct stlink_usb_handle_s
*h
;
313 h
= (struct stlink_usb_handle_s
*)handle
;
315 /* fill the send buffer */
316 strcpy((char *)h
->cmdbuf
, "USBC");
318 /* csw tag not used */
320 buf_set_u32(h
->cmdbuf
+h
->cmdidx
, 0, 32, size
);
322 h
->cmdbuf
[h
->cmdidx
++] = (direction
== STLINK_RX_EP
? ENDPOINT_IN
: ENDPOINT_OUT
);
323 h
->cmdbuf
[h
->cmdidx
++] = 0; /* lun */
324 h
->cmdbuf
[h
->cmdidx
++] = STLINK_CMD_SIZE_V1
;
328 static void stlink_usb_init_buffer(void *handle
, uint8_t direction
, uint32_t size
)
330 struct stlink_usb_handle_s
*h
;
332 h
= (struct stlink_usb_handle_s
*)handle
;
334 h
->direction
= direction
;
338 memset(h
->cmdbuf
, 0, STLINK_SG_SIZE
);
339 memset(h
->databuf
, 0, STLINK_DATA_SIZE
);
341 if (h
->version
.stlink
== 1)
342 stlink_usb_xfer_v1_create_cmd(handle
, direction
, size
);
345 static const char * const stlink_usb_error_msg
[] = {
350 static int stlink_usb_error_check(void *handle
)
353 const char *err_msg
= 0;
354 struct stlink_usb_handle_s
*h
;
356 assert(handle
!= NULL
);
358 h
= (struct stlink_usb_handle_s
*)handle
;
360 /* TODO: no error checking yet on api V1 */
361 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
362 h
->databuf
[0] = STLINK_DEBUG_ERR_OK
;
364 switch (h
->databuf
[0]) {
365 case STLINK_DEBUG_ERR_OK
:
368 case STLINK_DEBUG_ERR_FAULT
:
370 err_msg
= stlink_usb_error_msg
[0];
376 LOG_DEBUG("status error: %d ('%s')", h
->databuf
[0], err_msg
);
382 static int stlink_usb_version(void *handle
)
386 struct stlink_usb_handle_s
*h
;
388 assert(handle
!= NULL
);
390 h
= (struct stlink_usb_handle_s
*)handle
;
392 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 6);
394 h
->cmdbuf
[h
->cmdidx
++] = STLINK_GET_VERSION
;
396 res
= stlink_usb_xfer(handle
, h
->databuf
, 6);
401 v
= (h
->databuf
[0] << 8) | h
->databuf
[1];
403 h
->version
.stlink
= (v
>> 12) & 0x0f;
404 h
->version
.jtag
= (v
>> 6) & 0x3f;
405 h
->version
.swim
= v
& 0x3f;
406 h
->vid
= buf_get_u32(h
->databuf
, 16, 16);
407 h
->pid
= buf_get_u32(h
->databuf
, 32, 16);
409 /* set the supported jtag api version
410 * API V2 is supported since JTAG V11
412 if (h
->version
.jtag
>= 11)
413 h
->version
.jtag_api_max
= STLINK_JTAG_API_V2
;
415 h
->version
.jtag_api_max
= STLINK_JTAG_API_V1
;
417 LOG_INFO("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X",
420 (h
->version
.jtag_api_max
== STLINK_JTAG_API_V1
) ? 1 : 2,
428 static int stlink_usb_check_voltage(void *handle
, float *target_voltage
)
430 struct stlink_usb_handle_s
*h
;
431 uint32_t adc_results
[2];
433 h
= (struct stlink_usb_handle_s
*)handle
;
435 /* only supported by stlink/v2 and for firmware >= 13 */
436 if (h
->version
.stlink
== 1 || h
->version
.jtag
< 13)
437 return ERROR_COMMAND_NOTFOUND
;
439 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 8);
441 h
->cmdbuf
[h
->cmdidx
++] = STLINK_GET_TARGET_VOLTAGE
;
443 int result
= stlink_usb_xfer(handle
, h
->databuf
, 8);
445 if (result
!= ERROR_OK
)
449 adc_results
[0] = le_to_h_u32(h
->databuf
);
450 adc_results
[1] = le_to_h_u32(h
->databuf
+ 4);
455 *target_voltage
= 2 * ((float)adc_results
[1]) * (float)(1.2 / adc_results
[0]);
457 LOG_INFO("Target voltage: %f", (double)*target_voltage
);
463 static int stlink_usb_current_mode(void *handle
, uint8_t *mode
)
466 struct stlink_usb_handle_s
*h
;
468 assert(handle
!= NULL
);
470 h
= (struct stlink_usb_handle_s
*)handle
;
472 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
474 h
->cmdbuf
[h
->cmdidx
++] = STLINK_GET_CURRENT_MODE
;
476 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
481 *mode
= h
->databuf
[0];
487 static int stlink_usb_mode_enter(void *handle
, enum stlink_mode type
)
491 struct stlink_usb_handle_s
*h
;
493 assert(handle
!= NULL
);
495 h
= (struct stlink_usb_handle_s
*)handle
;
497 /* on api V2 we are able the read the latest command
499 * TODO: we need the test on api V1 too
501 if (h
->jtag_api
== STLINK_JTAG_API_V2
)
504 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, rx_size
);
507 case STLINK_MODE_DEBUG_JTAG
:
508 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
509 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
510 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV1_ENTER
;
512 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_ENTER
;
513 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_ENTER_JTAG
;
515 case STLINK_MODE_DEBUG_SWD
:
516 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
517 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
518 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV1_ENTER
;
520 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_ENTER
;
521 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_ENTER_SWD
;
523 case STLINK_MODE_DEBUG_SWIM
:
524 h
->cmdbuf
[h
->cmdidx
++] = STLINK_SWIM_COMMAND
;
525 h
->cmdbuf
[h
->cmdidx
++] = STLINK_SWIM_ENTER
;
527 case STLINK_MODE_DFU
:
528 case STLINK_MODE_MASS
:
533 res
= stlink_usb_xfer(handle
, h
->databuf
, rx_size
);
538 res
= stlink_usb_error_check(h
);
544 static int stlink_usb_mode_leave(void *handle
, enum stlink_mode type
)
547 struct stlink_usb_handle_s
*h
;
549 assert(handle
!= NULL
);
551 h
= (struct stlink_usb_handle_s
*)handle
;
553 stlink_usb_init_buffer(handle
, STLINK_NULL_EP
, 0);
556 case STLINK_MODE_DEBUG_JTAG
:
557 case STLINK_MODE_DEBUG_SWD
:
558 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
559 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_EXIT
;
561 case STLINK_MODE_DEBUG_SWIM
:
562 h
->cmdbuf
[h
->cmdidx
++] = STLINK_SWIM_COMMAND
;
563 h
->cmdbuf
[h
->cmdidx
++] = STLINK_SWIM_EXIT
;
565 case STLINK_MODE_DFU
:
566 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DFU_COMMAND
;
567 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DFU_EXIT
;
569 case STLINK_MODE_MASS
:
574 res
= stlink_usb_xfer(handle
, 0, 0);
582 static int stlink_usb_assert_srst(void *handle
, int srst
);
585 static int stlink_usb_init_mode(void *handle
, bool connect_under_reset
)
589 enum stlink_mode emode
;
590 struct stlink_usb_handle_s
*h
;
592 assert(handle
!= NULL
);
594 h
= (struct stlink_usb_handle_s
*)handle
;
596 res
= stlink_usb_current_mode(handle
, &mode
);
601 LOG_DEBUG("MODE: 0x%02X", mode
);
603 /* try to exit current mode */
605 case STLINK_DEV_DFU_MODE
:
606 emode
= STLINK_MODE_DFU
;
608 case STLINK_DEV_DEBUG_MODE
:
609 emode
= STLINK_MODE_DEBUG_SWD
;
611 case STLINK_DEV_SWIM_MODE
:
612 emode
= STLINK_MODE_DEBUG_SWIM
;
614 case STLINK_DEV_BOOTLOADER_MODE
:
615 case STLINK_DEV_MASS_MODE
:
617 emode
= STLINK_MODE_UNKNOWN
;
621 if (emode
!= STLINK_MODE_UNKNOWN
) {
622 res
= stlink_usb_mode_leave(handle
, emode
);
628 res
= stlink_usb_current_mode(handle
, &mode
);
633 /* we check the target voltage here as an aid to debugging connection problems.
634 * the stlink requires the target Vdd to be connected for reliable debugging.
635 * this cmd is supported in all modes except DFU
637 if (mode
!= STLINK_DEV_DFU_MODE
) {
639 float target_voltage
;
641 /* check target voltage (if supported) */
642 res
= stlink_usb_check_voltage(h
, &target_voltage
);
644 if (res
!= ERROR_OK
) {
645 if (res
!= ERROR_COMMAND_NOTFOUND
)
646 LOG_ERROR("voltage check failed");
647 /* attempt to continue as it is not a catastrophic failure */
649 /* check for a sensible target voltage, operating range is 1.65-5.5v
650 * according to datasheet */
651 if (target_voltage
< 1.5)
652 LOG_ERROR("target voltage may be too low for reliable debugging");
656 LOG_DEBUG("MODE: 0x%02X", mode
);
658 /* set selected mode */
659 switch (h
->transport
) {
660 case HL_TRANSPORT_SWD
:
661 emode
= STLINK_MODE_DEBUG_SWD
;
663 case HL_TRANSPORT_JTAG
:
664 emode
= STLINK_MODE_DEBUG_JTAG
;
666 case HL_TRANSPORT_SWIM
:
667 emode
= STLINK_MODE_DEBUG_SWIM
;
670 emode
= STLINK_MODE_UNKNOWN
;
674 if (emode
== STLINK_MODE_UNKNOWN
) {
675 LOG_ERROR("selected mode (transport) not supported");
679 if (connect_under_reset
) {
680 res
= stlink_usb_assert_srst(handle
, 0);
685 res
= stlink_usb_mode_enter(handle
, emode
);
690 res
= stlink_usb_current_mode(handle
, &mode
);
695 LOG_DEBUG("MODE: 0x%02X", mode
);
701 static int stlink_usb_idcode(void *handle
, uint32_t *idcode
)
704 struct stlink_usb_handle_s
*h
;
706 assert(handle
!= NULL
);
708 h
= (struct stlink_usb_handle_s
*)handle
;
710 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 4);
712 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
713 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_READCOREID
;
715 res
= stlink_usb_xfer(handle
, h
->databuf
, 4);
720 *idcode
= le_to_h_u32(h
->databuf
);
722 LOG_DEBUG("IDCODE: 0x%08X", *idcode
);
727 static int stlink_usb_v2_read_debug_reg(void *handle
, uint32_t addr
, uint32_t *val
)
729 struct stlink_usb_handle_s
*h
;
732 assert(handle
!= NULL
);
734 h
= (struct stlink_usb_handle_s
*)handle
;
736 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 8);
738 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
739 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_READDEBUGREG
;
740 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, addr
);
743 res
= stlink_usb_xfer(handle
, h
->databuf
, 8);
748 *val
= le_to_h_u32(h
->databuf
+ 4);
750 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
753 static int stlink_usb_write_debug_reg(void *handle
, uint32_t addr
, uint32_t val
)
756 struct stlink_usb_handle_s
*h
;
758 assert(handle
!= NULL
);
760 h
= (struct stlink_usb_handle_s
*)handle
;
762 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
764 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
765 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
766 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG
;
768 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG
;
769 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, addr
);
771 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, val
);
774 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
779 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
782 static enum target_state
stlink_usb_v2_get_status(void *handle
)
787 result
= stlink_usb_v2_read_debug_reg(handle
, DCB_DHCSR
, &status
);
788 if (result
!= ERROR_OK
)
789 return TARGET_UNKNOWN
;
792 return TARGET_HALTED
;
793 else if (status
& S_RESET_ST
)
796 return TARGET_RUNNING
;
800 static enum target_state
stlink_usb_state(void *handle
)
803 struct stlink_usb_handle_s
*h
;
805 assert(handle
!= NULL
);
807 h
= (struct stlink_usb_handle_s
*)handle
;
809 if (h
->jtag_api
== STLINK_JTAG_API_V2
)
810 return stlink_usb_v2_get_status(handle
);
812 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
814 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
815 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_GETSTATUS
;
817 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
820 return TARGET_UNKNOWN
;
822 if (h
->databuf
[0] == STLINK_CORE_RUNNING
)
823 return TARGET_RUNNING
;
824 if (h
->databuf
[0] == STLINK_CORE_HALTED
)
825 return TARGET_HALTED
;
827 return TARGET_UNKNOWN
;
831 static int stlink_usb_reset(void *handle
)
834 struct stlink_usb_handle_s
*h
;
836 assert(handle
!= NULL
);
838 h
= (struct stlink_usb_handle_s
*)handle
;
840 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
842 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
844 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
845 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV1_RESETSYS
;
847 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_RESETSYS
;
849 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
854 LOG_DEBUG("RESET: 0x%08X", h
->databuf
[0]);
856 /* the following is not a error under swd (using hardware srst), so return success */
857 if (h
->databuf
[0] == STLINK_SWD_AP_WAIT
|| h
->databuf
[0] == STLINK_SWD_DP_WAIT
)
860 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
863 static int stlink_usb_assert_srst(void *handle
, int srst
)
866 struct stlink_usb_handle_s
*h
;
868 assert(handle
!= NULL
);
870 h
= (struct stlink_usb_handle_s
*)handle
;
872 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
873 return ERROR_COMMAND_NOTFOUND
;
875 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
877 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
878 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_DRIVE_NRST
;
879 h
->cmdbuf
[h
->cmdidx
++] = srst
;
881 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
886 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
890 static int stlink_usb_run(void *handle
)
893 struct stlink_usb_handle_s
*h
;
895 assert(handle
!= NULL
);
897 h
= (struct stlink_usb_handle_s
*)handle
;
899 if (h
->jtag_api
== STLINK_JTAG_API_V2
)
900 return stlink_usb_write_debug_reg(handle
, DCB_DHCSR
, DBGKEY
|C_DEBUGEN
);
902 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
904 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
905 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_RUNCORE
;
907 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
912 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
916 static int stlink_usb_halt(void *handle
)
919 struct stlink_usb_handle_s
*h
;
921 assert(handle
!= NULL
);
923 h
= (struct stlink_usb_handle_s
*)handle
;
925 if (h
->jtag_api
== STLINK_JTAG_API_V2
)
926 return stlink_usb_write_debug_reg(handle
, DCB_DHCSR
, DBGKEY
|C_HALT
|C_DEBUGEN
);
928 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
930 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
931 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_FORCEDEBUG
;
933 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
938 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
942 static int stlink_usb_step(void *handle
)
945 struct stlink_usb_handle_s
*h
;
947 assert(handle
!= NULL
);
949 h
= (struct stlink_usb_handle_s
*)handle
;
951 if (h
->jtag_api
== STLINK_JTAG_API_V2
) {
952 /* TODO: this emulates the v1 api, it should really use a similar auto mask isr
953 * that the cortex-m3 currently does. */
954 stlink_usb_write_debug_reg(handle
, DCB_DHCSR
, DBGKEY
|C_HALT
|C_MASKINTS
|C_DEBUGEN
);
955 stlink_usb_write_debug_reg(handle
, DCB_DHCSR
, DBGKEY
|C_STEP
|C_MASKINTS
|C_DEBUGEN
);
956 return stlink_usb_write_debug_reg(handle
, DCB_DHCSR
, DBGKEY
|C_HALT
|C_DEBUGEN
);
959 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
961 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
962 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_STEPCORE
;
964 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
969 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
973 static int stlink_usb_read_regs(void *handle
)
976 struct stlink_usb_handle_s
*h
;
978 assert(handle
!= NULL
);
980 h
= (struct stlink_usb_handle_s
*)handle
;
982 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 84);
984 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
985 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
986 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV1_READALLREGS
;
988 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_READALLREGS
;
990 res
= stlink_usb_xfer(handle
, h
->databuf
, 84);
999 static int stlink_usb_read_reg(void *handle
, int num
, uint32_t *val
)
1002 struct stlink_usb_handle_s
*h
;
1004 assert(handle
!= NULL
);
1006 h
= (struct stlink_usb_handle_s
*)handle
;
1008 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, h
->jtag_api
== STLINK_JTAG_API_V1
? 4 : 8);
1010 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1011 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
1012 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV1_READREG
;
1014 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_READREG
;
1015 h
->cmdbuf
[h
->cmdidx
++] = num
;
1017 res
= stlink_usb_xfer(handle
, h
->databuf
, h
->jtag_api
== STLINK_JTAG_API_V1
? 4 : 8);
1019 if (res
!= ERROR_OK
)
1022 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
1023 *val
= le_to_h_u32(h
->databuf
);
1025 *val
= le_to_h_u32(h
->databuf
+ 4);
1026 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
1033 static int stlink_usb_write_reg(void *handle
, int num
, uint32_t val
)
1036 struct stlink_usb_handle_s
*h
;
1038 assert(handle
!= NULL
);
1040 h
= (struct stlink_usb_handle_s
*)handle
;
1042 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
1044 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1045 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
1046 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV1_WRITEREG
;
1048 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_WRITEREG
;
1049 h
->cmdbuf
[h
->cmdidx
++] = num
;
1050 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, val
);
1053 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
1055 if (res
!= ERROR_OK
)
1058 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
1061 static int stlink_usb_get_rw_status(void *handle
)
1064 struct stlink_usb_handle_s
*h
;
1066 assert(handle
!= NULL
);
1068 h
= (struct stlink_usb_handle_s
*)handle
;
1070 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
1073 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
1075 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1076 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS
;
1078 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
1080 if (res
!= ERROR_OK
)
1083 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: res
;
1087 static int stlink_usb_read_mem8(void *handle
, uint32_t addr
, uint16_t len
,
1091 uint16_t read_len
= len
;
1092 struct stlink_usb_handle_s
*h
;
1094 assert(handle
!= NULL
);
1096 h
= (struct stlink_usb_handle_s
*)handle
;
1098 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, read_len
);
1100 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1101 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_READMEM_8BIT
;
1102 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, addr
);
1104 h_u16_to_le(h
->cmdbuf
+h
->cmdidx
, len
);
1107 /* we need to fix read length for single bytes */
1111 res
= stlink_usb_xfer(handle
, h
->databuf
, read_len
);
1113 if (res
!= ERROR_OK
)
1116 memcpy(buffer
, h
->databuf
, len
);
1118 return stlink_usb_get_rw_status(handle
);
1122 static int stlink_usb_write_mem8(void *handle
, uint32_t addr
, uint16_t len
,
1123 const uint8_t *buffer
)
1126 struct stlink_usb_handle_s
*h
;
1128 assert(handle
!= NULL
);
1130 h
= (struct stlink_usb_handle_s
*)handle
;
1132 stlink_usb_init_buffer(handle
, STLINK_TX_EP
, len
);
1134 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1135 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_WRITEMEM_8BIT
;
1136 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, addr
);
1138 h_u16_to_le(h
->cmdbuf
+h
->cmdidx
, len
);
1141 res
= stlink_usb_xfer(handle
, buffer
, len
);
1143 if (res
!= ERROR_OK
)
1146 return stlink_usb_get_rw_status(handle
);
1150 static int stlink_usb_read_mem32(void *handle
, uint32_t addr
, uint16_t len
,
1154 struct stlink_usb_handle_s
*h
;
1156 assert(handle
!= NULL
);
1158 h
= (struct stlink_usb_handle_s
*)handle
;
1162 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, len
);
1164 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1165 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_READMEM_32BIT
;
1166 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, addr
);
1168 h_u16_to_le(h
->cmdbuf
+h
->cmdidx
, len
);
1171 res
= stlink_usb_xfer(handle
, h
->databuf
, len
);
1173 if (res
!= ERROR_OK
)
1176 memcpy(buffer
, h
->databuf
, len
);
1178 return stlink_usb_get_rw_status(handle
);
1182 static int stlink_usb_write_mem32(void *handle
, uint32_t addr
, uint16_t len
,
1183 const uint8_t *buffer
)
1186 struct stlink_usb_handle_s
*h
;
1188 assert(handle
!= NULL
);
1190 h
= (struct stlink_usb_handle_s
*)handle
;
1194 stlink_usb_init_buffer(handle
, STLINK_TX_EP
, len
);
1196 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1197 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_WRITEMEM_32BIT
;
1198 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, addr
);
1200 h_u16_to_le(h
->cmdbuf
+h
->cmdidx
, len
);
1203 res
= stlink_usb_xfer(handle
, buffer
, len
);
1205 if (res
!= ERROR_OK
)
1208 return stlink_usb_get_rw_status(handle
);
1212 static int stlink_usb_close(void *fd
)
1214 struct stlink_usb_handle_s
*h
;
1216 h
= (struct stlink_usb_handle_s
*)fd
;
1219 jtag_libusb_close(h
->fd
);
1227 static int stlink_usb_open(struct hl_interface_param_s
*param
, void **fd
)
1230 struct stlink_usb_handle_s
*h
;
1231 enum stlink_jtag_api_version api
;
1233 LOG_DEBUG("stlink_usb_open");
1235 h
= calloc(1, sizeof(struct stlink_usb_handle_s
));
1238 LOG_DEBUG("malloc failed");
1242 h
->transport
= param
->transport
;
1244 /* set max read/write buffer size in bytes */
1245 param
->max_buffer
= 512;
1247 const uint16_t vids
[] = { param
->vid
, 0 };
1248 const uint16_t pids
[] = { param
->pid
, 0 };
1250 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param
->transport
,
1251 param
->vid
, param
->pid
);
1253 if (jtag_libusb_open(vids
, pids
, &h
->fd
) != ERROR_OK
) {
1254 LOG_ERROR("open failed");
1258 jtag_libusb_set_configuration(h
->fd
, 0);
1260 if (jtag_libusb_claim_interface(h
->fd
, 0) != ERROR_OK
) {
1261 LOG_DEBUG("claim interface failed");
1265 /* wrap version for first read */
1266 switch (param
->pid
) {
1268 h
->version
.stlink
= 1;
1271 h
->version
.stlink
= 2;
1275 /* get the device version */
1276 err
= stlink_usb_version(h
);
1278 if (err
!= ERROR_OK
) {
1279 LOG_ERROR("read version failed");
1283 /* compare usb vid/pid */
1284 if ((param
->vid
!= h
->vid
) || (param
->pid
!= h
->pid
))
1285 LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
1286 param
->vid
, param
->pid
,
1289 /* check if mode is supported */
1292 switch (h
->transport
) {
1293 case HL_TRANSPORT_SWD
:
1294 case HL_TRANSPORT_JTAG
:
1295 if (h
->version
.jtag
== 0)
1298 case HL_TRANSPORT_SWIM
:
1299 if (h
->version
.swim
== 0)
1307 if (err
!= ERROR_OK
) {
1308 LOG_ERROR("mode (transport) not supported by device");
1312 api
= h
->version
.jtag_api_max
;
1314 /* check that user has not requested certain api version
1315 * and if they have check it is supported */
1316 if ((param
->api
!= 0) && (param
->api
<= h
->version
.jtag_api_max
)) {
1318 LOG_INFO("using stlink api v%d", api
);
1321 /* set the used jtag api, this will default to the newest supported version */
1324 /* initialize the debug hardware */
1325 err
= stlink_usb_init_mode(h
, param
->connect_under_reset
);
1327 if (err
!= ERROR_OK
) {
1328 LOG_ERROR("init mode failed");
1337 stlink_usb_close(h
);
1343 struct hl_layout_api_s stlink_usb_layout_api
= {
1345 .open
= stlink_usb_open
,
1347 .close
= stlink_usb_close
,
1349 .idcode
= stlink_usb_idcode
,
1351 .state
= stlink_usb_state
,
1353 .reset
= stlink_usb_reset
,
1355 .assert_srst
= stlink_usb_assert_srst
,
1357 .run
= stlink_usb_run
,
1359 .halt
= stlink_usb_halt
,
1361 .step
= stlink_usb_step
,
1363 .read_regs
= stlink_usb_read_regs
,
1365 .read_reg
= stlink_usb_read_reg
,
1367 .write_reg
= stlink_usb_write_reg
,
1369 .read_mem8
= stlink_usb_read_mem8
,
1371 .write_mem8
= stlink_usb_write_mem8
,
1373 .read_mem32
= stlink_usb_read_mem32
,
1375 .write_mem32
= stlink_usb_write_mem32
,
1377 .write_debug_reg
= stlink_usb_write_debug_reg