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jtag/drivers/stlink: allow to reconnect seamlessly after polling failure
[openocd.git] / src / jtag / drivers / stlink_usb.c
blob5574a40bae49ec9e1a377908bbf2963c26158e67
1 /***************************************************************************
2 * Copyright (C) 2011-2012 by Mathias Kuester *
3 * Mathias Kuester <kesmtp@freenet.de> *
4 * *
5 * Copyright (C) 2012 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
7 * *
8 * This code is based on https://github.com/texane/stlink *
9 * *
10 * This program is free software; you can redistribute it and/or modify *
11 * it under the terms of the GNU General Public License as published by *
12 * the Free Software Foundation; either version 2 of the License, or *
13 * (at your option) any later version. *
14 * *
15 * This program is distributed in the hope that it will be useful, *
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
18 * GNU General Public License for more details. *
19 * *
20 * You should have received a copy of the GNU General Public License *
21 * along with this program; if not, write to the *
22 * Free Software Foundation, Inc., *
23 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
24 ***************************************************************************/
25
26 #ifdef HAVE_CONFIG_H
27 #include "config.h"
28 #endif
29
30 /* project specific includes */
31 #include <helper/binarybuffer.h>
32 #include <jtag/interface.h>
33 #include <jtag/hla/hla_layout.h>
34 #include <jtag/hla/hla_transport.h>
35 #include <jtag/hla/hla_interface.h>
36 #include <target/target.h>
37
38 #include <target/cortex_m.h>
39
40 #include "libusb_common.h"
41
42 #define ENDPOINT_IN 0x80
43 #define ENDPOINT_OUT 0x00
44
45 #define STLINK_WRITE_TIMEOUT 1000
46 #define STLINK_READ_TIMEOUT 1000
47
48 #define STLINK_NULL_EP 0
49 #define STLINK_RX_EP (1|ENDPOINT_IN)
50 #define STLINK_TX_EP (2|ENDPOINT_OUT)
51 #define STLINK_TRACE_EP (3|ENDPOINT_IN)
52
53 #define STLINK_V2_1_TX_EP (1|ENDPOINT_OUT)
54 #define STLINK_V2_1_TRACE_EP (2|ENDPOINT_IN)
55
56 #define STLINK_SG_SIZE (31)
57 #define STLINK_DATA_SIZE (4096)
58 #define STLINK_CMD_SIZE_V2 (16)
59 #define STLINK_CMD_SIZE_V1 (10)
60
61 #define STLINK_V1_PID (0x3744)
62 #define STLINK_V2_PID (0x3748)
63 #define STLINK_V2_1_PID (0x374B)
64
65 /* the current implementation of the stlink limits
66 * 8bit read/writes to max 64 bytes. */
67 #define STLINK_MAX_RW8 (64)
68
69 enum stlink_jtag_api_version {
70 STLINK_JTAG_API_V1 = 1,
71 STLINK_JTAG_API_V2,
72 };
73
74 /** */
75 struct stlink_usb_version {
76 /** */
77 int stlink;
78 /** */
79 int jtag;
80 /** */
81 int swim;
82 /** highest supported jtag api version */
83 enum stlink_jtag_api_version jtag_api_max;
84 };
85
86 /** */
87 struct stlink_usb_handle_s {
88 /** */
89 struct jtag_libusb_device_handle *fd;
90 /** */
91 struct libusb_transfer *trans;
92 /** */
93 uint8_t rx_ep;
94 /** */
95 uint8_t tx_ep;
96 /** */
97 uint8_t trace_ep;
98 /** */
99 uint8_t cmdbuf[STLINK_SG_SIZE];
100 /** */
101 uint8_t cmdidx;
102 /** */
103 uint8_t direction;
104 /** */
105 uint8_t databuf[STLINK_DATA_SIZE];
106 /** */
107 uint32_t max_mem_packet;
108 /** */
109 enum hl_transports transport;
110 /** */
111 struct stlink_usb_version version;
112 /** */
113 uint16_t vid;
114 /** */
115 uint16_t pid;
116 /** this is the currently used jtag api */
117 enum stlink_jtag_api_version jtag_api;
118 /** */
119 struct {
120 /** whether SWO tracing is enabled or not */
121 bool enabled;
122 /** trace data destination file */
123 FILE *output_f;
124 /** trace module source clock (for prescaler) */
125 uint32_t source_hz;
126 /** trace module clock prescaler */
127 uint32_t prescale;
128 } trace;
129 /** reconnect is needed next time we try to query the
130 * status */
131 bool reconnect_pending;
132 };
133
134 #define STLINK_DEBUG_ERR_OK 0x80
135 #define STLINK_DEBUG_ERR_FAULT 0x81
136 #define STLINK_SWD_AP_WAIT 0x10
137 #define STLINK_SWD_DP_WAIT 0x14
138
139 #define STLINK_CORE_RUNNING 0x80
140 #define STLINK_CORE_HALTED 0x81
141 #define STLINK_CORE_STAT_UNKNOWN -1
142
143 #define STLINK_GET_VERSION 0xF1
144 #define STLINK_DEBUG_COMMAND 0xF2
145 #define STLINK_DFU_COMMAND 0xF3
146 #define STLINK_SWIM_COMMAND 0xF4
147 #define STLINK_GET_CURRENT_MODE 0xF5
148 #define STLINK_GET_TARGET_VOLTAGE 0xF7
149
150 #define STLINK_DEV_DFU_MODE 0x00
151 #define STLINK_DEV_MASS_MODE 0x01
152 #define STLINK_DEV_DEBUG_MODE 0x02
153 #define STLINK_DEV_SWIM_MODE 0x03
154 #define STLINK_DEV_BOOTLOADER_MODE 0x04
155 #define STLINK_DEV_UNKNOWN_MODE -1
156
157 #define STLINK_DFU_EXIT 0x07
158
159 #define STLINK_SWIM_ENTER 0x00
160 #define STLINK_SWIM_EXIT 0x01
161
162 #define STLINK_DEBUG_ENTER_JTAG 0x00
163 #define STLINK_DEBUG_GETSTATUS 0x01
164 #define STLINK_DEBUG_FORCEDEBUG 0x02
165 #define STLINK_DEBUG_APIV1_RESETSYS 0x03
166 #define STLINK_DEBUG_APIV1_READALLREGS 0x04
167 #define STLINK_DEBUG_APIV1_READREG 0x05
168 #define STLINK_DEBUG_APIV1_WRITEREG 0x06
169 #define STLINK_DEBUG_READMEM_32BIT 0x07
170 #define STLINK_DEBUG_WRITEMEM_32BIT 0x08
171 #define STLINK_DEBUG_RUNCORE 0x09
172 #define STLINK_DEBUG_STEPCORE 0x0a
173 #define STLINK_DEBUG_APIV1_SETFP 0x0b
174 #define STLINK_DEBUG_READMEM_8BIT 0x0c
175 #define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
176 #define STLINK_DEBUG_APIV1_CLEARFP 0x0e
177 #define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
178 #define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
179
180 #define STLINK_DEBUG_ENTER_JTAG 0x00
181 #define STLINK_DEBUG_ENTER_SWD 0xa3
182
183 #define STLINK_DEBUG_APIV1_ENTER 0x20
184 #define STLINK_DEBUG_EXIT 0x21
185 #define STLINK_DEBUG_READCOREID 0x22
186
187 #define STLINK_DEBUG_APIV2_ENTER 0x30
188 #define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
189 #define STLINK_DEBUG_APIV2_RESETSYS 0x32
190 #define STLINK_DEBUG_APIV2_READREG 0x33
191 #define STLINK_DEBUG_APIV2_WRITEREG 0x34
192 #define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35
193 #define STLINK_DEBUG_APIV2_READDEBUGREG 0x36
194
195 #define STLINK_DEBUG_APIV2_READALLREGS 0x3A
196 #define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B
197 #define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
198
199 #define STLINK_DEBUG_APIV2_START_TRACE_RX 0x40
200 #define STLINK_DEBUG_APIV2_STOP_TRACE_RX 0x41
201 #define STLINK_DEBUG_APIV2_GET_TRACE_NB 0x42
202
203 #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
204 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
205 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
206
207 #define STLINK_TRACE_SIZE 1024
208 #define STLINK_TRACE_MAX_HZ 2000000
209 #define STLINK_TRACE_MIN_VERSION 13
210
211 /** */
212 enum stlink_mode {
213 STLINK_MODE_UNKNOWN = 0,
214 STLINK_MODE_DFU,
215 STLINK_MODE_MASS,
216 STLINK_MODE_DEBUG_JTAG,
217 STLINK_MODE_DEBUG_SWD,
218 STLINK_MODE_DEBUG_SWIM
219 };
220
221 #define REQUEST_SENSE 0x03
222 #define REQUEST_SENSE_LENGTH 18
223
224 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size);
225
226 /** */
227 static int stlink_usb_xfer_v1_get_status(void *handle)
228 {
229 struct stlink_usb_handle_s *h = handle;
230
231 assert(handle != NULL);
232
233 /* read status */
234 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
235
236 if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)h->cmdbuf,
237 13, STLINK_READ_TIMEOUT) != 13)
238 return ERROR_FAIL;
239
240 uint32_t t1;
241
242 t1 = buf_get_u32(h->cmdbuf, 0, 32);
243
244 /* check for USBS */
245 if (t1 != 0x53425355)
246 return ERROR_FAIL;
247 /*
248 * CSW status:
249 * 0 success
250 * 1 command failure
251 * 2 phase error
252 */
253 if (h->cmdbuf[12] != 0)
254 return ERROR_FAIL;
255
256 return ERROR_OK;
257 }
258
259 /** */
260 static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size)
261 {
262 struct stlink_usb_handle_s *h = handle;
263
264 assert(handle != NULL);
265
266 if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)h->cmdbuf, cmdsize,
267 STLINK_WRITE_TIMEOUT) != cmdsize) {
268 return ERROR_FAIL;
269 }
270
271 if (h->direction == h->tx_ep && size) {
272 if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)buf,
273 size, STLINK_WRITE_TIMEOUT) != size) {
274 LOG_DEBUG("bulk write failed");
275 return ERROR_FAIL;
276 }
277 } else if (h->direction == h->rx_ep && size) {
278 if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)buf,
279 size, STLINK_READ_TIMEOUT) != size) {
280 LOG_DEBUG("bulk read failed");
281 return ERROR_FAIL;
282 }
283 }
284
285 return ERROR_OK;
286 }
287
288 /** */
289 static int stlink_usb_xfer_v1_get_sense(void *handle)
290 {
291 int res;
292 struct stlink_usb_handle_s *h = handle;
293
294 assert(handle != NULL);
295
296 stlink_usb_init_buffer(handle, h->rx_ep, 16);
297
298 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE;
299 h->cmdbuf[h->cmdidx++] = 0;
300 h->cmdbuf[h->cmdidx++] = 0;
301 h->cmdbuf[h->cmdidx++] = 0;
302 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH;
303
304 res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16);
305
306 if (res != ERROR_OK)
307 return res;
308
309 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK)
310 return ERROR_FAIL;
311
312 return ERROR_OK;
313 }
314
315 /** */
316 static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size)
317 {
318 int err, cmdsize = STLINK_CMD_SIZE_V2;
319 struct stlink_usb_handle_s *h = handle;
320
321 assert(handle != NULL);
322
323 if (h->version.stlink == 1)
324 cmdsize = STLINK_SG_SIZE;
325
326 err = stlink_usb_xfer_rw(handle, cmdsize, buf, size);
327
328 if (err != ERROR_OK)
329 return err;
330
331 if (h->version.stlink == 1) {
332 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) {
333 /* check csw status */
334 if (h->cmdbuf[12] == 1) {
335 LOG_DEBUG("get sense");
336 if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK)
337 return ERROR_FAIL;
338 }
339 return ERROR_FAIL;
340 }
341 }
342
343 return ERROR_OK;
344 }
345
346 /** */
347 static int stlink_usb_read_trace(void *handle, const uint8_t *buf, int size)
348 {
349 struct stlink_usb_handle_s *h = handle;
350
351 assert(handle != NULL);
352
353 assert(h->version.stlink >= 2);
354
355 if (jtag_libusb_bulk_read(h->fd, h->trace_ep, (char *)buf,
356 size, STLINK_READ_TIMEOUT) != size) {
357 LOG_ERROR("bulk trace read failed");
358 return ERROR_FAIL;
359 }
360
361 return ERROR_OK;
362 }
363
364 /** */
365 static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size)
366 {
367 struct stlink_usb_handle_s *h = handle;
368
369 /* fill the send buffer */
370 strcpy((char *)h->cmdbuf, "USBC");
371 h->cmdidx += 4;
372 /* csw tag not used */
373 h->cmdidx += 4;
374 buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size);
375 h->cmdidx += 4;
376 h->cmdbuf[h->cmdidx++] = (direction == h->rx_ep ? ENDPOINT_IN : ENDPOINT_OUT);
377 h->cmdbuf[h->cmdidx++] = 0; /* lun */
378 h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1;
379 }
380
381 /** */
382 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size)
383 {
384 struct stlink_usb_handle_s *h = handle;
385
386 h->direction = direction;
387
388 h->cmdidx = 0;
389
390 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
391 memset(h->databuf, 0, STLINK_DATA_SIZE);
392
393 if (h->version.stlink == 1)
394 stlink_usb_xfer_v1_create_cmd(handle, direction, size);
395 }
396
397 static const char * const stlink_usb_error_msg[] = {
398 "unknown"
399 };
400
401 /** */
402 static int stlink_usb_error_check(void *handle)
403 {
404 int res;
405 const char *err_msg = 0;
406 struct stlink_usb_handle_s *h = handle;
407
408 assert(handle != NULL);
409
410 /* TODO: no error checking yet on api V1 */
411 if (h->jtag_api == STLINK_JTAG_API_V1)
412 h->databuf[0] = STLINK_DEBUG_ERR_OK;
413
414 switch (h->databuf[0]) {
415 case STLINK_DEBUG_ERR_OK:
416 res = ERROR_OK;
417 break;
418 case STLINK_DEBUG_ERR_FAULT:
419 default:
420 err_msg = stlink_usb_error_msg[0];
421 res = ERROR_FAIL;
422 break;
423 }
424
425 if (res != ERROR_OK)
426 LOG_DEBUG("status error: %d ('%s')", h->databuf[0], err_msg);
427
428 return res;
429 }
430
431 /** */
432 static int stlink_usb_version(void *handle)
433 {
434 int res;
435 uint16_t v;
436 struct stlink_usb_handle_s *h = handle;
437
438 assert(handle != NULL);
439
440 stlink_usb_init_buffer(handle, h->rx_ep, 6);
441
442 h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION;
443
444 res = stlink_usb_xfer(handle, h->databuf, 6);
445
446 if (res != ERROR_OK)
447 return res;
448
449 v = (h->databuf[0] << 8) | h->databuf[1];
450
451 h->version.stlink = (v >> 12) & 0x0f;
452 h->version.jtag = (v >> 6) & 0x3f;
453 h->version.swim = v & 0x3f;
454 h->vid = buf_get_u32(h->databuf, 16, 16);
455 h->pid = buf_get_u32(h->databuf, 32, 16);
456
457 /* set the supported jtag api version
458 * API V2 is supported since JTAG V11
459 */
460 if (h->version.jtag >= 11)
461 h->version.jtag_api_max = STLINK_JTAG_API_V2;
462 else
463 h->version.jtag_api_max = STLINK_JTAG_API_V1;
464
465 LOG_INFO("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X",
466 h->version.stlink,
467 h->version.jtag,
468 (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2,
469 h->version.swim,
470 h->vid,
471 h->pid);
472
473 return ERROR_OK;
474 }
475
476 static int stlink_usb_check_voltage(void *handle, float *target_voltage)
477 {
478 struct stlink_usb_handle_s *h = handle;
479 uint32_t adc_results[2];
480
481 /* only supported by stlink/v2 and for firmware >= 13 */
482 if (h->version.stlink == 1 || h->version.jtag < 13)
483 return ERROR_COMMAND_NOTFOUND;
484
485 stlink_usb_init_buffer(handle, h->rx_ep, 8);
486
487 h->cmdbuf[h->cmdidx++] = STLINK_GET_TARGET_VOLTAGE;
488
489 int result = stlink_usb_xfer(handle, h->databuf, 8);
490
491 if (result != ERROR_OK)
492 return result;
493
494 /* convert result */
495 adc_results[0] = le_to_h_u32(h->databuf);
496 adc_results[1] = le_to_h_u32(h->databuf + 4);
497
498 *target_voltage = 0;
499
500 if (adc_results[0])
501 *target_voltage = 2 * ((float)adc_results[1]) * (float)(1.2 / adc_results[0]);
502
503 LOG_INFO("Target voltage: %f", (double)*target_voltage);
504
505 return ERROR_OK;
506 }
507
508 /** */
509 static int stlink_usb_current_mode(void *handle, uint8_t *mode)
510 {
511 int res;
512 struct stlink_usb_handle_s *h = handle;
513
514 assert(handle != NULL);
515
516 stlink_usb_init_buffer(handle, h->rx_ep, 2);
517
518 h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE;
519
520 res = stlink_usb_xfer(handle, h->databuf, 2);
521
522 if (res != ERROR_OK)
523 return res;
524
525 *mode = h->databuf[0];
526
527 return ERROR_OK;
528 }
529
530 /** */
531 static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
532 {
533 int res;
534 int rx_size = 0;
535 struct stlink_usb_handle_s *h = handle;
536
537 assert(handle != NULL);
538
539 /* on api V2 we are able the read the latest command
540 * status
541 * TODO: we need the test on api V1 too
542 */
543 if (h->jtag_api == STLINK_JTAG_API_V2)
544 rx_size = 2;
545
546 stlink_usb_init_buffer(handle, h->rx_ep, rx_size);
547
548 switch (type) {
549 case STLINK_MODE_DEBUG_JTAG:
550 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
551 if (h->jtag_api == STLINK_JTAG_API_V1)
552 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
553 else
554 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
555 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG;
556 break;
557 case STLINK_MODE_DEBUG_SWD:
558 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
559 if (h->jtag_api == STLINK_JTAG_API_V1)
560 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
561 else
562 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
563 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD;
564 break;
565 case STLINK_MODE_DEBUG_SWIM:
566 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
567 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER;
568 break;
569 case STLINK_MODE_DFU:
570 case STLINK_MODE_MASS:
571 default:
572 return ERROR_FAIL;
573 }
574
575 res = stlink_usb_xfer(handle, h->databuf, rx_size);
576
577 if (res != ERROR_OK)
578 return res;
579
580 res = stlink_usb_error_check(h);
581
582 return res;
583 }
584
585 /** */
586 static int stlink_usb_mode_leave(void *handle, enum stlink_mode type)
587 {
588 int res;
589 struct stlink_usb_handle_s *h = handle;
590
591 assert(handle != NULL);
592
593 stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0);
594
595 switch (type) {
596 case STLINK_MODE_DEBUG_JTAG:
597 case STLINK_MODE_DEBUG_SWD:
598 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
599 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT;
600 break;
601 case STLINK_MODE_DEBUG_SWIM:
602 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
603 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT;
604 break;
605 case STLINK_MODE_DFU:
606 h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND;
607 h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT;
608 break;
609 case STLINK_MODE_MASS:
610 default:
611 return ERROR_FAIL;
612 }
613
614 res = stlink_usb_xfer(handle, 0, 0);
615
616 if (res != ERROR_OK)
617 return res;
618
619 return ERROR_OK;
620 }
621
622 static int stlink_usb_assert_srst(void *handle, int srst);
623
624 static enum stlink_mode stlink_get_mode(enum hl_transports t)
625 {
626 switch (t) {
627 case HL_TRANSPORT_SWD:
628 return STLINK_MODE_DEBUG_SWD;
629 case HL_TRANSPORT_JTAG:
630 return STLINK_MODE_DEBUG_JTAG;
631 case HL_TRANSPORT_SWIM:
632 return STLINK_MODE_DEBUG_SWIM;
633 default:
634 return STLINK_MODE_UNKNOWN;
635 }
636 }
637
638 /** */
639 static int stlink_usb_init_mode(void *handle, bool connect_under_reset)
640 {
641 int res;
642 uint8_t mode;
643 enum stlink_mode emode;
644 struct stlink_usb_handle_s *h = handle;
645
646 assert(handle != NULL);
647
648 res = stlink_usb_current_mode(handle, &mode);
649
650 if (res != ERROR_OK)
651 return res;
652
653 LOG_DEBUG("MODE: 0x%02X", mode);
654
655 /* try to exit current mode */
656 switch (mode) {
657 case STLINK_DEV_DFU_MODE:
658 emode = STLINK_MODE_DFU;
659 break;
660 case STLINK_DEV_DEBUG_MODE:
661 emode = STLINK_MODE_DEBUG_SWD;
662 break;
663 case STLINK_DEV_SWIM_MODE:
664 emode = STLINK_MODE_DEBUG_SWIM;
665 break;
666 case STLINK_DEV_BOOTLOADER_MODE:
667 case STLINK_DEV_MASS_MODE:
668 default:
669 emode = STLINK_MODE_UNKNOWN;
670 break;
671 }
672
673 if (emode != STLINK_MODE_UNKNOWN) {
674 res = stlink_usb_mode_leave(handle, emode);
675
676 if (res != ERROR_OK)
677 return res;
678 }
679
680 res = stlink_usb_current_mode(handle, &mode);
681
682 if (res != ERROR_OK)
683 return res;
684
685 /* we check the target voltage here as an aid to debugging connection problems.
686 * the stlink requires the target Vdd to be connected for reliable debugging.
687 * this cmd is supported in all modes except DFU
688 */
689 if (mode != STLINK_DEV_DFU_MODE) {
690
691 float target_voltage;
692
693 /* check target voltage (if supported) */
694 res = stlink_usb_check_voltage(h, &target_voltage);
695
696 if (res != ERROR_OK) {
697 if (res != ERROR_COMMAND_NOTFOUND)
698 LOG_ERROR("voltage check failed");
699 /* attempt to continue as it is not a catastrophic failure */
700 } else {
701 /* check for a sensible target voltage, operating range is 1.65-5.5v
702 * according to datasheet */
703 if (target_voltage < 1.5)
704 LOG_ERROR("target voltage may be too low for reliable debugging");
705 }
706 }
707
708 LOG_DEBUG("MODE: 0x%02X", mode);
709
710 /* set selected mode */
711 emode = stlink_get_mode(h->transport);
712
713 if (emode == STLINK_MODE_UNKNOWN) {
714 LOG_ERROR("selected mode (transport) not supported");
715 return ERROR_FAIL;
716 }
717
718 if (connect_under_reset) {
719 res = stlink_usb_assert_srst(handle, 0);
720 if (res != ERROR_OK)
721 return res;
722 }
723
724 res = stlink_usb_mode_enter(handle, emode);
725
726 if (res != ERROR_OK)
727 return res;
728
729 res = stlink_usb_current_mode(handle, &mode);
730
731 if (res != ERROR_OK)
732 return res;
733
734 LOG_DEBUG("MODE: 0x%02X", mode);
735
736 return ERROR_OK;
737 }
738
739 /** */
740 static int stlink_usb_idcode(void *handle, uint32_t *idcode)
741 {
742 int res;
743 struct stlink_usb_handle_s *h = handle;
744
745 assert(handle != NULL);
746
747 stlink_usb_init_buffer(handle, h->rx_ep, 4);
748
749 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
750 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID;
751
752 res = stlink_usb_xfer(handle, h->databuf, 4);
753
754 if (res != ERROR_OK)
755 return res;
756
757 *idcode = le_to_h_u32(h->databuf);
758
759 LOG_DEBUG("IDCODE: 0x%08" PRIX32, *idcode);
760
761 return ERROR_OK;
762 }
763
764 static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val)
765 {
766 struct stlink_usb_handle_s *h = handle;
767 int res;
768
769 assert(handle != NULL);
770
771 stlink_usb_init_buffer(handle, h->rx_ep, 8);
772
773 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
774 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG;
775 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
776 h->cmdidx += 4;
777
778 res = stlink_usb_xfer(handle, h->databuf, 8);
779
780 if (res != ERROR_OK)
781 return res;
782
783 *val = le_to_h_u32(h->databuf + 4);
784
785 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
786 }
787
788 static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
789 {
790 int res;
791 struct stlink_usb_handle_s *h = handle;
792
793 assert(handle != NULL);
794
795 stlink_usb_init_buffer(handle, h->rx_ep, 2);
796
797 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
798 if (h->jtag_api == STLINK_JTAG_API_V1)
799 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG;
800 else
801 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG;
802 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
803 h->cmdidx += 4;
804 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
805 h->cmdidx += 4;
806
807 res = stlink_usb_xfer(handle, h->databuf, 2);
808
809 if (res != ERROR_OK)
810 return res;
811
812 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
813 }
814
815 /** */
816 static void stlink_usb_trace_read(void *handle)
817 {
818 struct stlink_usb_handle_s *h = handle;
819
820 assert(handle != NULL);
821
822 if (h->trace.enabled && h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
823 int res;
824
825 stlink_usb_init_buffer(handle, h->rx_ep, 10);
826
827 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
828 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GET_TRACE_NB;
829
830 res = stlink_usb_xfer(handle, h->databuf, 2);
831 if (res == ERROR_OK) {
832 uint8_t buf[STLINK_TRACE_SIZE];
833 size_t size = le_to_h_u16(h->databuf);
834
835 if (size > 0) {
836 size = size < sizeof(buf) ? size : sizeof(buf) - 1;
837
838 res = stlink_usb_read_trace(handle, buf, size);
839 if (res == ERROR_OK) {
840 if (h->trace.output_f) {
841 /* Log retrieved trace output */
842 if (fwrite(buf, 1, size, h->trace.output_f) > 0)
843 fflush(h->trace.output_f);
844 }
845 }
846 }
847 }
848 }
849 }
850
851 static int stlink_usb_trace_read_callback(void *handle)
852 {
853 stlink_usb_trace_read(handle);
854 return ERROR_OK;
855 }
856
857 static enum target_state stlink_usb_v2_get_status(void *handle)
858 {
859 int result;
860 uint32_t status;
861
862 result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status);
863 if (result != ERROR_OK)
864 return TARGET_UNKNOWN;
865
866 if (status & S_HALT)
867 return TARGET_HALTED;
868 else if (status & S_RESET_ST)
869 return TARGET_RESET;
870
871 stlink_usb_trace_read(handle);
872
873 return TARGET_RUNNING;
874 }
875
876 /** */
877 static enum target_state stlink_usb_state(void *handle)
878 {
879 int res;
880 struct stlink_usb_handle_s *h = handle;
881
882 assert(handle != NULL);
883
884 if (h->reconnect_pending) {
885 LOG_INFO("Previous state query failed, trying to reconnect");
886 res = stlink_usb_mode_enter(handle, stlink_get_mode(h->transport));
887
888 if (res != ERROR_OK)
889 return TARGET_UNKNOWN;
890
891 h->reconnect_pending = false;
892 }
893
894 if (h->jtag_api == STLINK_JTAG_API_V2) {
895 res = stlink_usb_v2_get_status(handle);
896 if (res == TARGET_UNKNOWN)
897 h->reconnect_pending = true;
898 return res;
899 }
900
901 stlink_usb_init_buffer(handle, h->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 h->reconnect_pending = true;
917
918 return TARGET_UNKNOWN;
919 }
920
921 /** */
922 static int stlink_usb_reset(void *handle)
923 {
924 int res;
925 struct stlink_usb_handle_s *h = handle;
926
927 assert(handle != NULL);
928
929 stlink_usb_init_buffer(handle, h->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 = handle;
956
957 assert(handle != NULL);
958
959 if (h->jtag_api == STLINK_JTAG_API_V1)
960 return ERROR_COMMAND_NOTFOUND;
961
962 stlink_usb_init_buffer(handle, h->rx_ep, 2);
963
964 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
965 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST;
966 h->cmdbuf[h->cmdidx++] = srst;
967
968 res = stlink_usb_xfer(handle, h->databuf, 2);
969
970 if (res != ERROR_OK)
971 return res;
972
973 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
974 }
975
976 /** */
977 static int stlink_configure_target_trace_port(void *handle)
978 {
979 int res;
980 uint32_t reg;
981 struct stlink_usb_handle_s *h = handle;
982
983 assert(handle != NULL);
984
985 /* configure the TPI */
986
987 /* enable the trace subsystem */
988 res = stlink_usb_v2_read_debug_reg(handle, DCB_DEMCR, &reg);
989 if (res != ERROR_OK)
990 goto out;
991 res = stlink_usb_write_debug_reg(handle, DCB_DEMCR, TRCENA|reg);
992 if (res != ERROR_OK)
993 goto out;
994 /* set the TPI clock prescaler */
995 res = stlink_usb_write_debug_reg(handle, TPI_ACPR, h->trace.prescale);
996 if (res != ERROR_OK)
997 goto out;
998 /* select the pin protocol. The STLinkv2 only supports asynchronous
999 * UART emulation (NRZ) mode, so that's what we pick. */
1000 res = stlink_usb_write_debug_reg(handle, TPI_SPPR, 0x02);
1001 if (res != ERROR_OK)
1002 goto out;
1003 /* disable continuous formatting */
1004 res = stlink_usb_write_debug_reg(handle, TPI_FFCR, (1<<8));
1005 if (res != ERROR_OK)
1006 goto out;
1007
1008 /* configure the ITM */
1009
1010 /* unlock access to the ITM registers */
1011 res = stlink_usb_write_debug_reg(handle, ITM_LAR, 0xC5ACCE55);
1012 if (res != ERROR_OK)
1013 goto out;
1014 /* enable trace with ATB ID 1 */
1015 res = stlink_usb_write_debug_reg(handle, ITM_TCR, (1<<16)|(1<<0)|(1<<2));
1016 if (res != ERROR_OK)
1017 goto out;
1018 /* trace privilege */
1019 res = stlink_usb_write_debug_reg(handle, ITM_TPR, 1);
1020 if (res != ERROR_OK)
1021 goto out;
1022 /* trace port enable (port 0) */
1023 res = stlink_usb_write_debug_reg(handle, ITM_TER, (1<<0));
1024 if (res != ERROR_OK)
1025 goto out;
1026
1027 res = ERROR_OK;
1028 out:
1029 return res;
1030 }
1031
1032 /** */
1033 static void stlink_usb_trace_disable(void *handle)
1034 {
1035 int res = ERROR_OK;
1036 struct stlink_usb_handle_s *h = handle;
1037
1038 assert(handle != NULL);
1039
1040 assert(h->version.jtag >= STLINK_TRACE_MIN_VERSION);
1041
1042 LOG_DEBUG("Tracing: disable\n");
1043
1044 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1045 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1046 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_STOP_TRACE_RX;
1047 res = stlink_usb_xfer(handle, h->databuf, 2);
1048
1049 if (res == ERROR_OK) {
1050 h->trace.enabled = false;
1051 target_unregister_timer_callback(stlink_usb_trace_read_callback, handle);
1052 }
1053 }
1054
1055
1056 /** */
1057 static int stlink_usb_trace_enable(void *handle)
1058 {
1059 int res;
1060 struct stlink_usb_handle_s *h = handle;
1061
1062 assert(handle != NULL);
1063
1064 if (h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
1065 uint32_t trace_hz;
1066
1067 res = stlink_configure_target_trace_port(handle);
1068 if (res != ERROR_OK)
1069 LOG_ERROR("Unable to configure tracing on target\n");
1070
1071 trace_hz = h->trace.prescale > 0 ?
1072 h->trace.source_hz / (h->trace.prescale + 1) :
1073 h->trace.source_hz;
1074
1075 stlink_usb_init_buffer(handle, h->rx_ep, 10);
1076
1077 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1078 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_START_TRACE_RX;
1079 h_u16_to_le(h->cmdbuf+h->cmdidx, (uint16_t)STLINK_TRACE_SIZE);
1080 h->cmdidx += 2;
1081 h_u32_to_le(h->cmdbuf+h->cmdidx, trace_hz);
1082 h->cmdidx += 4;
1083
1084 res = stlink_usb_xfer(handle, h->databuf, 2);
1085
1086 if (res == ERROR_OK) {
1087 h->trace.enabled = true;
1088 LOG_DEBUG("Tracing: recording at %" PRIu32 "Hz\n", trace_hz);
1089 /* We need the trace read function to be called at a
1090 * high-enough frequency to ensure reasonable
1091 * "timeliness" in processing ITM/DWT data.
1092 * TODO: An alternative could be using the asynchronous
1093 * features of the libusb-1.0 API to queue up one or more
1094 * reads in advance and requeue them once they are
1095 * completed. */
1096 target_register_timer_callback(stlink_usb_trace_read_callback, 1, 1, handle);
1097 }
1098 } else {
1099 LOG_ERROR("Tracing is not supported by this version.");
1100 res = ERROR_FAIL;
1101 }
1102
1103 return res;
1104 }
1105
1106 /** */
1107 static int stlink_usb_run(void *handle)
1108 {
1109 int res;
1110 struct stlink_usb_handle_s *h = handle;
1111
1112 assert(handle != NULL);
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 && !h->trace.enabled) {
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, h->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 = handle;
1146
1147 assert(handle != NULL);
1148
1149 if (h->jtag_api == STLINK_JTAG_API_V2) {
1150 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1151
1152 if (res == ERROR_OK && h->trace.enabled)
1153 stlink_usb_trace_disable(handle);
1154
1155 return res;
1156 }
1157
1158 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1159
1160 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1161 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG;
1162
1163 res = stlink_usb_xfer(handle, h->databuf, 2);
1164
1165 if (res != ERROR_OK)
1166 return res;
1167
1168 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1169 }
1170
1171 /** */
1172 static int stlink_usb_step(void *handle)
1173 {
1174 int res;
1175 struct stlink_usb_handle_s *h = handle;
1176
1177 assert(handle != NULL);
1178
1179 if (h->jtag_api == STLINK_JTAG_API_V2) {
1180 /* TODO: this emulates the v1 api, it should really use a similar auto mask isr
1181 * that the cortex-m3 currently does. */
1182 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_MASKINTS|C_DEBUGEN);
1183 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_MASKINTS|C_DEBUGEN);
1184 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1185 }
1186
1187 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1188
1189 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1190 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE;
1191
1192 res = stlink_usb_xfer(handle, h->databuf, 2);
1193
1194 if (res != ERROR_OK)
1195 return res;
1196
1197 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1198 }
1199
1200 /** */
1201 static int stlink_usb_read_regs(void *handle)
1202 {
1203 int res;
1204 struct stlink_usb_handle_s *h = handle;
1205
1206 assert(handle != NULL);
1207
1208 stlink_usb_init_buffer(handle, h->rx_ep, 84);
1209
1210 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1211 if (h->jtag_api == STLINK_JTAG_API_V1)
1212 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS;
1213 else
1214 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS;
1215
1216 res = stlink_usb_xfer(handle, h->databuf, 84);
1217
1218 if (res != ERROR_OK)
1219 return res;
1220
1221 return ERROR_OK;
1222 }
1223
1224 /** */
1225 static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
1226 {
1227 int res;
1228 struct stlink_usb_handle_s *h = handle;
1229
1230 assert(handle != NULL);
1231
1232 stlink_usb_init_buffer(handle, h->rx_ep, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1233
1234 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1235 if (h->jtag_api == STLINK_JTAG_API_V1)
1236 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG;
1237 else
1238 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG;
1239 h->cmdbuf[h->cmdidx++] = num;
1240
1241 res = stlink_usb_xfer(handle, h->databuf, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1242
1243 if (res != ERROR_OK)
1244 return res;
1245
1246 if (h->jtag_api == STLINK_JTAG_API_V1)
1247 *val = le_to_h_u32(h->databuf);
1248 else {
1249 *val = le_to_h_u32(h->databuf + 4);
1250 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1251 }
1252
1253 return ERROR_OK;
1254 }
1255
1256 /** */
1257 static int stlink_usb_write_reg(void *handle, int num, uint32_t val)
1258 {
1259 int res;
1260 struct stlink_usb_handle_s *h = handle;
1261
1262 assert(handle != NULL);
1263
1264 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1265
1266 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1267 if (h->jtag_api == STLINK_JTAG_API_V1)
1268 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG;
1269 else
1270 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG;
1271 h->cmdbuf[h->cmdidx++] = num;
1272 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
1273 h->cmdidx += 4;
1274
1275 res = stlink_usb_xfer(handle, h->databuf, 2);
1276
1277 if (res != ERROR_OK)
1278 return res;
1279
1280 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1281 }
1282
1283 static int stlink_usb_get_rw_status(void *handle)
1284 {
1285 int res;
1286 struct stlink_usb_handle_s *h = handle;
1287
1288 assert(handle != NULL);
1289
1290 if (h->jtag_api == STLINK_JTAG_API_V1)
1291 return ERROR_OK;
1292
1293 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1294
1295 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1296 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS;
1297
1298 res = stlink_usb_xfer(handle, h->databuf, 2);
1299
1300 if (res != ERROR_OK)
1301 return res;
1302
1303 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : res;
1304 }
1305
1306 /** */
1307 static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
1308 uint8_t *buffer)
1309 {
1310 int res;
1311 uint16_t read_len = len;
1312 struct stlink_usb_handle_s *h = handle;
1313
1314 assert(handle != NULL);
1315
1316 /* max 8bit read/write is 64bytes */
1317 if (len > STLINK_MAX_RW8) {
1318 LOG_DEBUG("max buffer length exceeded");
1319 return ERROR_FAIL;
1320 }
1321
1322 stlink_usb_init_buffer(handle, h->rx_ep, read_len);
1323
1324 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1325 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT;
1326 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1327 h->cmdidx += 4;
1328 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1329 h->cmdidx += 2;
1330
1331 /* we need to fix read length for single bytes */
1332 if (read_len == 1)
1333 read_len++;
1334
1335 res = stlink_usb_xfer(handle, h->databuf, read_len);
1336
1337 if (res != ERROR_OK)
1338 return res;
1339
1340 memcpy(buffer, h->databuf, len);
1341
1342 return stlink_usb_get_rw_status(handle);
1343 }
1344
1345 /** */
1346 static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len,
1347 const uint8_t *buffer)
1348 {
1349 int res;
1350 struct stlink_usb_handle_s *h = handle;
1351
1352 assert(handle != NULL);
1353
1354 /* max 8bit read/write is 64bytes */
1355 if (len > STLINK_MAX_RW8) {
1356 LOG_DEBUG("max buffer length exceeded");
1357 return ERROR_FAIL;
1358 }
1359
1360 stlink_usb_init_buffer(handle, h->tx_ep, len);
1361
1362 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1363 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT;
1364 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1365 h->cmdidx += 4;
1366 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1367 h->cmdidx += 2;
1368
1369 res = stlink_usb_xfer(handle, buffer, len);
1370
1371 if (res != ERROR_OK)
1372 return res;
1373
1374 return stlink_usb_get_rw_status(handle);
1375 }
1376
1377 /** */
1378 static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
1379 uint8_t *buffer)
1380 {
1381 int res;
1382 struct stlink_usb_handle_s *h = handle;
1383
1384 assert(handle != NULL);
1385
1386 /* data must be a multiple of 4 and word aligned */
1387 if (len % 4 || addr % 4) {
1388 LOG_DEBUG("Invalid data alignment");
1389 return ERROR_TARGET_UNALIGNED_ACCESS;
1390 }
1391
1392 stlink_usb_init_buffer(handle, h->rx_ep, len);
1393
1394 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1395 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT;
1396 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1397 h->cmdidx += 4;
1398 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1399 h->cmdidx += 2;
1400
1401 res = stlink_usb_xfer(handle, h->databuf, len);
1402
1403 if (res != ERROR_OK)
1404 return res;
1405
1406 memcpy(buffer, h->databuf, len);
1407
1408 return stlink_usb_get_rw_status(handle);
1409 }
1410
1411 /** */
1412 static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
1413 const uint8_t *buffer)
1414 {
1415 int res;
1416 struct stlink_usb_handle_s *h = handle;
1417
1418 assert(handle != NULL);
1419
1420 /* data must be a multiple of 4 and word aligned */
1421 if (len % 4 || addr % 4) {
1422 LOG_DEBUG("Invalid data alignment");
1423 return ERROR_TARGET_UNALIGNED_ACCESS;
1424 }
1425
1426 stlink_usb_init_buffer(handle, h->tx_ep, len);
1427
1428 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1429 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT;
1430 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1431 h->cmdidx += 4;
1432 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1433 h->cmdidx += 2;
1434
1435 res = stlink_usb_xfer(handle, buffer, len);
1436
1437 if (res != ERROR_OK)
1438 return res;
1439
1440 return stlink_usb_get_rw_status(handle);
1441 }
1442
1443 static uint32_t stlink_max_block_size(uint32_t tar_autoincr_block, uint32_t address)
1444 {
1445 uint32_t max_tar_block = (tar_autoincr_block - ((tar_autoincr_block - 1) & address));
1446 if (max_tar_block == 0)
1447 max_tar_block = 4;
1448 return max_tar_block;
1449 }
1450
1451 static int stlink_usb_read_mem(void *handle, uint32_t addr, uint32_t size,
1452 uint32_t count, uint8_t *buffer)
1453 {
1454 int retval = ERROR_OK;
1455 uint32_t bytes_remaining;
1456 struct stlink_usb_handle_s *h = handle;
1457
1458 /* calculate byte count */
1459 count *= size;
1460
1461 while (count) {
1462
1463 bytes_remaining = (size == 4) ? \
1464 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1465
1466 if (count < bytes_remaining)
1467 bytes_remaining = count;
1468
1469 /* the stlink only supports 8/32bit memory read/writes
1470 * honour 32bit, all others will be handled as 8bit access */
1471 if (size == 4) {
1472
1473 /* When in jtag mode the stlink uses the auto-increment functinality.
1474 * However it expects us to pass the data correctly, this includes
1475 * alignment and any page boundaries. We already do this as part of the
1476 * adi_v5 implementation, but the stlink is a hla adapter and so this
1477 * needs implementiong manually.
1478 * currently this only affects jtag mode, according to ST they do single
1479 * access in SWD mode - but this may change and so we do it for both modes */
1480
1481 /* we first need to check for any unaligned bytes */
1482 if (addr % 4) {
1483
1484 uint32_t head_bytes = 4 - (addr % 4);
1485 retval = stlink_usb_read_mem8(handle, addr, head_bytes, buffer);
1486 if (retval != ERROR_OK)
1487 return retval;
1488 buffer += head_bytes;
1489 addr += head_bytes;
1490 count -= head_bytes;
1491 bytes_remaining -= head_bytes;
1492 }
1493
1494 if (bytes_remaining % 4)
1495 retval = stlink_usb_read_mem(handle, addr, 1, bytes_remaining, buffer);
1496 else
1497 retval = stlink_usb_read_mem32(handle, addr, bytes_remaining, buffer);
1498 } else
1499 retval = stlink_usb_read_mem8(handle, addr, bytes_remaining, buffer);
1500
1501 if (retval != ERROR_OK)
1502 return retval;
1503
1504 buffer += bytes_remaining;
1505 addr += bytes_remaining;
1506 count -= bytes_remaining;
1507 }
1508
1509 return retval;
1510 }
1511
1512 static int stlink_usb_write_mem(void *handle, uint32_t addr, uint32_t size,
1513 uint32_t count, const uint8_t *buffer)
1514 {
1515 int retval = ERROR_OK;
1516 uint32_t bytes_remaining;
1517 struct stlink_usb_handle_s *h = handle;
1518
1519 /* calculate byte count */
1520 count *= size;
1521
1522 while (count) {
1523
1524 bytes_remaining = (size == 4) ? \
1525 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1526
1527 if (count < bytes_remaining)
1528 bytes_remaining = count;
1529
1530 /* the stlink only supports 8/32bit memory read/writes
1531 * honour 32bit, all others will be handled as 8bit access */
1532 if (size == 4) {
1533
1534 /* When in jtag mode the stlink uses the auto-increment functinality.
1535 * However it expects us to pass the data correctly, this includes
1536 * alignment and any page boundaries. We already do this as part of the
1537 * adi_v5 implementation, but the stlink is a hla adapter and so this
1538 * needs implementiong manually.
1539 * currently this only affects jtag mode, according to ST they do single
1540 * access in SWD mode - but this may change and so we do it for both modes */
1541
1542 /* we first need to check for any unaligned bytes */
1543 if (addr % 4) {
1544
1545 uint32_t head_bytes = 4 - (addr % 4);
1546 retval = stlink_usb_write_mem8(handle, addr, head_bytes, buffer);
1547 if (retval != ERROR_OK)
1548 return retval;
1549 buffer += head_bytes;
1550 addr += head_bytes;
1551 count -= head_bytes;
1552 bytes_remaining -= head_bytes;
1553 }
1554
1555 if (bytes_remaining % 4)
1556 retval = stlink_usb_write_mem(handle, addr, 1, bytes_remaining, buffer);
1557 else
1558 retval = stlink_usb_write_mem32(handle, addr, bytes_remaining, buffer);
1559
1560 } else
1561 retval = stlink_usb_write_mem8(handle, addr, bytes_remaining, buffer);
1562 if (retval != ERROR_OK)
1563 return retval;
1564
1565 buffer += bytes_remaining;
1566 addr += bytes_remaining;
1567 count -= bytes_remaining;
1568 }
1569
1570 return retval;
1571 }
1572
1573 /** */
1574 static int stlink_usb_close(void *fd)
1575 {
1576 struct stlink_usb_handle_s *h = fd;
1577
1578 if (h->fd)
1579 jtag_libusb_close(h->fd);
1580
1581 free(fd);
1582
1583 return ERROR_OK;
1584 }
1585
1586 /** */
1587 static int stlink_usb_open(struct hl_interface_param_s *param, void **fd)
1588 {
1589 int err, retry_count = 1;
1590 struct stlink_usb_handle_s *h;
1591 enum stlink_jtag_api_version api;
1592
1593 LOG_DEBUG("stlink_usb_open");
1594
1595 h = calloc(1, sizeof(struct stlink_usb_handle_s));
1596
1597 if (h == 0) {
1598 LOG_DEBUG("malloc failed");
1599 return ERROR_FAIL;
1600 }
1601
1602 h->transport = param->transport;
1603
1604 const uint16_t vids[] = { param->vid, 0 };
1605 const uint16_t pids[] = { param->pid, 0 };
1606
1607 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
1608 param->vid, param->pid);
1609
1610 /*
1611 On certain host USB configurations(e.g. MacBook Air)
1612 STLINKv2 dongle seems to have its FW in a funky state if,
1613 after plugging it in, you try to use openocd with it more
1614 then once (by launching and closing openocd). In cases like
1615 that initial attempt to read the FW info via
1616 stlink_usb_version will fail and the device has to be reset
1617 in order to become operational.
1618 */
1619 do {
1620 if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) {
1621 LOG_ERROR("open failed");
1622 goto error_open;
1623 }
1624
1625 jtag_libusb_set_configuration(h->fd, 0);
1626
1627 if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
1628 LOG_DEBUG("claim interface failed");
1629 goto error_open;
1630 }
1631
1632 /* RX EP is common for all versions */
1633 h->rx_ep = STLINK_RX_EP;
1634
1635 /* wrap version for first read */
1636 switch (param->pid) {
1637 case STLINK_V1_PID:
1638 h->version.stlink = 1;
1639 h->tx_ep = STLINK_TX_EP;
1640 h->trace_ep = STLINK_TRACE_EP;
1641 break;
1642 case STLINK_V2_1_PID:
1643 h->version.stlink = 2;
1644 h->tx_ep = STLINK_V2_1_TX_EP;
1645 h->trace_ep = STLINK_V2_1_TRACE_EP;
1646 break;
1647 default:
1648 /* fall through - we assume V2 to be the default version*/
1649 case STLINK_V2_PID:
1650 h->version.stlink = 2;
1651 h->tx_ep = STLINK_TX_EP;
1652 h->trace_ep = STLINK_TRACE_EP;
1653 break;
1654 }
1655
1656 /* get the device version */
1657 err = stlink_usb_version(h);
1658
1659 if (err == ERROR_OK) {
1660 break;
1661 } else if (h->version.stlink == 1 ||
1662 retry_count == 0) {
1663 LOG_ERROR("read version failed");
1664 goto error_open;
1665 } else {
1666 err = jtag_libusb_release_interface(h->fd, 0);
1667 if (err != ERROR_OK) {
1668 LOG_ERROR("release interface failed");
1669 goto error_open;
1670 }
1671
1672 err = jtag_libusb_reset_device(h->fd);
1673 if (err != ERROR_OK) {
1674 LOG_ERROR("reset device failed");
1675 goto error_open;
1676 }
1677
1678 jtag_libusb_close(h->fd);
1679 /*
1680 Give the device one second to settle down and
1681 reenumerate.
1682 */
1683 usleep(1 * 1000 * 1000);
1684 retry_count--;
1685 }
1686 } while (1);
1687
1688 /* compare usb vid/pid */
1689 if ((param->vid != h->vid) || (param->pid != h->pid))
1690 LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
1691 param->vid, param->pid,
1692 h->vid, h->pid);
1693
1694 /* check if mode is supported */
1695 err = ERROR_OK;
1696
1697 switch (h->transport) {
1698 case HL_TRANSPORT_SWD:
1699 case HL_TRANSPORT_JTAG:
1700 if (h->version.jtag == 0)
1701 err = ERROR_FAIL;
1702 break;
1703 case HL_TRANSPORT_SWIM:
1704 if (h->version.swim == 0)
1705 err = ERROR_FAIL;
1706 break;
1707 default:
1708 err = ERROR_FAIL;
1709 break;
1710 }
1711
1712 if (err != ERROR_OK) {
1713 LOG_ERROR("mode (transport) not supported by device");
1714 goto error_open;
1715 }
1716
1717 api = h->version.jtag_api_max;
1718
1719 LOG_INFO("using stlink api v%d", api);
1720
1721 /* set the used jtag api, this will default to the newest supported version */
1722 h->jtag_api = api;
1723
1724 if (h->jtag_api >= 2 && param->trace_source_hz > 0) {
1725 uint32_t prescale;
1726
1727 prescale = param->trace_source_hz > STLINK_TRACE_MAX_HZ ?
1728 (param->trace_source_hz / STLINK_TRACE_MAX_HZ) - 1 : 0;
1729
1730 h->trace.output_f = param->trace_f;
1731 h->trace.source_hz = param->trace_source_hz;
1732 h->trace.prescale = prescale;
1733 }
1734
1735 /* initialize the debug hardware */
1736 err = stlink_usb_init_mode(h, param->connect_under_reset);
1737
1738 if (err != ERROR_OK) {
1739 LOG_ERROR("init mode failed");
1740 goto error_open;
1741 }
1742
1743 /* get cpuid, so we can determine the max page size
1744 * start with a safe default */
1745 h->max_mem_packet = (1 << 10);
1746
1747 uint8_t buffer[4];
1748 err = stlink_usb_read_mem32(h, CPUID, 4, buffer);
1749 if (err == ERROR_OK) {
1750 uint32_t cpuid = le_to_h_u32(buffer);
1751 int i = (cpuid >> 4) & 0xf;
1752 if (i == 4 || i == 3) {
1753 /* Cortex-M3/M4 has 4096 bytes autoincrement range */
1754 h->max_mem_packet = (1 << 12);
1755 }
1756 }
1757
1758 LOG_DEBUG("Using TAR autoincrement: %" PRIu32, h->max_mem_packet);
1759
1760 *fd = h;
1761
1762 return ERROR_OK;
1763
1764 error_open:
1765 stlink_usb_close(h);
1766
1767 return ERROR_FAIL;
1768 }
1769
1770 /** */
1771 struct hl_layout_api_s stlink_usb_layout_api = {
1772 /** */
1773 .open = stlink_usb_open,
1774 /** */
1775 .close = stlink_usb_close,
1776 /** */
1777 .idcode = stlink_usb_idcode,
1778 /** */
1779 .state = stlink_usb_state,
1780 /** */
1781 .reset = stlink_usb_reset,
1782 /** */
1783 .assert_srst = stlink_usb_assert_srst,
1784 /** */
1785 .run = stlink_usb_run,
1786 /** */
1787 .halt = stlink_usb_halt,
1788 /** */
1789 .step = stlink_usb_step,
1790 /** */
1791 .read_regs = stlink_usb_read_regs,
1792 /** */
1793 .read_reg = stlink_usb_read_reg,
1794 /** */
1795 .write_reg = stlink_usb_write_reg,
1796 /** */
1797 .read_mem = stlink_usb_read_mem,
1798 /** */
1799 .write_mem = stlink_usb_write_mem,
1800 /** */
1801 .write_debug_reg = stlink_usb_write_debug_reg
1802 };
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