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[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
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 /* "WAIT" responses will be retried (with exponential backoff) at
70 * most this many times before failing to caller.
71 */
72 #define MAX_WAIT_RETRIES 8
73
74 enum stlink_jtag_api_version {
75 STLINK_JTAG_API_V1 = 1,
76 STLINK_JTAG_API_V2,
77 };
78
79 /** */
80 struct stlink_usb_version {
81 /** */
82 int stlink;
83 /** */
84 int jtag;
85 /** */
86 int swim;
87 /** highest supported jtag api version */
88 enum stlink_jtag_api_version jtag_api_max;
89 };
90
91 /** */
92 struct stlink_usb_handle_s {
93 /** */
94 struct jtag_libusb_device_handle *fd;
95 /** */
96 struct libusb_transfer *trans;
97 /** */
98 uint8_t rx_ep;
99 /** */
100 uint8_t tx_ep;
101 /** */
102 uint8_t trace_ep;
103 /** */
104 uint8_t cmdbuf[STLINK_SG_SIZE];
105 /** */
106 uint8_t cmdidx;
107 /** */
108 uint8_t direction;
109 /** */
110 uint8_t databuf[STLINK_DATA_SIZE];
111 /** */
112 uint32_t max_mem_packet;
113 /** */
114 enum hl_transports transport;
115 /** */
116 struct stlink_usb_version version;
117 /** */
118 uint16_t vid;
119 /** */
120 uint16_t pid;
121 /** this is the currently used jtag api */
122 enum stlink_jtag_api_version jtag_api;
123 /** */
124 struct {
125 /** whether SWO tracing is enabled or not */
126 bool enabled;
127 /** trace module source clock */
128 uint32_t source_hz;
129 } trace;
130 /** reconnect is needed next time we try to query the
131 * status */
132 bool reconnect_pending;
133 };
134
135 #define STLINK_DEBUG_ERR_OK 0x80
136 #define STLINK_DEBUG_ERR_FAULT 0x81
137 #define STLINK_SWD_AP_WAIT 0x10
138 #define STLINK_JTAG_WRITE_ERROR 0x0c
139 #define STLINK_JTAG_WRITE_VERIF_ERROR 0x0d
140 #define STLINK_SWD_DP_WAIT 0x14
141
142 #define STLINK_CORE_RUNNING 0x80
143 #define STLINK_CORE_HALTED 0x81
144 #define STLINK_CORE_STAT_UNKNOWN -1
145
146 #define STLINK_GET_VERSION 0xF1
147 #define STLINK_DEBUG_COMMAND 0xF2
148 #define STLINK_DFU_COMMAND 0xF3
149 #define STLINK_SWIM_COMMAND 0xF4
150 #define STLINK_GET_CURRENT_MODE 0xF5
151 #define STLINK_GET_TARGET_VOLTAGE 0xF7
152
153 #define STLINK_DEV_DFU_MODE 0x00
154 #define STLINK_DEV_MASS_MODE 0x01
155 #define STLINK_DEV_DEBUG_MODE 0x02
156 #define STLINK_DEV_SWIM_MODE 0x03
157 #define STLINK_DEV_BOOTLOADER_MODE 0x04
158 #define STLINK_DEV_UNKNOWN_MODE -1
159
160 #define STLINK_DFU_EXIT 0x07
161
162 #define STLINK_SWIM_ENTER 0x00
163 #define STLINK_SWIM_EXIT 0x01
164
165 #define STLINK_DEBUG_ENTER_JTAG 0x00
166 #define STLINK_DEBUG_GETSTATUS 0x01
167 #define STLINK_DEBUG_FORCEDEBUG 0x02
168 #define STLINK_DEBUG_APIV1_RESETSYS 0x03
169 #define STLINK_DEBUG_APIV1_READALLREGS 0x04
170 #define STLINK_DEBUG_APIV1_READREG 0x05
171 #define STLINK_DEBUG_APIV1_WRITEREG 0x06
172 #define STLINK_DEBUG_READMEM_32BIT 0x07
173 #define STLINK_DEBUG_WRITEMEM_32BIT 0x08
174 #define STLINK_DEBUG_RUNCORE 0x09
175 #define STLINK_DEBUG_STEPCORE 0x0a
176 #define STLINK_DEBUG_APIV1_SETFP 0x0b
177 #define STLINK_DEBUG_READMEM_8BIT 0x0c
178 #define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
179 #define STLINK_DEBUG_APIV1_CLEARFP 0x0e
180 #define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
181 #define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
182
183 #define STLINK_DEBUG_ENTER_JTAG 0x00
184 #define STLINK_DEBUG_ENTER_SWD 0xa3
185
186 #define STLINK_DEBUG_APIV1_ENTER 0x20
187 #define STLINK_DEBUG_EXIT 0x21
188 #define STLINK_DEBUG_READCOREID 0x22
189
190 #define STLINK_DEBUG_APIV2_ENTER 0x30
191 #define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
192 #define STLINK_DEBUG_APIV2_RESETSYS 0x32
193 #define STLINK_DEBUG_APIV2_READREG 0x33
194 #define STLINK_DEBUG_APIV2_WRITEREG 0x34
195 #define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35
196 #define STLINK_DEBUG_APIV2_READDEBUGREG 0x36
197
198 #define STLINK_DEBUG_APIV2_READALLREGS 0x3A
199 #define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B
200 #define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
201
202 #define STLINK_DEBUG_APIV2_START_TRACE_RX 0x40
203 #define STLINK_DEBUG_APIV2_STOP_TRACE_RX 0x41
204 #define STLINK_DEBUG_APIV2_GET_TRACE_NB 0x42
205 #define STLINK_DEBUG_APIV2_SWD_SET_FREQ 0x43
206
207 #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
208 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
209 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
210
211 #define STLINK_TRACE_SIZE 1024
212 #define STLINK_TRACE_MAX_HZ 2000000
213 #define STLINK_TRACE_MIN_VERSION 13
214
215 /** */
216 enum stlink_mode {
217 STLINK_MODE_UNKNOWN = 0,
218 STLINK_MODE_DFU,
219 STLINK_MODE_MASS,
220 STLINK_MODE_DEBUG_JTAG,
221 STLINK_MODE_DEBUG_SWD,
222 STLINK_MODE_DEBUG_SWIM
223 };
224
225 #define REQUEST_SENSE 0x03
226 #define REQUEST_SENSE_LENGTH 18
227
228 static const struct {
229 int speed;
230 int speed_divisor;
231 } stlink_khz_to_speed_map[] = {
232 {4000, 0},
233 {1800, 1}, /* default */
234 {1200, 2},
235 {950, 3},
236 {480, 7},
237 {240, 15},
238 {125, 31},
239 {100, 40},
240 {50, 79},
241 {25, 158},
242 {15, 265},
243 {5, 798}
244 };
245
246 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size);
247
248 /** */
249 static int stlink_usb_xfer_v1_get_status(void *handle)
250 {
251 struct stlink_usb_handle_s *h = handle;
252
253 assert(handle != NULL);
254
255 /* read status */
256 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
257
258 if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)h->cmdbuf,
259 13, STLINK_READ_TIMEOUT) != 13)
260 return ERROR_FAIL;
261
262 uint32_t t1;
263
264 t1 = buf_get_u32(h->cmdbuf, 0, 32);
265
266 /* check for USBS */
267 if (t1 != 0x53425355)
268 return ERROR_FAIL;
269 /*
270 * CSW status:
271 * 0 success
272 * 1 command failure
273 * 2 phase error
274 */
275 if (h->cmdbuf[12] != 0)
276 return ERROR_FAIL;
277
278 return ERROR_OK;
279 }
280
281 /** */
282 static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size)
283 {
284 struct stlink_usb_handle_s *h = handle;
285
286 assert(handle != NULL);
287
288 if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)h->cmdbuf, cmdsize,
289 STLINK_WRITE_TIMEOUT) != cmdsize) {
290 return ERROR_FAIL;
291 }
292
293 if (h->direction == h->tx_ep && size) {
294 if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)buf,
295 size, STLINK_WRITE_TIMEOUT) != size) {
296 LOG_DEBUG("bulk write failed");
297 return ERROR_FAIL;
298 }
299 } else if (h->direction == h->rx_ep && size) {
300 if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)buf,
301 size, STLINK_READ_TIMEOUT) != size) {
302 LOG_DEBUG("bulk read failed");
303 return ERROR_FAIL;
304 }
305 }
306
307 return ERROR_OK;
308 }
309
310 /** */
311 static int stlink_usb_xfer_v1_get_sense(void *handle)
312 {
313 int res;
314 struct stlink_usb_handle_s *h = handle;
315
316 assert(handle != NULL);
317
318 stlink_usb_init_buffer(handle, h->rx_ep, 16);
319
320 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE;
321 h->cmdbuf[h->cmdidx++] = 0;
322 h->cmdbuf[h->cmdidx++] = 0;
323 h->cmdbuf[h->cmdidx++] = 0;
324 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH;
325
326 res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16);
327
328 if (res != ERROR_OK)
329 return res;
330
331 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK)
332 return ERROR_FAIL;
333
334 return ERROR_OK;
335 }
336
337 /** */
338 static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size)
339 {
340 int err, cmdsize = STLINK_CMD_SIZE_V2;
341 struct stlink_usb_handle_s *h = handle;
342
343 assert(handle != NULL);
344
345 if (h->version.stlink == 1)
346 cmdsize = STLINK_SG_SIZE;
347
348 err = stlink_usb_xfer_rw(handle, cmdsize, buf, size);
349
350 if (err != ERROR_OK)
351 return err;
352
353 if (h->version.stlink == 1) {
354 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) {
355 /* check csw status */
356 if (h->cmdbuf[12] == 1) {
357 LOG_DEBUG("get sense");
358 if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK)
359 return ERROR_FAIL;
360 }
361 return ERROR_FAIL;
362 }
363 }
364
365 return ERROR_OK;
366 }
367
368
369 /**
370 Converts an STLINK status code held in the first byte of a response
371 to an openocd error, logs any error/wait status as debug output.
372 */
373 static int stlink_usb_error_check(void *handle)
374 {
375 struct stlink_usb_handle_s *h = handle;
376
377 assert(handle != NULL);
378
379 /* TODO: no error checking yet on api V1 */
380 if (h->jtag_api == STLINK_JTAG_API_V1)
381 h->databuf[0] = STLINK_DEBUG_ERR_OK;
382
383 switch (h->databuf[0]) {
384 case STLINK_DEBUG_ERR_OK:
385 return ERROR_OK;
386 case STLINK_DEBUG_ERR_FAULT:
387 LOG_DEBUG("SWD fault response (0x%x)", STLINK_DEBUG_ERR_FAULT);
388 return ERROR_FAIL;
389 case STLINK_SWD_AP_WAIT:
390 LOG_DEBUG("wait status SWD_AP_WAIT (0x%x)", STLINK_SWD_AP_WAIT);
391 return ERROR_WAIT;
392 case STLINK_SWD_DP_WAIT:
393 LOG_DEBUG("wait status SWD_DP_WAIT (0x%x)", STLINK_SWD_AP_WAIT);
394 return ERROR_WAIT;
395 case STLINK_JTAG_WRITE_ERROR:
396 LOG_DEBUG("Write error");
397 return ERROR_FAIL;
398 case STLINK_JTAG_WRITE_VERIF_ERROR:
399 LOG_DEBUG("Verify error");
400 return ERROR_FAIL;
401 default:
402 LOG_DEBUG("unknown/unexpected STLINK status code 0x%x", h->databuf[0]);
403 return ERROR_FAIL;
404 }
405 }
406
407
408 /** Issue an STLINK command via USB transfer, with retries on any wait status responses.
409
410 Works for commands where the STLINK_DEBUG status is returned in the first
411 byte of the response packet.
412
413 Returns an openocd result code.
414 */
415 static int stlink_cmd_allow_retry(void *handle, const uint8_t *buf, int size)
416 {
417 int retries = 0;
418 int res;
419 while (1) {
420 res = stlink_usb_xfer(handle, buf, size);
421 if (res != ERROR_OK)
422 return res;
423 res = stlink_usb_error_check(handle);
424 if (res == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
425 usleep((1<<retries++) * 1000);
426 continue;
427 }
428 return res;
429 }
430 }
431
432 /** */
433 static int stlink_usb_read_trace(void *handle, const uint8_t *buf, int size)
434 {
435 struct stlink_usb_handle_s *h = handle;
436
437 assert(handle != NULL);
438
439 assert(h->version.stlink >= 2);
440
441 if (jtag_libusb_bulk_read(h->fd, h->trace_ep, (char *)buf,
442 size, STLINK_READ_TIMEOUT) != size) {
443 LOG_ERROR("bulk trace read failed");
444 return ERROR_FAIL;
445 }
446
447 return ERROR_OK;
448 }
449
450 /** */
451 static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size)
452 {
453 struct stlink_usb_handle_s *h = handle;
454
455 /* fill the send buffer */
456 strcpy((char *)h->cmdbuf, "USBC");
457 h->cmdidx += 4;
458 /* csw tag not used */
459 h->cmdidx += 4;
460 buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size);
461 h->cmdidx += 4;
462 h->cmdbuf[h->cmdidx++] = (direction == h->rx_ep ? ENDPOINT_IN : ENDPOINT_OUT);
463 h->cmdbuf[h->cmdidx++] = 0; /* lun */
464 h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1;
465 }
466
467 /** */
468 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size)
469 {
470 struct stlink_usb_handle_s *h = handle;
471
472 h->direction = direction;
473
474 h->cmdidx = 0;
475
476 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
477 memset(h->databuf, 0, STLINK_DATA_SIZE);
478
479 if (h->version.stlink == 1)
480 stlink_usb_xfer_v1_create_cmd(handle, direction, size);
481 }
482
483 /** */
484 static int stlink_usb_version(void *handle)
485 {
486 int res;
487 uint16_t v;
488 struct stlink_usb_handle_s *h = handle;
489
490 assert(handle != NULL);
491
492 stlink_usb_init_buffer(handle, h->rx_ep, 6);
493
494 h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION;
495
496 res = stlink_usb_xfer(handle, h->databuf, 6);
497
498 if (res != ERROR_OK)
499 return res;
500
501 v = (h->databuf[0] << 8) | h->databuf[1];
502
503 h->version.stlink = (v >> 12) & 0x0f;
504 h->version.jtag = (v >> 6) & 0x3f;
505 h->version.swim = v & 0x3f;
506 h->vid = buf_get_u32(h->databuf, 16, 16);
507 h->pid = buf_get_u32(h->databuf, 32, 16);
508
509 /* set the supported jtag api version
510 * API V2 is supported since JTAG V11
511 */
512 if (h->version.jtag >= 11)
513 h->version.jtag_api_max = STLINK_JTAG_API_V2;
514 else
515 h->version.jtag_api_max = STLINK_JTAG_API_V1;
516
517 LOG_INFO("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X",
518 h->version.stlink,
519 h->version.jtag,
520 (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2,
521 h->version.swim,
522 h->vid,
523 h->pid);
524
525 return ERROR_OK;
526 }
527
528 static int stlink_usb_check_voltage(void *handle, float *target_voltage)
529 {
530 struct stlink_usb_handle_s *h = handle;
531 uint32_t adc_results[2];
532
533 /* only supported by stlink/v2 and for firmware >= 13 */
534 if (h->version.stlink == 1 || h->version.jtag < 13)
535 return ERROR_COMMAND_NOTFOUND;
536
537 stlink_usb_init_buffer(handle, h->rx_ep, 8);
538
539 h->cmdbuf[h->cmdidx++] = STLINK_GET_TARGET_VOLTAGE;
540
541 int result = stlink_usb_xfer(handle, h->databuf, 8);
542
543 if (result != ERROR_OK)
544 return result;
545
546 /* convert result */
547 adc_results[0] = le_to_h_u32(h->databuf);
548 adc_results[1] = le_to_h_u32(h->databuf + 4);
549
550 *target_voltage = 0;
551
552 if (adc_results[0])
553 *target_voltage = 2 * ((float)adc_results[1]) * (float)(1.2 / adc_results[0]);
554
555 LOG_INFO("Target voltage: %f", (double)*target_voltage);
556
557 return ERROR_OK;
558 }
559
560 static int stlink_usb_set_swdclk(void *handle, uint16_t clk_divisor)
561 {
562 struct stlink_usb_handle_s *h = handle;
563
564 assert(handle != NULL);
565
566 /* only supported by stlink/v2 and for firmware >= 22 */
567 if (h->version.stlink == 1 || h->version.jtag < 22)
568 return ERROR_COMMAND_NOTFOUND;
569
570 stlink_usb_init_buffer(handle, h->rx_ep, 2);
571
572 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
573 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_SWD_SET_FREQ;
574 h_u16_to_le(h->cmdbuf+h->cmdidx, clk_divisor);
575 h->cmdidx += 2;
576
577 int result = stlink_cmd_allow_retry(handle, h->databuf, 2);
578
579 if (result != ERROR_OK)
580 return result;
581
582 return ERROR_OK;
583 }
584
585 /** */
586 static int stlink_usb_current_mode(void *handle, uint8_t *mode)
587 {
588 int res;
589 struct stlink_usb_handle_s *h = handle;
590
591 assert(handle != NULL);
592
593 stlink_usb_init_buffer(handle, h->rx_ep, 2);
594
595 h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE;
596
597 res = stlink_usb_xfer(handle, h->databuf, 2);
598
599 if (res != ERROR_OK)
600 return res;
601
602 *mode = h->databuf[0];
603
604 return ERROR_OK;
605 }
606
607 /** */
608 static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
609 {
610 int rx_size = 0;
611 struct stlink_usb_handle_s *h = handle;
612
613 assert(handle != NULL);
614
615 /* on api V2 we are able the read the latest command
616 * status
617 * TODO: we need the test on api V1 too
618 */
619 if (h->jtag_api == STLINK_JTAG_API_V2)
620 rx_size = 2;
621
622 stlink_usb_init_buffer(handle, h->rx_ep, rx_size);
623
624 switch (type) {
625 case STLINK_MODE_DEBUG_JTAG:
626 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
627 if (h->jtag_api == STLINK_JTAG_API_V1)
628 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
629 else
630 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
631 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG;
632 break;
633 case STLINK_MODE_DEBUG_SWD:
634 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
635 if (h->jtag_api == STLINK_JTAG_API_V1)
636 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
637 else
638 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
639 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD;
640 break;
641 case STLINK_MODE_DEBUG_SWIM:
642 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
643 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER;
644 break;
645 case STLINK_MODE_DFU:
646 case STLINK_MODE_MASS:
647 default:
648 return ERROR_FAIL;
649 }
650
651 return stlink_cmd_allow_retry(handle, h->databuf, rx_size);
652 }
653
654 /** */
655 static int stlink_usb_mode_leave(void *handle, enum stlink_mode type)
656 {
657 int res;
658 struct stlink_usb_handle_s *h = handle;
659
660 assert(handle != NULL);
661
662 stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0);
663
664 switch (type) {
665 case STLINK_MODE_DEBUG_JTAG:
666 case STLINK_MODE_DEBUG_SWD:
667 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
668 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT;
669 break;
670 case STLINK_MODE_DEBUG_SWIM:
671 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
672 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT;
673 break;
674 case STLINK_MODE_DFU:
675 h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND;
676 h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT;
677 break;
678 case STLINK_MODE_MASS:
679 default:
680 return ERROR_FAIL;
681 }
682
683 res = stlink_usb_xfer(handle, 0, 0);
684
685 if (res != ERROR_OK)
686 return res;
687
688 return ERROR_OK;
689 }
690
691 static int stlink_usb_assert_srst(void *handle, int srst);
692
693 static enum stlink_mode stlink_get_mode(enum hl_transports t)
694 {
695 switch (t) {
696 case HL_TRANSPORT_SWD:
697 return STLINK_MODE_DEBUG_SWD;
698 case HL_TRANSPORT_JTAG:
699 return STLINK_MODE_DEBUG_JTAG;
700 case HL_TRANSPORT_SWIM:
701 return STLINK_MODE_DEBUG_SWIM;
702 default:
703 return STLINK_MODE_UNKNOWN;
704 }
705 }
706
707 /** */
708 static int stlink_usb_init_mode(void *handle, bool connect_under_reset)
709 {
710 int res;
711 uint8_t mode;
712 enum stlink_mode emode;
713 struct stlink_usb_handle_s *h = handle;
714
715 assert(handle != NULL);
716
717 res = stlink_usb_current_mode(handle, &mode);
718
719 if (res != ERROR_OK)
720 return res;
721
722 LOG_DEBUG("MODE: 0x%02X", mode);
723
724 /* try to exit current mode */
725 switch (mode) {
726 case STLINK_DEV_DFU_MODE:
727 emode = STLINK_MODE_DFU;
728 break;
729 case STLINK_DEV_DEBUG_MODE:
730 emode = STLINK_MODE_DEBUG_SWD;
731 break;
732 case STLINK_DEV_SWIM_MODE:
733 emode = STLINK_MODE_DEBUG_SWIM;
734 break;
735 case STLINK_DEV_BOOTLOADER_MODE:
736 case STLINK_DEV_MASS_MODE:
737 default:
738 emode = STLINK_MODE_UNKNOWN;
739 break;
740 }
741
742 if (emode != STLINK_MODE_UNKNOWN) {
743 res = stlink_usb_mode_leave(handle, emode);
744
745 if (res != ERROR_OK)
746 return res;
747 }
748
749 res = stlink_usb_current_mode(handle, &mode);
750
751 if (res != ERROR_OK)
752 return res;
753
754 /* we check the target voltage here as an aid to debugging connection problems.
755 * the stlink requires the target Vdd to be connected for reliable debugging.
756 * this cmd is supported in all modes except DFU
757 */
758 if (mode != STLINK_DEV_DFU_MODE) {
759
760 float target_voltage;
761
762 /* check target voltage (if supported) */
763 res = stlink_usb_check_voltage(h, &target_voltage);
764
765 if (res != ERROR_OK) {
766 if (res != ERROR_COMMAND_NOTFOUND)
767 LOG_ERROR("voltage check failed");
768 /* attempt to continue as it is not a catastrophic failure */
769 } else {
770 /* check for a sensible target voltage, operating range is 1.65-5.5v
771 * according to datasheet */
772 if (target_voltage < 1.5)
773 LOG_ERROR("target voltage may be too low for reliable debugging");
774 }
775 }
776
777 LOG_DEBUG("MODE: 0x%02X", mode);
778
779 /* set selected mode */
780 emode = stlink_get_mode(h->transport);
781
782 if (emode == STLINK_MODE_UNKNOWN) {
783 LOG_ERROR("selected mode (transport) not supported");
784 return ERROR_FAIL;
785 }
786
787 if (connect_under_reset) {
788 res = stlink_usb_assert_srst(handle, 0);
789 if (res != ERROR_OK)
790 return res;
791 }
792
793 res = stlink_usb_mode_enter(handle, emode);
794
795 if (res != ERROR_OK)
796 return res;
797
798 res = stlink_usb_current_mode(handle, &mode);
799
800 if (res != ERROR_OK)
801 return res;
802
803 LOG_DEBUG("MODE: 0x%02X", mode);
804
805 return ERROR_OK;
806 }
807
808 /** */
809 static int stlink_usb_idcode(void *handle, uint32_t *idcode)
810 {
811 int res;
812 struct stlink_usb_handle_s *h = handle;
813
814 assert(handle != NULL);
815
816 stlink_usb_init_buffer(handle, h->rx_ep, 4);
817
818 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
819 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID;
820
821 res = stlink_usb_xfer(handle, h->databuf, 4);
822
823 if (res != ERROR_OK)
824 return res;
825
826 *idcode = le_to_h_u32(h->databuf);
827
828 LOG_DEBUG("IDCODE: 0x%08" PRIX32, *idcode);
829
830 return ERROR_OK;
831 }
832
833 static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val)
834 {
835 struct stlink_usb_handle_s *h = handle;
836 int res;
837
838 assert(handle != NULL);
839
840 stlink_usb_init_buffer(handle, h->rx_ep, 8);
841
842 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
843 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG;
844 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
845 h->cmdidx += 4;
846
847 res = stlink_cmd_allow_retry(handle, h->databuf, 8);
848 if (res != ERROR_OK)
849 return res;
850
851 *val = le_to_h_u32(h->databuf + 4);
852 return ERROR_OK;
853 }
854
855 static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
856 {
857 struct stlink_usb_handle_s *h = handle;
858
859 assert(handle != NULL);
860
861 stlink_usb_init_buffer(handle, h->rx_ep, 2);
862
863 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
864 if (h->jtag_api == STLINK_JTAG_API_V1)
865 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG;
866 else
867 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG;
868 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
869 h->cmdidx += 4;
870 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
871 h->cmdidx += 4;
872
873 return stlink_cmd_allow_retry(handle, h->databuf, 2);
874 }
875
876 /** */
877 static int stlink_usb_trace_read(void *handle, uint8_t *buf, size_t *size)
878 {
879 struct stlink_usb_handle_s *h = handle;
880
881 assert(handle != NULL);
882
883 if (h->trace.enabled && h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
884 int res;
885
886 stlink_usb_init_buffer(handle, h->rx_ep, 10);
887
888 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
889 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GET_TRACE_NB;
890
891 res = stlink_usb_xfer(handle, h->databuf, 2);
892 if (res != ERROR_OK)
893 return res;
894
895 size_t bytes_avail = le_to_h_u16(h->databuf);
896 *size = bytes_avail < *size ? bytes_avail : *size - 1;
897
898 if (*size > 0) {
899 res = stlink_usb_read_trace(handle, buf, *size);
900 if (res != ERROR_OK)
901 return res;
902 return ERROR_OK;
903 }
904 }
905 *size = 0;
906 return ERROR_OK;
907 }
908
909 static enum target_state stlink_usb_v2_get_status(void *handle)
910 {
911 int result;
912 uint32_t status;
913
914 result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status);
915 if (result != ERROR_OK)
916 return TARGET_UNKNOWN;
917
918 if (status & S_HALT)
919 return TARGET_HALTED;
920 else if (status & S_RESET_ST)
921 return TARGET_RESET;
922
923 return TARGET_RUNNING;
924 }
925
926 /** */
927 static enum target_state stlink_usb_state(void *handle)
928 {
929 int res;
930 struct stlink_usb_handle_s *h = handle;
931
932 assert(handle != NULL);
933
934 if (h->reconnect_pending) {
935 LOG_INFO("Previous state query failed, trying to reconnect");
936 res = stlink_usb_mode_enter(handle, stlink_get_mode(h->transport));
937
938 if (res != ERROR_OK)
939 return TARGET_UNKNOWN;
940
941 h->reconnect_pending = false;
942 }
943
944 if (h->jtag_api == STLINK_JTAG_API_V2) {
945 res = stlink_usb_v2_get_status(handle);
946 if (res == TARGET_UNKNOWN)
947 h->reconnect_pending = true;
948 return res;
949 }
950
951 stlink_usb_init_buffer(handle, h->rx_ep, 2);
952
953 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
954 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS;
955
956 res = stlink_usb_xfer(handle, h->databuf, 2);
957
958 if (res != ERROR_OK)
959 return TARGET_UNKNOWN;
960
961 if (h->databuf[0] == STLINK_CORE_RUNNING)
962 return TARGET_RUNNING;
963 if (h->databuf[0] == STLINK_CORE_HALTED)
964 return TARGET_HALTED;
965
966 h->reconnect_pending = true;
967
968 return TARGET_UNKNOWN;
969 }
970
971 static int stlink_usb_assert_srst(void *handle, int srst)
972 {
973 struct stlink_usb_handle_s *h = handle;
974
975 assert(handle != NULL);
976
977 if (h->jtag_api == STLINK_JTAG_API_V1)
978 return ERROR_COMMAND_NOTFOUND;
979
980 stlink_usb_init_buffer(handle, h->rx_ep, 2);
981
982 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
983 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST;
984 h->cmdbuf[h->cmdidx++] = srst;
985
986 return stlink_cmd_allow_retry(handle, h->databuf, 2);
987 }
988
989 /** */
990 static void stlink_usb_trace_disable(void *handle)
991 {
992 int res = ERROR_OK;
993 struct stlink_usb_handle_s *h = handle;
994
995 assert(handle != NULL);
996
997 assert(h->version.jtag >= STLINK_TRACE_MIN_VERSION);
998
999 LOG_DEBUG("Tracing: disable");
1000
1001 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1002 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1003 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_STOP_TRACE_RX;
1004 res = stlink_usb_xfer(handle, h->databuf, 2);
1005
1006 if (res == ERROR_OK)
1007 h->trace.enabled = false;
1008 }
1009
1010
1011 /** */
1012 static int stlink_usb_trace_enable(void *handle)
1013 {
1014 int res;
1015 struct stlink_usb_handle_s *h = handle;
1016
1017 assert(handle != NULL);
1018
1019 if (h->version.jtag >= STLINK_TRACE_MIN_VERSION) {
1020 stlink_usb_init_buffer(handle, h->rx_ep, 10);
1021
1022 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1023 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_START_TRACE_RX;
1024 h_u16_to_le(h->cmdbuf+h->cmdidx, (uint16_t)STLINK_TRACE_SIZE);
1025 h->cmdidx += 2;
1026 h_u32_to_le(h->cmdbuf+h->cmdidx, h->trace.source_hz);
1027 h->cmdidx += 4;
1028
1029 res = stlink_usb_xfer(handle, h->databuf, 2);
1030
1031 if (res == ERROR_OK) {
1032 h->trace.enabled = true;
1033 LOG_DEBUG("Tracing: recording at %" PRIu32 "Hz", h->trace.source_hz);
1034 }
1035 } else {
1036 LOG_ERROR("Tracing is not supported by this version.");
1037 res = ERROR_FAIL;
1038 }
1039
1040 return res;
1041 }
1042
1043 /** */
1044 static int stlink_usb_reset(void *handle)
1045 {
1046 struct stlink_usb_handle_s *h = handle;
1047 int retval;
1048
1049 assert(handle != NULL);
1050
1051 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1052
1053 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1054
1055 if (h->jtag_api == STLINK_JTAG_API_V1)
1056 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_RESETSYS;
1057 else
1058 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS;
1059
1060 retval = stlink_cmd_allow_retry(handle, h->databuf, 2);
1061 if (retval != ERROR_OK)
1062 return retval;
1063
1064 if (h->trace.enabled) {
1065 stlink_usb_trace_disable(h);
1066 return stlink_usb_trace_enable(h);
1067 }
1068
1069 return ERROR_OK;
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 return res;
1084 }
1085
1086 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1087
1088 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1089 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE;
1090
1091 return stlink_cmd_allow_retry(handle, h->databuf, 2);
1092 }
1093
1094 /** */
1095 static int stlink_usb_halt(void *handle)
1096 {
1097 int res;
1098 struct stlink_usb_handle_s *h = handle;
1099
1100 assert(handle != NULL);
1101
1102 if (h->jtag_api == STLINK_JTAG_API_V2) {
1103 res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1104
1105 return res;
1106 }
1107
1108 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1109
1110 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1111 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG;
1112
1113 return stlink_cmd_allow_retry(handle, h->databuf, 2);
1114 }
1115
1116 /** */
1117 static int stlink_usb_step(void *handle)
1118 {
1119 struct stlink_usb_handle_s *h = handle;
1120
1121 assert(handle != NULL);
1122
1123 if (h->jtag_api == STLINK_JTAG_API_V2) {
1124 /* TODO: this emulates the v1 api, it should really use a similar auto mask isr
1125 * that the cortex-m3 currently does. */
1126 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_MASKINTS|C_DEBUGEN);
1127 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_MASKINTS|C_DEBUGEN);
1128 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
1129 }
1130
1131 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1132
1133 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1134 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE;
1135
1136 return stlink_cmd_allow_retry(handle, h->databuf, 2);
1137 }
1138
1139 /** */
1140 static int stlink_usb_read_regs(void *handle)
1141 {
1142 int res;
1143 struct stlink_usb_handle_s *h = handle;
1144
1145 assert(handle != NULL);
1146
1147 stlink_usb_init_buffer(handle, h->rx_ep, 84);
1148
1149 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1150 if (h->jtag_api == STLINK_JTAG_API_V1)
1151 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS;
1152 else
1153 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS;
1154
1155 res = stlink_usb_xfer(handle, h->databuf, 84);
1156
1157 if (res != ERROR_OK)
1158 return res;
1159
1160 return ERROR_OK;
1161 }
1162
1163 /** */
1164 static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
1165 {
1166 int res;
1167 struct stlink_usb_handle_s *h = handle;
1168
1169 assert(handle != NULL);
1170
1171 stlink_usb_init_buffer(handle, h->rx_ep, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1172
1173 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1174 if (h->jtag_api == STLINK_JTAG_API_V1)
1175 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG;
1176 else
1177 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG;
1178 h->cmdbuf[h->cmdidx++] = num;
1179
1180 if (h->jtag_api == STLINK_JTAG_API_V1) {
1181 res = stlink_usb_xfer(handle, h->databuf, 4);
1182 if (res != ERROR_OK)
1183 return res;
1184 *val = le_to_h_u32(h->databuf);
1185 return ERROR_OK;
1186 } else {
1187 res = stlink_cmd_allow_retry(handle, h->databuf, 8);
1188 if (res != ERROR_OK)
1189 return res;
1190 *val = le_to_h_u32(h->databuf + 4);
1191 return ERROR_OK;
1192 }
1193 }
1194
1195 /** */
1196 static int stlink_usb_write_reg(void *handle, int num, uint32_t val)
1197 {
1198 struct stlink_usb_handle_s *h = handle;
1199
1200 assert(handle != NULL);
1201
1202 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1203
1204 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1205 if (h->jtag_api == STLINK_JTAG_API_V1)
1206 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG;
1207 else
1208 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG;
1209 h->cmdbuf[h->cmdidx++] = num;
1210 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
1211 h->cmdidx += 4;
1212
1213 return stlink_cmd_allow_retry(handle, h->databuf, 2);
1214 }
1215
1216 static int stlink_usb_get_rw_status(void *handle)
1217 {
1218 int res;
1219 struct stlink_usb_handle_s *h = handle;
1220
1221 assert(handle != NULL);
1222
1223 if (h->jtag_api == STLINK_JTAG_API_V1)
1224 return ERROR_OK;
1225
1226 stlink_usb_init_buffer(handle, h->rx_ep, 2);
1227
1228 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1229 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS;
1230
1231 res = stlink_usb_xfer(handle, h->databuf, 2);
1232
1233 if (res != ERROR_OK)
1234 return res;
1235
1236 return stlink_usb_error_check(h);
1237 }
1238
1239 /** */
1240 static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
1241 uint8_t *buffer)
1242 {
1243 int res;
1244 uint16_t read_len = len;
1245 struct stlink_usb_handle_s *h = handle;
1246
1247 assert(handle != NULL);
1248
1249 /* max 8bit read/write is 64bytes */
1250 if (len > STLINK_MAX_RW8) {
1251 LOG_DEBUG("max buffer length exceeded");
1252 return ERROR_FAIL;
1253 }
1254
1255 stlink_usb_init_buffer(handle, h->rx_ep, read_len);
1256
1257 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1258 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT;
1259 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1260 h->cmdidx += 4;
1261 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1262 h->cmdidx += 2;
1263
1264 /* we need to fix read length for single bytes */
1265 if (read_len == 1)
1266 read_len++;
1267
1268 res = stlink_usb_xfer(handle, h->databuf, read_len);
1269
1270 if (res != ERROR_OK)
1271 return res;
1272
1273 memcpy(buffer, h->databuf, len);
1274
1275 return stlink_usb_get_rw_status(handle);
1276 }
1277
1278 /** */
1279 static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len,
1280 const uint8_t *buffer)
1281 {
1282 int res;
1283 struct stlink_usb_handle_s *h = handle;
1284
1285 assert(handle != NULL);
1286
1287 /* max 8bit read/write is 64bytes */
1288 if (len > STLINK_MAX_RW8) {
1289 LOG_DEBUG("max buffer length exceeded");
1290 return ERROR_FAIL;
1291 }
1292
1293 stlink_usb_init_buffer(handle, h->tx_ep, len);
1294
1295 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1296 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT;
1297 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1298 h->cmdidx += 4;
1299 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1300 h->cmdidx += 2;
1301
1302 res = stlink_usb_xfer(handle, buffer, len);
1303
1304 if (res != ERROR_OK)
1305 return res;
1306
1307 return stlink_usb_get_rw_status(handle);
1308 }
1309
1310 /** */
1311 static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
1312 uint8_t *buffer)
1313 {
1314 int res;
1315 struct stlink_usb_handle_s *h = handle;
1316
1317 assert(handle != NULL);
1318
1319 /* data must be a multiple of 4 and word aligned */
1320 if (len % 4 || addr % 4) {
1321 LOG_DEBUG("Invalid data alignment");
1322 return ERROR_TARGET_UNALIGNED_ACCESS;
1323 }
1324
1325 stlink_usb_init_buffer(handle, h->rx_ep, len);
1326
1327 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1328 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT;
1329 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1330 h->cmdidx += 4;
1331 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1332 h->cmdidx += 2;
1333
1334 res = stlink_usb_xfer(handle, h->databuf, len);
1335
1336 if (res != ERROR_OK)
1337 return res;
1338
1339 memcpy(buffer, h->databuf, len);
1340
1341 return stlink_usb_get_rw_status(handle);
1342 }
1343
1344 /** */
1345 static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
1346 const uint8_t *buffer)
1347 {
1348 int res;
1349 struct stlink_usb_handle_s *h = handle;
1350
1351 assert(handle != NULL);
1352
1353 /* data must be a multiple of 4 and word aligned */
1354 if (len % 4 || addr % 4) {
1355 LOG_DEBUG("Invalid data alignment");
1356 return ERROR_TARGET_UNALIGNED_ACCESS;
1357 }
1358
1359 stlink_usb_init_buffer(handle, h->tx_ep, len);
1360
1361 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1362 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT;
1363 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1364 h->cmdidx += 4;
1365 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1366 h->cmdidx += 2;
1367
1368 res = stlink_usb_xfer(handle, buffer, len);
1369
1370 if (res != ERROR_OK)
1371 return res;
1372
1373 return stlink_usb_get_rw_status(handle);
1374 }
1375
1376 static uint32_t stlink_max_block_size(uint32_t tar_autoincr_block, uint32_t address)
1377 {
1378 uint32_t max_tar_block = (tar_autoincr_block - ((tar_autoincr_block - 1) & address));
1379 if (max_tar_block == 0)
1380 max_tar_block = 4;
1381 return max_tar_block;
1382 }
1383
1384 static int stlink_usb_read_mem(void *handle, uint32_t addr, uint32_t size,
1385 uint32_t count, uint8_t *buffer)
1386 {
1387 int retval = ERROR_OK;
1388 uint32_t bytes_remaining;
1389 int retries = 0;
1390 struct stlink_usb_handle_s *h = handle;
1391
1392 /* calculate byte count */
1393 count *= size;
1394
1395 while (count) {
1396
1397 bytes_remaining = (size == 4) ? \
1398 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1399
1400 if (count < bytes_remaining)
1401 bytes_remaining = count;
1402
1403 /* the stlink only supports 8/32bit memory read/writes
1404 * honour 32bit, all others will be handled as 8bit access */
1405 if (size == 4) {
1406
1407 /* When in jtag mode the stlink uses the auto-increment functinality.
1408 * However it expects us to pass the data correctly, this includes
1409 * alignment and any page boundaries. We already do this as part of the
1410 * adi_v5 implementation, but the stlink is a hla adapter and so this
1411 * needs implementiong manually.
1412 * currently this only affects jtag mode, according to ST they do single
1413 * access in SWD mode - but this may change and so we do it for both modes */
1414
1415 /* we first need to check for any unaligned bytes */
1416 if (addr % 4) {
1417
1418 uint32_t head_bytes = 4 - (addr % 4);
1419 retval = stlink_usb_read_mem8(handle, addr, head_bytes, buffer);
1420 if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
1421 usleep((1<<retries++) * 1000);
1422 continue;
1423 }
1424 if (retval != ERROR_OK)
1425 return retval;
1426 buffer += head_bytes;
1427 addr += head_bytes;
1428 count -= head_bytes;
1429 bytes_remaining -= head_bytes;
1430 }
1431
1432 if (bytes_remaining % 4)
1433 retval = stlink_usb_read_mem(handle, addr, 1, bytes_remaining, buffer);
1434 else
1435 retval = stlink_usb_read_mem32(handle, addr, bytes_remaining, buffer);
1436 } else
1437 retval = stlink_usb_read_mem8(handle, addr, bytes_remaining, buffer);
1438
1439 if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
1440 usleep((1<<retries++) * 1000);
1441 continue;
1442 }
1443 if (retval != ERROR_OK)
1444 return retval;
1445
1446 buffer += bytes_remaining;
1447 addr += bytes_remaining;
1448 count -= bytes_remaining;
1449 }
1450
1451 return retval;
1452 }
1453
1454 static int stlink_usb_write_mem(void *handle, uint32_t addr, uint32_t size,
1455 uint32_t count, const uint8_t *buffer)
1456 {
1457 int retval = ERROR_OK;
1458 uint32_t bytes_remaining;
1459 int retries = 0;
1460 struct stlink_usb_handle_s *h = handle;
1461
1462 /* calculate byte count */
1463 count *= size;
1464
1465 while (count) {
1466
1467 bytes_remaining = (size == 4) ? \
1468 stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8;
1469
1470 if (count < bytes_remaining)
1471 bytes_remaining = count;
1472
1473 /* the stlink only supports 8/32bit memory read/writes
1474 * honour 32bit, all others will be handled as 8bit access */
1475 if (size == 4) {
1476
1477 /* When in jtag mode the stlink uses the auto-increment functinality.
1478 * However it expects us to pass the data correctly, this includes
1479 * alignment and any page boundaries. We already do this as part of the
1480 * adi_v5 implementation, but the stlink is a hla adapter and so this
1481 * needs implementiong manually.
1482 * currently this only affects jtag mode, according to ST they do single
1483 * access in SWD mode - but this may change and so we do it for both modes */
1484
1485 /* we first need to check for any unaligned bytes */
1486 if (addr % 4) {
1487
1488 uint32_t head_bytes = 4 - (addr % 4);
1489 retval = stlink_usb_write_mem8(handle, addr, head_bytes, buffer);
1490 if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
1491 usleep((1<<retries++) * 1000);
1492 continue;
1493 }
1494 if (retval != ERROR_OK)
1495 return retval;
1496 buffer += head_bytes;
1497 addr += head_bytes;
1498 count -= head_bytes;
1499 bytes_remaining -= head_bytes;
1500 }
1501
1502 if (bytes_remaining % 4)
1503 retval = stlink_usb_write_mem(handle, addr, 1, bytes_remaining, buffer);
1504 else
1505 retval = stlink_usb_write_mem32(handle, addr, bytes_remaining, buffer);
1506
1507 } else
1508 retval = stlink_usb_write_mem8(handle, addr, bytes_remaining, buffer);
1509 if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
1510 usleep((1<<retries++) * 1000);
1511 continue;
1512 }
1513 if (retval != ERROR_OK)
1514 return retval;
1515
1516 buffer += bytes_remaining;
1517 addr += bytes_remaining;
1518 count -= bytes_remaining;
1519 }
1520
1521 return retval;
1522 }
1523
1524 /** */
1525 static int stlink_usb_override_target(const char *targetname)
1526 {
1527 return !strcmp(targetname, "cortex_m");
1528 }
1529
1530 static int stlink_speed(void *handle, int khz, bool query)
1531 {
1532 unsigned i;
1533 int speed_index = -1;
1534 int speed_diff = INT_MAX;
1535 struct stlink_usb_handle_s *h = handle;
1536
1537 /* only supported by stlink/v2 and for firmware >= 22 */
1538 if (h && (h->version.stlink == 1 || h->version.jtag < 22))
1539 return khz;
1540
1541 for (i = 0; i < ARRAY_SIZE(stlink_khz_to_speed_map); i++) {
1542 if (khz == stlink_khz_to_speed_map[i].speed) {
1543 speed_index = i;
1544 break;
1545 } else {
1546 int current_diff = khz - stlink_khz_to_speed_map[i].speed;
1547 /* get abs value for comparison */
1548 current_diff = (current_diff > 0) ? current_diff : -current_diff;
1549 if ((current_diff < speed_diff) && khz >= stlink_khz_to_speed_map[i].speed) {
1550 speed_diff = current_diff;
1551 speed_index = i;
1552 }
1553 }
1554 }
1555
1556 bool match = true;
1557
1558 if (speed_index == -1) {
1559 /* this will only be here if we cannot match the slow speed.
1560 * use the slowest speed we support.*/
1561 speed_index = ARRAY_SIZE(stlink_khz_to_speed_map) - 1;
1562 match = false;
1563 } else if (i == ARRAY_SIZE(stlink_khz_to_speed_map))
1564 match = false;
1565
1566 if (!match && query) {
1567 LOG_INFO("Unable to match requested speed %d kHz, using %d kHz", \
1568 khz, stlink_khz_to_speed_map[speed_index].speed);
1569 }
1570
1571 if (h && !query) {
1572 int result = stlink_usb_set_swdclk(h, stlink_khz_to_speed_map[speed_index].speed_divisor);
1573 if (result != ERROR_OK) {
1574 LOG_ERROR("Unable to set adapter speed");
1575 return khz;
1576 }
1577 }
1578
1579 return stlink_khz_to_speed_map[speed_index].speed;
1580 }
1581
1582 /** */
1583 static int stlink_usb_close(void *handle)
1584 {
1585 struct stlink_usb_handle_s *h = handle;
1586
1587 if (h && h->fd)
1588 jtag_libusb_close(h->fd);
1589
1590 free(h);
1591
1592 return ERROR_OK;
1593 }
1594
1595 /** */
1596 static int stlink_usb_open(struct hl_interface_param_s *param, void **fd)
1597 {
1598 int err, retry_count = 1;
1599 struct stlink_usb_handle_s *h;
1600 enum stlink_jtag_api_version api;
1601
1602 LOG_DEBUG("stlink_usb_open");
1603
1604 h = calloc(1, sizeof(struct stlink_usb_handle_s));
1605
1606 if (h == 0) {
1607 LOG_DEBUG("malloc failed");
1608 return ERROR_FAIL;
1609 }
1610
1611 h->transport = param->transport;
1612
1613 const uint16_t vids[] = { param->vid, 0 };
1614 const uint16_t pids[] = { param->pid, 0 };
1615 const char *serial = param->serial;
1616
1617 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x serial: %s",
1618 param->transport, param->vid, param->pid,
1619 param->serial ? param->serial : "");
1620
1621 /*
1622 On certain host USB configurations(e.g. MacBook Air)
1623 STLINKv2 dongle seems to have its FW in a funky state if,
1624 after plugging it in, you try to use openocd with it more
1625 then once (by launching and closing openocd). In cases like
1626 that initial attempt to read the FW info via
1627 stlink_usb_version will fail and the device has to be reset
1628 in order to become operational.
1629 */
1630 do {
1631 if (jtag_libusb_open(vids, pids, serial, &h->fd) != ERROR_OK) {
1632 LOG_ERROR("open failed");
1633 goto error_open;
1634 }
1635
1636 jtag_libusb_set_configuration(h->fd, 0);
1637
1638 if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
1639 LOG_DEBUG("claim interface failed");
1640 goto error_open;
1641 }
1642
1643 /* RX EP is common for all versions */
1644 h->rx_ep = STLINK_RX_EP;
1645
1646 /* wrap version for first read */
1647 switch (param->pid) {
1648 case STLINK_V1_PID:
1649 h->version.stlink = 1;
1650 h->tx_ep = STLINK_TX_EP;
1651 h->trace_ep = STLINK_TRACE_EP;
1652 break;
1653 case STLINK_V2_1_PID:
1654 h->version.stlink = 2;
1655 h->tx_ep = STLINK_V2_1_TX_EP;
1656 h->trace_ep = STLINK_V2_1_TRACE_EP;
1657 break;
1658 default:
1659 /* fall through - we assume V2 to be the default version*/
1660 case STLINK_V2_PID:
1661 h->version.stlink = 2;
1662 h->tx_ep = STLINK_TX_EP;
1663 h->trace_ep = STLINK_TRACE_EP;
1664 break;
1665 }
1666
1667 /* get the device version */
1668 err = stlink_usb_version(h);
1669
1670 if (err == ERROR_OK) {
1671 break;
1672 } else if (h->version.stlink == 1 ||
1673 retry_count == 0) {
1674 LOG_ERROR("read version failed");
1675 goto error_open;
1676 } else {
1677 err = jtag_libusb_release_interface(h->fd, 0);
1678 if (err != ERROR_OK) {
1679 LOG_ERROR("release interface failed");
1680 goto error_open;
1681 }
1682
1683 err = jtag_libusb_reset_device(h->fd);
1684 if (err != ERROR_OK) {
1685 LOG_ERROR("reset device failed");
1686 goto error_open;
1687 }
1688
1689 jtag_libusb_close(h->fd);
1690 /*
1691 Give the device one second to settle down and
1692 reenumerate.
1693 */
1694 usleep(1 * 1000 * 1000);
1695 retry_count--;
1696 }
1697 } while (1);
1698
1699 /* compare usb vid/pid */
1700 if ((param->vid != h->vid) || (param->pid != h->pid))
1701 LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
1702 param->vid, param->pid,
1703 h->vid, h->pid);
1704
1705 /* check if mode is supported */
1706 err = ERROR_OK;
1707
1708 switch (h->transport) {
1709 case HL_TRANSPORT_SWD:
1710 case HL_TRANSPORT_JTAG:
1711 if (h->version.jtag == 0)
1712 err = ERROR_FAIL;
1713 break;
1714 case HL_TRANSPORT_SWIM:
1715 if (h->version.swim == 0)
1716 err = ERROR_FAIL;
1717 break;
1718 default:
1719 err = ERROR_FAIL;
1720 break;
1721 }
1722
1723 if (err != ERROR_OK) {
1724 LOG_ERROR("mode (transport) not supported by device");
1725 goto error_open;
1726 }
1727
1728 api = h->version.jtag_api_max;
1729
1730 LOG_INFO("using stlink api v%d", api);
1731
1732 /* set the used jtag api, this will default to the newest supported version */
1733 h->jtag_api = api;
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 (unable to connect to the target)");
1740 goto error_open;
1741 }
1742
1743 /* clock speed only supported by stlink/v2 and for firmware >= 22 */
1744 if (h->version.stlink >= 2 && h->version.jtag >= 22) {
1745 LOG_DEBUG("Supported clock speeds are:");
1746
1747 for (unsigned i = 0; i < ARRAY_SIZE(stlink_khz_to_speed_map); i++)
1748 LOG_DEBUG("%d kHz", stlink_khz_to_speed_map[i].speed);
1749
1750 stlink_speed(h, param->initial_interface_speed, false);
1751 }
1752
1753 /* get cpuid, so we can determine the max page size
1754 * start with a safe default */
1755 h->max_mem_packet = (1 << 10);
1756
1757 uint8_t buffer[4];
1758 err = stlink_usb_read_mem32(h, CPUID, 4, buffer);
1759 if (err == ERROR_OK) {
1760 uint32_t cpuid = le_to_h_u32(buffer);
1761 int i = (cpuid >> 4) & 0xf;
1762 if (i == 4 || i == 3) {
1763 /* Cortex-M3/M4 has 4096 bytes autoincrement range */
1764 h->max_mem_packet = (1 << 12);
1765 }
1766 }
1767
1768 LOG_DEBUG("Using TAR autoincrement: %" PRIu32, h->max_mem_packet);
1769
1770 *fd = h;
1771
1772 return ERROR_OK;
1773
1774 error_open:
1775 stlink_usb_close(h);
1776
1777 return ERROR_FAIL;
1778 }
1779
1780 int stlink_config_trace(void *handle, bool enabled, enum tpio_pin_protocol pin_protocol,
1781 uint32_t port_size, unsigned int *trace_freq)
1782 {
1783 struct stlink_usb_handle_s *h = handle;
1784
1785 if (enabled && (h->jtag_api < 2 || pin_protocol != ASYNC_UART)) {
1786 LOG_ERROR("The attached ST-LINK version doesn't support this trace mode");
1787 return ERROR_FAIL;
1788 }
1789
1790 if (!enabled) {
1791 stlink_usb_trace_disable(h);
1792 return ERROR_OK;
1793 }
1794
1795 if (*trace_freq > STLINK_TRACE_MAX_HZ) {
1796 LOG_ERROR("ST-LINK doesn't support SWO frequency higher than %u",
1797 STLINK_TRACE_MAX_HZ);
1798 return ERROR_FAIL;
1799 }
1800
1801 stlink_usb_trace_disable(h);
1802
1803 if (!*trace_freq)
1804 *trace_freq = STLINK_TRACE_MAX_HZ;
1805 h->trace.source_hz = *trace_freq;
1806
1807 return stlink_usb_trace_enable(h);
1808 }
1809
1810 /** */
1811 struct hl_layout_api_s stlink_usb_layout_api = {
1812 /** */
1813 .open = stlink_usb_open,
1814 /** */
1815 .close = stlink_usb_close,
1816 /** */
1817 .idcode = stlink_usb_idcode,
1818 /** */
1819 .state = stlink_usb_state,
1820 /** */
1821 .reset = stlink_usb_reset,
1822 /** */
1823 .assert_srst = stlink_usb_assert_srst,
1824 /** */
1825 .run = stlink_usb_run,
1826 /** */
1827 .halt = stlink_usb_halt,
1828 /** */
1829 .step = stlink_usb_step,
1830 /** */
1831 .read_regs = stlink_usb_read_regs,
1832 /** */
1833 .read_reg = stlink_usb_read_reg,
1834 /** */
1835 .write_reg = stlink_usb_write_reg,
1836 /** */
1837 .read_mem = stlink_usb_read_mem,
1838 /** */
1839 .write_mem = stlink_usb_write_mem,
1840 /** */
1841 .write_debug_reg = stlink_usb_write_debug_reg,
1842 /** */
1843 .override_target = stlink_usb_override_target,
1844 /** */
1845 .speed = stlink_speed,
1846 /** */
1847 .config_trace = stlink_config_trace,
1848 /** */
1849 .poll_trace = stlink_usb_trace_read,
1850 };
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