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hla/stlink: Re-order trace parameters to allow trace output file to be optional
[openocd.git] / src / jtag / drivers / stlink_usb.c
blobe94e6c8a4567a5cb69f4061172de08765bb686c4
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;
213
214 assert(handle != NULL);
215
216 h = (struct stlink_usb_handle_s *)handle;
217
218 /* read status */
219 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
220
221 if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)h->cmdbuf,
222 13, STLINK_READ_TIMEOUT) != 13)
223 return ERROR_FAIL;
224
225 uint32_t t1;
226
227 t1 = buf_get_u32(h->cmdbuf, 0, 32);
228
229 /* check for USBS */
230 if (t1 != 0x53425355)
231 return ERROR_FAIL;
232 /*
233 * CSW status:
234 * 0 success
235 * 1 command failure
236 * 2 phase error
237 */
238 if (h->cmdbuf[12] != 0)
239 return ERROR_FAIL;
240
241 return ERROR_OK;
242 }
243
244 /** */
245 static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size)
246 {
247 struct stlink_usb_handle_s *h;
248
249 assert(handle != NULL);
250
251 h = (struct stlink_usb_handle_s *)handle;
252
253 if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)h->cmdbuf, cmdsize,
254 STLINK_WRITE_TIMEOUT) != cmdsize) {
255 return ERROR_FAIL;
256 }
257
258 if (h->direction == STLINK_TX_EP && size) {
259 if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)buf,
260 size, STLINK_WRITE_TIMEOUT) != size) {
261 LOG_DEBUG("bulk write failed");
262 return ERROR_FAIL;
263 }
264 } else if (h->direction == STLINK_RX_EP && size) {
265 if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)buf,
266 size, STLINK_READ_TIMEOUT) != size) {
267 LOG_DEBUG("bulk read failed");
268 return ERROR_FAIL;
269 }
270 }
271
272 return ERROR_OK;
273 }
274
275 /** */
276 static int stlink_usb_xfer_v1_get_sense(void *handle)
277 {
278 int res;
279 struct stlink_usb_handle_s *h;
280
281 assert(handle != NULL);
282
283 h = (struct stlink_usb_handle_s *)handle;
284
285 stlink_usb_init_buffer(handle, STLINK_RX_EP, 16);
286
287 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE;
288 h->cmdbuf[h->cmdidx++] = 0;
289 h->cmdbuf[h->cmdidx++] = 0;
290 h->cmdbuf[h->cmdidx++] = 0;
291 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH;
292
293 res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16);
294
295 if (res != ERROR_OK)
296 return res;
297
298 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK)
299 return ERROR_FAIL;
300
301 return ERROR_OK;
302 }
303
304 /** */
305 static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size)
306 {
307 int err, cmdsize = STLINK_CMD_SIZE_V2;
308 struct stlink_usb_handle_s *h;
309
310 assert(handle != NULL);
311
312 h = (struct stlink_usb_handle_s *)handle;
313
314 if (h->version.stlink == 1)
315 cmdsize = STLINK_SG_SIZE;
316
317 err = stlink_usb_xfer_rw(handle, cmdsize, buf, size);
318
319 if (err != ERROR_OK)
320 return err;
321
322 if (h->version.stlink == 1) {
323 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) {
324 /* check csw status */
325 if (h->cmdbuf[12] == 1) {
326 LOG_DEBUG("get sense");
327 if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK)
328 return ERROR_FAIL;
329 }
330 return ERROR_FAIL;
331 }
332 }
333
334 return ERROR_OK;
335 }
336
337 /** */
338 static int stlink_usb_read_trace(void *handle, const uint8_t *buf, int size)
339 {
340 struct stlink_usb_handle_s *h;
341
342 assert(handle != NULL);
343
344 h = (struct stlink_usb_handle_s *)handle;
345
346 assert(h->version.stlink >= 2);
347
348 if (jtag_libusb_bulk_read(h->fd, STLINK_TRACE_EP, (char *)buf,
349 size, STLINK_READ_TIMEOUT) != size) {
350 LOG_ERROR("bulk trace read failed");
351 return ERROR_FAIL;
352 }
353
354 return ERROR_OK;
355 }
356
357 /** */
358 static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size)
359 {
360 struct stlink_usb_handle_s *h;
361
362 h = (struct stlink_usb_handle_s *)handle;
363
364 /* fill the send buffer */
365 strcpy((char *)h->cmdbuf, "USBC");
366 h->cmdidx += 4;
367 /* csw tag not used */
368 h->cmdidx += 4;
369 buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size);
370 h->cmdidx += 4;
371 h->cmdbuf[h->cmdidx++] = (direction == STLINK_RX_EP ? ENDPOINT_IN : ENDPOINT_OUT);
372 h->cmdbuf[h->cmdidx++] = 0; /* lun */
373 h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1;
374 }
375
376 /** */
377 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size)
378 {
379 struct stlink_usb_handle_s *h;
380
381 h = (struct stlink_usb_handle_s *)handle;
382
383 h->direction = direction;
384
385 h->cmdidx = 0;
386
387 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
388 memset(h->databuf, 0, STLINK_DATA_SIZE);
389
390 if (h->version.stlink == 1)
391 stlink_usb_xfer_v1_create_cmd(handle, direction, size);
392 }
393
394 static const char * const stlink_usb_error_msg[] = {
395 "unknown"
396 };
397
398 /** */
399 static int stlink_usb_error_check(void *handle)
400 {
401 int res;
402 const char *err_msg = 0;
403 struct stlink_usb_handle_s *h;
404
405 assert(handle != NULL);
406
407 h = (struct stlink_usb_handle_s *)handle;
408
409 /* TODO: no error checking yet on api V1 */
410 if (h->jtag_api == STLINK_JTAG_API_V1)
411 h->databuf[0] = STLINK_DEBUG_ERR_OK;
412
413 switch (h->databuf[0]) {
414 case STLINK_DEBUG_ERR_OK:
415 res = ERROR_OK;
416 break;
417 case STLINK_DEBUG_ERR_FAULT:
418 default:
419 err_msg = stlink_usb_error_msg[0];
420 res = ERROR_FAIL;
421 break;
422 }
423
424 if (res != ERROR_OK)
425 LOG_DEBUG("status error: %d ('%s')", h->databuf[0], err_msg);
426
427 return res;
428 }
429
430 /** */
431 static int stlink_usb_version(void *handle)
432 {
433 int res;
434 uint16_t v;
435 struct stlink_usb_handle_s *h;
436
437 assert(handle != NULL);
438
439 h = (struct stlink_usb_handle_s *)handle;
440
441 stlink_usb_init_buffer(handle, STLINK_RX_EP, 6);
442
443 h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION;
444
445 res = stlink_usb_xfer(handle, h->databuf, 6);
446
447 if (res != ERROR_OK)
448 return res;
449
450 v = (h->databuf[0] << 8) | h->databuf[1];
451
452 h->version.stlink = (v >> 12) & 0x0f;
453 h->version.jtag = (v >> 6) & 0x3f;
454 h->version.swim = v & 0x3f;
455 h->vid = buf_get_u32(h->databuf, 16, 16);
456 h->pid = buf_get_u32(h->databuf, 32, 16);
457
458 /* set the supported jtag api version
459 * API V2 is supported since JTAG V11
460 */
461 if (h->version.jtag >= 11)
462 h->version.jtag_api_max = STLINK_JTAG_API_V2;
463 else
464 h->version.jtag_api_max = STLINK_JTAG_API_V1;
465
466 LOG_INFO("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X",
467 h->version.stlink,
468 h->version.jtag,
469 (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2,
470 h->version.swim,
471 h->vid,
472 h->pid);
473
474 return ERROR_OK;
475 }
476
477 static int stlink_usb_check_voltage(void *handle, float *target_voltage)
478 {
479 struct stlink_usb_handle_s *h;
480 uint32_t adc_results[2];
481
482 h = (struct stlink_usb_handle_s *)handle;
483
484 /* only supported by stlink/v2 and for firmware >= 13 */
485 if (h->version.stlink == 1 || h->version.jtag < 13)
486 return ERROR_COMMAND_NOTFOUND;
487
488 stlink_usb_init_buffer(handle, STLINK_RX_EP, 8);
489
490 h->cmdbuf[h->cmdidx++] = STLINK_GET_TARGET_VOLTAGE;
491
492 int result = stlink_usb_xfer(handle, h->databuf, 8);
493
494 if (result != ERROR_OK)
495 return result;
496
497 /* convert result */
498 adc_results[0] = le_to_h_u32(h->databuf);
499 adc_results[1] = le_to_h_u32(h->databuf + 4);
500
501 *target_voltage = 0;
502
503 if (adc_results[0])
504 *target_voltage = 2 * ((float)adc_results[1]) * (float)(1.2 / adc_results[0]);
505
506 LOG_INFO("Target voltage: %f", (double)*target_voltage);
507
508 return ERROR_OK;
509 }
510
511 /** */
512 static int stlink_usb_current_mode(void *handle, uint8_t *mode)
513 {
514 int res;
515 struct stlink_usb_handle_s *h;
516
517 assert(handle != NULL);
518
519 h = (struct stlink_usb_handle_s *)handle;
520
521 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
522
523 h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE;
524
525 res = stlink_usb_xfer(handle, h->databuf, 2);
526
527 if (res != ERROR_OK)
528 return res;
529
530 *mode = h->databuf[0];
531
532 return ERROR_OK;
533 }
534
535 /** */
536 static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
537 {
538 int res;
539 int rx_size = 0;
540 struct stlink_usb_handle_s *h;
541
542 assert(handle != NULL);
543
544 h = (struct stlink_usb_handle_s *)handle;
545
546 /* on api V2 we are able the read the latest command
547 * status
548 * TODO: we need the test on api V1 too
549 */
550 if (h->jtag_api == STLINK_JTAG_API_V2)
551 rx_size = 2;
552
553 stlink_usb_init_buffer(handle, STLINK_RX_EP, rx_size);
554
555 switch (type) {
556 case STLINK_MODE_DEBUG_JTAG:
557 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
558 if (h->jtag_api == STLINK_JTAG_API_V1)
559 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
560 else
561 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
562 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG;
563 break;
564 case STLINK_MODE_DEBUG_SWD:
565 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
566 if (h->jtag_api == STLINK_JTAG_API_V1)
567 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
568 else
569 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
570 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD;
571 break;
572 case STLINK_MODE_DEBUG_SWIM:
573 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
574 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER;
575 break;
576 case STLINK_MODE_DFU:
577 case STLINK_MODE_MASS:
578 default:
579 return ERROR_FAIL;
580 }
581
582 res = stlink_usb_xfer(handle, h->databuf, rx_size);
583
584 if (res != ERROR_OK)
585 return res;
586
587 res = stlink_usb_error_check(h);
588
589 return res;
590 }
591
592 /** */
593 static int stlink_usb_mode_leave(void *handle, enum stlink_mode type)
594 {
595 int res;
596 struct stlink_usb_handle_s *h;
597
598 assert(handle != NULL);
599
600 h = (struct stlink_usb_handle_s *)handle;
601
602 stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0);
603
604 switch (type) {
605 case STLINK_MODE_DEBUG_JTAG:
606 case STLINK_MODE_DEBUG_SWD:
607 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
608 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT;
609 break;
610 case STLINK_MODE_DEBUG_SWIM:
611 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
612 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT;
613 break;
614 case STLINK_MODE_DFU:
615 h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND;
616 h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT;
617 break;
618 case STLINK_MODE_MASS:
619 default:
620 return ERROR_FAIL;
621 }
622
623 res = stlink_usb_xfer(handle, 0, 0);
624
625 if (res != ERROR_OK)
626 return res;
627
628 return ERROR_OK;
629 }
630
631 static int stlink_usb_assert_srst(void *handle, int srst);
632
633 /** */
634 static int stlink_usb_init_mode(void *handle, bool connect_under_reset)
635 {
636 int res;
637 uint8_t mode;
638 enum stlink_mode emode;
639 struct stlink_usb_handle_s *h;
640
641 assert(handle != NULL);
642
643 h = (struct stlink_usb_handle_s *)handle;
644
645 res = stlink_usb_current_mode(handle, &mode);
646
647 if (res != ERROR_OK)
648 return res;
649
650 LOG_DEBUG("MODE: 0x%02X", mode);
651
652 /* try to exit current mode */
653 switch (mode) {
654 case STLINK_DEV_DFU_MODE:
655 emode = STLINK_MODE_DFU;
656 break;
657 case STLINK_DEV_DEBUG_MODE:
658 emode = STLINK_MODE_DEBUG_SWD;
659 break;
660 case STLINK_DEV_SWIM_MODE:
661 emode = STLINK_MODE_DEBUG_SWIM;
662 break;
663 case STLINK_DEV_BOOTLOADER_MODE:
664 case STLINK_DEV_MASS_MODE:
665 default:
666 emode = STLINK_MODE_UNKNOWN;
667 break;
668 }
669
670 if (emode != STLINK_MODE_UNKNOWN) {
671 res = stlink_usb_mode_leave(handle, emode);
672
673 if (res != ERROR_OK)
674 return res;
675 }
676
677 res = stlink_usb_current_mode(handle, &mode);
678
679 if (res != ERROR_OK)
680 return res;
681
682 /* we check the target voltage here as an aid to debugging connection problems.
683 * the stlink requires the target Vdd to be connected for reliable debugging.
684 * this cmd is supported in all modes except DFU
685 */
686 if (mode != STLINK_DEV_DFU_MODE) {
687
688 float target_voltage;
689
690 /* check target voltage (if supported) */
691 res = stlink_usb_check_voltage(h, &target_voltage);
692
693 if (res != ERROR_OK) {
694 if (res != ERROR_COMMAND_NOTFOUND)
695 LOG_ERROR("voltage check failed");
696 /* attempt to continue as it is not a catastrophic failure */
697 } else {
698 /* check for a sensible target voltage, operating range is 1.65-5.5v
699 * according to datasheet */
700 if (target_voltage < 1.5)
701 LOG_ERROR("target voltage may be too low for reliable debugging");
702 }
703 }
704
705 LOG_DEBUG("MODE: 0x%02X", mode);
706
707 /* set selected mode */
708 switch (h->transport) {
709 case HL_TRANSPORT_SWD:
710 emode = STLINK_MODE_DEBUG_SWD;
711 break;
712 case HL_TRANSPORT_JTAG:
713 emode = STLINK_MODE_DEBUG_JTAG;
714 break;
715 case HL_TRANSPORT_SWIM:
716 emode = STLINK_MODE_DEBUG_SWIM;
717 break;
718 default:
719 emode = STLINK_MODE_UNKNOWN;
720 break;
721 }
722
723 if (emode == STLINK_MODE_UNKNOWN) {
724 LOG_ERROR("selected mode (transport) not supported");
725 return ERROR_FAIL;
726 }
727
728 if (connect_under_reset) {
729 res = stlink_usb_assert_srst(handle, 0);
730 if (res != ERROR_OK)
731 return res;
732 }
733
734 res = stlink_usb_mode_enter(handle, emode);
735
736 if (res != ERROR_OK)
737 return res;
738
739 res = stlink_usb_current_mode(handle, &mode);
740
741 if (res != ERROR_OK)
742 return res;
743
744 LOG_DEBUG("MODE: 0x%02X", mode);
745
746 return ERROR_OK;
747 }
748
749 /** */
750 static int stlink_usb_idcode(void *handle, uint32_t *idcode)
751 {
752 int res;
753 struct stlink_usb_handle_s *h;
754
755 assert(handle != NULL);
756
757 h = (struct stlink_usb_handle_s *)handle;
758
759 stlink_usb_init_buffer(handle, STLINK_RX_EP, 4);
760
761 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
762 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID;
763
764 res = stlink_usb_xfer(handle, h->databuf, 4);
765
766 if (res != ERROR_OK)
767 return res;
768
769 *idcode = le_to_h_u32(h->databuf);
770
771 LOG_DEBUG("IDCODE: 0x%08X", *idcode);
772
773 return ERROR_OK;
774 }
775
776 static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val)
777 {
778 struct stlink_usb_handle_s *h;
779 int res;
780
781 assert(handle != NULL);
782
783 h = (struct stlink_usb_handle_s *)handle;
784
785 stlink_usb_init_buffer(handle, STLINK_RX_EP, 8);
786
787 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
788 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG;
789 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
790 h->cmdidx += 4;
791
792 res = stlink_usb_xfer(handle, h->databuf, 8);
793
794 if (res != ERROR_OK)
795 return res;
796
797 *val = le_to_h_u32(h->databuf + 4);
798
799 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
800 }
801
802 static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
803 {
804 int res;
805 struct stlink_usb_handle_s *h;
806
807 assert(handle != NULL);
808
809 h = (struct stlink_usb_handle_s *)handle;
810
811 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
812
813 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
814 if (h->jtag_api == STLINK_JTAG_API_V1)
815 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG;
816 else
817 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG;
818 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
819 h->cmdidx += 4;
820 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
821 h->cmdidx += 4;
822
823 res = stlink_usb_xfer(handle, h->databuf, 2);
824
825 if (res != ERROR_OK)
826 return res;
827
828 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
829 }
830
831 /** */
832 static void stlink_usb_trace_read(void *handle)
833 {
834 struct stlink_usb_handle_s *h;
835
836 assert(handle != NULL);
837
838 h = (struct stlink_usb_handle_s *)handle;
839
840 if (h->trace.enabled && h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
841 int res;
842
843 stlink_usb_init_buffer(handle, STLINK_RX_EP, 10);
844
845 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
846 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GET_TRACE_NB;
847
848 res = stlink_usb_xfer(handle, h->databuf, 2);
849 if (res == ERROR_OK) {
850 uint8_t buf[STLINK_TRACE_SIZE];
851 size_t size = le_to_h_u16(h->databuf);
852
853 if (size > 0) {
854 size = size < sizeof(buf) ? size : sizeof(buf) - 1;
855
856 res = stlink_usb_read_trace(handle, buf, size);
857 if (res == ERROR_OK) {
858 if (h->trace.output_f) {
859 /* Log retrieved trace output */
860 if (fwrite(buf, 1, size, h->trace.output_f) > 0)
861 fflush(h->trace.output_f);
862 }
863 }
864 }
865 }
866 }
867 }
868
869 static enum target_state stlink_usb_v2_get_status(void *handle)
870 {
871 int result;
872 uint32_t status;
873
874 result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status);
875 if (result != ERROR_OK)
876 return TARGET_UNKNOWN;
877
878 if (status & S_HALT)
879 return TARGET_HALTED;
880 else if (status & S_RESET_ST)
881 return TARGET_RESET;
882
883 stlink_usb_trace_read(handle);
884
885 return TARGET_RUNNING;
886 }
887
888 /** */
889 static enum target_state stlink_usb_state(void *handle)
890 {
891 int res;
892 struct stlink_usb_handle_s *h;
893
894 assert(handle != NULL);
895
896 h = (struct stlink_usb_handle_s *)handle;
897
898 if (h->jtag_api == STLINK_JTAG_API_V2)
899 return stlink_usb_v2_get_status(handle);
900
901 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
902
903 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
904 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS;
905
906 res = stlink_usb_xfer(handle, h->databuf, 2);
907
908 if (res != ERROR_OK)
909 return TARGET_UNKNOWN;
910
911 if (h->databuf[0] == STLINK_CORE_RUNNING)
912 return TARGET_RUNNING;
913 if (h->databuf[0] == STLINK_CORE_HALTED)
914 return TARGET_HALTED;
915
916 return TARGET_UNKNOWN;
917 }
918
919 /** */
920 static int stlink_usb_reset(void *handle)
921 {
922 int res;
923 struct stlink_usb_handle_s *h;
924
925 assert(handle != NULL);
926
927 h = (struct stlink_usb_handle_s *)handle;
928
929 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
930
931 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
932
933 if (h->jtag_api == STLINK_JTAG_API_V1)
934 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_RESETSYS;
935 else
936 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS;
937
938 res = stlink_usb_xfer(handle, h->databuf, 2);
939
940 if (res != ERROR_OK)
941 return res;
942
943 LOG_DEBUG("RESET: 0x%08X", h->databuf[0]);
944
945 /* the following is not a error under swd (using hardware srst), so return success */
946 if (h->databuf[0] == STLINK_SWD_AP_WAIT || h->databuf[0] == STLINK_SWD_DP_WAIT)
947 return ERROR_OK;
948
949 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
950 }
951
952 static int stlink_usb_assert_srst(void *handle, int srst)
953 {
954 int res;
955 struct stlink_usb_handle_s *h;
956
957 assert(handle != NULL);
958
959 h = (struct stlink_usb_handle_s *)handle;
960
961 if (h->jtag_api == STLINK_JTAG_API_V1)
962 return ERROR_COMMAND_NOTFOUND;
963
964 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
965
966 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
967 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST;
968 h->cmdbuf[h->cmdidx++] = srst;
969
970 res = stlink_usb_xfer(handle, h->databuf, 2);
971
972 if (res != ERROR_OK)
973 return res;
974
975 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
976 }
977
978 /** */
979 static int stlink_configure_target_trace_port(void *handle)
980 {
981 int res;
982 uint32_t reg;
983 struct stlink_usb_handle_s *h;
984
985 assert(handle != NULL);
986
987 h = (struct stlink_usb_handle_s *)handle;
988
989 /* configure the TPI */
990
991 /* enable the trace subsystem */
992 res = stlink_usb_v2_read_debug_reg(handle, DCB_DEMCR, &reg);
993 if (res != ERROR_OK)
994 goto out;
995 res = stlink_usb_write_debug_reg(handle, DCB_DEMCR, TRCENA|reg);
996 if (res != ERROR_OK)
997 goto out;
998 /* set the TPI clock prescaler */
999 res = stlink_usb_write_debug_reg(handle, TPI_ACPR, h->trace.prescale);
1000 if (res != ERROR_OK)
1001 goto out;
1002 /* select the pin protocol. The STLinkv2 only supports asynchronous
1003 * UART emulation (NRZ) mode, so that's what we pick. */
1004 res = stlink_usb_write_debug_reg(handle, TPI_SPPR, 0x02);
1005 if (res != ERROR_OK)
1006 goto out;
1007 /* disable continuous formatting */
1008 res = stlink_usb_write_debug_reg(handle, TPI_FFCR, (1<<8));
1009 if (res != ERROR_OK)
1010 goto out;
1011
1012 /* configure the ITM */
1013
1014 /* unlock access to the ITM registers */
1015 res = stlink_usb_write_debug_reg(handle, ITM_LAR, 0xC5ACCE55);
1016 if (res != ERROR_OK)
1017 goto out;
1018 /* enable trace with ATB ID 1 */
1019 res = stlink_usb_write_debug_reg(handle, ITM_TCR, (1<<16)|(1<<0)|(1<<2));
1020 if (res != ERROR_OK)
1021 goto out;
1022 /* trace privilege */
1023 res = stlink_usb_write_debug_reg(handle, ITM_TPR, 1);
1024 if (res != ERROR_OK)
1025 goto out;
1026 /* trace port enable (port 0) */
1027 res = stlink_usb_write_debug_reg(handle, ITM_TER, (1<<0));
1028 if (res != ERROR_OK)
1029 goto out;
1030
1031 res = ERROR_OK;
1032 out:
1033 return res;
1034 }
1035
1036 /** */
1037 static void stlink_usb_trace_disable(void *handle)
1038 {
1039 int res = ERROR_OK;
1040 struct stlink_usb_handle_s *h;
1041
1042 assert(handle != NULL);
1043
1044 h = (struct stlink_usb_handle_s *)handle;
1045
1046 assert(h->version.jtag >= STLINK_TRACE_MIN_VERSION);
1047
1048 LOG_DEBUG("Tracing: disable\n");
1049
1050 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1051 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1052 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_STOP_TRACE_RX;
1053 res = stlink_usb_xfer(handle, h->databuf, 2);
1054
1055 if (res == ERROR_OK)
1056 h->trace.enabled = false;
1057 }
1058
1059
1060 /** */
1061 static int stlink_usb_trace_enable(void *handle)
1062 {
1063 int res;
1064 struct stlink_usb_handle_s *h;
1065
1066 assert(handle != NULL);
1067
1068 h = (struct stlink_usb_handle_s *)handle;
1069
1070 if (h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
1071 uint32_t trace_hz;
1072
1073 res = stlink_configure_target_trace_port(handle);
1074 if (res != ERROR_OK)
1075 LOG_ERROR("Unable to configure tracing on target\n");
1076
1077 trace_hz = h->trace.prescale > 0 ?
1078 h->trace.source_hz / (h->trace.prescale + 1) :
1079 h->trace.source_hz;
1080
1081 stlink_usb_init_buffer(handle, STLINK_RX_EP, 10);
1082
1083 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1084 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_START_TRACE_RX;
1085 h_u16_to_le(h->cmdbuf+h->cmdidx, (uint16_t)STLINK_TRACE_SIZE);
1086 h->cmdidx += 2;
1087 h_u32_to_le(h->cmdbuf+h->cmdidx, trace_hz);
1088 h->cmdidx += 4;
1089
1090 res = stlink_usb_xfer(handle, h->databuf, 2);
1091
1092 if (res == ERROR_OK) {
1093 h->trace.enabled = true;
1094 LOG_DEBUG("Tracing: recording at %uHz\n", trace_hz);
1095 }
1096 } else {
1097 LOG_ERROR("Tracing is not supported by this version.");
1098 res = ERROR_FAIL;
1099 }
1100
1101 return res;
1102 }
1103
1104 /** */
1105 static int stlink_usb_run(void *handle)
1106 {
1107 int res;
1108 struct stlink_usb_handle_s *h;
1109
1110 assert(handle != NULL);
1111
1112 h = (struct stlink_usb_handle_s *)handle;
1113
1114 if (h->jtag_api == STLINK_JTAG_API_V2) {
1115 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN);
1116
1117 /* Try to start tracing, if requested */
1118 if (res == ERROR_OK && h->trace.source_hz) {
1119 if (stlink_usb_trace_enable(handle) == ERROR_OK)
1120 LOG_DEBUG("Tracing: enabled\n");
1121 else
1122 LOG_ERROR("Tracing: enable failed\n");
1123 }
1124
1125 return res;
1126 }
1127
1128 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1129
1130 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1131 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE;
1132
1133 res = stlink_usb_xfer(handle, h->databuf, 2);
1134
1135 if (res != ERROR_OK)
1136 return res;
1137
1138 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1139 }
1140
1141 /** */
1142 static int stlink_usb_halt(void *handle)
1143 {
1144 int res;
1145 struct stlink_usb_handle_s *h;
1146
1147 assert(handle != NULL);
1148
1149 h = (struct stlink_usb_handle_s *)handle;
1150
1151 if (h->jtag_api == STLINK_JTAG_API_V2) {
1152 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1153
1154 if (res == ERROR_OK && h->trace.enabled)
1155 stlink_usb_trace_disable(handle);
1156
1157 return res;
1158 }
1159
1160 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1161
1162 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1163 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG;
1164
1165 res = stlink_usb_xfer(handle, h->databuf, 2);
1166
1167 if (res != ERROR_OK)
1168 return res;
1169
1170 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1171 }
1172
1173 /** */
1174 static int stlink_usb_step(void *handle)
1175 {
1176 int res;
1177 struct stlink_usb_handle_s *h;
1178
1179 assert(handle != NULL);
1180
1181 h = (struct stlink_usb_handle_s *)handle;
1182
1183 if (h->jtag_api == STLINK_JTAG_API_V2) {
1184 /* TODO: this emulates the v1 api, it should really use a similar auto mask isr
1185 * that the cortex-m3 currently does. */
1186 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_MASKINTS|C_DEBUGEN);
1187 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_MASKINTS|C_DEBUGEN);
1188 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1189 }
1190
1191 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1192
1193 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1194 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE;
1195
1196 res = stlink_usb_xfer(handle, h->databuf, 2);
1197
1198 if (res != ERROR_OK)
1199 return res;
1200
1201 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1202 }
1203
1204 /** */
1205 static int stlink_usb_read_regs(void *handle)
1206 {
1207 int res;
1208 struct stlink_usb_handle_s *h;
1209
1210 assert(handle != NULL);
1211
1212 h = (struct stlink_usb_handle_s *)handle;
1213
1214 stlink_usb_init_buffer(handle, STLINK_RX_EP, 84);
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_READALLREGS;
1219 else
1220 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS;
1221
1222 res = stlink_usb_xfer(handle, h->databuf, 84);
1223
1224 if (res != ERROR_OK)
1225 return res;
1226
1227 return ERROR_OK;
1228 }
1229
1230 /** */
1231 static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
1232 {
1233 int res;
1234 struct stlink_usb_handle_s *h;
1235
1236 assert(handle != NULL);
1237
1238 h = (struct stlink_usb_handle_s *)handle;
1239
1240 stlink_usb_init_buffer(handle, STLINK_RX_EP, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1241
1242 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1243 if (h->jtag_api == STLINK_JTAG_API_V1)
1244 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG;
1245 else
1246 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG;
1247 h->cmdbuf[h->cmdidx++] = num;
1248
1249 res = stlink_usb_xfer(handle, h->databuf, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1250
1251 if (res != ERROR_OK)
1252 return res;
1253
1254 if (h->jtag_api == STLINK_JTAG_API_V1)
1255 *val = le_to_h_u32(h->databuf);
1256 else {
1257 *val = le_to_h_u32(h->databuf + 4);
1258 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1259 }
1260
1261 return ERROR_OK;
1262 }
1263
1264 /** */
1265 static int stlink_usb_write_reg(void *handle, int num, uint32_t val)
1266 {
1267 int res;
1268 struct stlink_usb_handle_s *h;
1269
1270 assert(handle != NULL);
1271
1272 h = (struct stlink_usb_handle_s *)handle;
1273
1274 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1275
1276 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1277 if (h->jtag_api == STLINK_JTAG_API_V1)
1278 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG;
1279 else
1280 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG;
1281 h->cmdbuf[h->cmdidx++] = num;
1282 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
1283 h->cmdidx += 4;
1284
1285 res = stlink_usb_xfer(handle, h->databuf, 2);
1286
1287 if (res != ERROR_OK)
1288 return res;
1289
1290 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1291 }
1292
1293 static int stlink_usb_get_rw_status(void *handle)
1294 {
1295 int res;
1296 struct stlink_usb_handle_s *h;
1297
1298 assert(handle != NULL);
1299
1300 h = (struct stlink_usb_handle_s *)handle;
1301
1302 if (h->jtag_api == STLINK_JTAG_API_V1)
1303 return ERROR_OK;
1304
1305 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1306
1307 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1308 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS;
1309
1310 res = stlink_usb_xfer(handle, h->databuf, 2);
1311
1312 if (res != ERROR_OK)
1313 return res;
1314
1315 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : res;
1316 }
1317
1318 /** */
1319 static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
1320 uint8_t *buffer)
1321 {
1322 int res;
1323 uint16_t read_len = len;
1324 struct stlink_usb_handle_s *h;
1325
1326 assert(handle != NULL);
1327
1328 /* max 8bit read/write is 64bytes */
1329 if (len > STLINK_MAX_RW8) {
1330 LOG_DEBUG("max buffer length exceeded");
1331 return ERROR_FAIL;
1332 }
1333
1334 h = (struct stlink_usb_handle_s *)handle;
1335
1336 stlink_usb_init_buffer(handle, STLINK_RX_EP, read_len);
1337
1338 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1339 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT;
1340 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1341 h->cmdidx += 4;
1342 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1343 h->cmdidx += 2;
1344
1345 /* we need to fix read length for single bytes */
1346 if (read_len == 1)
1347 read_len++;
1348
1349 res = stlink_usb_xfer(handle, h->databuf, read_len);
1350
1351 if (res != ERROR_OK)
1352 return res;
1353
1354 memcpy(buffer, h->databuf, len);
1355
1356 return stlink_usb_get_rw_status(handle);
1357 }
1358
1359 /** */
1360 static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len,
1361 const uint8_t *buffer)
1362 {
1363 int res;
1364 struct stlink_usb_handle_s *h;
1365
1366 assert(handle != NULL);
1367
1368 /* max 8bit read/write is 64bytes */
1369 if (len > STLINK_MAX_RW8) {
1370 LOG_DEBUG("max buffer length exceeded");
1371 return ERROR_FAIL;
1372 }
1373
1374 h = (struct stlink_usb_handle_s *)handle;
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_8BIT;
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 /** */
1394 static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
1395 uint8_t *buffer)
1396 {
1397 int res;
1398 struct stlink_usb_handle_s *h;
1399
1400 assert(handle != NULL);
1401
1402 /* data must be a multiple of 4 and word aligned */
1403 if (len % 4 || addr % 4) {
1404 LOG_DEBUG("Invalid data alignment");
1405 return ERROR_TARGET_UNALIGNED_ACCESS;
1406 }
1407
1408 h = (struct stlink_usb_handle_s *)handle;
1409
1410 stlink_usb_init_buffer(handle, STLINK_RX_EP, len);
1411
1412 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1413 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT;
1414 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1415 h->cmdidx += 4;
1416 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1417 h->cmdidx += 2;
1418
1419 res = stlink_usb_xfer(handle, h->databuf, len);
1420
1421 if (res != ERROR_OK)
1422 return res;
1423
1424 memcpy(buffer, h->databuf, len);
1425
1426 return stlink_usb_get_rw_status(handle);
1427 }
1428
1429 /** */
1430 static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
1431 const uint8_t *buffer)
1432 {
1433 int res;
1434 struct stlink_usb_handle_s *h;
1435
1436 assert(handle != NULL);
1437
1438 /* data must be a multiple of 4 and word aligned */
1439 if (len % 4 || addr % 4) {
1440 LOG_DEBUG("Invalid data alignment");
1441 return ERROR_TARGET_UNALIGNED_ACCESS;
1442 }
1443
1444 h = (struct stlink_usb_handle_s *)handle;
1445
1446 stlink_usb_init_buffer(handle, STLINK_TX_EP, len);
1447
1448 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1449 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT;
1450 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1451 h->cmdidx += 4;
1452 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1453 h->cmdidx += 2;
1454
1455 res = stlink_usb_xfer(handle, buffer, len);
1456
1457 if (res != ERROR_OK)
1458 return res;
1459
1460 return stlink_usb_get_rw_status(handle);
1461 }
1462
1463 static uint32_t stlink_max_block_size(uint32_t tar_autoincr_block, uint32_t address)
1464 {
1465 uint32_t max_tar_block = (tar_autoincr_block - ((tar_autoincr_block - 1) & address));
1466 if (max_tar_block == 0)
1467 max_tar_block = 4;
1468 return max_tar_block;
1469 }
1470
1471 static int stlink_usb_read_mem(void *handle, uint32_t addr, uint32_t size,
1472 uint32_t count, uint8_t *buffer)
1473 {
1474 int retval = ERROR_OK;
1475 uint32_t bytes_remaining;
1476 struct stlink_usb_handle_s *h = (struct stlink_usb_handle_s *)handle;
1477
1478 /* calculate byte count */
1479 count *= size;
1480
1481 while (count) {
1482
1483 bytes_remaining = (size == 4) ? \
1484 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1485
1486 if (count < bytes_remaining)
1487 bytes_remaining = count;
1488
1489 /* the stlink only supports 8/32bit memory read/writes
1490 * honour 32bit, all others will be handled as 8bit access */
1491 if (size == 4) {
1492
1493 /* When in jtag mode the stlink uses the auto-increment functinality.
1494 * However it expects us to pass the data correctly, this includes
1495 * alignment and any page boundaries. We already do this as part of the
1496 * adi_v5 implementation, but the stlink is a hla adapter and so this
1497 * needs implementiong manually.
1498 * currently this only affects jtag mode, according to ST they do single
1499 * access in SWD mode - but this may change and so we do it for both modes */
1500
1501 /* we first need to check for any unaligned bytes */
1502 if (addr % 4) {
1503
1504 uint32_t head_bytes = 4 - (addr % 4);
1505 retval = stlink_usb_read_mem8(handle, addr, head_bytes, buffer);
1506 if (retval != ERROR_OK)
1507 return retval;
1508 buffer += head_bytes;
1509 addr += head_bytes;
1510 count -= head_bytes;
1511 bytes_remaining -= head_bytes;
1512 }
1513
1514 if (bytes_remaining % 4)
1515 retval = stlink_usb_read_mem(handle, addr, 1, bytes_remaining, buffer);
1516 else
1517 retval = stlink_usb_read_mem32(handle, addr, bytes_remaining, buffer);
1518 } else
1519 retval = stlink_usb_read_mem8(handle, addr, bytes_remaining, buffer);
1520
1521 if (retval != ERROR_OK)
1522 return retval;
1523
1524 buffer += bytes_remaining;
1525 addr += bytes_remaining;
1526 count -= bytes_remaining;
1527 }
1528
1529 return retval;
1530 }
1531
1532 static int stlink_usb_write_mem(void *handle, uint32_t addr, uint32_t size,
1533 uint32_t count, const uint8_t *buffer)
1534 {
1535 int retval = ERROR_OK;
1536 uint32_t bytes_remaining;
1537 struct stlink_usb_handle_s *h = (struct stlink_usb_handle_s *)handle;
1538
1539 /* calculate byte count */
1540 count *= size;
1541
1542 while (count) {
1543
1544 bytes_remaining = (size == 4) ? \
1545 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1546
1547 if (count < bytes_remaining)
1548 bytes_remaining = count;
1549
1550 /* the stlink only supports 8/32bit memory read/writes
1551 * honour 32bit, all others will be handled as 8bit access */
1552 if (size == 4) {
1553
1554 /* When in jtag mode the stlink uses the auto-increment functinality.
1555 * However it expects us to pass the data correctly, this includes
1556 * alignment and any page boundaries. We already do this as part of the
1557 * adi_v5 implementation, but the stlink is a hla adapter and so this
1558 * needs implementiong manually.
1559 * currently this only affects jtag mode, according to ST they do single
1560 * access in SWD mode - but this may change and so we do it for both modes */
1561
1562 /* we first need to check for any unaligned bytes */
1563 if (addr % 4) {
1564
1565 uint32_t head_bytes = 4 - (addr % 4);
1566 retval = stlink_usb_write_mem8(handle, addr, head_bytes, buffer);
1567 if (retval != ERROR_OK)
1568 return retval;
1569 buffer += head_bytes;
1570 addr += head_bytes;
1571 count -= head_bytes;
1572 bytes_remaining -= head_bytes;
1573 }
1574
1575 if (bytes_remaining % 4)
1576 retval = stlink_usb_write_mem(handle, addr, 1, bytes_remaining, buffer);
1577 else
1578 retval = stlink_usb_write_mem32(handle, addr, bytes_remaining, buffer);
1579
1580 } else
1581 retval = stlink_usb_write_mem8(handle, addr, bytes_remaining, buffer);
1582 if (retval != ERROR_OK)
1583 return retval;
1584
1585 buffer += bytes_remaining;
1586 addr += bytes_remaining;
1587 count -= bytes_remaining;
1588 }
1589
1590 return retval;
1591 }
1592
1593 /** */
1594 static int stlink_usb_close(void *fd)
1595 {
1596 struct stlink_usb_handle_s *h;
1597
1598 h = (struct stlink_usb_handle_s *)fd;
1599
1600 if (h->fd)
1601 jtag_libusb_close(h->fd);
1602
1603 free(fd);
1604
1605 return ERROR_OK;
1606 }
1607
1608 /** */
1609 static int stlink_usb_open(struct hl_interface_param_s *param, void **fd)
1610 {
1611 int err, retry_count = 1;
1612 struct stlink_usb_handle_s *h;
1613 enum stlink_jtag_api_version api;
1614
1615 LOG_DEBUG("stlink_usb_open");
1616
1617 h = calloc(1, sizeof(struct stlink_usb_handle_s));
1618
1619 if (h == 0) {
1620 LOG_DEBUG("malloc failed");
1621 return ERROR_FAIL;
1622 }
1623
1624 h->transport = param->transport;
1625
1626 const uint16_t vids[] = { param->vid, 0 };
1627 const uint16_t pids[] = { param->pid, 0 };
1628
1629 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
1630 param->vid, param->pid);
1631
1632 /*
1633 On certain host USB configurations(e.g. MacBook Air)
1634 STLINKv2 dongle seems to have its FW in a funky state if,
1635 after plugging it in, you try to use openocd with it more
1636 then once (by launching and closing openocd). In cases like
1637 that initial attempt to read the FW info via
1638 stlink_usb_version will fail and the device has to be reset
1639 in order to become operational.
1640 */
1641 do {
1642 if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) {
1643 LOG_ERROR("open failed");
1644 goto error_open;
1645 }
1646
1647 jtag_libusb_set_configuration(h->fd, 0);
1648
1649 if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
1650 LOG_DEBUG("claim interface failed");
1651 goto error_open;
1652 }
1653
1654 /* wrap version for first read */
1655 switch (param->pid) {
1656 case 0x3744:
1657 h->version.stlink = 1;
1658 break;
1659 default:
1660 h->version.stlink = 2;
1661 break;
1662 }
1663
1664 /* get the device version */
1665 err = stlink_usb_version(h);
1666
1667 if (err == ERROR_OK) {
1668 break;
1669 } else if (h->version.stlink == 1 ||
1670 retry_count == 0) {
1671 LOG_ERROR("read version failed");
1672 goto error_open;
1673 } else {
1674 err = jtag_libusb_release_interface(h->fd, 0);
1675 if (err != ERROR_OK) {
1676 LOG_ERROR("release interface failed");
1677 goto error_open;
1678 }
1679
1680 err = jtag_libusb_reset_device(h->fd);
1681 if (err != ERROR_OK) {
1682 LOG_ERROR("reset device failed");
1683 goto error_open;
1684 }
1685
1686 jtag_libusb_close(h->fd);
1687 /*
1688 Give the device one second to settle down and
1689 reenumerate.
1690 */
1691 usleep(1 * 1000 * 1000);
1692 retry_count--;
1693 }
1694 } while (1);
1695
1696 /* compare usb vid/pid */
1697 if ((param->vid != h->vid) || (param->pid != h->pid))
1698 LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
1699 param->vid, param->pid,
1700 h->vid, h->pid);
1701
1702 /* check if mode is supported */
1703 err = ERROR_OK;
1704
1705 switch (h->transport) {
1706 case HL_TRANSPORT_SWD:
1707 case HL_TRANSPORT_JTAG:
1708 if (h->version.jtag == 0)
1709 err = ERROR_FAIL;
1710 break;
1711 case HL_TRANSPORT_SWIM:
1712 if (h->version.swim == 0)
1713 err = ERROR_FAIL;
1714 break;
1715 default:
1716 err = ERROR_FAIL;
1717 break;
1718 }
1719
1720 if (err != ERROR_OK) {
1721 LOG_ERROR("mode (transport) not supported by device");
1722 goto error_open;
1723 }
1724
1725 api = h->version.jtag_api_max;
1726
1727 /* check that user has not requested certain api version
1728 * and if they have check it is supported */
1729 if ((param->api != 0) && (param->api <= h->version.jtag_api_max)) {
1730 api = param->api;
1731 LOG_INFO("using stlink api v%d", api);
1732 }
1733
1734 /* set the used jtag api, this will default to the newest supported version */
1735 h->jtag_api = api;
1736
1737 if (h->jtag_api >= 2 && param->trace_source_hz > 0) {
1738 uint32_t prescale;
1739
1740 prescale = param->trace_source_hz > STLINK_TRACE_MAX_HZ ?
1741 (param->trace_source_hz / STLINK_TRACE_MAX_HZ) - 1 : 0;
1742
1743 h->trace.output_f = param->trace_f;
1744 h->trace.source_hz = param->trace_source_hz;
1745 h->trace.prescale = prescale;
1746 }
1747
1748 /* initialize the debug hardware */
1749 err = stlink_usb_init_mode(h, param->connect_under_reset);
1750
1751 if (err != ERROR_OK) {
1752 LOG_ERROR("init mode failed");
1753 goto error_open;
1754 }
1755
1756 /* get cpuid, so we can determine the max page size
1757 * start with a safe default */
1758 h->max_mem_packet = (1 << 10);
1759
1760 uint8_t buffer[4];
1761 err = stlink_usb_read_mem32(h, CPUID, 4, buffer);
1762 if (err == ERROR_OK) {
1763 uint32_t cpuid = le_to_h_u32(buffer);
1764 int i = (cpuid >> 4) & 0xf;
1765 if (i == 4 || i == 3) {
1766 /* Cortex-M3/M4 has 4096 bytes autoincrement range */
1767 h->max_mem_packet = (1 << 12);
1768 }
1769 }
1770
1771 LOG_DEBUG("Using TAR autoincrement: %" PRIu32, h->max_mem_packet);
1772
1773 *fd = h;
1774
1775 return ERROR_OK;
1776
1777 error_open:
1778 stlink_usb_close(h);
1779
1780 return ERROR_FAIL;
1781 }
1782
1783 /** */
1784 struct hl_layout_api_s stlink_usb_layout_api = {
1785 /** */
1786 .open = stlink_usb_open,
1787 /** */
1788 .close = stlink_usb_close,
1789 /** */
1790 .idcode = stlink_usb_idcode,
1791 /** */
1792 .state = stlink_usb_state,
1793 /** */
1794 .reset = stlink_usb_reset,
1795 /** */
1796 .assert_srst = stlink_usb_assert_srst,
1797 /** */
1798 .run = stlink_usb_run,
1799 /** */
1800 .halt = stlink_usb_halt,
1801 /** */
1802 .step = stlink_usb_step,
1803 /** */
1804 .read_regs = stlink_usb_read_regs,
1805 /** */
1806 .read_reg = stlink_usb_read_reg,
1807 /** */
1808 .write_reg = stlink_usb_write_reg,
1809 /** */
1810 .read_mem = stlink_usb_read_mem,
1811 /** */
1812 .write_mem = stlink_usb_write_mem,
1813 /** */
1814 .write_debug_reg = stlink_usb_write_debug_reg
1815 };
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