/*************************************************************************** * Copyright (C) 2011-2012 by Mathias Kuester * * Mathias Kuester * * * * Copyright (C) 2012 by Spencer Oliver * * spen@spen-soft.co.uk * * * * This code is based on https://github.com/texane/stlink * * * * This program is free software; you can redistribute it and/or modify * * it under the terms of the GNU General Public License as published by * * the Free Software Foundation; either version 2 of the License, or * * (at your option) any later version. * * * * This program is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * * GNU General Public License for more details. * * * * You should have received a copy of the GNU General Public License * * along with this program; if not, write to the * * Free Software Foundation, Inc., * * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * ***************************************************************************/ #ifdef HAVE_CONFIG_H #include "config.h" #endif /* project specific includes */ #include #include #include #include #include #include #include #include "libusb_common.h" #define ENDPOINT_IN 0x80 #define ENDPOINT_OUT 0x00 #define STLINK_NULL_EP 0 #define STLINK_RX_EP (1|ENDPOINT_IN) #define STLINK_TX_EP (2|ENDPOINT_OUT) #define STLINK_SG_SIZE (31) #define STLINK_DATA_SIZE (4*128) #define STLINK_CMD_SIZE_V2 (16) #define STLINK_CMD_SIZE_V1 (10) enum stlink_jtag_api_version { STLINK_JTAG_API_V1 = 1, STLINK_JTAG_API_V2, }; /** */ struct stlink_usb_version { /** */ int stlink; /** */ int jtag; /** */ int swim; /** highest supported jtag api version */ enum stlink_jtag_api_version jtag_api_max; }; /** */ struct stlink_usb_handle_s { /** */ struct jtag_libusb_device_handle *fd; /** */ struct libusb_transfer *trans; /** */ uint8_t cmdbuf[STLINK_SG_SIZE]; /** */ uint8_t cmdidx; /** */ uint8_t direction; /** */ uint8_t databuf[STLINK_DATA_SIZE]; /** */ enum hl_transports transport; /** */ struct stlink_usb_version version; /** */ uint16_t vid; /** */ uint16_t pid; /** this is the currently used jtag api */ enum stlink_jtag_api_version jtag_api; }; #define STLINK_DEBUG_ERR_OK 0x80 #define STLINK_DEBUG_ERR_FAULT 0x81 #define STLINK_SWD_AP_WAIT 0x10 #define STLINK_SWD_DP_WAIT 0x14 #define STLINK_CORE_RUNNING 0x80 #define STLINK_CORE_HALTED 0x81 #define STLINK_CORE_STAT_UNKNOWN -1 #define STLINK_GET_VERSION 0xF1 #define STLINK_DEBUG_COMMAND 0xF2 #define STLINK_DFU_COMMAND 0xF3 #define STLINK_SWIM_COMMAND 0xF4 #define STLINK_GET_CURRENT_MODE 0xF5 #define STLINK_GET_TARGET_VOLTAGE 0xF7 #define STLINK_DEV_DFU_MODE 0x00 #define STLINK_DEV_MASS_MODE 0x01 #define STLINK_DEV_DEBUG_MODE 0x02 #define STLINK_DEV_SWIM_MODE 0x03 #define STLINK_DEV_BOOTLOADER_MODE 0x04 #define STLINK_DEV_UNKNOWN_MODE -1 #define STLINK_DFU_EXIT 0x07 #define STLINK_SWIM_ENTER 0x00 #define STLINK_SWIM_EXIT 0x01 #define STLINK_DEBUG_ENTER_JTAG 0x00 #define STLINK_DEBUG_GETSTATUS 0x01 #define STLINK_DEBUG_FORCEDEBUG 0x02 #define STLINK_DEBUG_APIV1_RESETSYS 0x03 #define STLINK_DEBUG_APIV1_READALLREGS 0x04 #define STLINK_DEBUG_APIV1_READREG 0x05 #define STLINK_DEBUG_APIV1_WRITEREG 0x06 #define STLINK_DEBUG_READMEM_32BIT 0x07 #define STLINK_DEBUG_WRITEMEM_32BIT 0x08 #define STLINK_DEBUG_RUNCORE 0x09 #define STLINK_DEBUG_STEPCORE 0x0a #define STLINK_DEBUG_APIV1_SETFP 0x0b #define STLINK_DEBUG_READMEM_8BIT 0x0c #define STLINK_DEBUG_WRITEMEM_8BIT 0x0d #define STLINK_DEBUG_APIV1_CLEARFP 0x0e #define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f #define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10 #define STLINK_DEBUG_ENTER_JTAG 0x00 #define STLINK_DEBUG_ENTER_SWD 0xa3 #define STLINK_DEBUG_APIV1_ENTER 0x20 #define STLINK_DEBUG_EXIT 0x21 #define STLINK_DEBUG_READCOREID 0x22 #define STLINK_DEBUG_APIV2_ENTER 0x30 #define STLINK_DEBUG_APIV2_READ_IDCODES 0x31 #define STLINK_DEBUG_APIV2_RESETSYS 0x32 #define STLINK_DEBUG_APIV2_READREG 0x33 #define STLINK_DEBUG_APIV2_WRITEREG 0x34 #define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35 #define STLINK_DEBUG_APIV2_READDEBUGREG 0x36 #define STLINK_DEBUG_APIV2_READALLREGS 0x3A #define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B #define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02 /** */ enum stlink_mode { STLINK_MODE_UNKNOWN = 0, STLINK_MODE_DFU, STLINK_MODE_MASS, STLINK_MODE_DEBUG_JTAG, STLINK_MODE_DEBUG_SWD, STLINK_MODE_DEBUG_SWIM }; #define REQUEST_SENSE 0x03 #define REQUEST_SENSE_LENGTH 18 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size); /** */ static int stlink_usb_xfer_v1_get_status(void *handle) { struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; /* read status */ memset(h->cmdbuf, 0, STLINK_SG_SIZE); if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)h->cmdbuf, 13, 1000) != 13) return ERROR_FAIL; uint32_t t1; t1 = buf_get_u32(h->cmdbuf, 0, 32); /* check for USBS */ if (t1 != 0x53425355) return ERROR_FAIL; /* * CSW status: * 0 success * 1 command failure * 2 phase error */ if (h->cmdbuf[12] != 0) return ERROR_FAIL; return ERROR_OK; } /** */ static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size) { struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)h->cmdbuf, cmdsize, 1000) != cmdsize) { return ERROR_FAIL; } if (h->direction == STLINK_TX_EP && size) { if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)buf, size, 1000) != size) { LOG_DEBUG("bulk write failed"); return ERROR_FAIL; } } else if (h->direction == STLINK_RX_EP && size) { if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)buf, size, 1000) != size) { LOG_DEBUG("bulk read failed"); return ERROR_FAIL; } } return ERROR_OK; } /** */ static int stlink_usb_xfer_v1_get_sense(void *handle) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_RX_EP, 16); h->cmdbuf[h->cmdidx++] = REQUEST_SENSE; h->cmdbuf[h->cmdidx++] = 0; h->cmdbuf[h->cmdidx++] = 0; h->cmdbuf[h->cmdidx++] = 0; h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH; res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16); if (res != ERROR_OK) return res; if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) return ERROR_FAIL; return ERROR_OK; } /** */ static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size) { int err, cmdsize = STLINK_CMD_SIZE_V2; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; if (h->version.stlink == 1) cmdsize = STLINK_SG_SIZE; err = stlink_usb_xfer_rw(handle, cmdsize, buf, size); if (err != ERROR_OK) return err; if (h->version.stlink == 1) { if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) { /* check csw status */ if (h->cmdbuf[12] == 1) { LOG_DEBUG("get sense"); if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK) return ERROR_FAIL; } return ERROR_FAIL; } } return ERROR_OK; } /** */ static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size) { struct stlink_usb_handle_s *h; h = (struct stlink_usb_handle_s *)handle; /* fill the send buffer */ strcpy((char *)h->cmdbuf, "USBC"); h->cmdidx += 4; /* csw tag not used */ h->cmdidx += 4; buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size); h->cmdidx += 4; h->cmdbuf[h->cmdidx++] = (direction == STLINK_RX_EP ? ENDPOINT_IN : ENDPOINT_OUT); h->cmdbuf[h->cmdidx++] = 0; /* lun */ h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1; } /** */ static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size) { struct stlink_usb_handle_s *h; h = (struct stlink_usb_handle_s *)handle; h->direction = direction; h->cmdidx = 0; memset(h->cmdbuf, 0, STLINK_SG_SIZE); memset(h->databuf, 0, STLINK_DATA_SIZE); if (h->version.stlink == 1) stlink_usb_xfer_v1_create_cmd(handle, direction, size); } static const char * const stlink_usb_error_msg[] = { "unknown" }; /** */ static int stlink_usb_error_check(void *handle) { int res; const char *err_msg = 0; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; /* TODO: no error checking yet on api V1 */ if (h->jtag_api == STLINK_JTAG_API_V1) h->databuf[0] = STLINK_DEBUG_ERR_OK; switch (h->databuf[0]) { case STLINK_DEBUG_ERR_OK: res = ERROR_OK; break; case STLINK_DEBUG_ERR_FAULT: default: err_msg = stlink_usb_error_msg[0]; res = ERROR_FAIL; break; } if (res != ERROR_OK) LOG_DEBUG("status error: %d ('%s')", h->databuf[0], err_msg); return res; } /** */ static int stlink_usb_version(void *handle) { int res; uint16_t v; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_RX_EP, 6); h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION; res = stlink_usb_xfer(handle, h->databuf, 6); if (res != ERROR_OK) return res; v = (h->databuf[0] << 8) | h->databuf[1]; h->version.stlink = (v >> 12) & 0x0f; h->version.jtag = (v >> 6) & 0x3f; h->version.swim = v & 0x3f; h->vid = buf_get_u32(h->databuf, 16, 16); h->pid = buf_get_u32(h->databuf, 32, 16); /* set the supported jtag api version * API V2 is supported since JTAG V11 */ if (h->version.jtag >= 11) h->version.jtag_api_max = STLINK_JTAG_API_V2; else h->version.jtag_api_max = STLINK_JTAG_API_V1; LOG_INFO("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X", h->version.stlink, h->version.jtag, (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2, h->version.swim, h->vid, h->pid); return ERROR_OK; } static int stlink_usb_check_voltage(void *handle, float *target_voltage) { struct stlink_usb_handle_s *h; uint32_t adc_results[2]; h = (struct stlink_usb_handle_s *)handle; /* only supported by stlink/v2 and for firmware >= 13 */ if (h->version.stlink == 1 || h->version.jtag < 13) return ERROR_COMMAND_NOTFOUND; stlink_usb_init_buffer(handle, STLINK_RX_EP, 8); h->cmdbuf[h->cmdidx++] = STLINK_GET_TARGET_VOLTAGE; int result = stlink_usb_xfer(handle, h->databuf, 8); if (result != ERROR_OK) return result; /* convert result */ adc_results[0] = le_to_h_u32(h->databuf); adc_results[1] = le_to_h_u32(h->databuf + 4); *target_voltage = 0; if (adc_results[0]) *target_voltage = 2 * ((float)adc_results[1]) * (float)(1.2 / adc_results[0]); LOG_INFO("Target voltage: %f", (double)*target_voltage); return ERROR_OK; } /** */ static int stlink_usb_current_mode(void *handle, uint8_t *mode) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE; res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return res; *mode = h->databuf[0]; return ERROR_OK; } /** */ static int stlink_usb_mode_enter(void *handle, enum stlink_mode type) { int res; int rx_size = 0; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; /* on api V2 we are able the read the latest command * status * TODO: we need the test on api V1 too */ if (h->jtag_api == STLINK_JTAG_API_V2) rx_size = 2; stlink_usb_init_buffer(handle, STLINK_RX_EP, rx_size); switch (type) { case STLINK_MODE_DEBUG_JTAG: h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; if (h->jtag_api == STLINK_JTAG_API_V1) h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER; else h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG; break; case STLINK_MODE_DEBUG_SWD: h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; if (h->jtag_api == STLINK_JTAG_API_V1) h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER; else h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD; break; case STLINK_MODE_DEBUG_SWIM: h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER; break; case STLINK_MODE_DFU: case STLINK_MODE_MASS: default: return ERROR_FAIL; } res = stlink_usb_xfer(handle, h->databuf, rx_size); if (res != ERROR_OK) return res; res = stlink_usb_error_check(h); return res; } /** */ static int stlink_usb_mode_leave(void *handle, enum stlink_mode type) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0); switch (type) { case STLINK_MODE_DEBUG_JTAG: case STLINK_MODE_DEBUG_SWD: h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT; break; case STLINK_MODE_DEBUG_SWIM: h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT; break; case STLINK_MODE_DFU: h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT; break; case STLINK_MODE_MASS: default: return ERROR_FAIL; } res = stlink_usb_xfer(handle, 0, 0); if (res != ERROR_OK) return res; return ERROR_OK; } /** */ static int stlink_usb_init_mode(void *handle) { int res; uint8_t mode; enum stlink_mode emode; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; res = stlink_usb_current_mode(handle, &mode); if (res != ERROR_OK) return res; LOG_DEBUG("MODE: 0x%02X", mode); /* try to exit current mode */ switch (mode) { case STLINK_DEV_DFU_MODE: emode = STLINK_MODE_DFU; break; case STLINK_DEV_DEBUG_MODE: emode = STLINK_MODE_DEBUG_SWD; break; case STLINK_DEV_SWIM_MODE: emode = STLINK_MODE_DEBUG_SWIM; break; case STLINK_DEV_BOOTLOADER_MODE: case STLINK_DEV_MASS_MODE: default: emode = STLINK_MODE_UNKNOWN; break; } if (emode != STLINK_MODE_UNKNOWN) { res = stlink_usb_mode_leave(handle, emode); if (res != ERROR_OK) return res; } res = stlink_usb_current_mode(handle, &mode); if (res != ERROR_OK) return res; /* we check the target voltage here as an aid to debugging connection problems. * the stlink requires the target Vdd to be connected for reliable debugging. * this cmd is supported in all modes except DFU */ if (mode != STLINK_DEV_DFU_MODE) { float target_voltage; /* check target voltage (if supported) */ res = stlink_usb_check_voltage(h, &target_voltage); if (res != ERROR_OK) { if (res != ERROR_COMMAND_NOTFOUND) LOG_ERROR("voltage check failed"); /* attempt to continue as it is not a catastrophic failure */ } else { /* check for a sensible target voltage, operating range is 1.65-5.5v * according to datasheet */ if (target_voltage < 1.5) LOG_ERROR("target voltage may be too low for reliable debugging"); } } LOG_DEBUG("MODE: 0x%02X", mode); /* set selected mode */ switch (h->transport) { case HL_TRANSPORT_SWD: emode = STLINK_MODE_DEBUG_SWD; break; case HL_TRANSPORT_JTAG: emode = STLINK_MODE_DEBUG_JTAG; break; case HL_TRANSPORT_SWIM: emode = STLINK_MODE_DEBUG_SWIM; break; default: emode = STLINK_MODE_UNKNOWN; break; } if (emode == STLINK_MODE_UNKNOWN) { LOG_ERROR("selected mode (transport) not supported"); return ERROR_FAIL; } res = stlink_usb_mode_enter(handle, emode); if (res != ERROR_OK) return res; res = stlink_usb_current_mode(handle, &mode); if (res != ERROR_OK) return res; LOG_DEBUG("MODE: 0x%02X", mode); return ERROR_OK; } /** */ static int stlink_usb_idcode(void *handle, uint32_t *idcode) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_RX_EP, 4); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID; res = stlink_usb_xfer(handle, h->databuf, 4); if (res != ERROR_OK) return res; *idcode = le_to_h_u32(h->databuf); LOG_DEBUG("IDCODE: 0x%08X", *idcode); return ERROR_OK; } static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val) { struct stlink_usb_handle_s *h; int res; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_RX_EP, 8); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG; h_u32_to_le(h->cmdbuf+h->cmdidx, addr); h->cmdidx += 4; res = stlink_usb_xfer(handle, h->databuf, 8); if (res != ERROR_OK) return res; *val = le_to_h_u32(h->databuf + 4); return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; if (h->jtag_api == STLINK_JTAG_API_V1) h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG; else h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG; h_u32_to_le(h->cmdbuf+h->cmdidx, addr); h->cmdidx += 4; h_u32_to_le(h->cmdbuf+h->cmdidx, val); h->cmdidx += 4; res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return res; return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } static enum target_state stlink_usb_v2_get_status(void *handle) { int result; uint32_t status; result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status); if (result != ERROR_OK) return TARGET_UNKNOWN; if (status & S_HALT) return TARGET_HALTED; else if (status & S_RESET_ST) return TARGET_RESET; return TARGET_RUNNING; } /** */ static enum target_state stlink_usb_state(void *handle) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; if (h->jtag_api == STLINK_JTAG_API_V2) return stlink_usb_v2_get_status(handle); stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS; res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return TARGET_UNKNOWN; if (h->databuf[0] == STLINK_CORE_RUNNING) return TARGET_RUNNING; if (h->databuf[0] == STLINK_CORE_HALTED) return TARGET_HALTED; return TARGET_UNKNOWN; } /** */ static int stlink_usb_reset(void *handle) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; if (h->jtag_api == STLINK_JTAG_API_V1) h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_RESETSYS; else h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS; res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return res; LOG_DEBUG("RESET: 0x%08X", h->databuf[0]); /* the following is not a error under swd (using hardware srst), so return success */ if (h->databuf[0] == STLINK_SWD_AP_WAIT || h->databuf[0] == STLINK_SWD_DP_WAIT) return ERROR_OK; return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } static int stlink_usb_assert_srst(void *handle, int srst) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; if (h->jtag_api == STLINK_JTAG_API_V1) return ERROR_COMMAND_NOTFOUND; stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST; h->cmdbuf[h->cmdidx++] = srst; res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return res; return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } /** */ static int stlink_usb_run(void *handle) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; if (h->jtag_api == STLINK_JTAG_API_V2) return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN); stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE; res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return res; return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } /** */ static int stlink_usb_halt(void *handle) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; if (h->jtag_api == STLINK_JTAG_API_V2) return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN); stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG; res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return res; return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } /** */ static int stlink_usb_step(void *handle) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; if (h->jtag_api == STLINK_JTAG_API_V2) { /* TODO: this emulates the v1 api, it should really use a similar auto mask isr * that the cortex-m3 currently does. */ stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_MASKINTS|C_DEBUGEN); stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_MASKINTS|C_DEBUGEN); return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN); } stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE; res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return res; return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } /** */ static int stlink_usb_read_regs(void *handle) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_RX_EP, 84); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; if (h->jtag_api == STLINK_JTAG_API_V1) h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS; else h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS; res = stlink_usb_xfer(handle, h->databuf, 84); if (res != ERROR_OK) return res; return ERROR_OK; } /** */ static int stlink_usb_read_reg(void *handle, int num, uint32_t *val) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_RX_EP, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; if (h->jtag_api == STLINK_JTAG_API_V1) h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG; else h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG; h->cmdbuf[h->cmdidx++] = num; res = stlink_usb_xfer(handle, h->databuf, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8); if (res != ERROR_OK) return res; if (h->jtag_api == STLINK_JTAG_API_V1) *val = le_to_h_u32(h->databuf); else { *val = le_to_h_u32(h->databuf + 4); return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } return ERROR_OK; } /** */ static int stlink_usb_write_reg(void *handle, int num, uint32_t val) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; if (h->jtag_api == STLINK_JTAG_API_V1) h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG; else h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG; h->cmdbuf[h->cmdidx++] = num; h_u32_to_le(h->cmdbuf+h->cmdidx, val); h->cmdidx += 4; res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return res; return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } static int stlink_usb_get_rw_status(void *handle) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; if (h->jtag_api == STLINK_JTAG_API_V1) return ERROR_OK; stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS; res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return res; return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : res; } /** */ static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer) { int res; uint16_t read_len = len; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_RX_EP, read_len); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT; h_u32_to_le(h->cmdbuf+h->cmdidx, addr); h->cmdidx += 4; h_u16_to_le(h->cmdbuf+h->cmdidx, len); h->cmdidx += 2; /* we need to fix read length for single bytes */ if (read_len == 1) read_len++; res = stlink_usb_xfer(handle, h->databuf, read_len); if (res != ERROR_OK) return res; memcpy(buffer, h->databuf, len); return stlink_usb_get_rw_status(handle); } /** */ static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_TX_EP, len); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT; h_u32_to_le(h->cmdbuf+h->cmdidx, addr); h->cmdidx += 4; h_u16_to_le(h->cmdbuf+h->cmdidx, len); h->cmdidx += 2; res = stlink_usb_xfer(handle, buffer, len); if (res != ERROR_OK) return res; return stlink_usb_get_rw_status(handle); } /** */ static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; len *= 4; stlink_usb_init_buffer(handle, STLINK_RX_EP, len); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT; h_u32_to_le(h->cmdbuf+h->cmdidx, addr); h->cmdidx += 4; h_u16_to_le(h->cmdbuf+h->cmdidx, len); h->cmdidx += 2; res = stlink_usb_xfer(handle, h->databuf, len); if (res != ERROR_OK) return res; memcpy(buffer, h->databuf, len); return stlink_usb_get_rw_status(handle); } /** */ static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, const uint8_t *buffer) { int res; struct stlink_usb_handle_s *h; assert(handle != NULL); h = (struct stlink_usb_handle_s *)handle; len *= 4; stlink_usb_init_buffer(handle, STLINK_TX_EP, len); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT; h_u32_to_le(h->cmdbuf+h->cmdidx, addr); h->cmdidx += 4; h_u16_to_le(h->cmdbuf+h->cmdidx, len); h->cmdidx += 2; res = stlink_usb_xfer(handle, buffer, len); if (res != ERROR_OK) return res; return stlink_usb_get_rw_status(handle); } /** */ static int stlink_usb_close(void *fd) { struct stlink_usb_handle_s *h; h = (struct stlink_usb_handle_s *)fd; if (h->fd) jtag_libusb_close(h->fd); free(fd); return ERROR_OK; } /** */ static int stlink_usb_open(struct hl_interface_param_s *param, void **fd) { int err; struct stlink_usb_handle_s *h; enum stlink_jtag_api_version api; LOG_DEBUG("stlink_usb_open"); h = calloc(1, sizeof(struct stlink_usb_handle_s)); if (h == 0) { LOG_DEBUG("malloc failed"); return ERROR_FAIL; } h->transport = param->transport; /* set max read/write buffer size in bytes */ param->max_buffer = 512; const uint16_t vids[] = { param->vid, 0 }; const uint16_t pids[] = { param->pid, 0 }; LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport, param->vid, param->pid); if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) { LOG_ERROR("open failed"); goto error_open; } jtag_libusb_set_configuration(h->fd, 0); if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) { LOG_DEBUG("claim interface failed"); goto error_open; } /* wrap version for first read */ switch (param->pid) { case 0x3744: h->version.stlink = 1; break; default: h->version.stlink = 2; break; } /* get the device version */ err = stlink_usb_version(h); if (err != ERROR_OK) { LOG_ERROR("read version failed"); goto error_open; } /* compare usb vid/pid */ if ((param->vid != h->vid) || (param->pid != h->pid)) LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X", param->vid, param->pid, h->vid, h->pid); /* check if mode is supported */ err = ERROR_OK; switch (h->transport) { case HL_TRANSPORT_SWD: case HL_TRANSPORT_JTAG: if (h->version.jtag == 0) err = ERROR_FAIL; break; case HL_TRANSPORT_SWIM: if (h->version.swim == 0) err = ERROR_FAIL; break; default: err = ERROR_FAIL; break; } if (err != ERROR_OK) { LOG_ERROR("mode (transport) not supported by device"); goto error_open; } api = h->version.jtag_api_max; /* check that user has not requested certain api version * and if they have check it is supported */ if ((param->api != 0) && (param->api <= h->version.jtag_api_max)) { api = param->api; LOG_INFO("using stlink api v%d", api); } /* set the used jtag api, this will default to the newest supported version */ h->jtag_api = api; /* initialize the debug hardware */ err = stlink_usb_init_mode(h); if (err != ERROR_OK) { LOG_ERROR("init mode failed"); goto error_open; } *fd = h; return ERROR_OK; error_open: stlink_usb_close(h); return ERROR_FAIL; } /** */ struct hl_layout_api_s stlink_usb_layout_api = { /** */ .open = stlink_usb_open, /** */ .close = stlink_usb_close, /** */ .idcode = stlink_usb_idcode, /** */ .state = stlink_usb_state, /** */ .reset = stlink_usb_reset, /** */ .assert_srst = stlink_usb_assert_srst, /** */ .run = stlink_usb_run, /** */ .halt = stlink_usb_halt, /** */ .step = stlink_usb_step, /** */ .read_regs = stlink_usb_read_regs, /** */ .read_reg = stlink_usb_read_reg, /** */ .write_reg = stlink_usb_write_reg, /** */ .read_mem8 = stlink_usb_read_mem8, /** */ .write_mem8 = stlink_usb_write_mem8, /** */ .read_mem32 = stlink_usb_read_mem32, /** */ .write_mem32 = stlink_usb_write_mem32, /** */ .write_debug_reg = stlink_usb_write_debug_reg };