X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fstlink_usb.c;h=4382538d2d339a43a57b20bfedc775bdc4d022ab;hp=fb516bf64004318e18426f8e5b385fbf1afa1f65;hb=7155349bd008d4b52433ba87f4620d9216cbce2b;hpb=3c270bb0a98c7b59f3d19203273752a38dd65b65 diff --git a/src/jtag/drivers/stlink_usb.c b/src/jtag/drivers/stlink_usb.c index fb516bf640..4382538d2d 100644 --- a/src/jtag/drivers/stlink_usb.c +++ b/src/jtag/drivers/stlink_usb.c @@ -2,6 +2,9 @@ * 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 * @@ -32,21 +35,23 @@ #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_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) +#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 = 0, + STLINK_JTAG_API_V1 = 1, STLINK_JTAG_API_V2, }; @@ -88,68 +93,73 @@ struct stlink_usb_handle_s { enum stlink_jtag_api_version jtag_api; }; -#define STLINK_DEBUG_ERR_OK 0x80 -#define STLINK_DEBUG_ERR_FAULT 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_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_READALLREGS 0x3A - -#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 +#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 { @@ -161,8 +171,8 @@ enum stlink_mode { STLINK_MODE_DEBUG_SWIM }; -#define REQUEST_SENSE 0x03 -#define REQUEST_SENSE_LENGTH 18 +#define REQUEST_SENSE 0x03 +#define REQUEST_SENSE_LENGTH 18 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size); @@ -396,10 +406,9 @@ static int stlink_usb_version(void *handle) h->pid = buf_get_u32(h->databuf, 32, 16); /* set the supported jtag api version - * V1 doesn't support API V2 at all - * V2 support API V2 since JTAG V13 + * API V2 is supported since JTAG V11 */ - if ((h->version.stlink == 2) && (h->version.jtag > 12)) + if (h->version.jtag >= 11) h->version.jtag_api_max = STLINK_JTAG_API_V2; else h->version.jtag_api_max = STLINK_JTAG_API_V1; @@ -649,6 +658,78 @@ static int stlink_usb_idcode(void *handle, uint32_t *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) { @@ -660,7 +741,7 @@ static enum target_state stlink_usb_state(void *handle) h = (struct stlink_usb_handle_s *)handle; if (h->jtag_api == STLINK_JTAG_API_V2) - return TARGET_UNKNOWN; + return stlink_usb_v2_get_status(handle); stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); @@ -706,7 +787,37 @@ static int stlink_usb_reset(void *handle) 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; } /** */ @@ -720,7 +831,7 @@ static int stlink_usb_run(void *handle) h = (struct stlink_usb_handle_s *)handle; if (h->jtag_api == STLINK_JTAG_API_V2) - return ERROR_FAIL; + return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN); stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); @@ -732,7 +843,7 @@ static int stlink_usb_run(void *handle) if (res != ERROR_OK) return res; - return ERROR_OK; + return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } /** */ @@ -746,7 +857,7 @@ static int stlink_usb_halt(void *handle) h = (struct stlink_usb_handle_s *)handle; if (h->jtag_api == STLINK_JTAG_API_V2) - return ERROR_FAIL; + return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN); stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); @@ -758,7 +869,7 @@ static int stlink_usb_halt(void *handle) if (res != ERROR_OK) return res; - return ERROR_OK; + return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } /** */ @@ -771,8 +882,13 @@ static int stlink_usb_step(void *handle) h = (struct stlink_usb_handle_s *)handle; - if (h->jtag_api == STLINK_JTAG_API_V2) - return ERROR_FAIL; + 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); @@ -784,7 +900,7 @@ static int stlink_usb_step(void *handle) if (res != ERROR_OK) return res; - return ERROR_OK; + return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; } /** */ @@ -823,7 +939,7 @@ 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_RX_EP, 4); + 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) @@ -832,12 +948,17 @@ static int stlink_usb_read_reg(void *handle, int num, uint32_t *val) h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG; h->cmdbuf[h->cmdidx++] = num; - res = stlink_usb_xfer(handle, h->databuf, 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->databuf); + 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; } @@ -868,7 +989,32 @@ static int stlink_usb_write_reg(void *handle, int num, uint32_t val) 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; } /** */ @@ -903,7 +1049,7 @@ static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, memcpy(buffer, h->databuf, len); - return ERROR_OK; + return stlink_usb_get_rw_status(handle); } /** */ @@ -931,7 +1077,7 @@ static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, if (res != ERROR_OK) return res; - return ERROR_OK; + return stlink_usb_get_rw_status(handle); } /** */ @@ -963,7 +1109,7 @@ static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, memcpy(buffer, h->databuf, len); - return ERROR_OK; + return stlink_usb_get_rw_status(handle); } /** */ @@ -993,7 +1139,7 @@ static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, if (res != ERROR_OK) return res; - return ERROR_OK; + return stlink_usb_get_rw_status(handle); } /** */ @@ -1001,6 +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"); @@ -1082,8 +1229,17 @@ static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd) return err; } - /* set the used jtag api */ - h->jtag_api = STLINK_JTAG_API_V1; + 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); @@ -1119,6 +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, @@ -1138,4 +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 };