X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fstlink_usb.c;h=4382538d2d339a43a57b20bfedc775bdc4d022ab;hp=2a4c2f456db89fefc47862c28c81eaf7cbd975b3;hb=7155349bd008d4b52433ba87f4620d9216cbce2b;hpb=6bbb1479b316890519da8aa93f115501711d8656 diff --git a/src/jtag/drivers/stlink_usb.c b/src/jtag/drivers/stlink_usb.c index 2a4c2f456d..4382538d2d 100644 --- a/src/jtag/drivers/stlink_usb.c +++ b/src/jtag/drivers/stlink_usb.c @@ -1,7 +1,10 @@ /*************************************************************************** - * Copyright (C) 2011 by Mathias Kuester * + * 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 * @@ -32,16 +35,25 @@ #include #include +#include + #include "libusb_common.h" -#define ENDPOINT_IN 0x80 -#define ENDPOINT_OUT 0x00 +#define ENDPOINT_IN 0x80 +#define ENDPOINT_OUT 0x00 -#define STLINK_RX_EP (1|ENDPOINT_IN) -#define STLINK_TX_EP (2|ENDPOINT_OUT) -#define STLINK_CMD_SIZE (16) -#define STLINK_TX_SIZE (4*128) -#define STLINK_RX_SIZE (4*128) +#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 { @@ -51,6 +63,8 @@ struct stlink_usb_version { int jtag; /** */ int swim; + /** highest supported jtag api version */ + enum stlink_jtag_api_version jtag_api_max; }; /** */ @@ -60,9 +74,13 @@ struct stlink_usb_handle_s { /** */ struct libusb_transfer *trans; /** */ - uint8_t txbuf[STLINK_TX_SIZE]; + uint8_t cmdbuf[STLINK_SG_SIZE]; /** */ - uint8_t rxbuf[STLINK_RX_SIZE]; + uint8_t cmdidx; + /** */ + uint8_t direction; + /** */ + uint8_t databuf[STLINK_DATA_SIZE]; /** */ enum stlink_transports transport; /** */ @@ -71,54 +89,77 @@ struct stlink_usb_handle_s { uint16_t vid; /** */ uint16_t pid; + /** this is the currently used jtag api */ + enum stlink_jtag_api_version jtag_api; }; -#define STLINK_OK 0x80 -#define STLINK_FALSE 0x81 -#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_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_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_RESETSYS 0x03 -#define STLINK_DEBUG_READALLREGS 0x04 -#define STLINK_DEBUG_READREG 0x05 -#define STLINK_DEBUG_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_SETFP 0x0b -#define STLINK_DEBUG_READMEM_8BIT 0x0c -#define STLINK_DEBUG_WRITEMEM_8BIT 0x0d -#define STLINK_DEBUG_CLEARFP 0x0e -#define STLINK_DEBUG_WRITEDEBUGREG 0x0f - -#define STLINK_DEBUG_ENTER_JTAG 0x00 -#define STLINK_DEBUG_ENTER_SWD 0xa3 - -#define STLINK_DEBUG_ENTER 0x20 -#define STLINK_DEBUG_EXIT 0x21 -#define STLINK_DEBUG_READCOREID 0x22 +#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_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 { @@ -130,9 +171,48 @@ enum stlink_mode { 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_recv(void *handle, const uint8_t *txbuf, int txsize, uint8_t *rxbuf, - int rxsize) +static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size) { struct stlink_usb_handle_s *h; @@ -140,29 +220,161 @@ static int stlink_usb_recv(void *handle, const uint8_t *txbuf, int txsize, uint8 h = (struct stlink_usb_handle_s *)handle; - if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)txbuf, txsize, - 1000) != txsize) { + if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)h->cmdbuf, cmdsize, + 1000) != cmdsize) { return ERROR_FAIL; } - if (rxsize && rxbuf) { - if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)rxbuf, - rxsize, 1000) != rxsize) { + + 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_init_buffer(void *handle) +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; - memset(h->txbuf, 0, STLINK_CMD_SIZE); + /* 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; } /** */ @@ -176,26 +388,35 @@ static int stlink_usb_version(void *handle) h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, STLINK_RX_EP, 6); - h->txbuf[0] = STLINK_GET_VERSION; + h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION; - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 6); + res = stlink_usb_xfer(handle, h->databuf, 6); if (res != ERROR_OK) return res; - v = (h->rxbuf[0] << 8) | h->rxbuf[1]; + 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->rxbuf, 16, 16); - h->pid = buf_get_u32(h->rxbuf, 32, 16); - - LOG_DEBUG("STLINK v%d JTAG v%d SWIM v%d VID %04X PID %04X", + 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_DEBUG("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); @@ -213,16 +434,16 @@ static int stlink_usb_current_mode(void *handle, uint8_t *mode) h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); - h->txbuf[0] = STLINK_GET_CURRENT_MODE; + h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE; - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2); + res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return res; - *mode = h->rxbuf[0]; + *mode = h->databuf[0]; return ERROR_OK; } @@ -231,28 +452,42 @@ static int stlink_usb_current_mode(void *handle, uint8_t *mode) 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; - stlink_usb_init_buffer(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->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_ENTER; - h->txbuf[2] = STLINK_DEBUG_ENTER_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->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_ENTER; - h->txbuf[2] = STLINK_DEBUG_ENTER_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->txbuf[0] = STLINK_SWIM_COMMAND; - h->txbuf[1] = STLINK_SWIM_ENTER; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER; break; case STLINK_MODE_DFU: case STLINK_MODE_MASS: @@ -260,11 +495,14 @@ static int stlink_usb_mode_enter(void *handle, enum stlink_mode type) return ERROR_FAIL; } - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0); + res = stlink_usb_xfer(handle, h->databuf, rx_size); + if (res != ERROR_OK) return res; - return ERROR_OK; + res = stlink_usb_error_check(h); + + return res; } /** */ @@ -277,28 +515,29 @@ static int stlink_usb_mode_leave(void *handle, enum stlink_mode type) h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0); switch (type) { case STLINK_MODE_DEBUG_JTAG: case STLINK_MODE_DEBUG_SWD: - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_EXIT; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT; break; case STLINK_MODE_DEBUG_SWIM: - h->txbuf[0] = STLINK_SWIM_COMMAND; - h->txbuf[1] = STLINK_SWIM_EXIT; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT; break; case STLINK_MODE_DFU: - h->txbuf[0] = STLINK_DFU_COMMAND; - h->txbuf[1] = STLINK_DFU_EXIT; + 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_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0); + res = stlink_usb_xfer(handle, 0, 0); + if (res != ERROR_OK) return res; @@ -322,7 +561,7 @@ static int stlink_usb_init_mode(void *handle) if (res != ERROR_OK) return res; - LOG_DEBUG("MODE: %02X", mode); + LOG_DEBUG("MODE: 0x%02X", mode); /* try to exit current mode */ switch (mode) { @@ -335,6 +574,8 @@ static int stlink_usb_init_mode(void *handle) 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; @@ -352,7 +593,7 @@ static int stlink_usb_init_mode(void *handle) if (res != ERROR_OK) return res; - LOG_DEBUG("MODE: %02X", mode); + LOG_DEBUG("MODE: 0x%02X", mode); /* set selected mode */ switch (h->transport) { @@ -363,6 +604,8 @@ static int stlink_usb_init_mode(void *handle) emode = STLINK_MODE_DEBUG_JTAG; break; case STLINK_TRANSPORT_SWIM: + emode = STLINK_MODE_DEBUG_SWIM; + break; default: emode = STLINK_MODE_UNKNOWN; break; @@ -383,7 +626,7 @@ static int stlink_usb_init_mode(void *handle) if (res != ERROR_OK) return res; - LOG_DEBUG("MODE: %02X", mode); + LOG_DEBUG("MODE: 0x%02X", mode); return ERROR_OK; } @@ -398,23 +641,95 @@ static int stlink_usb_idcode(void *handle, uint32_t *idcode) h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, STLINK_RX_EP, 4); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_READCOREID; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID; - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 4); + res = stlink_usb_xfer(handle, h->databuf, 4); if (res != ERROR_OK) return res; - *idcode = le_to_h_u32(h->rxbuf); + *idcode = le_to_h_u32(h->databuf); - LOG_DEBUG("IDCODE: %08X", *idcode); + 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) { @@ -425,19 +740,22 @@ static enum target_state stlink_usb_state(void *handle) h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); + if (h->jtag_api == STLINK_JTAG_API_V2) + return stlink_usb_v2_get_status(handle); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_GETSTATUS; + stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 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->rxbuf[0] == STLINK_CORE_RUNNING) + if (h->databuf[0] == STLINK_CORE_RUNNING) return TARGET_RUNNING; - if (h->rxbuf[0] == STLINK_CORE_HALTED) + if (h->databuf[0] == STLINK_CORE_HALTED) return TARGET_HALTED; return TARGET_UNKNOWN; @@ -453,19 +771,53 @@ static int stlink_usb_reset(void *handle) h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_RESETSYS; + 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_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2); + res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return res; - LOG_DEBUG("RESET: %08X", h->rxbuf[0]); + LOG_DEBUG("RESET: 0x%08X", h->databuf[0]); - return ERROR_OK; + /* 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; } /** */ @@ -478,17 +830,20 @@ static int stlink_usb_run(void *handle) h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); + if (h->jtag_api == STLINK_JTAG_API_V2) + return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_RUNCORE; + stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 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 ERROR_OK; + return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } /** */ @@ -501,17 +856,20 @@ static int stlink_usb_halt(void *handle) h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); + if (h->jtag_api == STLINK_JTAG_API_V2) + return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_FORCEDEBUG; + stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 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 ERROR_OK; + return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } /** */ @@ -524,17 +882,25 @@ static int stlink_usb_step(void *handle) h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(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->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_STEPCORE; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE; - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2); + res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return res; - return ERROR_OK; + return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } /** */ @@ -547,12 +913,15 @@ static int stlink_usb_read_regs(void *handle) h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, STLINK_RX_EP, 84); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_READALLREGS; + 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_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 84); + res = stlink_usb_xfer(handle, h->databuf, 84); if (res != ERROR_OK) return res; @@ -570,18 +939,26 @@ static int stlink_usb_read_reg(void *handle, int num, uint32_t *val) h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, STLINK_RX_EP, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_READREG; - h->txbuf[2] = num; + 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_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 4); + res = stlink_usb_xfer(handle, h->databuf, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8); if (res != ERROR_OK) return res; - *val = le_to_h_u32(h->rxbuf); + 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; } @@ -596,19 +973,48 @@ static int stlink_usb_write_reg(void *handle, int num, uint32_t val) h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_WRITEREG; - h->txbuf[2] = num; - h_u32_to_le(h->txbuf + 3, val); + 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_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2); + res = stlink_usb_xfer(handle, h->databuf, 2); if (res != ERROR_OK) return res; - return ERROR_OK; + 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; } /** */ @@ -623,25 +1029,27 @@ static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, STLINK_RX_EP, read_len); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_READMEM_8BIT; - h_u32_to_le(h->txbuf + 2, addr); - h_u16_to_le(h->txbuf + 2 + 4, 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_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, read_len); + res = stlink_usb_xfer(handle, h->databuf, read_len); if (res != ERROR_OK) return res; - memcpy(buffer, h->rxbuf, len); + memcpy(buffer, h->databuf, len); - return ERROR_OK; + return stlink_usb_get_rw_status(handle); } /** */ @@ -655,29 +1063,26 @@ static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); + stlink_usb_init_buffer(handle, STLINK_TX_EP, len); - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_WRITEMEM_8BIT; - h_u32_to_le(h->txbuf + 2, addr); - h_u16_to_le(h->txbuf + 2 + 4, 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_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0); + res = stlink_usb_xfer(handle, buffer, len); if (res != ERROR_OK) return res; - res = stlink_usb_recv(handle, (uint8_t *) buffer, len, 0, 0); - - if (res != ERROR_OK) - return res; - - return ERROR_OK; + return stlink_usb_get_rw_status(handle); } /** */ static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, - uint32_t *buffer) + uint8_t *buffer) { int res; struct stlink_usb_handle_s *h; @@ -686,28 +1091,30 @@ static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); - len *= 4; - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_READMEM_32BIT; - h_u32_to_le(h->txbuf + 2, addr); - h_u16_to_le(h->txbuf + 2 + 4, len); + 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_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, len); + res = stlink_usb_xfer(handle, h->databuf, len); if (res != ERROR_OK) return res; - memcpy(buffer, h->rxbuf, len); + memcpy(buffer, h->databuf, len); - return ERROR_OK; + return stlink_usb_get_rw_status(handle); } /** */ static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, - const uint32_t *buffer) + const uint8_t *buffer) { int res; struct stlink_usb_handle_s *h; @@ -716,26 +1123,23 @@ static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle); - len *= 4; - h->txbuf[0] = STLINK_DEBUG_COMMAND; - h->txbuf[1] = STLINK_DEBUG_WRITEMEM_32BIT; - h_u32_to_le(h->txbuf + 2, addr); - h_u16_to_le(h->txbuf + 2 + 4, len); + stlink_usb_init_buffer(handle, STLINK_TX_EP, len); - res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0); + 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; - if (res != ERROR_OK) - return res; - - res = stlink_usb_recv(handle, (uint8_t *) buffer, len, 0, 0); + res = stlink_usb_xfer(handle, buffer, len); if (res != ERROR_OK) return res; - return ERROR_OK; + return stlink_usb_get_rw_status(handle); } /** */ @@ -743,6 +1147,7 @@ static int stlink_usb_open(struct stlink_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"); @@ -758,8 +1163,8 @@ static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd) const uint16_t vids[] = { param->vid, 0 }; const uint16_t pids[] = { param->pid, 0 }; - LOG_DEBUG("vid: %04x pid: %04x", param->vid, - param->pid); + 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"); @@ -773,6 +1178,16 @@ static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd) return ERROR_FAIL; } + /* 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); @@ -785,7 +1200,7 @@ static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd) /* compare usb vid/pid */ if ((param->vid != h->vid) || (param->pid != h->pid)) - LOG_INFO("vid/pid are not identical: %04X/%04X %04X/%04X", + LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X", param->vid, param->pid, h->vid, h->pid); @@ -814,6 +1229,19 @@ static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd) return err; } + 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) { @@ -847,6 +1275,8 @@ struct stlink_layout_api_s stlink_usb_layout_api = { /** */ .reset = stlink_usb_reset, /** */ + .assert_srst = stlink_usb_assert_srst, + /** */ .run = stlink_usb_run, /** */ .halt = stlink_usb_halt, @@ -866,4 +1296,6 @@ struct stlink_layout_api_s stlink_usb_layout_api = { .read_mem32 = stlink_usb_read_mem32, /** */ .write_mem32 = stlink_usb_write_mem32, + /** */ + .write_debug_reg = stlink_usb_write_debug_reg };