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06ec4b7028ef3cf788cca9be452c077fd9684e26
[openocd.git] / src / jtag / drivers / stlink_usb.c
1 /***************************************************************************
2 * Copyright (C) 2011-2012 by Mathias Kuester *
3 * Mathias Kuester <kesmtp@freenet.de> *
4 * *
5 * Copyright (C) 2012 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
7 * *
8 * This code is based on https://github.com/texane/stlink *
9 * *
10 * This program is free software; you can redistribute it and/or modify *
11 * it under the terms of the GNU General Public License as published by *
12 * the Free Software Foundation; either version 2 of the License, or *
13 * (at your option) any later version. *
14 * *
15 * This program is distributed in the hope that it will be useful, *
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
18 * GNU General Public License for more details. *
19 * *
20 * You should have received a copy of the GNU General Public License *
21 * along with this program; if not, write to the *
22 * Free Software Foundation, Inc., *
23 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
24 ***************************************************************************/
25
26 #ifdef HAVE_CONFIG_H
27 #include "config.h"
28 #endif
29
30 /* project specific includes */
31 #include <helper/binarybuffer.h>
32 #include <jtag/interface.h>
33 #include <jtag/hla/hla_layout.h>
34 #include <jtag/hla/hla_transport.h>
35 #include <jtag/hla/hla_interface.h>
36 #include <target/target.h>
37
38 #include <target/cortex_m.h>
39
40 #include "libusb_common.h"
41
42 #define ENDPOINT_IN 0x80
43 #define ENDPOINT_OUT 0x00
44
45 #define STLINK_WRITE_TIMEOUT 1000
46 #define STLINK_READ_TIMEOUT 1000
47
48 #define STLINK_NULL_EP 0
49 #define STLINK_RX_EP (1|ENDPOINT_IN)
50 #define STLINK_TX_EP (2|ENDPOINT_OUT)
51 #define STLINK_TRACE_EP (3|ENDPOINT_IN)
52 #define STLINK_SG_SIZE (31)
53 #define STLINK_DATA_SIZE (4096)
54 #define STLINK_CMD_SIZE_V2 (16)
55 #define STLINK_CMD_SIZE_V1 (10)
56
57 /* the current implementation of the stlink limits
58 * 8bit read/writes to max 64 bytes. */
59 #define STLINK_MAX_RW8 (64)
60
61 enum stlink_jtag_api_version {
62 STLINK_JTAG_API_V1 = 1,
63 STLINK_JTAG_API_V2,
64 };
65
66 /** */
67 struct stlink_usb_version {
68 /** */
69 int stlink;
70 /** */
71 int jtag;
72 /** */
73 int swim;
74 /** highest supported jtag api version */
75 enum stlink_jtag_api_version jtag_api_max;
76 };
77
78 /** */
79 struct stlink_usb_handle_s {
80 /** */
81 struct jtag_libusb_device_handle *fd;
82 /** */
83 struct libusb_transfer *trans;
84 /** */
85 uint8_t cmdbuf[STLINK_SG_SIZE];
86 /** */
87 uint8_t cmdidx;
88 /** */
89 uint8_t direction;
90 /** */
91 uint8_t databuf[STLINK_DATA_SIZE];
92 /** */
93 uint32_t max_mem_packet;
94 /** */
95 enum hl_transports transport;
96 /** */
97 struct stlink_usb_version version;
98 /** */
99 uint16_t vid;
100 /** */
101 uint16_t pid;
102 /** this is the currently used jtag api */
103 enum stlink_jtag_api_version jtag_api;
104 /** */
105 struct {
106 /** whether SWO tracing is enabled or not */
107 bool enabled;
108 /** trace data destination file */
109 FILE *output_f;
110 /** trace module source clock (for prescaler) */
111 uint32_t source_hz;
112 /** trace module clock prescaler */
113 uint32_t prescale;
114 } trace;
115 };
116
117 #define STLINK_DEBUG_ERR_OK 0x80
118 #define STLINK_DEBUG_ERR_FAULT 0x81
119 #define STLINK_SWD_AP_WAIT 0x10
120 #define STLINK_SWD_DP_WAIT 0x14
121
122 #define STLINK_CORE_RUNNING 0x80
123 #define STLINK_CORE_HALTED 0x81
124 #define STLINK_CORE_STAT_UNKNOWN -1
125
126 #define STLINK_GET_VERSION 0xF1
127 #define STLINK_DEBUG_COMMAND 0xF2
128 #define STLINK_DFU_COMMAND 0xF3
129 #define STLINK_SWIM_COMMAND 0xF4
130 #define STLINK_GET_CURRENT_MODE 0xF5
131 #define STLINK_GET_TARGET_VOLTAGE 0xF7
132
133 #define STLINK_DEV_DFU_MODE 0x00
134 #define STLINK_DEV_MASS_MODE 0x01
135 #define STLINK_DEV_DEBUG_MODE 0x02
136 #define STLINK_DEV_SWIM_MODE 0x03
137 #define STLINK_DEV_BOOTLOADER_MODE 0x04
138 #define STLINK_DEV_UNKNOWN_MODE -1
139
140 #define STLINK_DFU_EXIT 0x07
141
142 #define STLINK_SWIM_ENTER 0x00
143 #define STLINK_SWIM_EXIT 0x01
144
145 #define STLINK_DEBUG_ENTER_JTAG 0x00
146 #define STLINK_DEBUG_GETSTATUS 0x01
147 #define STLINK_DEBUG_FORCEDEBUG 0x02
148 #define STLINK_DEBUG_APIV1_RESETSYS 0x03
149 #define STLINK_DEBUG_APIV1_READALLREGS 0x04
150 #define STLINK_DEBUG_APIV1_READREG 0x05
151 #define STLINK_DEBUG_APIV1_WRITEREG 0x06
152 #define STLINK_DEBUG_READMEM_32BIT 0x07
153 #define STLINK_DEBUG_WRITEMEM_32BIT 0x08
154 #define STLINK_DEBUG_RUNCORE 0x09
155 #define STLINK_DEBUG_STEPCORE 0x0a
156 #define STLINK_DEBUG_APIV1_SETFP 0x0b
157 #define STLINK_DEBUG_READMEM_8BIT 0x0c
158 #define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
159 #define STLINK_DEBUG_APIV1_CLEARFP 0x0e
160 #define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
161 #define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
162
163 #define STLINK_DEBUG_ENTER_JTAG 0x00
164 #define STLINK_DEBUG_ENTER_SWD 0xa3
165
166 #define STLINK_DEBUG_APIV1_ENTER 0x20
167 #define STLINK_DEBUG_EXIT 0x21
168 #define STLINK_DEBUG_READCOREID 0x22
169
170 #define STLINK_DEBUG_APIV2_ENTER 0x30
171 #define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
172 #define STLINK_DEBUG_APIV2_RESETSYS 0x32
173 #define STLINK_DEBUG_APIV2_READREG 0x33
174 #define STLINK_DEBUG_APIV2_WRITEREG 0x34
175 #define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35
176 #define STLINK_DEBUG_APIV2_READDEBUGREG 0x36
177
178 #define STLINK_DEBUG_APIV2_READALLREGS 0x3A
179 #define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B
180 #define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
181
182 #define STLINK_DEBUG_APIV2_START_TRACE_RX 0x40
183 #define STLINK_DEBUG_APIV2_STOP_TRACE_RX 0x41
184 #define STLINK_DEBUG_APIV2_GET_TRACE_NB 0x42
185
186 #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
187 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
188 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
189
190 #define STLINK_TRACE_SIZE 1024
191 #define STLINK_TRACE_MAX_HZ 2000000
192 #define STLINK_TRACE_MIN_VERSION 13
193
194 /** */
195 enum stlink_mode {
196 STLINK_MODE_UNKNOWN = 0,
197 STLINK_MODE_DFU,
198 STLINK_MODE_MASS,
199 STLINK_MODE_DEBUG_JTAG,
200 STLINK_MODE_DEBUG_SWD,
201 STLINK_MODE_DEBUG_SWIM
202 };
203
204 #define REQUEST_SENSE 0x03
205 #define REQUEST_SENSE_LENGTH 18
206
207 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size);
208
209 /** */
210 static int stlink_usb_xfer_v1_get_status(void *handle)
211 {
212 struct stlink_usb_handle_s *h = handle;
213
214 assert(handle != NULL);
215
216 /* read status */
217 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
218
219 if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)h->cmdbuf,
220 13, STLINK_READ_TIMEOUT) != 13)
221 return ERROR_FAIL;
222
223 uint32_t t1;
224
225 t1 = buf_get_u32(h->cmdbuf, 0, 32);
226
227 /* check for USBS */
228 if (t1 != 0x53425355)
229 return ERROR_FAIL;
230 /*
231 * CSW status:
232 * 0 success
233 * 1 command failure
234 * 2 phase error
235 */
236 if (h->cmdbuf[12] != 0)
237 return ERROR_FAIL;
238
239 return ERROR_OK;
240 }
241
242 /** */
243 static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size)
244 {
245 struct stlink_usb_handle_s *h = handle;
246
247 assert(handle != NULL);
248
249 if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)h->cmdbuf, cmdsize,
250 STLINK_WRITE_TIMEOUT) != cmdsize) {
251 return ERROR_FAIL;
252 }
253
254 if (h->direction == STLINK_TX_EP && size) {
255 if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)buf,
256 size, STLINK_WRITE_TIMEOUT) != size) {
257 LOG_DEBUG("bulk write failed");
258 return ERROR_FAIL;
259 }
260 } else if (h->direction == STLINK_RX_EP && size) {
261 if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)buf,
262 size, STLINK_READ_TIMEOUT) != size) {
263 LOG_DEBUG("bulk read failed");
264 return ERROR_FAIL;
265 }
266 }
267
268 return ERROR_OK;
269 }
270
271 /** */
272 static int stlink_usb_xfer_v1_get_sense(void *handle)
273 {
274 int res;
275 struct stlink_usb_handle_s *h = handle;
276
277 assert(handle != NULL);
278
279 stlink_usb_init_buffer(handle, STLINK_RX_EP, 16);
280
281 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE;
282 h->cmdbuf[h->cmdidx++] = 0;
283 h->cmdbuf[h->cmdidx++] = 0;
284 h->cmdbuf[h->cmdidx++] = 0;
285 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH;
286
287 res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16);
288
289 if (res != ERROR_OK)
290 return res;
291
292 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK)
293 return ERROR_FAIL;
294
295 return ERROR_OK;
296 }
297
298 /** */
299 static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size)
300 {
301 int err, cmdsize = STLINK_CMD_SIZE_V2;
302 struct stlink_usb_handle_s *h = handle;
303
304 assert(handle != NULL);
305
306 if (h->version.stlink == 1)
307 cmdsize = STLINK_SG_SIZE;
308
309 err = stlink_usb_xfer_rw(handle, cmdsize, buf, size);
310
311 if (err != ERROR_OK)
312 return err;
313
314 if (h->version.stlink == 1) {
315 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) {
316 /* check csw status */
317 if (h->cmdbuf[12] == 1) {
318 LOG_DEBUG("get sense");
319 if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK)
320 return ERROR_FAIL;
321 }
322 return ERROR_FAIL;
323 }
324 }
325
326 return ERROR_OK;
327 }
328
329 /** */
330 static int stlink_usb_read_trace(void *handle, const uint8_t *buf, int size)
331 {
332 struct stlink_usb_handle_s *h = handle;
333
334 assert(handle != NULL);
335
336 assert(h->version.stlink >= 2);
337
338 if (jtag_libusb_bulk_read(h->fd, STLINK_TRACE_EP, (char *)buf,
339 size, STLINK_READ_TIMEOUT) != size) {
340 LOG_ERROR("bulk trace read failed");
341 return ERROR_FAIL;
342 }
343
344 return ERROR_OK;
345 }
346
347 /** */
348 static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size)
349 {
350 struct stlink_usb_handle_s *h = handle;
351
352 /* fill the send buffer */
353 strcpy((char *)h->cmdbuf, "USBC");
354 h->cmdidx += 4;
355 /* csw tag not used */
356 h->cmdidx += 4;
357 buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size);
358 h->cmdidx += 4;
359 h->cmdbuf[h->cmdidx++] = (direction == STLINK_RX_EP ? ENDPOINT_IN : ENDPOINT_OUT);
360 h->cmdbuf[h->cmdidx++] = 0; /* lun */
361 h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1;
362 }
363
364 /** */
365 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size)
366 {
367 struct stlink_usb_handle_s *h = handle;
368
369 h->direction = direction;
370
371 h->cmdidx = 0;
372
373 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
374 memset(h->databuf, 0, STLINK_DATA_SIZE);
375
376 if (h->version.stlink == 1)
377 stlink_usb_xfer_v1_create_cmd(handle, direction, size);
378 }
379
380 static const char * const stlink_usb_error_msg[] = {
381 "unknown"
382 };
383
384 /** */
385 static int stlink_usb_error_check(void *handle)
386 {
387 int res;
388 const char *err_msg = 0;
389 struct stlink_usb_handle_s *h = handle;
390
391 assert(handle != NULL);
392
393 /* TODO: no error checking yet on api V1 */
394 if (h->jtag_api == STLINK_JTAG_API_V1)
395 h->databuf[0] = STLINK_DEBUG_ERR_OK;
396
397 switch (h->databuf[0]) {
398 case STLINK_DEBUG_ERR_OK:
399 res = ERROR_OK;
400 break;
401 case STLINK_DEBUG_ERR_FAULT:
402 default:
403 err_msg = stlink_usb_error_msg[0];
404 res = ERROR_FAIL;
405 break;
406 }
407
408 if (res != ERROR_OK)
409 LOG_DEBUG("status error: %d ('%s')", h->databuf[0], err_msg);
410
411 return res;
412 }
413
414 /** */
415 static int stlink_usb_version(void *handle)
416 {
417 int res;
418 uint16_t v;
419 struct stlink_usb_handle_s *h = handle;
420
421 assert(handle != NULL);
422
423 stlink_usb_init_buffer(handle, STLINK_RX_EP, 6);
424
425 h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION;
426
427 res = stlink_usb_xfer(handle, h->databuf, 6);
428
429 if (res != ERROR_OK)
430 return res;
431
432 v = (h->databuf[0] << 8) | h->databuf[1];
433
434 h->version.stlink = (v >> 12) & 0x0f;
435 h->version.jtag = (v >> 6) & 0x3f;
436 h->version.swim = v & 0x3f;
437 h->vid = buf_get_u32(h->databuf, 16, 16);
438 h->pid = buf_get_u32(h->databuf, 32, 16);
439
440 /* set the supported jtag api version
441 * API V2 is supported since JTAG V11
442 */
443 if (h->version.jtag >= 11)
444 h->version.jtag_api_max = STLINK_JTAG_API_V2;
445 else
446 h->version.jtag_api_max = STLINK_JTAG_API_V1;
447
448 LOG_INFO("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X",
449 h->version.stlink,
450 h->version.jtag,
451 (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2,
452 h->version.swim,
453 h->vid,
454 h->pid);
455
456 return ERROR_OK;
457 }
458
459 static int stlink_usb_check_voltage(void *handle, float *target_voltage)
460 {
461 struct stlink_usb_handle_s *h = handle;
462 uint32_t adc_results[2];
463
464 /* only supported by stlink/v2 and for firmware >= 13 */
465 if (h->version.stlink == 1 || h->version.jtag < 13)
466 return ERROR_COMMAND_NOTFOUND;
467
468 stlink_usb_init_buffer(handle, STLINK_RX_EP, 8);
469
470 h->cmdbuf[h->cmdidx++] = STLINK_GET_TARGET_VOLTAGE;
471
472 int result = stlink_usb_xfer(handle, h->databuf, 8);
473
474 if (result != ERROR_OK)
475 return result;
476
477 /* convert result */
478 adc_results[0] = le_to_h_u32(h->databuf);
479 adc_results[1] = le_to_h_u32(h->databuf + 4);
480
481 *target_voltage = 0;
482
483 if (adc_results[0])
484 *target_voltage = 2 * ((float)adc_results[1]) * (float)(1.2 / adc_results[0]);
485
486 LOG_INFO("Target voltage: %f", (double)*target_voltage);
487
488 return ERROR_OK;
489 }
490
491 /** */
492 static int stlink_usb_current_mode(void *handle, uint8_t *mode)
493 {
494 int res;
495 struct stlink_usb_handle_s *h = handle;
496
497 assert(handle != NULL);
498
499 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
500
501 h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE;
502
503 res = stlink_usb_xfer(handle, h->databuf, 2);
504
505 if (res != ERROR_OK)
506 return res;
507
508 *mode = h->databuf[0];
509
510 return ERROR_OK;
511 }
512
513 /** */
514 static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
515 {
516 int res;
517 int rx_size = 0;
518 struct stlink_usb_handle_s *h = handle;
519
520 assert(handle != NULL);
521
522 /* on api V2 we are able the read the latest command
523 * status
524 * TODO: we need the test on api V1 too
525 */
526 if (h->jtag_api == STLINK_JTAG_API_V2)
527 rx_size = 2;
528
529 stlink_usb_init_buffer(handle, STLINK_RX_EP, rx_size);
530
531 switch (type) {
532 case STLINK_MODE_DEBUG_JTAG:
533 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
534 if (h->jtag_api == STLINK_JTAG_API_V1)
535 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
536 else
537 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
538 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG;
539 break;
540 case STLINK_MODE_DEBUG_SWD:
541 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
542 if (h->jtag_api == STLINK_JTAG_API_V1)
543 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
544 else
545 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
546 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD;
547 break;
548 case STLINK_MODE_DEBUG_SWIM:
549 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
550 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER;
551 break;
552 case STLINK_MODE_DFU:
553 case STLINK_MODE_MASS:
554 default:
555 return ERROR_FAIL;
556 }
557
558 res = stlink_usb_xfer(handle, h->databuf, rx_size);
559
560 if (res != ERROR_OK)
561 return res;
562
563 res = stlink_usb_error_check(h);
564
565 return res;
566 }
567
568 /** */
569 static int stlink_usb_mode_leave(void *handle, enum stlink_mode type)
570 {
571 int res;
572 struct stlink_usb_handle_s *h = handle;
573
574 assert(handle != NULL);
575
576 stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0);
577
578 switch (type) {
579 case STLINK_MODE_DEBUG_JTAG:
580 case STLINK_MODE_DEBUG_SWD:
581 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
582 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT;
583 break;
584 case STLINK_MODE_DEBUG_SWIM:
585 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
586 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT;
587 break;
588 case STLINK_MODE_DFU:
589 h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND;
590 h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT;
591 break;
592 case STLINK_MODE_MASS:
593 default:
594 return ERROR_FAIL;
595 }
596
597 res = stlink_usb_xfer(handle, 0, 0);
598
599 if (res != ERROR_OK)
600 return res;
601
602 return ERROR_OK;
603 }
604
605 static int stlink_usb_assert_srst(void *handle, int srst);
606
607 /** */
608 static int stlink_usb_init_mode(void *handle, bool connect_under_reset)
609 {
610 int res;
611 uint8_t mode;
612 enum stlink_mode emode;
613 struct stlink_usb_handle_s *h = handle;
614
615 assert(handle != NULL);
616
617 res = stlink_usb_current_mode(handle, &mode);
618
619 if (res != ERROR_OK)
620 return res;
621
622 LOG_DEBUG("MODE: 0x%02X", mode);
623
624 /* try to exit current mode */
625 switch (mode) {
626 case STLINK_DEV_DFU_MODE:
627 emode = STLINK_MODE_DFU;
628 break;
629 case STLINK_DEV_DEBUG_MODE:
630 emode = STLINK_MODE_DEBUG_SWD;
631 break;
632 case STLINK_DEV_SWIM_MODE:
633 emode = STLINK_MODE_DEBUG_SWIM;
634 break;
635 case STLINK_DEV_BOOTLOADER_MODE:
636 case STLINK_DEV_MASS_MODE:
637 default:
638 emode = STLINK_MODE_UNKNOWN;
639 break;
640 }
641
642 if (emode != STLINK_MODE_UNKNOWN) {
643 res = stlink_usb_mode_leave(handle, emode);
644
645 if (res != ERROR_OK)
646 return res;
647 }
648
649 res = stlink_usb_current_mode(handle, &mode);
650
651 if (res != ERROR_OK)
652 return res;
653
654 /* we check the target voltage here as an aid to debugging connection problems.
655 * the stlink requires the target Vdd to be connected for reliable debugging.
656 * this cmd is supported in all modes except DFU
657 */
658 if (mode != STLINK_DEV_DFU_MODE) {
659
660 float target_voltage;
661
662 /* check target voltage (if supported) */
663 res = stlink_usb_check_voltage(h, &target_voltage);
664
665 if (res != ERROR_OK) {
666 if (res != ERROR_COMMAND_NOTFOUND)
667 LOG_ERROR("voltage check failed");
668 /* attempt to continue as it is not a catastrophic failure */
669 } else {
670 /* check for a sensible target voltage, operating range is 1.65-5.5v
671 * according to datasheet */
672 if (target_voltage < 1.5)
673 LOG_ERROR("target voltage may be too low for reliable debugging");
674 }
675 }
676
677 LOG_DEBUG("MODE: 0x%02X", mode);
678
679 /* set selected mode */
680 switch (h->transport) {
681 case HL_TRANSPORT_SWD:
682 emode = STLINK_MODE_DEBUG_SWD;
683 break;
684 case HL_TRANSPORT_JTAG:
685 emode = STLINK_MODE_DEBUG_JTAG;
686 break;
687 case HL_TRANSPORT_SWIM:
688 emode = STLINK_MODE_DEBUG_SWIM;
689 break;
690 default:
691 emode = STLINK_MODE_UNKNOWN;
692 break;
693 }
694
695 if (emode == STLINK_MODE_UNKNOWN) {
696 LOG_ERROR("selected mode (transport) not supported");
697 return ERROR_FAIL;
698 }
699
700 if (connect_under_reset) {
701 res = stlink_usb_assert_srst(handle, 0);
702 if (res != ERROR_OK)
703 return res;
704 }
705
706 res = stlink_usb_mode_enter(handle, emode);
707
708 if (res != ERROR_OK)
709 return res;
710
711 res = stlink_usb_current_mode(handle, &mode);
712
713 if (res != ERROR_OK)
714 return res;
715
716 LOG_DEBUG("MODE: 0x%02X", mode);
717
718 return ERROR_OK;
719 }
720
721 /** */
722 static int stlink_usb_idcode(void *handle, uint32_t *idcode)
723 {
724 int res;
725 struct stlink_usb_handle_s *h = handle;
726
727 assert(handle != NULL);
728
729 stlink_usb_init_buffer(handle, STLINK_RX_EP, 4);
730
731 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
732 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID;
733
734 res = stlink_usb_xfer(handle, h->databuf, 4);
735
736 if (res != ERROR_OK)
737 return res;
738
739 *idcode = le_to_h_u32(h->databuf);
740
741 LOG_DEBUG("IDCODE: 0x%08" PRIX32, *idcode);
742
743 return ERROR_OK;
744 }
745
746 static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val)
747 {
748 struct stlink_usb_handle_s *h = handle;
749 int res;
750
751 assert(handle != NULL);
752
753 stlink_usb_init_buffer(handle, STLINK_RX_EP, 8);
754
755 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
756 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG;
757 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
758 h->cmdidx += 4;
759
760 res = stlink_usb_xfer(handle, h->databuf, 8);
761
762 if (res != ERROR_OK)
763 return res;
764
765 *val = le_to_h_u32(h->databuf + 4);
766
767 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
768 }
769
770 static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
771 {
772 int res;
773 struct stlink_usb_handle_s *h = handle;
774
775 assert(handle != NULL);
776
777 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
778
779 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
780 if (h->jtag_api == STLINK_JTAG_API_V1)
781 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG;
782 else
783 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG;
784 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
785 h->cmdidx += 4;
786 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
787 h->cmdidx += 4;
788
789 res = stlink_usb_xfer(handle, h->databuf, 2);
790
791 if (res != ERROR_OK)
792 return res;
793
794 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
795 }
796
797 /** */
798 static void stlink_usb_trace_read(void *handle)
799 {
800 struct stlink_usb_handle_s *h = handle;
801
802 assert(handle != NULL);
803
804 if (h->trace.enabled && h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
805 int res;
806
807 stlink_usb_init_buffer(handle, STLINK_RX_EP, 10);
808
809 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
810 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GET_TRACE_NB;
811
812 res = stlink_usb_xfer(handle, h->databuf, 2);
813 if (res == ERROR_OK) {
814 uint8_t buf[STLINK_TRACE_SIZE];
815 size_t size = le_to_h_u16(h->databuf);
816
817 if (size > 0) {
818 size = size < sizeof(buf) ? size : sizeof(buf) - 1;
819
820 res = stlink_usb_read_trace(handle, buf, size);
821 if (res == ERROR_OK) {
822 if (h->trace.output_f) {
823 /* Log retrieved trace output */
824 if (fwrite(buf, 1, size, h->trace.output_f) > 0)
825 fflush(h->trace.output_f);
826 }
827 }
828 }
829 }
830 }
831 }
832
833 static int stlink_usb_trace_read_callback(void *handle)
834 {
835 stlink_usb_trace_read(handle);
836 return ERROR_OK;
837 }
838
839 static enum target_state stlink_usb_v2_get_status(void *handle)
840 {
841 int result;
842 uint32_t status;
843
844 result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status);
845 if (result != ERROR_OK)
846 return TARGET_UNKNOWN;
847
848 if (status & S_HALT)
849 return TARGET_HALTED;
850 else if (status & S_RESET_ST)
851 return TARGET_RESET;
852
853 stlink_usb_trace_read(handle);
854
855 return TARGET_RUNNING;
856 }
857
858 /** */
859 static enum target_state stlink_usb_state(void *handle)
860 {
861 int res;
862 struct stlink_usb_handle_s *h = handle;
863
864 assert(handle != NULL);
865
866 if (h->jtag_api == STLINK_JTAG_API_V2)
867 return stlink_usb_v2_get_status(handle);
868
869 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
870
871 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
872 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS;
873
874 res = stlink_usb_xfer(handle, h->databuf, 2);
875
876 if (res != ERROR_OK)
877 return TARGET_UNKNOWN;
878
879 if (h->databuf[0] == STLINK_CORE_RUNNING)
880 return TARGET_RUNNING;
881 if (h->databuf[0] == STLINK_CORE_HALTED)
882 return TARGET_HALTED;
883
884 return TARGET_UNKNOWN;
885 }
886
887 /** */
888 static int stlink_usb_reset(void *handle)
889 {
890 int res;
891 struct stlink_usb_handle_s *h = handle;
892
893 assert(handle != NULL);
894
895 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
896
897 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
898
899 if (h->jtag_api == STLINK_JTAG_API_V1)
900 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_RESETSYS;
901 else
902 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS;
903
904 res = stlink_usb_xfer(handle, h->databuf, 2);
905
906 if (res != ERROR_OK)
907 return res;
908
909 LOG_DEBUG("RESET: 0x%08X", h->databuf[0]);
910
911 /* the following is not a error under swd (using hardware srst), so return success */
912 if (h->databuf[0] == STLINK_SWD_AP_WAIT || h->databuf[0] == STLINK_SWD_DP_WAIT)
913 return ERROR_OK;
914
915 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
916 }
917
918 static int stlink_usb_assert_srst(void *handle, int srst)
919 {
920 int res;
921 struct stlink_usb_handle_s *h = handle;
922
923 assert(handle != NULL);
924
925 if (h->jtag_api == STLINK_JTAG_API_V1)
926 return ERROR_COMMAND_NOTFOUND;
927
928 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
929
930 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
931 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST;
932 h->cmdbuf[h->cmdidx++] = srst;
933
934 res = stlink_usb_xfer(handle, h->databuf, 2);
935
936 if (res != ERROR_OK)
937 return res;
938
939 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
940 }
941
942 /** */
943 static int stlink_configure_target_trace_port(void *handle)
944 {
945 int res;
946 uint32_t reg;
947 struct stlink_usb_handle_s *h = handle;
948
949 assert(handle != NULL);
950
951 /* configure the TPI */
952
953 /* enable the trace subsystem */
954 res = stlink_usb_v2_read_debug_reg(handle, DCB_DEMCR, &reg);
955 if (res != ERROR_OK)
956 goto out;
957 res = stlink_usb_write_debug_reg(handle, DCB_DEMCR, TRCENA|reg);
958 if (res != ERROR_OK)
959 goto out;
960 /* set the TPI clock prescaler */
961 res = stlink_usb_write_debug_reg(handle, TPI_ACPR, h->trace.prescale);
962 if (res != ERROR_OK)
963 goto out;
964 /* select the pin protocol. The STLinkv2 only supports asynchronous
965 * UART emulation (NRZ) mode, so that's what we pick. */
966 res = stlink_usb_write_debug_reg(handle, TPI_SPPR, 0x02);
967 if (res != ERROR_OK)
968 goto out;
969 /* disable continuous formatting */
970 res = stlink_usb_write_debug_reg(handle, TPI_FFCR, (1<<8));
971 if (res != ERROR_OK)
972 goto out;
973
974 /* configure the ITM */
975
976 /* unlock access to the ITM registers */
977 res = stlink_usb_write_debug_reg(handle, ITM_LAR, 0xC5ACCE55);
978 if (res != ERROR_OK)
979 goto out;
980 /* enable trace with ATB ID 1 */
981 res = stlink_usb_write_debug_reg(handle, ITM_TCR, (1<<16)|(1<<0)|(1<<2));
982 if (res != ERROR_OK)
983 goto out;
984 /* trace privilege */
985 res = stlink_usb_write_debug_reg(handle, ITM_TPR, 1);
986 if (res != ERROR_OK)
987 goto out;
988 /* trace port enable (port 0) */
989 res = stlink_usb_write_debug_reg(handle, ITM_TER, (1<<0));
990 if (res != ERROR_OK)
991 goto out;
992
993 res = ERROR_OK;
994 out:
995 return res;
996 }
997
998 /** */
999 static void stlink_usb_trace_disable(void *handle)
1000 {
1001 int res = ERROR_OK;
1002 struct stlink_usb_handle_s *h = handle;
1003
1004 assert(handle != NULL);
1005
1006 assert(h->version.jtag >= STLINK_TRACE_MIN_VERSION);
1007
1008 LOG_DEBUG("Tracing: disable\n");
1009
1010 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1011 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1012 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_STOP_TRACE_RX;
1013 res = stlink_usb_xfer(handle, h->databuf, 2);
1014
1015 if (res == ERROR_OK) {
1016 h->trace.enabled = false;
1017 target_unregister_timer_callback(stlink_usb_trace_read_callback, handle);
1018 }
1019 }
1020
1021
1022 /** */
1023 static int stlink_usb_trace_enable(void *handle)
1024 {
1025 int res;
1026 struct stlink_usb_handle_s *h = handle;
1027
1028 assert(handle != NULL);
1029
1030 if (h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
1031 uint32_t trace_hz;
1032
1033 res = stlink_configure_target_trace_port(handle);
1034 if (res != ERROR_OK)
1035 LOG_ERROR("Unable to configure tracing on target\n");
1036
1037 trace_hz = h->trace.prescale > 0 ?
1038 h->trace.source_hz / (h->trace.prescale + 1) :
1039 h->trace.source_hz;
1040
1041 stlink_usb_init_buffer(handle, STLINK_RX_EP, 10);
1042
1043 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1044 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_START_TRACE_RX;
1045 h_u16_to_le(h->cmdbuf+h->cmdidx, (uint16_t)STLINK_TRACE_SIZE);
1046 h->cmdidx += 2;
1047 h_u32_to_le(h->cmdbuf+h->cmdidx, trace_hz);
1048 h->cmdidx += 4;
1049
1050 res = stlink_usb_xfer(handle, h->databuf, 2);
1051
1052 if (res == ERROR_OK) {
1053 h->trace.enabled = true;
1054 LOG_DEBUG("Tracing: recording at %" PRIu32 "Hz\n", trace_hz);
1055 /* We need the trace read function to be called at a
1056 * high-enough frequency to ensure reasonable
1057 * "timeliness" in processing ITM/DWT data.
1058 * TODO: An alternative could be using the asynchronous
1059 * features of the libusb-1.0 API to queue up one or more
1060 * reads in advance and requeue them once they are
1061 * completed. */
1062 target_register_timer_callback(stlink_usb_trace_read_callback, 1, 1, handle);
1063 }
1064 } else {
1065 LOG_ERROR("Tracing is not supported by this version.");
1066 res = ERROR_FAIL;
1067 }
1068
1069 return res;
1070 }
1071
1072 /** */
1073 static int stlink_usb_run(void *handle)
1074 {
1075 int res;
1076 struct stlink_usb_handle_s *h = handle;
1077
1078 assert(handle != NULL);
1079
1080 if (h->jtag_api == STLINK_JTAG_API_V2) {
1081 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN);
1082
1083 /* Try to start tracing, if requested */
1084 if (res == ERROR_OK && h->trace.source_hz && !h->trace.enabled) {
1085 if (stlink_usb_trace_enable(handle) == ERROR_OK)
1086 LOG_DEBUG("Tracing: enabled\n");
1087 else
1088 LOG_ERROR("Tracing: enable failed\n");
1089 }
1090
1091 return res;
1092 }
1093
1094 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1095
1096 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1097 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE;
1098
1099 res = stlink_usb_xfer(handle, h->databuf, 2);
1100
1101 if (res != ERROR_OK)
1102 return res;
1103
1104 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1105 }
1106
1107 /** */
1108 static int stlink_usb_halt(void *handle)
1109 {
1110 int res;
1111 struct stlink_usb_handle_s *h = handle;
1112
1113 assert(handle != NULL);
1114
1115 if (h->jtag_api == STLINK_JTAG_API_V2) {
1116 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1117
1118 if (res == ERROR_OK && h->trace.enabled)
1119 stlink_usb_trace_disable(handle);
1120
1121 return res;
1122 }
1123
1124 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1125
1126 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1127 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG;
1128
1129 res = stlink_usb_xfer(handle, h->databuf, 2);
1130
1131 if (res != ERROR_OK)
1132 return res;
1133
1134 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1135 }
1136
1137 /** */
1138 static int stlink_usb_step(void *handle)
1139 {
1140 int res;
1141 struct stlink_usb_handle_s *h = handle;
1142
1143 assert(handle != NULL);
1144
1145 if (h->jtag_api == STLINK_JTAG_API_V2) {
1146 /* TODO: this emulates the v1 api, it should really use a similar auto mask isr
1147 * that the cortex-m3 currently does. */
1148 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_MASKINTS|C_DEBUGEN);
1149 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_MASKINTS|C_DEBUGEN);
1150 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1151 }
1152
1153 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1154
1155 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1156 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE;
1157
1158 res = stlink_usb_xfer(handle, h->databuf, 2);
1159
1160 if (res != ERROR_OK)
1161 return res;
1162
1163 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1164 }
1165
1166 /** */
1167 static int stlink_usb_read_regs(void *handle)
1168 {
1169 int res;
1170 struct stlink_usb_handle_s *h = handle;
1171
1172 assert(handle != NULL);
1173
1174 stlink_usb_init_buffer(handle, STLINK_RX_EP, 84);
1175
1176 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1177 if (h->jtag_api == STLINK_JTAG_API_V1)
1178 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS;
1179 else
1180 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS;
1181
1182 res = stlink_usb_xfer(handle, h->databuf, 84);
1183
1184 if (res != ERROR_OK)
1185 return res;
1186
1187 return ERROR_OK;
1188 }
1189
1190 /** */
1191 static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
1192 {
1193 int res;
1194 struct stlink_usb_handle_s *h = handle;
1195
1196 assert(handle != NULL);
1197
1198 stlink_usb_init_buffer(handle, STLINK_RX_EP, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1199
1200 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1201 if (h->jtag_api == STLINK_JTAG_API_V1)
1202 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG;
1203 else
1204 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG;
1205 h->cmdbuf[h->cmdidx++] = num;
1206
1207 res = stlink_usb_xfer(handle, h->databuf, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1208
1209 if (res != ERROR_OK)
1210 return res;
1211
1212 if (h->jtag_api == STLINK_JTAG_API_V1)
1213 *val = le_to_h_u32(h->databuf);
1214 else {
1215 *val = le_to_h_u32(h->databuf + 4);
1216 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1217 }
1218
1219 return ERROR_OK;
1220 }
1221
1222 /** */
1223 static int stlink_usb_write_reg(void *handle, int num, uint32_t val)
1224 {
1225 int res;
1226 struct stlink_usb_handle_s *h = handle;
1227
1228 assert(handle != NULL);
1229
1230 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1231
1232 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1233 if (h->jtag_api == STLINK_JTAG_API_V1)
1234 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG;
1235 else
1236 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG;
1237 h->cmdbuf[h->cmdidx++] = num;
1238 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
1239 h->cmdidx += 4;
1240
1241 res = stlink_usb_xfer(handle, h->databuf, 2);
1242
1243 if (res != ERROR_OK)
1244 return res;
1245
1246 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1247 }
1248
1249 static int stlink_usb_get_rw_status(void *handle)
1250 {
1251 int res;
1252 struct stlink_usb_handle_s *h = handle;
1253
1254 assert(handle != NULL);
1255
1256 if (h->jtag_api == STLINK_JTAG_API_V1)
1257 return ERROR_OK;
1258
1259 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1260
1261 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1262 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS;
1263
1264 res = stlink_usb_xfer(handle, h->databuf, 2);
1265
1266 if (res != ERROR_OK)
1267 return res;
1268
1269 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : res;
1270 }
1271
1272 /** */
1273 static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
1274 uint8_t *buffer)
1275 {
1276 int res;
1277 uint16_t read_len = len;
1278 struct stlink_usb_handle_s *h = handle;
1279
1280 assert(handle != NULL);
1281
1282 /* max 8bit read/write is 64bytes */
1283 if (len > STLINK_MAX_RW8) {
1284 LOG_DEBUG("max buffer length exceeded");
1285 return ERROR_FAIL;
1286 }
1287
1288 stlink_usb_init_buffer(handle, STLINK_RX_EP, read_len);
1289
1290 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1291 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT;
1292 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1293 h->cmdidx += 4;
1294 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1295 h->cmdidx += 2;
1296
1297 /* we need to fix read length for single bytes */
1298 if (read_len == 1)
1299 read_len++;
1300
1301 res = stlink_usb_xfer(handle, h->databuf, read_len);
1302
1303 if (res != ERROR_OK)
1304 return res;
1305
1306 memcpy(buffer, h->databuf, len);
1307
1308 return stlink_usb_get_rw_status(handle);
1309 }
1310
1311 /** */
1312 static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len,
1313 const uint8_t *buffer)
1314 {
1315 int res;
1316 struct stlink_usb_handle_s *h = handle;
1317
1318 assert(handle != NULL);
1319
1320 /* max 8bit read/write is 64bytes */
1321 if (len > STLINK_MAX_RW8) {
1322 LOG_DEBUG("max buffer length exceeded");
1323 return ERROR_FAIL;
1324 }
1325
1326 stlink_usb_init_buffer(handle, STLINK_TX_EP, len);
1327
1328 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1329 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT;
1330 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1331 h->cmdidx += 4;
1332 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1333 h->cmdidx += 2;
1334
1335 res = stlink_usb_xfer(handle, buffer, len);
1336
1337 if (res != ERROR_OK)
1338 return res;
1339
1340 return stlink_usb_get_rw_status(handle);
1341 }
1342
1343 /** */
1344 static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
1345 uint8_t *buffer)
1346 {
1347 int res;
1348 struct stlink_usb_handle_s *h = handle;
1349
1350 assert(handle != NULL);
1351
1352 /* data must be a multiple of 4 and word aligned */
1353 if (len % 4 || addr % 4) {
1354 LOG_DEBUG("Invalid data alignment");
1355 return ERROR_TARGET_UNALIGNED_ACCESS;
1356 }
1357
1358 stlink_usb_init_buffer(handle, STLINK_RX_EP, len);
1359
1360 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1361 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT;
1362 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1363 h->cmdidx += 4;
1364 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1365 h->cmdidx += 2;
1366
1367 res = stlink_usb_xfer(handle, h->databuf, len);
1368
1369 if (res != ERROR_OK)
1370 return res;
1371
1372 memcpy(buffer, h->databuf, len);
1373
1374 return stlink_usb_get_rw_status(handle);
1375 }
1376
1377 /** */
1378 static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
1379 const 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, STLINK_TX_EP, len);
1393
1394 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1395 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_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, buffer, len);
1402
1403 if (res != ERROR_OK)
1404 return res;
1405
1406 return stlink_usb_get_rw_status(handle);
1407 }
1408
1409 static uint32_t stlink_max_block_size(uint32_t tar_autoincr_block, uint32_t address)
1410 {
1411 uint32_t max_tar_block = (tar_autoincr_block - ((tar_autoincr_block - 1) & address));
1412 if (max_tar_block == 0)
1413 max_tar_block = 4;
1414 return max_tar_block;
1415 }
1416
1417 static int stlink_usb_read_mem(void *handle, uint32_t addr, uint32_t size,
1418 uint32_t count, uint8_t *buffer)
1419 {
1420 int retval = ERROR_OK;
1421 uint32_t bytes_remaining;
1422 struct stlink_usb_handle_s *h = handle;
1423
1424 /* calculate byte count */
1425 count *= size;
1426
1427 while (count) {
1428
1429 bytes_remaining = (size == 4) ? \
1430 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1431
1432 if (count < bytes_remaining)
1433 bytes_remaining = count;
1434
1435 /* the stlink only supports 8/32bit memory read/writes
1436 * honour 32bit, all others will be handled as 8bit access */
1437 if (size == 4) {
1438
1439 /* When in jtag mode the stlink uses the auto-increment functinality.
1440 * However it expects us to pass the data correctly, this includes
1441 * alignment and any page boundaries. We already do this as part of the
1442 * adi_v5 implementation, but the stlink is a hla adapter and so this
1443 * needs implementiong manually.
1444 * currently this only affects jtag mode, according to ST they do single
1445 * access in SWD mode - but this may change and so we do it for both modes */
1446
1447 /* we first need to check for any unaligned bytes */
1448 if (addr % 4) {
1449
1450 uint32_t head_bytes = 4 - (addr % 4);
1451 retval = stlink_usb_read_mem8(handle, addr, head_bytes, buffer);
1452 if (retval != ERROR_OK)
1453 return retval;
1454 buffer += head_bytes;
1455 addr += head_bytes;
1456 count -= head_bytes;
1457 bytes_remaining -= head_bytes;
1458 }
1459
1460 if (bytes_remaining % 4)
1461 retval = stlink_usb_read_mem(handle, addr, 1, bytes_remaining, buffer);
1462 else
1463 retval = stlink_usb_read_mem32(handle, addr, bytes_remaining, buffer);
1464 } else
1465 retval = stlink_usb_read_mem8(handle, addr, bytes_remaining, buffer);
1466
1467 if (retval != ERROR_OK)
1468 return retval;
1469
1470 buffer += bytes_remaining;
1471 addr += bytes_remaining;
1472 count -= bytes_remaining;
1473 }
1474
1475 return retval;
1476 }
1477
1478 static int stlink_usb_write_mem(void *handle, uint32_t addr, uint32_t size,
1479 uint32_t count, const uint8_t *buffer)
1480 {
1481 int retval = ERROR_OK;
1482 uint32_t bytes_remaining;
1483 struct stlink_usb_handle_s *h = handle;
1484
1485 /* calculate byte count */
1486 count *= size;
1487
1488 while (count) {
1489
1490 bytes_remaining = (size == 4) ? \
1491 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1492
1493 if (count < bytes_remaining)
1494 bytes_remaining = count;
1495
1496 /* the stlink only supports 8/32bit memory read/writes
1497 * honour 32bit, all others will be handled as 8bit access */
1498 if (size == 4) {
1499
1500 /* When in jtag mode the stlink uses the auto-increment functinality.
1501 * However it expects us to pass the data correctly, this includes
1502 * alignment and any page boundaries. We already do this as part of the
1503 * adi_v5 implementation, but the stlink is a hla adapter and so this
1504 * needs implementiong manually.
1505 * currently this only affects jtag mode, according to ST they do single
1506 * access in SWD mode - but this may change and so we do it for both modes */
1507
1508 /* we first need to check for any unaligned bytes */
1509 if (addr % 4) {
1510
1511 uint32_t head_bytes = 4 - (addr % 4);
1512 retval = stlink_usb_write_mem8(handle, addr, head_bytes, buffer);
1513 if (retval != ERROR_OK)
1514 return retval;
1515 buffer += head_bytes;
1516 addr += head_bytes;
1517 count -= head_bytes;
1518 bytes_remaining -= head_bytes;
1519 }
1520
1521 if (bytes_remaining % 4)
1522 retval = stlink_usb_write_mem(handle, addr, 1, bytes_remaining, buffer);
1523 else
1524 retval = stlink_usb_write_mem32(handle, addr, bytes_remaining, buffer);
1525
1526 } else
1527 retval = stlink_usb_write_mem8(handle, addr, bytes_remaining, buffer);
1528 if (retval != ERROR_OK)
1529 return retval;
1530
1531 buffer += bytes_remaining;
1532 addr += bytes_remaining;
1533 count -= bytes_remaining;
1534 }
1535
1536 return retval;
1537 }
1538
1539 /** */
1540 static int stlink_usb_close(void *fd)
1541 {
1542 struct stlink_usb_handle_s *h = fd;
1543
1544 if (h->fd)
1545 jtag_libusb_close(h->fd);
1546
1547 free(fd);
1548
1549 return ERROR_OK;
1550 }
1551
1552 /** */
1553 static int stlink_usb_open(struct hl_interface_param_s *param, void **fd)
1554 {
1555 int err, retry_count = 1;
1556 struct stlink_usb_handle_s *h;
1557 enum stlink_jtag_api_version api;
1558
1559 LOG_DEBUG("stlink_usb_open");
1560
1561 h = calloc(1, sizeof(struct stlink_usb_handle_s));
1562
1563 if (h == 0) {
1564 LOG_DEBUG("malloc failed");
1565 return ERROR_FAIL;
1566 }
1567
1568 h->transport = param->transport;
1569
1570 const uint16_t vids[] = { param->vid, 0 };
1571 const uint16_t pids[] = { param->pid, 0 };
1572
1573 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
1574 param->vid, param->pid);
1575
1576 /*
1577 On certain host USB configurations(e.g. MacBook Air)
1578 STLINKv2 dongle seems to have its FW in a funky state if,
1579 after plugging it in, you try to use openocd with it more
1580 then once (by launching and closing openocd). In cases like
1581 that initial attempt to read the FW info via
1582 stlink_usb_version will fail and the device has to be reset
1583 in order to become operational.
1584 */
1585 do {
1586 if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) {
1587 LOG_ERROR("open failed");
1588 goto error_open;
1589 }
1590
1591 jtag_libusb_set_configuration(h->fd, 0);
1592
1593 if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
1594 LOG_DEBUG("claim interface failed");
1595 goto error_open;
1596 }
1597
1598 /* wrap version for first read */
1599 switch (param->pid) {
1600 case 0x3744:
1601 h->version.stlink = 1;
1602 break;
1603 default:
1604 h->version.stlink = 2;
1605 break;
1606 }
1607
1608 /* get the device version */
1609 err = stlink_usb_version(h);
1610
1611 if (err == ERROR_OK) {
1612 break;
1613 } else if (h->version.stlink == 1 ||
1614 retry_count == 0) {
1615 LOG_ERROR("read version failed");
1616 goto error_open;
1617 } else {
1618 err = jtag_libusb_release_interface(h->fd, 0);
1619 if (err != ERROR_OK) {
1620 LOG_ERROR("release interface failed");
1621 goto error_open;
1622 }
1623
1624 err = jtag_libusb_reset_device(h->fd);
1625 if (err != ERROR_OK) {
1626 LOG_ERROR("reset device failed");
1627 goto error_open;
1628 }
1629
1630 jtag_libusb_close(h->fd);
1631 /*
1632 Give the device one second to settle down and
1633 reenumerate.
1634 */
1635 usleep(1 * 1000 * 1000);
1636 retry_count--;
1637 }
1638 } while (1);
1639
1640 /* compare usb vid/pid */
1641 if ((param->vid != h->vid) || (param->pid != h->pid))
1642 LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
1643 param->vid, param->pid,
1644 h->vid, h->pid);
1645
1646 /* check if mode is supported */
1647 err = ERROR_OK;
1648
1649 switch (h->transport) {
1650 case HL_TRANSPORT_SWD:
1651 case HL_TRANSPORT_JTAG:
1652 if (h->version.jtag == 0)
1653 err = ERROR_FAIL;
1654 break;
1655 case HL_TRANSPORT_SWIM:
1656 if (h->version.swim == 0)
1657 err = ERROR_FAIL;
1658 break;
1659 default:
1660 err = ERROR_FAIL;
1661 break;
1662 }
1663
1664 if (err != ERROR_OK) {
1665 LOG_ERROR("mode (transport) not supported by device");
1666 goto error_open;
1667 }
1668
1669 api = h->version.jtag_api_max;
1670
1671 LOG_INFO("using stlink api v%d", api);
1672
1673 /* set the used jtag api, this will default to the newest supported version */
1674 h->jtag_api = api;
1675
1676 if (h->jtag_api >= 2 && param->trace_source_hz > 0) {
1677 uint32_t prescale;
1678
1679 prescale = param->trace_source_hz > STLINK_TRACE_MAX_HZ ?
1680 (param->trace_source_hz / STLINK_TRACE_MAX_HZ) - 1 : 0;
1681
1682 h->trace.output_f = param->trace_f;
1683 h->trace.source_hz = param->trace_source_hz;
1684 h->trace.prescale = prescale;
1685 }
1686
1687 /* initialize the debug hardware */
1688 err = stlink_usb_init_mode(h, param->connect_under_reset);
1689
1690 if (err != ERROR_OK) {
1691 LOG_ERROR("init mode failed");
1692 goto error_open;
1693 }
1694
1695 /* get cpuid, so we can determine the max page size
1696 * start with a safe default */
1697 h->max_mem_packet = (1 << 10);
1698
1699 uint8_t buffer[4];
1700 err = stlink_usb_read_mem32(h, CPUID, 4, buffer);
1701 if (err == ERROR_OK) {
1702 uint32_t cpuid = le_to_h_u32(buffer);
1703 int i = (cpuid >> 4) & 0xf;
1704 if (i == 4 || i == 3) {
1705 /* Cortex-M3/M4 has 4096 bytes autoincrement range */
1706 h->max_mem_packet = (1 << 12);
1707 }
1708 }
1709
1710 LOG_DEBUG("Using TAR autoincrement: %" PRIu32, h->max_mem_packet);
1711
1712 *fd = h;
1713
1714 return ERROR_OK;
1715
1716 error_open:
1717 stlink_usb_close(h);
1718
1719 return ERROR_FAIL;
1720 }
1721
1722 /** */
1723 struct hl_layout_api_s stlink_usb_layout_api = {
1724 /** */
1725 .open = stlink_usb_open,
1726 /** */
1727 .close = stlink_usb_close,
1728 /** */
1729 .idcode = stlink_usb_idcode,
1730 /** */
1731 .state = stlink_usb_state,
1732 /** */
1733 .reset = stlink_usb_reset,
1734 /** */
1735 .assert_srst = stlink_usb_assert_srst,
1736 /** */
1737 .run = stlink_usb_run,
1738 /** */
1739 .halt = stlink_usb_halt,
1740 /** */
1741 .step = stlink_usb_step,
1742 /** */
1743 .read_regs = stlink_usb_read_regs,
1744 /** */
1745 .read_reg = stlink_usb_read_reg,
1746 /** */
1747 .write_reg = stlink_usb_write_reg,
1748 /** */
1749 .read_mem = stlink_usb_read_mem,
1750 /** */
1751 .write_mem = stlink_usb_write_mem,
1752 /** */
1753 .write_debug_reg = stlink_usb_write_debug_reg
1754 };
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