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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 * This code is based on https://github.com/texane/stlink *
6 * *
7 * This program is free software; you can redistribute it and/or modify *
8 * it under the terms of the GNU General Public License as published by *
9 * the Free Software Foundation; either version 2 of the License, or *
10 * (at your option) any later version. *
11 * *
12 * This program is distributed in the hope that it will be useful, *
13 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
15 * GNU General Public License for more details. *
16 * *
17 * You should have received a copy of the GNU General Public License *
18 * along with this program; if not, write to the *
19 * Free Software Foundation, Inc., *
20 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
21 ***************************************************************************/
22
23 #ifdef HAVE_CONFIG_H
24 #include "config.h"
25 #endif
26
27 /* project specific includes */
28 #include <helper/binarybuffer.h>
29 #include <jtag/interface.h>
30 #include <jtag/stlink/stlink_layout.h>
31 #include <jtag/stlink/stlink_transport.h>
32 #include <jtag/stlink/stlink_interface.h>
33 #include <target/target.h>
34
35 #include <target/cortex_m.h>
36
37 #include "libusb_common.h"
38
39 #define ENDPOINT_IN 0x80
40 #define ENDPOINT_OUT 0x00
41
42 #define STLINK_NULL_EP 0
43 #define STLINK_RX_EP (1|ENDPOINT_IN)
44 #define STLINK_TX_EP (2|ENDPOINT_OUT)
45 #define STLINK_SG_SIZE (31)
46 #define STLINK_DATA_SIZE (4*128)
47 #define STLINK_CMD_SIZE_V2 (16)
48 #define STLINK_CMD_SIZE_V1 (10)
49
50 enum stlink_jtag_api_version {
51 STLINK_JTAG_API_V1 = 0,
52 STLINK_JTAG_API_V2,
53 };
54
55 /** */
56 struct stlink_usb_version {
57 /** */
58 int stlink;
59 /** */
60 int jtag;
61 /** */
62 int swim;
63 /** highest supported jtag api version */
64 enum stlink_jtag_api_version jtag_api_max;
65 };
66
67 /** */
68 struct stlink_usb_handle_s {
69 /** */
70 struct jtag_libusb_device_handle *fd;
71 /** */
72 struct libusb_transfer *trans;
73 /** */
74 uint8_t cmdbuf[STLINK_SG_SIZE];
75 /** */
76 uint8_t cmdidx;
77 /** */
78 uint8_t direction;
79 /** */
80 uint8_t databuf[STLINK_DATA_SIZE];
81 /** */
82 enum stlink_transports transport;
83 /** */
84 struct stlink_usb_version version;
85 /** */
86 uint16_t vid;
87 /** */
88 uint16_t pid;
89 /** this is the currently used jtag api */
90 enum stlink_jtag_api_version jtag_api;
91 };
92
93 #define STLINK_DEBUG_ERR_OK 0x80
94 #define STLINK_DEBUG_ERR_FAULT 0x81
95 #define STLINK_CORE_RUNNING 0x80
96 #define STLINK_CORE_HALTED 0x81
97 #define STLINK_CORE_STAT_UNKNOWN -1
98
99 #define STLINK_GET_VERSION 0xF1
100 #define STLINK_DEBUG_COMMAND 0xF2
101 #define STLINK_DFU_COMMAND 0xF3
102 #define STLINK_SWIM_COMMAND 0xF4
103 #define STLINK_GET_CURRENT_MODE 0xF5
104
105 #define STLINK_DEV_DFU_MODE 0x00
106 #define STLINK_DEV_MASS_MODE 0x01
107 #define STLINK_DEV_DEBUG_MODE 0x02
108 #define STLINK_DEV_SWIM_MODE 0x03
109 #define STLINK_DEV_BOOTLOADER_MODE 0x04
110 #define STLINK_DEV_UNKNOWN_MODE -1
111
112 #define STLINK_DFU_EXIT 0x07
113
114 #define STLINK_SWIM_ENTER 0x00
115 #define STLINK_SWIM_EXIT 0x01
116
117 #define STLINK_DEBUG_ENTER_JTAG 0x00
118 #define STLINK_DEBUG_GETSTATUS 0x01
119 #define STLINK_DEBUG_FORCEDEBUG 0x02
120 #define STLINK_DEBUG_APIV1_RESETSYS 0x03
121 #define STLINK_DEBUG_APIV1_READALLREGS 0x04
122 #define STLINK_DEBUG_APIV1_READREG 0x05
123 #define STLINK_DEBUG_APIV1_WRITEREG 0x06
124 #define STLINK_DEBUG_READMEM_32BIT 0x07
125 #define STLINK_DEBUG_WRITEMEM_32BIT 0x08
126 #define STLINK_DEBUG_RUNCORE 0x09
127 #define STLINK_DEBUG_STEPCORE 0x0a
128 #define STLINK_DEBUG_APIV1_SETFP 0x0b
129 #define STLINK_DEBUG_READMEM_8BIT 0x0c
130 #define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
131 #define STLINK_DEBUG_APIV1_CLEARFP 0x0e
132 #define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
133 #define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
134
135 #define STLINK_DEBUG_ENTER_JTAG 0x00
136 #define STLINK_DEBUG_ENTER_SWD 0xa3
137
138 #define STLINK_DEBUG_APIV1_ENTER 0x20
139 #define STLINK_DEBUG_EXIT 0x21
140 #define STLINK_DEBUG_READCOREID 0x22
141
142 #define STLINK_DEBUG_APIV2_ENTER 0x30
143 #define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
144 #define STLINK_DEBUG_APIV2_RESETSYS 0x32
145 #define STLINK_DEBUG_APIV2_READREG 0x33
146 #define STLINK_DEBUG_APIV2_WRITEREG 0x34
147 #define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35
148 #define STLINK_DEBUG_APIV2_READDEBUGREG 0x36
149
150 #define STLINK_DEBUG_APIV2_READALLREGS 0x3A
151 #define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B
152 #define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
153
154 #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
155 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
156 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
157
158 /** */
159 enum stlink_mode {
160 STLINK_MODE_UNKNOWN = 0,
161 STLINK_MODE_DFU,
162 STLINK_MODE_MASS,
163 STLINK_MODE_DEBUG_JTAG,
164 STLINK_MODE_DEBUG_SWD,
165 STLINK_MODE_DEBUG_SWIM
166 };
167
168 #define REQUEST_SENSE 0x03
169 #define REQUEST_SENSE_LENGTH 18
170
171 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size);
172
173 /** */
174 static int stlink_usb_xfer_v1_get_status(void *handle)
175 {
176 struct stlink_usb_handle_s *h;
177
178 assert(handle != NULL);
179
180 h = (struct stlink_usb_handle_s *)handle;
181
182 /* read status */
183 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
184
185 if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)h->cmdbuf,
186 13, 1000) != 13)
187 return ERROR_FAIL;
188
189 uint32_t t1;
190
191 t1 = buf_get_u32(h->cmdbuf, 0, 32);
192
193 /* check for USBS */
194 if (t1 != 0x53425355)
195 return ERROR_FAIL;
196 /*
197 * CSW status:
198 * 0 success
199 * 1 command failure
200 * 2 phase error
201 */
202 if (h->cmdbuf[12] != 0)
203 return ERROR_FAIL;
204
205 return ERROR_OK;
206 }
207
208 /** */
209 static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size)
210 {
211 struct stlink_usb_handle_s *h;
212
213 assert(handle != NULL);
214
215 h = (struct stlink_usb_handle_s *)handle;
216
217 if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)h->cmdbuf, cmdsize,
218 1000) != cmdsize) {
219 return ERROR_FAIL;
220 }
221
222 if (h->direction == STLINK_TX_EP && size) {
223 if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)buf,
224 size, 1000) != size) {
225 LOG_DEBUG("bulk write failed");
226 return ERROR_FAIL;
227 }
228 } else if (h->direction == STLINK_RX_EP && size) {
229 if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)buf,
230 size, 1000) != size) {
231 LOG_DEBUG("bulk read failed");
232 return ERROR_FAIL;
233 }
234 }
235
236 return ERROR_OK;
237 }
238
239 /** */
240 static int stlink_usb_xfer_v1_get_sense(void *handle)
241 {
242 int res;
243 struct stlink_usb_handle_s *h;
244
245 assert(handle != NULL);
246
247 h = (struct stlink_usb_handle_s *)handle;
248
249 stlink_usb_init_buffer(handle, STLINK_RX_EP, 16);
250
251 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE;
252 h->cmdbuf[h->cmdidx++] = 0;
253 h->cmdbuf[h->cmdidx++] = 0;
254 h->cmdbuf[h->cmdidx++] = 0;
255 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH;
256
257 res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16);
258
259 if (res != ERROR_OK)
260 return res;
261
262 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK)
263 return ERROR_FAIL;
264
265 return ERROR_OK;
266 }
267
268 /** */
269 static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size)
270 {
271 int err, cmdsize = STLINK_CMD_SIZE_V2;
272 struct stlink_usb_handle_s *h;
273
274 assert(handle != NULL);
275
276 h = (struct stlink_usb_handle_s *)handle;
277
278 if (h->version.stlink == 1)
279 cmdsize = STLINK_SG_SIZE;
280
281 err = stlink_usb_xfer_rw(handle, cmdsize, buf, size);
282
283 if (err != ERROR_OK)
284 return err;
285
286 if (h->version.stlink == 1) {
287 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) {
288 /* check csw status */
289 if (h->cmdbuf[12] == 1) {
290 LOG_DEBUG("get sense");
291 if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK)
292 return ERROR_FAIL;
293 }
294 return ERROR_FAIL;
295 }
296 }
297
298 return ERROR_OK;
299 }
300
301 /** */
302 static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size)
303 {
304 struct stlink_usb_handle_s *h;
305
306 h = (struct stlink_usb_handle_s *)handle;
307
308 /* fill the send buffer */
309 strcpy((char *)h->cmdbuf, "USBC");
310 h->cmdidx += 4;
311 /* csw tag not used */
312 h->cmdidx += 4;
313 buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size);
314 h->cmdidx += 4;
315 h->cmdbuf[h->cmdidx++] = (direction == STLINK_RX_EP ? ENDPOINT_IN : ENDPOINT_OUT);
316 h->cmdbuf[h->cmdidx++] = 0; /* lun */
317 h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1;
318 }
319
320 /** */
321 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size)
322 {
323 struct stlink_usb_handle_s *h;
324
325 h = (struct stlink_usb_handle_s *)handle;
326
327 h->direction = direction;
328
329 h->cmdidx = 0;
330
331 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
332 memset(h->databuf, 0, STLINK_DATA_SIZE);
333
334 if (h->version.stlink == 1)
335 stlink_usb_xfer_v1_create_cmd(handle, direction, size);
336 }
337
338 static const char * const stlink_usb_error_msg[] = {
339 "unknown"
340 };
341
342 /** */
343 static int stlink_usb_error_check(void *handle)
344 {
345 int res;
346 const char *err_msg = 0;
347 struct stlink_usb_handle_s *h;
348
349 assert(handle != NULL);
350
351 h = (struct stlink_usb_handle_s *)handle;
352
353 /* TODO: no error checking yet on api V1 */
354 if (h->jtag_api == STLINK_JTAG_API_V1)
355 h->databuf[0] = STLINK_DEBUG_ERR_OK;
356
357 switch (h->databuf[0]) {
358 case STLINK_DEBUG_ERR_OK:
359 res = ERROR_OK;
360 break;
361 case STLINK_DEBUG_ERR_FAULT:
362 default:
363 err_msg = stlink_usb_error_msg[0];
364 res = ERROR_FAIL;
365 break;
366 }
367
368 if (res != ERROR_OK)
369 LOG_DEBUG("status error: %d ('%s')", h->databuf[0], err_msg);
370
371 return res;
372 }
373
374 /** */
375 static int stlink_usb_version(void *handle)
376 {
377 int res;
378 uint16_t v;
379 struct stlink_usb_handle_s *h;
380
381 assert(handle != NULL);
382
383 h = (struct stlink_usb_handle_s *)handle;
384
385 stlink_usb_init_buffer(handle, STLINK_RX_EP, 6);
386
387 h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION;
388
389 res = stlink_usb_xfer(handle, h->databuf, 6);
390
391 if (res != ERROR_OK)
392 return res;
393
394 v = (h->databuf[0] << 8) | h->databuf[1];
395
396 h->version.stlink = (v >> 12) & 0x0f;
397 h->version.jtag = (v >> 6) & 0x3f;
398 h->version.swim = v & 0x3f;
399 h->vid = buf_get_u32(h->databuf, 16, 16);
400 h->pid = buf_get_u32(h->databuf, 32, 16);
401
402 /* set the supported jtag api version
403 * V1 doesn't support API V2 at all
404 * V2 support API V2 since JTAG V13
405 */
406 if ((h->version.stlink == 2) && (h->version.jtag > 12))
407 h->version.jtag_api_max = STLINK_JTAG_API_V2;
408 else
409 h->version.jtag_api_max = STLINK_JTAG_API_V1;
410
411 LOG_DEBUG("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X",
412 h->version.stlink,
413 h->version.jtag,
414 (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2,
415 h->version.swim,
416 h->vid,
417 h->pid);
418
419 return ERROR_OK;
420 }
421
422 /** */
423 static int stlink_usb_current_mode(void *handle, uint8_t *mode)
424 {
425 int res;
426 struct stlink_usb_handle_s *h;
427
428 assert(handle != NULL);
429
430 h = (struct stlink_usb_handle_s *)handle;
431
432 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
433
434 h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE;
435
436 res = stlink_usb_xfer(handle, h->databuf, 2);
437
438 if (res != ERROR_OK)
439 return res;
440
441 *mode = h->databuf[0];
442
443 return ERROR_OK;
444 }
445
446 /** */
447 static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
448 {
449 int res;
450 int rx_size = 0;
451 struct stlink_usb_handle_s *h;
452
453 assert(handle != NULL);
454
455 h = (struct stlink_usb_handle_s *)handle;
456
457 /* on api V2 we are able the read the latest command
458 * status
459 * TODO: we need the test on api V1 too
460 */
461 if (h->jtag_api == STLINK_JTAG_API_V2)
462 rx_size = 2;
463
464 stlink_usb_init_buffer(handle, STLINK_RX_EP, rx_size);
465
466 switch (type) {
467 case STLINK_MODE_DEBUG_JTAG:
468 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
469 if (h->jtag_api == STLINK_JTAG_API_V1)
470 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
471 else
472 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
473 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG;
474 break;
475 case STLINK_MODE_DEBUG_SWD:
476 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
477 if (h->jtag_api == STLINK_JTAG_API_V1)
478 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
479 else
480 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
481 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD;
482 break;
483 case STLINK_MODE_DEBUG_SWIM:
484 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
485 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER;
486 break;
487 case STLINK_MODE_DFU:
488 case STLINK_MODE_MASS:
489 default:
490 return ERROR_FAIL;
491 }
492
493 res = stlink_usb_xfer(handle, h->databuf, rx_size);
494
495 if (res != ERROR_OK)
496 return res;
497
498 res = stlink_usb_error_check(h);
499
500 return res;
501 }
502
503 /** */
504 static int stlink_usb_mode_leave(void *handle, enum stlink_mode type)
505 {
506 int res;
507 struct stlink_usb_handle_s *h;
508
509 assert(handle != NULL);
510
511 h = (struct stlink_usb_handle_s *)handle;
512
513 stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0);
514
515 switch (type) {
516 case STLINK_MODE_DEBUG_JTAG:
517 case STLINK_MODE_DEBUG_SWD:
518 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
519 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT;
520 break;
521 case STLINK_MODE_DEBUG_SWIM:
522 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
523 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT;
524 break;
525 case STLINK_MODE_DFU:
526 h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND;
527 h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT;
528 break;
529 case STLINK_MODE_MASS:
530 default:
531 return ERROR_FAIL;
532 }
533
534 res = stlink_usb_xfer(handle, 0, 0);
535
536 if (res != ERROR_OK)
537 return res;
538
539 return ERROR_OK;
540 }
541
542 /** */
543 static int stlink_usb_init_mode(void *handle)
544 {
545 int res;
546 uint8_t mode;
547 enum stlink_mode emode;
548 struct stlink_usb_handle_s *h;
549
550 assert(handle != NULL);
551
552 h = (struct stlink_usb_handle_s *)handle;
553
554 res = stlink_usb_current_mode(handle, &mode);
555
556 if (res != ERROR_OK)
557 return res;
558
559 LOG_DEBUG("MODE: 0x%02X", mode);
560
561 /* try to exit current mode */
562 switch (mode) {
563 case STLINK_DEV_DFU_MODE:
564 emode = STLINK_MODE_DFU;
565 break;
566 case STLINK_DEV_DEBUG_MODE:
567 emode = STLINK_MODE_DEBUG_SWD;
568 break;
569 case STLINK_DEV_SWIM_MODE:
570 emode = STLINK_MODE_DEBUG_SWIM;
571 break;
572 case STLINK_DEV_BOOTLOADER_MODE:
573 case STLINK_DEV_MASS_MODE:
574 default:
575 emode = STLINK_MODE_UNKNOWN;
576 break;
577 }
578
579 if (emode != STLINK_MODE_UNKNOWN) {
580 res = stlink_usb_mode_leave(handle, emode);
581
582 if (res != ERROR_OK)
583 return res;
584 }
585
586 res = stlink_usb_current_mode(handle, &mode);
587
588 if (res != ERROR_OK)
589 return res;
590
591 LOG_DEBUG("MODE: 0x%02X", mode);
592
593 /* set selected mode */
594 switch (h->transport) {
595 case STLINK_TRANSPORT_SWD:
596 emode = STLINK_MODE_DEBUG_SWD;
597 break;
598 case STLINK_TRANSPORT_JTAG:
599 emode = STLINK_MODE_DEBUG_JTAG;
600 break;
601 case STLINK_TRANSPORT_SWIM:
602 emode = STLINK_MODE_DEBUG_SWIM;
603 break;
604 default:
605 emode = STLINK_MODE_UNKNOWN;
606 break;
607 }
608
609 if (emode == STLINK_MODE_UNKNOWN) {
610 LOG_ERROR("selected mode (transport) not supported");
611 return ERROR_FAIL;
612 }
613
614 res = stlink_usb_mode_enter(handle, emode);
615
616 if (res != ERROR_OK)
617 return res;
618
619 res = stlink_usb_current_mode(handle, &mode);
620
621 if (res != ERROR_OK)
622 return res;
623
624 LOG_DEBUG("MODE: 0x%02X", mode);
625
626 return ERROR_OK;
627 }
628
629 /** */
630 static int stlink_usb_idcode(void *handle, uint32_t *idcode)
631 {
632 int res;
633 struct stlink_usb_handle_s *h;
634
635 assert(handle != NULL);
636
637 h = (struct stlink_usb_handle_s *)handle;
638
639 stlink_usb_init_buffer(handle, STLINK_RX_EP, 4);
640
641 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
642 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID;
643
644 res = stlink_usb_xfer(handle, h->databuf, 4);
645
646 if (res != ERROR_OK)
647 return res;
648
649 *idcode = le_to_h_u32(h->databuf);
650
651 LOG_DEBUG("IDCODE: 0x%08X", *idcode);
652
653 return ERROR_OK;
654 }
655
656 static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val)
657 {
658 struct stlink_usb_handle_s *h;
659 int res;
660
661 assert(handle != NULL);
662
663 h = (struct stlink_usb_handle_s *)handle;
664
665 stlink_usb_init_buffer(handle, STLINK_RX_EP, 8);
666
667 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
668 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG;
669 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
670 h->cmdidx += 4;
671
672 res = stlink_usb_xfer(handle, h->databuf, 8);
673
674 if (res != ERROR_OK)
675 return res;
676
677 *val = le_to_h_u32(h->databuf + 4);
678
679 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
680 }
681
682 static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
683 {
684 int res;
685 struct stlink_usb_handle_s *h;
686
687 assert(handle != NULL);
688
689 h = (struct stlink_usb_handle_s *)handle;
690
691 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
692
693 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
694 if (h->jtag_api == STLINK_JTAG_API_V1)
695 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG;
696 else
697 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG;
698 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
699 h->cmdidx += 4;
700 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
701 h->cmdidx += 4;
702
703 res = stlink_usb_xfer(handle, h->databuf, 2);
704
705 if (res != ERROR_OK)
706 return res;
707
708 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
709 }
710
711 static enum target_state stlink_usb_v2_get_status(void *handle)
712 {
713 int result;
714 uint32_t status;
715
716 result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status);
717 if (result != ERROR_OK)
718 return TARGET_UNKNOWN;
719
720 if (status & S_HALT)
721 return TARGET_HALTED;
722 else if (status & S_RESET_ST)
723 return TARGET_RESET;
724
725 return TARGET_RUNNING;
726 }
727
728 /** */
729 static enum target_state stlink_usb_state(void *handle)
730 {
731 int res;
732 struct stlink_usb_handle_s *h;
733
734 assert(handle != NULL);
735
736 h = (struct stlink_usb_handle_s *)handle;
737
738 if (h->jtag_api == STLINK_JTAG_API_V2)
739 return stlink_usb_v2_get_status(handle);
740
741 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
742
743 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
744 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS;
745
746 res = stlink_usb_xfer(handle, h->databuf, 2);
747
748 if (res != ERROR_OK)
749 return TARGET_UNKNOWN;
750
751 if (h->databuf[0] == STLINK_CORE_RUNNING)
752 return TARGET_RUNNING;
753 if (h->databuf[0] == STLINK_CORE_HALTED)
754 return TARGET_HALTED;
755
756 return TARGET_UNKNOWN;
757 }
758
759 /** */
760 static int stlink_usb_reset(void *handle)
761 {
762 int res;
763 struct stlink_usb_handle_s *h;
764
765 assert(handle != NULL);
766
767 h = (struct stlink_usb_handle_s *)handle;
768
769 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
770
771 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
772
773 if (h->jtag_api == STLINK_JTAG_API_V1)
774 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_RESETSYS;
775 else
776 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS;
777
778 res = stlink_usb_xfer(handle, h->databuf, 2);
779
780 if (res != ERROR_OK)
781 return res;
782
783 LOG_DEBUG("RESET: 0x%08X", h->databuf[0]);
784
785 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
786 }
787
788 static int stlink_usb_assert_srst(void *handle, int srst)
789 {
790 int res;
791 struct stlink_usb_handle_s *h;
792
793 assert(handle != NULL);
794
795 h = (struct stlink_usb_handle_s *)handle;
796
797 if (h->jtag_api == STLINK_JTAG_API_V1)
798 return ERROR_COMMAND_NOTFOUND;
799
800 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
801
802 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
803 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST;
804 h->cmdbuf[h->cmdidx++] = srst;
805
806 res = stlink_usb_xfer(handle, h->databuf, 2);
807
808 if (res != ERROR_OK)
809 return res;
810
811 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
812 }
813
814 /** */
815 static int stlink_usb_run(void *handle)
816 {
817 int res;
818 struct stlink_usb_handle_s *h;
819
820 assert(handle != NULL);
821
822 h = (struct stlink_usb_handle_s *)handle;
823
824 if (h->jtag_api == STLINK_JTAG_API_V2)
825 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN);
826
827 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
828
829 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
830 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE;
831
832 res = stlink_usb_xfer(handle, h->databuf, 2);
833
834 if (res != ERROR_OK)
835 return res;
836
837 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
838 }
839
840 /** */
841 static int stlink_usb_halt(void *handle)
842 {
843 int res;
844 struct stlink_usb_handle_s *h;
845
846 assert(handle != NULL);
847
848 h = (struct stlink_usb_handle_s *)handle;
849
850 if (h->jtag_api == STLINK_JTAG_API_V2)
851 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
852
853 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
854
855 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
856 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG;
857
858 res = stlink_usb_xfer(handle, h->databuf, 2);
859
860 if (res != ERROR_OK)
861 return res;
862
863 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
864 }
865
866 /** */
867 static int stlink_usb_step(void *handle)
868 {
869 int res;
870 struct stlink_usb_handle_s *h;
871
872 assert(handle != NULL);
873
874 h = (struct stlink_usb_handle_s *)handle;
875
876 if (h->jtag_api == STLINK_JTAG_API_V2)
877 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_DEBUGEN);
878
879 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
880
881 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
882 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE;
883
884 res = stlink_usb_xfer(handle, h->databuf, 2);
885
886 if (res != ERROR_OK)
887 return res;
888
889 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
890 }
891
892 /** */
893 static int stlink_usb_read_regs(void *handle)
894 {
895 int res;
896 struct stlink_usb_handle_s *h;
897
898 assert(handle != NULL);
899
900 h = (struct stlink_usb_handle_s *)handle;
901
902 stlink_usb_init_buffer(handle, STLINK_RX_EP, 84);
903
904 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
905 if (h->jtag_api == STLINK_JTAG_API_V1)
906 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS;
907 else
908 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS;
909
910 res = stlink_usb_xfer(handle, h->databuf, 84);
911
912 if (res != ERROR_OK)
913 return res;
914
915 return ERROR_OK;
916 }
917
918 /** */
919 static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
920 {
921 int res;
922 struct stlink_usb_handle_s *h;
923
924 assert(handle != NULL);
925
926 h = (struct stlink_usb_handle_s *)handle;
927
928 stlink_usb_init_buffer(handle, STLINK_RX_EP, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
929
930 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
931 if (h->jtag_api == STLINK_JTAG_API_V1)
932 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG;
933 else
934 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG;
935 h->cmdbuf[h->cmdidx++] = num;
936
937 res = stlink_usb_xfer(handle, h->databuf, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
938
939 if (res != ERROR_OK)
940 return res;
941
942 if (h->jtag_api == STLINK_JTAG_API_V1)
943 *val = le_to_h_u32(h->databuf);
944 else {
945 *val = le_to_h_u32(h->databuf + 4);
946 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
947 }
948
949 return ERROR_OK;
950 }
951
952 /** */
953 static int stlink_usb_write_reg(void *handle, int num, uint32_t val)
954 {
955 int res;
956 struct stlink_usb_handle_s *h;
957
958 assert(handle != NULL);
959
960 h = (struct stlink_usb_handle_s *)handle;
961
962 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
963
964 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
965 if (h->jtag_api == STLINK_JTAG_API_V1)
966 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG;
967 else
968 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG;
969 h->cmdbuf[h->cmdidx++] = num;
970 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
971 h->cmdidx += 4;
972
973 res = stlink_usb_xfer(handle, h->databuf, 2);
974
975 if (res != ERROR_OK)
976 return res;
977
978 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
979 }
980
981 static int stlink_usb_get_rw_status(void *handle)
982 {
983 int res;
984 struct stlink_usb_handle_s *h;
985
986 assert(handle != NULL);
987
988 h = (struct stlink_usb_handle_s *)handle;
989
990 if (h->jtag_api == STLINK_JTAG_API_V1)
991 return ERROR_OK;
992
993 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
994
995 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
996 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS;
997
998 res = stlink_usb_xfer(handle, h->databuf, 2);
999
1000 if (res != ERROR_OK)
1001 return res;
1002
1003 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : res;
1004 }
1005
1006 /** */
1007 static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
1008 uint8_t *buffer)
1009 {
1010 int res;
1011 uint16_t read_len = len;
1012 struct stlink_usb_handle_s *h;
1013
1014 assert(handle != NULL);
1015
1016 h = (struct stlink_usb_handle_s *)handle;
1017
1018 stlink_usb_init_buffer(handle, STLINK_RX_EP, read_len);
1019
1020 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1021 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT;
1022 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1023 h->cmdidx += 4;
1024 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1025 h->cmdidx += 2;
1026
1027 /* we need to fix read length for single bytes */
1028 if (read_len == 1)
1029 read_len++;
1030
1031 res = stlink_usb_xfer(handle, h->databuf, read_len);
1032
1033 if (res != ERROR_OK)
1034 return res;
1035
1036 memcpy(buffer, h->databuf, len);
1037
1038 return stlink_usb_get_rw_status(handle);
1039 }
1040
1041 /** */
1042 static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len,
1043 const uint8_t *buffer)
1044 {
1045 int res;
1046 struct stlink_usb_handle_s *h;
1047
1048 assert(handle != NULL);
1049
1050 h = (struct stlink_usb_handle_s *)handle;
1051
1052 stlink_usb_init_buffer(handle, STLINK_TX_EP, len);
1053
1054 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1055 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT;
1056 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1057 h->cmdidx += 4;
1058 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1059 h->cmdidx += 2;
1060
1061 res = stlink_usb_xfer(handle, buffer, len);
1062
1063 if (res != ERROR_OK)
1064 return res;
1065
1066 return stlink_usb_get_rw_status(handle);
1067 }
1068
1069 /** */
1070 static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
1071 uint8_t *buffer)
1072 {
1073 int res;
1074 struct stlink_usb_handle_s *h;
1075
1076 assert(handle != NULL);
1077
1078 h = (struct stlink_usb_handle_s *)handle;
1079
1080 len *= 4;
1081
1082 stlink_usb_init_buffer(handle, STLINK_RX_EP, len);
1083
1084 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1085 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT;
1086 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1087 h->cmdidx += 4;
1088 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1089 h->cmdidx += 2;
1090
1091 res = stlink_usb_xfer(handle, h->databuf, len);
1092
1093 if (res != ERROR_OK)
1094 return res;
1095
1096 memcpy(buffer, h->databuf, len);
1097
1098 return stlink_usb_get_rw_status(handle);
1099 }
1100
1101 /** */
1102 static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
1103 const uint8_t *buffer)
1104 {
1105 int res;
1106 struct stlink_usb_handle_s *h;
1107
1108 assert(handle != NULL);
1109
1110 h = (struct stlink_usb_handle_s *)handle;
1111
1112 len *= 4;
1113
1114 stlink_usb_init_buffer(handle, STLINK_TX_EP, len);
1115
1116 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1117 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT;
1118 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1119 h->cmdidx += 4;
1120 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1121 h->cmdidx += 2;
1122
1123 res = stlink_usb_xfer(handle, buffer, len);
1124
1125 if (res != ERROR_OK)
1126 return res;
1127
1128 return stlink_usb_get_rw_status(handle);
1129 }
1130
1131 /** */
1132 static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd)
1133 {
1134 int err;
1135 struct stlink_usb_handle_s *h;
1136
1137 LOG_DEBUG("stlink_usb_open");
1138
1139 h = malloc(sizeof(struct stlink_usb_handle_s));
1140
1141 if (h == 0) {
1142 LOG_DEBUG("malloc failed");
1143 return ERROR_FAIL;
1144 }
1145
1146 h->transport = param->transport;
1147
1148 const uint16_t vids[] = { param->vid, 0 };
1149 const uint16_t pids[] = { param->pid, 0 };
1150
1151 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
1152 param->vid, param->pid);
1153
1154 if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) {
1155 LOG_ERROR("open failed");
1156 return ERROR_FAIL;
1157 }
1158
1159 jtag_libusb_set_configuration(h->fd, 0);
1160
1161 if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
1162 LOG_DEBUG("claim interface failed");
1163 return ERROR_FAIL;
1164 }
1165
1166 /* wrap version for first read */
1167 switch (param->pid) {
1168 case 0x3744:
1169 h->version.stlink = 1;
1170 break;
1171 default:
1172 h->version.stlink = 2;
1173 break;
1174 }
1175
1176 /* get the device version */
1177 err = stlink_usb_version(h);
1178
1179 if (err != ERROR_OK) {
1180 LOG_ERROR("read version failed");
1181 jtag_libusb_close(h->fd);
1182 free(h);
1183 return err;
1184 }
1185
1186 /* compare usb vid/pid */
1187 if ((param->vid != h->vid) || (param->pid != h->pid))
1188 LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
1189 param->vid, param->pid,
1190 h->vid, h->pid);
1191
1192 /* check if mode is supported */
1193 err = ERROR_OK;
1194
1195 switch (h->transport) {
1196 case STLINK_TRANSPORT_SWD:
1197 case STLINK_TRANSPORT_JTAG:
1198 if (h->version.jtag == 0)
1199 err = ERROR_FAIL;
1200 break;
1201 case STLINK_TRANSPORT_SWIM:
1202 if (h->version.swim == 0)
1203 err = ERROR_FAIL;
1204 break;
1205 default:
1206 err = ERROR_FAIL;
1207 break;
1208 }
1209
1210 if (err != ERROR_OK) {
1211 LOG_ERROR("mode (transport) not supported by device");
1212 jtag_libusb_close(h->fd);
1213 free(h);
1214 return err;
1215 }
1216
1217 /* set the used jtag api, this will default to the newest supported version */
1218 h->jtag_api = h->version.jtag_api_max;
1219
1220 /* initialize the debug hardware */
1221 err = stlink_usb_init_mode(h);
1222
1223 if (err != ERROR_OK) {
1224 LOG_ERROR("init mode failed");
1225 jtag_libusb_close(h->fd);
1226 free(h);
1227 return err;
1228 }
1229
1230 *fd = h;
1231
1232 return ERROR_OK;
1233 }
1234
1235 /** */
1236 static int stlink_usb_close(void *fd)
1237 {
1238 return ERROR_OK;
1239 }
1240
1241 /** */
1242 struct stlink_layout_api_s stlink_usb_layout_api = {
1243 /** */
1244 .open = stlink_usb_open,
1245 /** */
1246 .close = stlink_usb_close,
1247 /** */
1248 .idcode = stlink_usb_idcode,
1249 /** */
1250 .state = stlink_usb_state,
1251 /** */
1252 .reset = stlink_usb_reset,
1253 /** */
1254 .assert_srst = stlink_usb_assert_srst,
1255 /** */
1256 .run = stlink_usb_run,
1257 /** */
1258 .halt = stlink_usb_halt,
1259 /** */
1260 .step = stlink_usb_step,
1261 /** */
1262 .read_regs = stlink_usb_read_regs,
1263 /** */
1264 .read_reg = stlink_usb_read_reg,
1265 /** */
1266 .write_reg = stlink_usb_write_reg,
1267 /** */
1268 .read_mem8 = stlink_usb_read_mem8,
1269 /** */
1270 .write_mem8 = stlink_usb_write_mem8,
1271 /** */
1272 .read_mem32 = stlink_usb_read_mem32,
1273 /** */
1274 .write_mem32 = stlink_usb_write_mem32,
1275 };
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