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);
583 static int stlink_usb_init_mode(void *handle
)
587 enum stlink_mode emode
;
588 struct stlink_usb_handle_s
*h
;
590 assert(handle
!= NULL
);
592 h
= (struct stlink_usb_handle_s
*)handle
;
594 res
= stlink_usb_current_mode(handle
, &mode
);
599 LOG_DEBUG("MODE: 0x%02X", mode
);
601 /* try to exit current mode */
603 case STLINK_DEV_DFU_MODE
:
604 emode
= STLINK_MODE_DFU
;
606 case STLINK_DEV_DEBUG_MODE
:
607 emode
= STLINK_MODE_DEBUG_SWD
;
609 case STLINK_DEV_SWIM_MODE
:
610 emode
= STLINK_MODE_DEBUG_SWIM
;
612 case STLINK_DEV_BOOTLOADER_MODE
:
613 case STLINK_DEV_MASS_MODE
:
615 emode
= STLINK_MODE_UNKNOWN
;
619 if (emode
!= STLINK_MODE_UNKNOWN
) {
620 res
= stlink_usb_mode_leave(handle
, emode
);
626 res
= stlink_usb_current_mode(handle
, &mode
);
631 /* we check the target voltage here as an aid to debugging connection problems.
632 * the stlink requires the target Vdd to be connected for reliable debugging.
633 * this cmd is supported in all modes except DFU
635 if (mode
!= STLINK_DEV_DFU_MODE
) {
637 float target_voltage
;
639 /* check target voltage (if supported) */
640 res
= stlink_usb_check_voltage(h
, &target_voltage
);
642 if (res
!= ERROR_OK
) {
643 if (res
!= ERROR_COMMAND_NOTFOUND
)
644 LOG_ERROR("voltage check failed");
645 /* attempt to continue as it is not a catastrophic failure */
647 /* check for a sensible target voltage, operating range is 1.65-5.5v
648 * according to datasheet */
649 if (target_voltage
< 1.5)
650 LOG_ERROR("target voltage may be too low for reliable debugging");
654 LOG_DEBUG("MODE: 0x%02X", mode
);
656 /* set selected mode */
657 switch (h
->transport
) {
658 case HL_TRANSPORT_SWD
:
659 emode
= STLINK_MODE_DEBUG_SWD
;
661 case HL_TRANSPORT_JTAG
:
662 emode
= STLINK_MODE_DEBUG_JTAG
;
664 case HL_TRANSPORT_SWIM
:
665 emode
= STLINK_MODE_DEBUG_SWIM
;
668 emode
= STLINK_MODE_UNKNOWN
;
672 if (emode
== STLINK_MODE_UNKNOWN
) {
673 LOG_ERROR("selected mode (transport) not supported");
677 res
= stlink_usb_mode_enter(handle
, emode
);
682 res
= stlink_usb_current_mode(handle
, &mode
);
687 LOG_DEBUG("MODE: 0x%02X", mode
);
693 static int stlink_usb_idcode(void *handle
, uint32_t *idcode
)
696 struct stlink_usb_handle_s
*h
;
698 assert(handle
!= NULL
);
700 h
= (struct stlink_usb_handle_s
*)handle
;
702 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 4);
704 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
705 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_READCOREID
;
707 res
= stlink_usb_xfer(handle
, h
->databuf
, 4);
712 *idcode
= le_to_h_u32(h
->databuf
);
714 LOG_DEBUG("IDCODE: 0x%08X", *idcode
);
719 static int stlink_usb_v2_read_debug_reg(void *handle
, uint32_t addr
, uint32_t *val
)
721 struct stlink_usb_handle_s
*h
;
724 assert(handle
!= NULL
);
726 h
= (struct stlink_usb_handle_s
*)handle
;
728 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 8);
730 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
731 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_READDEBUGREG
;
732 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, addr
);
735 res
= stlink_usb_xfer(handle
, h
->databuf
, 8);
740 *val
= le_to_h_u32(h
->databuf
+ 4);
742 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
745 static int stlink_usb_write_debug_reg(void *handle
, uint32_t addr
, uint32_t val
)
748 struct stlink_usb_handle_s
*h
;
750 assert(handle
!= NULL
);
752 h
= (struct stlink_usb_handle_s
*)handle
;
754 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
756 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
757 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
758 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG
;
760 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG
;
761 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, addr
);
763 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, val
);
766 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
771 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
774 static enum target_state
stlink_usb_v2_get_status(void *handle
)
779 result
= stlink_usb_v2_read_debug_reg(handle
, DCB_DHCSR
, &status
);
780 if (result
!= ERROR_OK
)
781 return TARGET_UNKNOWN
;
784 return TARGET_HALTED
;
785 else if (status
& S_RESET_ST
)
788 return TARGET_RUNNING
;
792 static enum target_state
stlink_usb_state(void *handle
)
795 struct stlink_usb_handle_s
*h
;
797 assert(handle
!= NULL
);
799 h
= (struct stlink_usb_handle_s
*)handle
;
801 if (h
->jtag_api
== STLINK_JTAG_API_V2
)
802 return stlink_usb_v2_get_status(handle
);
804 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
806 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
807 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_GETSTATUS
;
809 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
812 return TARGET_UNKNOWN
;
814 if (h
->databuf
[0] == STLINK_CORE_RUNNING
)
815 return TARGET_RUNNING
;
816 if (h
->databuf
[0] == STLINK_CORE_HALTED
)
817 return TARGET_HALTED
;
819 return TARGET_UNKNOWN
;
823 static int stlink_usb_reset(void *handle
)
826 struct stlink_usb_handle_s
*h
;
828 assert(handle
!= NULL
);
830 h
= (struct stlink_usb_handle_s
*)handle
;
832 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
834 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
836 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
837 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV1_RESETSYS
;
839 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_RESETSYS
;
841 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
846 LOG_DEBUG("RESET: 0x%08X", h
->databuf
[0]);
848 /* the following is not a error under swd (using hardware srst), so return success */
849 if (h
->databuf
[0] == STLINK_SWD_AP_WAIT
|| h
->databuf
[0] == STLINK_SWD_DP_WAIT
)
852 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
855 static int stlink_usb_assert_srst(void *handle
, int srst
)
858 struct stlink_usb_handle_s
*h
;
860 assert(handle
!= NULL
);
862 h
= (struct stlink_usb_handle_s
*)handle
;
864 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
865 return ERROR_COMMAND_NOTFOUND
;
867 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
869 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
870 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_DRIVE_NRST
;
871 h
->cmdbuf
[h
->cmdidx
++] = srst
;
873 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
878 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
882 static int stlink_usb_run(void *handle
)
885 struct stlink_usb_handle_s
*h
;
887 assert(handle
!= NULL
);
889 h
= (struct stlink_usb_handle_s
*)handle
;
891 if (h
->jtag_api
== STLINK_JTAG_API_V2
)
892 return stlink_usb_write_debug_reg(handle
, DCB_DHCSR
, DBGKEY
|C_DEBUGEN
);
894 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
896 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
897 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_RUNCORE
;
899 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
904 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
908 static int stlink_usb_halt(void *handle
)
911 struct stlink_usb_handle_s
*h
;
913 assert(handle
!= NULL
);
915 h
= (struct stlink_usb_handle_s
*)handle
;
917 if (h
->jtag_api
== STLINK_JTAG_API_V2
)
918 return stlink_usb_write_debug_reg(handle
, DCB_DHCSR
, DBGKEY
|C_HALT
|C_DEBUGEN
);
920 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
922 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
923 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_FORCEDEBUG
;
925 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
930 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
934 static int stlink_usb_step(void *handle
)
937 struct stlink_usb_handle_s
*h
;
939 assert(handle
!= NULL
);
941 h
= (struct stlink_usb_handle_s
*)handle
;
943 if (h
->jtag_api
== STLINK_JTAG_API_V2
) {
944 /* TODO: this emulates the v1 api, it should really use a similar auto mask isr
945 * that the cortex-m3 currently does. */
946 stlink_usb_write_debug_reg(handle
, DCB_DHCSR
, DBGKEY
|C_HALT
|C_MASKINTS
|C_DEBUGEN
);
947 stlink_usb_write_debug_reg(handle
, DCB_DHCSR
, DBGKEY
|C_STEP
|C_MASKINTS
|C_DEBUGEN
);
948 return stlink_usb_write_debug_reg(handle
, DCB_DHCSR
, DBGKEY
|C_HALT
|C_DEBUGEN
);
951 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
953 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
954 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_STEPCORE
;
956 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
961 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
965 static int stlink_usb_read_regs(void *handle
)
968 struct stlink_usb_handle_s
*h
;
970 assert(handle
!= NULL
);
972 h
= (struct stlink_usb_handle_s
*)handle
;
974 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 84);
976 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
977 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
978 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV1_READALLREGS
;
980 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_READALLREGS
;
982 res
= stlink_usb_xfer(handle
, h
->databuf
, 84);
991 static int stlink_usb_read_reg(void *handle
, int num
, uint32_t *val
)
994 struct stlink_usb_handle_s
*h
;
996 assert(handle
!= NULL
);
998 h
= (struct stlink_usb_handle_s
*)handle
;
1000 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, h
->jtag_api
== STLINK_JTAG_API_V1
? 4 : 8);
1002 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1003 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
1004 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV1_READREG
;
1006 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_READREG
;
1007 h
->cmdbuf
[h
->cmdidx
++] = num
;
1009 res
= stlink_usb_xfer(handle
, h
->databuf
, h
->jtag_api
== STLINK_JTAG_API_V1
? 4 : 8);
1011 if (res
!= ERROR_OK
)
1014 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
1015 *val
= le_to_h_u32(h
->databuf
);
1017 *val
= le_to_h_u32(h
->databuf
+ 4);
1018 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
1025 static int stlink_usb_write_reg(void *handle
, int num
, uint32_t val
)
1028 struct stlink_usb_handle_s
*h
;
1030 assert(handle
!= NULL
);
1032 h
= (struct stlink_usb_handle_s
*)handle
;
1034 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
1036 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1037 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
1038 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV1_WRITEREG
;
1040 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_WRITEREG
;
1041 h
->cmdbuf
[h
->cmdidx
++] = num
;
1042 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, val
);
1045 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
1047 if (res
!= ERROR_OK
)
1050 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: ERROR_FAIL
;
1053 static int stlink_usb_get_rw_status(void *handle
)
1056 struct stlink_usb_handle_s
*h
;
1058 assert(handle
!= NULL
);
1060 h
= (struct stlink_usb_handle_s
*)handle
;
1062 if (h
->jtag_api
== STLINK_JTAG_API_V1
)
1065 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, 2);
1067 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1068 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS
;
1070 res
= stlink_usb_xfer(handle
, h
->databuf
, 2);
1072 if (res
!= ERROR_OK
)
1075 return h
->databuf
[0] == STLINK_DEBUG_ERR_OK
? ERROR_OK
: res
;
1079 static int stlink_usb_read_mem8(void *handle
, uint32_t addr
, uint16_t len
,
1083 uint16_t read_len
= len
;
1084 struct stlink_usb_handle_s
*h
;
1086 assert(handle
!= NULL
);
1088 h
= (struct stlink_usb_handle_s
*)handle
;
1090 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, read_len
);
1092 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1093 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_READMEM_8BIT
;
1094 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, addr
);
1096 h_u16_to_le(h
->cmdbuf
+h
->cmdidx
, len
);
1099 /* we need to fix read length for single bytes */
1103 res
= stlink_usb_xfer(handle
, h
->databuf
, read_len
);
1105 if (res
!= ERROR_OK
)
1108 memcpy(buffer
, h
->databuf
, len
);
1110 return stlink_usb_get_rw_status(handle
);
1114 static int stlink_usb_write_mem8(void *handle
, uint32_t addr
, uint16_t len
,
1115 const uint8_t *buffer
)
1118 struct stlink_usb_handle_s
*h
;
1120 assert(handle
!= NULL
);
1122 h
= (struct stlink_usb_handle_s
*)handle
;
1124 stlink_usb_init_buffer(handle
, STLINK_TX_EP
, len
);
1126 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1127 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_WRITEMEM_8BIT
;
1128 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, addr
);
1130 h_u16_to_le(h
->cmdbuf
+h
->cmdidx
, len
);
1133 res
= stlink_usb_xfer(handle
, buffer
, len
);
1135 if (res
!= ERROR_OK
)
1138 return stlink_usb_get_rw_status(handle
);
1142 static int stlink_usb_read_mem32(void *handle
, uint32_t addr
, uint16_t len
,
1146 struct stlink_usb_handle_s
*h
;
1148 assert(handle
!= NULL
);
1150 h
= (struct stlink_usb_handle_s
*)handle
;
1154 stlink_usb_init_buffer(handle
, STLINK_RX_EP
, len
);
1156 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1157 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_READMEM_32BIT
;
1158 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, addr
);
1160 h_u16_to_le(h
->cmdbuf
+h
->cmdidx
, len
);
1163 res
= stlink_usb_xfer(handle
, h
->databuf
, len
);
1165 if (res
!= ERROR_OK
)
1168 memcpy(buffer
, h
->databuf
, len
);
1170 return stlink_usb_get_rw_status(handle
);
1174 static int stlink_usb_write_mem32(void *handle
, uint32_t addr
, uint16_t len
,
1175 const uint8_t *buffer
)
1178 struct stlink_usb_handle_s
*h
;
1180 assert(handle
!= NULL
);
1182 h
= (struct stlink_usb_handle_s
*)handle
;
1186 stlink_usb_init_buffer(handle
, STLINK_TX_EP
, len
);
1188 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_COMMAND
;
1189 h
->cmdbuf
[h
->cmdidx
++] = STLINK_DEBUG_WRITEMEM_32BIT
;
1190 h_u32_to_le(h
->cmdbuf
+h
->cmdidx
, addr
);
1192 h_u16_to_le(h
->cmdbuf
+h
->cmdidx
, len
);
1195 res
= stlink_usb_xfer(handle
, buffer
, len
);
1197 if (res
!= ERROR_OK
)
1200 return stlink_usb_get_rw_status(handle
);
1204 static int stlink_usb_close(void *fd
)
1206 struct stlink_usb_handle_s
*h
;
1208 h
= (struct stlink_usb_handle_s
*)fd
;
1211 jtag_libusb_close(h
->fd
);
1219 static int stlink_usb_open(struct hl_interface_param_s
*param
, void **fd
)
1222 struct stlink_usb_handle_s
*h
;
1223 enum stlink_jtag_api_version api
;
1225 LOG_DEBUG("stlink_usb_open");
1227 h
= calloc(1, sizeof(struct stlink_usb_handle_s
));
1230 LOG_DEBUG("malloc failed");
1234 h
->transport
= param
->transport
;
1236 /* set max read/write buffer size in bytes */
1237 param
->max_buffer
= 512;
1239 const uint16_t vids
[] = { param
->vid
, 0 };
1240 const uint16_t pids
[] = { param
->pid
, 0 };
1242 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param
->transport
,
1243 param
->vid
, param
->pid
);
1245 if (jtag_libusb_open(vids
, pids
, &h
->fd
) != ERROR_OK
) {
1246 LOG_ERROR("open failed");
1250 jtag_libusb_set_configuration(h
->fd
, 0);
1252 if (jtag_libusb_claim_interface(h
->fd
, 0) != ERROR_OK
) {
1253 LOG_DEBUG("claim interface failed");
1257 /* wrap version for first read */
1258 switch (param
->pid
) {
1260 h
->version
.stlink
= 1;
1263 h
->version
.stlink
= 2;
1267 /* get the device version */
1268 err
= stlink_usb_version(h
);
1270 if (err
!= ERROR_OK
) {
1271 LOG_ERROR("read version failed");
1275 /* compare usb vid/pid */
1276 if ((param
->vid
!= h
->vid
) || (param
->pid
!= h
->pid
))
1277 LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
1278 param
->vid
, param
->pid
,
1281 /* check if mode is supported */
1284 switch (h
->transport
) {
1285 case HL_TRANSPORT_SWD
:
1286 case HL_TRANSPORT_JTAG
:
1287 if (h
->version
.jtag
== 0)
1290 case HL_TRANSPORT_SWIM
:
1291 if (h
->version
.swim
== 0)
1299 if (err
!= ERROR_OK
) {
1300 LOG_ERROR("mode (transport) not supported by device");
1304 api
= h
->version
.jtag_api_max
;
1306 /* check that user has not requested certain api version
1307 * and if they have check it is supported */
1308 if ((param
->api
!= 0) && (param
->api
<= h
->version
.jtag_api_max
)) {
1310 LOG_INFO("using stlink api v%d", api
);
1313 /* set the used jtag api, this will default to the newest supported version */
1316 /* initialize the debug hardware */
1317 err
= stlink_usb_init_mode(h
);
1319 if (err
!= ERROR_OK
) {
1320 LOG_ERROR("init mode failed");
1329 stlink_usb_close(h
);
1335 struct hl_layout_api_s stlink_usb_layout_api
= {
1337 .open
= stlink_usb_open
,
1339 .close
= stlink_usb_close
,
1341 .idcode
= stlink_usb_idcode
,
1343 .state
= stlink_usb_state
,
1345 .reset
= stlink_usb_reset
,
1347 .assert_srst
= stlink_usb_assert_srst
,
1349 .run
= stlink_usb_run
,
1351 .halt
= stlink_usb_halt
,
1353 .step
= stlink_usb_step
,
1355 .read_regs
= stlink_usb_read_regs
,
1357 .read_reg
= stlink_usb_read_reg
,
1359 .write_reg
= stlink_usb_write_reg
,
1361 .read_mem8
= stlink_usb_read_mem8
,
1363 .write_mem8
= stlink_usb_write_mem8
,
1365 .read_mem32
= stlink_usb_read_mem32
,
1367 .write_mem32
= stlink_usb_write_mem32
,
1369 .write_debug_reg
= stlink_usb_write_debug_reg