X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fstlink_usb.c;h=49d7391fc7a9d1e2bc50e5e46c69e5c63a7da21c;hp=6fe958e84e5c79c9a0278a946e87c521a2cc96ae;hb=1822c2fb9487d56b2787d114275dadf42cb55053;hpb=0ce2e9a2597ab7f714e83bed9fed0e26e949e6ee diff --git a/src/jtag/drivers/stlink_usb.c b/src/jtag/drivers/stlink_usb.c index 6fe958e84e..49d7391fc7 100644 --- a/src/jtag/drivers/stlink_usb.c +++ b/src/jtag/drivers/stlink_usb.c @@ -1,7 +1,14 @@ /*************************************************************************** + * SWIM contributions by Ake Rehnman * + * Copyright (C) 2017 Ake Rehnman * + * ake.rehnman(at)gmail.com * + * * * 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 * @@ -15,9 +22,7 @@ * 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. * + * along with this program. If not, see . * ***************************************************************************/ #ifdef HAVE_CONFIG_H @@ -27,28 +32,50 @@ /* project specific includes */ #include #include -#include -#include -#include +#include +#include +#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_WRITE_TIMEOUT 1000 +#define STLINK_READ_TIMEOUT 1000 + +#define STLINK_NULL_EP 0 +#define STLINK_RX_EP (1|ENDPOINT_IN) +#define STLINK_TX_EP (2|ENDPOINT_OUT) +#define STLINK_TRACE_EP (3|ENDPOINT_IN) + +#define STLINK_V2_1_TX_EP (1|ENDPOINT_OUT) +#define STLINK_V2_1_TRACE_EP (2|ENDPOINT_IN) + +#define STLINK_SG_SIZE (31) +#define STLINK_DATA_SIZE (4096) +#define STLINK_CMD_SIZE_V2 (16) +#define STLINK_CMD_SIZE_V1 (10) + +#define STLINK_V1_PID (0x3744) +#define STLINK_V2_PID (0x3748) +#define STLINK_V2_1_PID (0x374B) +#define STLINK_V2_1_NO_MSD_PID (0x3752) + +/* the current implementation of the stlink limits + * 8bit read/writes to max 64 bytes. */ +#define STLINK_MAX_RW8 (64) -#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) +/* "WAIT" responses will be retried (with exponential backoff) at + * most this many times before failing to caller. + */ +#define MAX_WAIT_RETRIES 8 enum stlink_jtag_api_version { - STLINK_JTAG_API_V1 = 0, + STLINK_JTAG_API_V1 = 1, STLINK_JTAG_API_V2, }; @@ -71,6 +98,12 @@ struct stlink_usb_handle_s { /** */ struct libusb_transfer *trans; /** */ + uint8_t rx_ep; + /** */ + uint8_t tx_ep; + /** */ + uint8_t trace_ep; + /** */ uint8_t cmdbuf[STLINK_SG_SIZE]; /** */ uint8_t cmdidx; @@ -79,7 +112,9 @@ struct stlink_usb_handle_s { /** */ uint8_t databuf[STLINK_DATA_SIZE]; /** */ - enum stlink_transports transport; + uint32_t max_mem_packet; + /** */ + enum hl_transports transport; /** */ struct stlink_usb_version version; /** */ @@ -88,72 +123,141 @@ struct stlink_usb_handle_s { uint16_t pid; /** this is the currently used jtag api */ enum stlink_jtag_api_version jtag_api; + /** */ + struct { + /** whether SWO tracing is enabled or not */ + bool enabled; + /** trace module source clock */ + uint32_t source_hz; + } trace; + /** reconnect is needed next time we try to query the + * status */ + bool reconnect_pending; }; -#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_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 +#define STLINK_SWIM_ERR_OK 0x00 +#define STLINK_SWIM_BUSY 0x01 +#define STLINK_DEBUG_ERR_OK 0x80 +#define STLINK_DEBUG_ERR_FAULT 0x81 +#define STLINK_SWD_AP_WAIT 0x10 +#define STLINK_SWD_AP_FAULT 0x11 +#define STLINK_SWD_AP_ERROR 0x12 +#define STLINK_SWD_AP_PARITY_ERROR 0x13 +#define STLINK_JTAG_WRITE_ERROR 0x0c +#define STLINK_JTAG_WRITE_VERIF_ERROR 0x0d +#define STLINK_SWD_DP_WAIT 0x14 +#define STLINK_SWD_DP_FAULT 0x15 +#define STLINK_SWD_DP_ERROR 0x16 +#define STLINK_SWD_DP_PARITY_ERROR 0x17 + +#define STLINK_SWD_AP_WDATA_ERROR 0x18 +#define STLINK_SWD_AP_STICKY_ERROR 0x19 +#define STLINK_SWD_AP_STICKYORUN_ERROR 0x1a + +#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 + +/* + STLINK_SWIM_ENTER_SEQ + 1.3ms low then 750Hz then 1.5kHz + + STLINK_SWIM_GEN_RST + STM8 DM pulls reset pin low 50us + + STLINK_SWIM_SPEED + uint8_t (0=low|1=high) + + STLINK_SWIM_WRITEMEM + uint16_t length + uint32_t address + + STLINK_SWIM_RESET + send syncronization seq (16us low, response 64 clocks low) +*/ +#define STLINK_SWIM_ENTER 0x00 +#define STLINK_SWIM_EXIT 0x01 +#define STLINK_SWIM_READ_CAP 0x02 +#define STLINK_SWIM_SPEED 0x03 +#define STLINK_SWIM_ENTER_SEQ 0x04 +#define STLINK_SWIM_GEN_RST 0x05 +#define STLINK_SWIM_RESET 0x06 +#define STLINK_SWIM_ASSERT_RESET 0x07 +#define STLINK_SWIM_DEASSERT_RESET 0x08 +#define STLINK_SWIM_READSTATUS 0x09 +#define STLINK_SWIM_WRITEMEM 0x0a +#define STLINK_SWIM_READMEM 0x0b +#define STLINK_SWIM_READBUF 0x0c + +#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_START_TRACE_RX 0x40 +#define STLINK_DEBUG_APIV2_STOP_TRACE_RX 0x41 +#define STLINK_DEBUG_APIV2_GET_TRACE_NB 0x42 +#define STLINK_DEBUG_APIV2_SWD_SET_FREQ 0x43 +#define STLINK_DEBUG_APIV2_JTAG_SET_FREQ 0x44 + +#define STLINK_DEBUG_APIV2_READMEM_16BIT 0x47 +#define STLINK_DEBUG_APIV2_WRITEMEM_16BIT 0x48 + +#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_TRACE_SIZE 4096 +#define STLINK_TRACE_MAX_HZ 2000000 +#define STLINK_TRACE_MIN_VERSION 13 /** */ enum stlink_mode { @@ -165,25 +269,57 @@ 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 + +struct speed_map { + int speed; + int speed_divisor; +}; + +/* SWD clock speed */ +static const struct speed_map stlink_khz_to_speed_map_swd[] = { + {4000, 0}, + {1800, 1}, /* default */ + {1200, 2}, + {950, 3}, + {480, 7}, + {240, 15}, + {125, 31}, + {100, 40}, + {50, 79}, + {25, 158}, + {15, 265}, + {5, 798} +}; + +/* JTAG clock speed */ +static const struct speed_map stlink_khz_to_speed_map_jtag[] = { + {18000, 2}, + {9000, 4}, + {4500, 8}, + {2250, 16}, + {1125, 32}, /* default */ + {562, 64}, + {281, 128}, + {140, 256} +}; static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size); +static int stlink_swim_status(void *handle); /** */ static int stlink_usb_xfer_v1_get_status(void *handle) { - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; 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) + if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)h->cmdbuf, + 13, STLINK_READ_TIMEOUT) != 13) return ERROR_FAIL; uint32_t t1; @@ -208,26 +344,24 @@ static int stlink_usb_xfer_v1_get_status(void *handle) /** */ static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size) { - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; 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) { + if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)h->cmdbuf, cmdsize, + STLINK_WRITE_TIMEOUT) != 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) { + if (h->direction == h->tx_ep && size) { + if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)buf, + size, STLINK_WRITE_TIMEOUT) != 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) { + } else if (h->direction == h->rx_ep && size) { + if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)buf, + size, STLINK_READ_TIMEOUT) != size) { LOG_DEBUG("bulk read failed"); return ERROR_FAIL; } @@ -240,13 +374,11 @@ static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int static int stlink_usb_xfer_v1_get_sense(void *handle) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - - stlink_usb_init_buffer(handle, STLINK_RX_EP, 16); + stlink_usb_init_buffer(handle, h->rx_ep, 16); h->cmdbuf[h->cmdidx++] = REQUEST_SENSE; h->cmdbuf[h->cmdidx++] = 0; @@ -265,18 +397,23 @@ static int stlink_usb_xfer_v1_get_sense(void *handle) return ERROR_OK; } -/** */ +/* + transfers block in cmdbuf + indicates number of bytes in the following + data phase. +*/ 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; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - - if (h->version.stlink == 1) + if (h->version.stlink == 1) { cmdsize = STLINK_SG_SIZE; + /* put length in bCBWCBLength */ + h->cmdbuf[14] = h->cmdidx-15; + } err = stlink_usb_xfer_rw(handle, cmdsize, buf, size); @@ -298,31 +435,177 @@ static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size) return ERROR_OK; } +/** + Converts an STLINK status code held in the first byte of a response + to an openocd error, logs any error/wait status as debug output. +*/ +static int stlink_usb_error_check(void *handle) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (h->transport == HL_TRANSPORT_SWIM) { + switch (h->databuf[0]) { + case STLINK_SWIM_ERR_OK: + return ERROR_OK; + case STLINK_SWIM_BUSY: + return ERROR_WAIT; + default: + LOG_DEBUG("unknown/unexpected STLINK status code 0x%x", h->databuf[0]); + return ERROR_FAIL; + } + } + + /* 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: + return ERROR_OK; + case STLINK_DEBUG_ERR_FAULT: + LOG_DEBUG("SWD fault response (0x%x)", STLINK_DEBUG_ERR_FAULT); + return ERROR_FAIL; + case STLINK_SWD_AP_WAIT: + LOG_DEBUG("wait status SWD_AP_WAIT (0x%x)", STLINK_SWD_AP_WAIT); + return ERROR_WAIT; + case STLINK_SWD_DP_WAIT: + LOG_DEBUG("wait status SWD_DP_WAIT (0x%x)", STLINK_SWD_DP_WAIT); + return ERROR_WAIT; + case STLINK_JTAG_WRITE_ERROR: + LOG_DEBUG("Write error"); + return ERROR_FAIL; + case STLINK_JTAG_WRITE_VERIF_ERROR: + LOG_DEBUG("Write verify error, ignoring"); + return ERROR_OK; + case STLINK_SWD_AP_FAULT: + /* git://git.ac6.fr/openocd commit 657e3e885b9ee10 + * returns ERROR_OK with the comment: + * Change in error status when reading outside RAM. + * This fix allows CDT plugin to visualize memory. + */ + LOG_DEBUG("STLINK_SWD_AP_FAULT"); + return ERROR_FAIL; + case STLINK_SWD_AP_ERROR: + LOG_DEBUG("STLINK_SWD_AP_ERROR"); + return ERROR_FAIL; + case STLINK_SWD_AP_PARITY_ERROR: + LOG_DEBUG("STLINK_SWD_AP_PARITY_ERROR"); + return ERROR_FAIL; + case STLINK_SWD_DP_FAULT: + LOG_DEBUG("STLINK_SWD_DP_FAULT"); + return ERROR_FAIL; + case STLINK_SWD_DP_ERROR: + LOG_DEBUG("STLINK_SWD_DP_ERROR"); + return ERROR_FAIL; + case STLINK_SWD_DP_PARITY_ERROR: + LOG_DEBUG("STLINK_SWD_DP_PARITY_ERROR"); + return ERROR_FAIL; + case STLINK_SWD_AP_WDATA_ERROR: + LOG_DEBUG("STLINK_SWD_AP_WDATA_ERROR"); + return ERROR_FAIL; + case STLINK_SWD_AP_STICKY_ERROR: + LOG_DEBUG("STLINK_SWD_AP_STICKY_ERROR"); + return ERROR_FAIL; + case STLINK_SWD_AP_STICKYORUN_ERROR: + LOG_DEBUG("STLINK_SWD_AP_STICKYORUN_ERROR"); + return ERROR_FAIL; + default: + LOG_DEBUG("unknown/unexpected STLINK status code 0x%x", h->databuf[0]); + return ERROR_FAIL; + } +} + + +/** Issue an STLINK command via USB transfer, with retries on any wait status responses. + + Works for commands where the STLINK_DEBUG status is returned in the first + byte of the response packet. For SWIM a SWIM_READSTATUS is requested instead. + + Returns an openocd result code. +*/ +static int stlink_cmd_allow_retry(void *handle, const uint8_t *buf, int size) +{ + int retries = 0; + int res; + struct stlink_usb_handle_s *h = handle; + + while (1) { + if ((h->transport != HL_TRANSPORT_SWIM) || !retries) { + res = stlink_usb_xfer(handle, buf, size); + if (res != ERROR_OK) + return res; + } + + if (h->transport == HL_TRANSPORT_SWIM) { + res = stlink_swim_status(handle); + if (res != ERROR_OK) + return res; + } + + res = stlink_usb_error_check(handle); + if (res == ERROR_WAIT && retries < MAX_WAIT_RETRIES) { + usleep((1<version.stlink >= 2); + + if (jtag_libusb_bulk_read(h->fd, h->trace_ep, (char *)buf, + size, STLINK_READ_TIMEOUT) != size) { + LOG_ERROR("bulk trace read failed"); + return ERROR_FAIL; + } + + return ERROR_OK; +} - h = (struct stlink_usb_handle_s *)handle; +/* + this function writes transfer length in + the right place in the cb +*/ +static void stlink_usb_set_cbw_transfer_datalength(void *handle, uint32_t size) +{ + struct stlink_usb_handle_s *h = handle; + + buf_set_u32(h->cmdbuf+8, 0, 32, size); +} + +static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size) +{ + struct stlink_usb_handle_s *h = handle; /* fill the send buffer */ strcpy((char *)h->cmdbuf, "USBC"); h->cmdidx += 4; /* csw tag not used */ + buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, 0); h->cmdidx += 4; + /* cbw data transfer length (in the following data phase in or out) */ 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); + /* cbw flags */ + h->cmdbuf[h->cmdidx++] = (direction == h->rx_ep ? ENDPOINT_IN : ENDPOINT_OUT); h->cmdbuf[h->cmdidx++] = 0; /* lun */ - h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1; + /* cdb clength (is filled in at xfer) */ + h->cmdbuf[h->cmdidx++] = 0; } /** */ 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; + struct stlink_usb_handle_s *h = handle; h->direction = direction; @@ -335,54 +618,16 @@ static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t siz 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; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - - stlink_usb_init_buffer(handle, STLINK_RX_EP, 6); + stlink_usb_init_buffer(handle, h->rx_ep, 6); h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION; @@ -400,15 +645,14 @@ 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; - LOG_DEBUG("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X", + 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, @@ -419,17 +663,97 @@ static int stlink_usb_version(void *handle) return ERROR_OK; } +static int stlink_usb_check_voltage(void *handle, float *target_voltage) +{ + struct stlink_usb_handle_s *h = handle; + uint32_t adc_results[2]; + + /* 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, h->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_set_swdclk(void *handle, uint16_t clk_divisor) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + /* only supported by stlink/v2 and for firmware >= 22 */ + if (h->version.stlink == 1 || h->version.jtag < 22) + return ERROR_COMMAND_NOTFOUND; + + stlink_usb_init_buffer(handle, h->rx_ep, 2); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_SWD_SET_FREQ; + h_u16_to_le(h->cmdbuf+h->cmdidx, clk_divisor); + h->cmdidx += 2; + + int result = stlink_cmd_allow_retry(handle, h->databuf, 2); + + if (result != ERROR_OK) + return result; + + return ERROR_OK; +} + +static int stlink_usb_set_jtagclk(void *handle, uint16_t clk_divisor) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + /* only supported by stlink/v2 and for firmware >= 24 */ + if (h->version.stlink == 1 || h->version.jtag < 24) + return ERROR_COMMAND_NOTFOUND; + + stlink_usb_init_buffer(handle, h->rx_ep, 2); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_JTAG_SET_FREQ; + h_u16_to_le(h->cmdbuf+h->cmdidx, clk_divisor); + h->cmdidx += 2; + + int result = stlink_cmd_allow_retry(handle, h->databuf, 2); + + if (result != ERROR_OK) + return result; + + return ERROR_OK; +} + /** */ static int stlink_usb_current_mode(void *handle, uint8_t *mode) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE; @@ -446,14 +770,11 @@ 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; + struct stlink_usb_handle_s *h = handle; 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 @@ -461,7 +782,7 @@ static int stlink_usb_mode_enter(void *handle, enum stlink_mode type) if (h->jtag_api == STLINK_JTAG_API_V2) rx_size = 2; - stlink_usb_init_buffer(handle, STLINK_RX_EP, rx_size); + stlink_usb_init_buffer(handle, h->rx_ep, rx_size); switch (type) { case STLINK_MODE_DEBUG_JTAG: @@ -483,6 +804,8 @@ static int stlink_usb_mode_enter(void *handle, enum stlink_mode type) case STLINK_MODE_DEBUG_SWIM: h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER; + /* no answer for this function... */ + rx_size = 0; break; case STLINK_MODE_DFU: case STLINK_MODE_MASS: @@ -490,26 +813,17 @@ static int stlink_usb_mode_enter(void *handle, enum stlink_mode type) 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; + return stlink_cmd_allow_retry(handle, h->databuf, rx_size); } /** */ static int stlink_usb_mode_leave(void *handle, enum stlink_mode type) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0); switch (type) { @@ -539,18 +853,32 @@ static int stlink_usb_mode_leave(void *handle, enum stlink_mode type) return ERROR_OK; } +static int stlink_usb_assert_srst(void *handle, int srst); + +static enum stlink_mode stlink_get_mode(enum hl_transports t) +{ + switch (t) { + case HL_TRANSPORT_SWD: + return STLINK_MODE_DEBUG_SWD; + case HL_TRANSPORT_JTAG: + return STLINK_MODE_DEBUG_JTAG; + case HL_TRANSPORT_SWIM: + return STLINK_MODE_DEBUG_SWIM; + default: + return STLINK_MODE_UNKNOWN; + } +} + /** */ -static int stlink_usb_init_mode(void *handle) +static int stlink_usb_init_mode(void *handle, bool connect_under_reset) { int res; uint8_t mode; enum stlink_mode emode; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - res = stlink_usb_current_mode(handle, &mode); if (res != ERROR_OK) @@ -588,34 +916,62 @@ static int stlink_usb_init_mode(void *handle) 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 STLINK_TRANSPORT_SWD: - emode = STLINK_MODE_DEBUG_SWD; - break; - case STLINK_TRANSPORT_JTAG: - emode = STLINK_MODE_DEBUG_JTAG; - break; - case STLINK_TRANSPORT_SWIM: - emode = STLINK_MODE_DEBUG_SWIM; - break; - default: - emode = STLINK_MODE_UNKNOWN; - break; - } + emode = stlink_get_mode(h->transport); if (emode == STLINK_MODE_UNKNOWN) { LOG_ERROR("selected mode (transport) not supported"); return ERROR_FAIL; } - res = stlink_usb_mode_enter(handle, emode); + /* preliminary SRST assert: + * We want SRST is asserted before activating debug signals (mode_enter). + * As the required mode has not been set, the adapter may not know what pin to use. + * Tested firmware STLINK v2 JTAG v29 API v2 SWIM v0 uses T_NRST pin by default + * Tested firmware STLINK v2 JTAG v27 API v2 SWIM v6 uses T_NRST pin by default + * after power on, SWIM_RST stays unchanged */ + if (connect_under_reset && emode != STLINK_MODE_DEBUG_SWIM) + stlink_usb_assert_srst(handle, 0); + /* do not check the return status here, we will + proceed and enter the desired mode below + and try asserting srst again. */ + res = stlink_usb_mode_enter(handle, emode); if (res != ERROR_OK) return res; + /* assert SRST again: a little bit late but now the adapter knows for sure what pin to use */ + if (connect_under_reset) { + res = stlink_usb_assert_srst(handle, 0); + if (res != ERROR_OK) + return res; + } + res = stlink_usb_current_mode(handle, &mode); if (res != ERROR_OK) @@ -626,69 +982,259 @@ static int stlink_usb_init_mode(void *handle) return ERROR_OK; } -/** */ -static int stlink_usb_idcode(void *handle, uint32_t *idcode) +/* request status from last swim request */ +static int stlink_swim_status(void *handle) { + struct stlink_usb_handle_s *h = 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, 4); - - h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; - h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID; + stlink_usb_init_buffer(handle, h->rx_ep, 4); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_READSTATUS; 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) +/* + the purpose of this function is unknown... + capabilites? anyway for swim v6 it returns + 0001020600000000 +*/ +__attribute__((unused)) +static int stlink_swim_cap(void *handle, uint8_t *cap) { - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; 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; - + stlink_usb_init_buffer(handle, h->rx_ep, 8); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_READ_CAP; + h->cmdbuf[h->cmdidx++] = 0x01; res = stlink_usb_xfer(handle, h->databuf, 8); - if (res != ERROR_OK) return res; + memcpy(cap, h->databuf, 8); + return ERROR_OK; +} - *val = le_to_h_u32(h->databuf + 4); +/* debug dongle assert/deassert sreset line */ +static int stlink_swim_assert_reset(void *handle, int reset) +{ + struct stlink_usb_handle_s *h = handle; + int res; - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; + stlink_usb_init_buffer(handle, h->rx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + if (!reset) + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ASSERT_RESET; + else + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_DEASSERT_RESET; + res = stlink_cmd_allow_retry(handle, h->databuf, 0); + if (res != ERROR_OK) + return res; + return ERROR_OK; } -static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val) +/* + send swim enter seq + 1.3ms low then 750Hz then 1.5kHz +*/ +static int stlink_swim_enter(void *handle) { + struct stlink_usb_handle_s *h = handle; int res; - struct stlink_usb_handle_s *h; - assert(handle != NULL); - - h = (struct stlink_usb_handle_s *)handle; + stlink_usb_init_buffer(handle, h->rx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER_SEQ; + res = stlink_cmd_allow_retry(handle, h->databuf, 0); + if (res != ERROR_OK) + return res; + return ERROR_OK; +} - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); +/* switch high/low speed swim */ +static int stlink_swim_speed(void *handle, int speed) +{ + struct stlink_usb_handle_s *h = handle; + int res; + + stlink_usb_init_buffer(handle, h->rx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_SPEED; + if (speed) + h->cmdbuf[h->cmdidx++] = 1; + else + h->cmdbuf[h->cmdidx++] = 0; + res = stlink_cmd_allow_retry(handle, h->databuf, 0); + if (res != ERROR_OK) + return res; + return ERROR_OK; +} + +/* + initiate srst from swim. + nrst is pulled low for 50us. +*/ +static int stlink_swim_generate_rst(void *handle) +{ + struct stlink_usb_handle_s *h = handle; + int res; + + stlink_usb_init_buffer(handle, h->rx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_GEN_RST; + res = stlink_cmd_allow_retry(handle, h->databuf, 0); + if (res != ERROR_OK) + return res; + return ERROR_OK; +} + +/* + send resyncronize sequence + swim is pulled low for 16us + reply is 64 clks low +*/ +static int stlink_swim_resync(void *handle) +{ + struct stlink_usb_handle_s *h = handle; + int res; + + stlink_usb_init_buffer(handle, h->rx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_RESET; + res = stlink_cmd_allow_retry(handle, h->databuf, 0); + if (res != ERROR_OK) + return res; + return ERROR_OK; +} + +static int stlink_swim_writebytes(void *handle, uint32_t addr, uint32_t len, const uint8_t *data) +{ + struct stlink_usb_handle_s *h = handle; + int res; + unsigned int i; + unsigned int datalen = 0; + int cmdsize = STLINK_CMD_SIZE_V2; + + if (len > STLINK_DATA_SIZE) + return ERROR_FAIL; + + if (h->version.stlink == 1) + cmdsize = STLINK_SG_SIZE; + + stlink_usb_init_buffer(handle, h->tx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_WRITEMEM; + h_u16_to_be(h->cmdbuf+h->cmdidx, len); + h->cmdidx += 2; + h_u32_to_be(h->cmdbuf+h->cmdidx, addr); + h->cmdidx += 4; + for (i = 0; i < len; i++) { + if (h->cmdidx == cmdsize) + h->databuf[datalen++] = *(data++); + else + h->cmdbuf[h->cmdidx++] = *(data++); + } + if (h->version.stlink == 1) + stlink_usb_set_cbw_transfer_datalength(handle, datalen); + + res = stlink_cmd_allow_retry(handle, h->databuf, datalen); + if (res != ERROR_OK) + return res; + return ERROR_OK; +} + +static int stlink_swim_readbytes(void *handle, uint32_t addr, uint32_t len, uint8_t *data) +{ + struct stlink_usb_handle_s *h = handle; + int res; + + if (len > STLINK_DATA_SIZE) + return ERROR_FAIL; + + stlink_usb_init_buffer(handle, h->rx_ep, 0); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_READMEM; + h_u16_to_be(h->cmdbuf+h->cmdidx, len); + h->cmdidx += 2; + h_u32_to_be(h->cmdbuf+h->cmdidx, addr); + h->cmdidx += 4; + res = stlink_cmd_allow_retry(handle, h->databuf, 0); + if (res != ERROR_OK) + return res; + + stlink_usb_init_buffer(handle, h->rx_ep, len); + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_SWIM_READBUF; + res = stlink_usb_xfer(handle, data, len); + if (res != ERROR_OK) + return res; + + return ERROR_OK; +} + +/** */ +static int stlink_usb_idcode(void *handle, uint32_t *idcode) +{ + int res; + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + /* there is no swim read core id cmd */ + if (h->transport == HL_TRANSPORT_SWIM) { + *idcode = 0; + return ERROR_OK; + } + + stlink_usb_init_buffer(handle, h->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%08" PRIX32, *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 = handle; + int res; + + assert(handle != NULL); + + stlink_usb_init_buffer(handle, h->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_cmd_allow_retry(handle, h->databuf, 8); + if (res != ERROR_OK) + return res; + + *val = le_to_h_u32(h->databuf + 4); + return ERROR_OK; +} + +static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; if (h->jtag_api == STLINK_JTAG_API_V1) @@ -700,12 +1246,40 @@ static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val) h_u32_to_le(h->cmdbuf+h->cmdidx, val); h->cmdidx += 4; - res = stlink_usb_xfer(handle, h->databuf, 2); + return stlink_cmd_allow_retry(handle, h->databuf, 2); +} - if (res != ERROR_OK) - return res; +/** */ +static int stlink_usb_trace_read(void *handle, uint8_t *buf, size_t *size) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (h->trace.enabled && h->version.jtag >= STLINK_TRACE_MIN_VERSION) { + int res; + + stlink_usb_init_buffer(handle, h->rx_ep, 10); - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GET_TRACE_NB; + + res = stlink_usb_xfer(handle, h->databuf, 2); + if (res != ERROR_OK) + return res; + + size_t bytes_avail = le_to_h_u16(h->databuf); + *size = bytes_avail < *size ? bytes_avail : *size - 1; + + if (*size > 0) { + res = stlink_usb_read_trace(handle, buf, *size); + if (res != ERROR_OK) + return res; + return ERROR_OK; + } + } + *size = 0; + return ERROR_OK; } static enum target_state stlink_usb_v2_get_status(void *handle) @@ -719,6 +1293,8 @@ static enum target_state stlink_usb_v2_get_status(void *handle) if (status & S_HALT) return TARGET_HALTED; + else if (status & S_RESET_ST) + return TARGET_RESET; return TARGET_RUNNING; } @@ -727,16 +1303,40 @@ static enum target_state stlink_usb_v2_get_status(void *handle) static enum target_state stlink_usb_state(void *handle) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + if (h->transport == HL_TRANSPORT_SWIM) { + res = stlink_usb_mode_enter(handle, stlink_get_mode(h->transport)); + if (res != ERROR_OK) + return TARGET_UNKNOWN; - if (h->jtag_api == STLINK_JTAG_API_V2) - return stlink_usb_v2_get_status(handle); + res = stlink_swim_resync(handle); + if (res != ERROR_OK) + return TARGET_UNKNOWN; + + return ERROR_OK; + } - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + if (h->reconnect_pending) { + LOG_INFO("Previous state query failed, trying to reconnect"); + res = stlink_usb_mode_enter(handle, stlink_get_mode(h->transport)); + + if (res != ERROR_OK) + return TARGET_UNKNOWN; + + h->reconnect_pending = false; + } + + if (h->jtag_api == STLINK_JTAG_API_V2) { + res = stlink_usb_v2_get_status(handle); + if (res == TARGET_UNKNOWN) + h->reconnect_pending = true; + return res; + } + + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS; @@ -751,20 +1351,98 @@ static enum target_state stlink_usb_state(void *handle) if (h->databuf[0] == STLINK_CORE_HALTED) return TARGET_HALTED; + h->reconnect_pending = true; + return TARGET_UNKNOWN; } +static int stlink_usb_assert_srst(void *handle, int srst) +{ + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (h->transport == HL_TRANSPORT_SWIM) + return stlink_swim_assert_reset(handle, srst); + + if (h->version.stlink == 1) + return ERROR_COMMAND_NOTFOUND; + + stlink_usb_init_buffer(handle, h->rx_ep, 2); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST; + h->cmdbuf[h->cmdidx++] = srst; + + return stlink_cmd_allow_retry(handle, h->databuf, 2); +} + /** */ -static int stlink_usb_reset(void *handle) +static void stlink_usb_trace_disable(void *handle) +{ + int res = ERROR_OK; + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + assert(h->version.jtag >= STLINK_TRACE_MIN_VERSION); + + LOG_DEBUG("Tracing: disable"); + + stlink_usb_init_buffer(handle, h->rx_ep, 2); + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_STOP_TRACE_RX; + res = stlink_usb_xfer(handle, h->databuf, 2); + + if (res == ERROR_OK) + h->trace.enabled = false; +} + + +/** */ +static int stlink_usb_trace_enable(void *handle) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + if (h->version.jtag >= STLINK_TRACE_MIN_VERSION) { + stlink_usb_init_buffer(handle, h->rx_ep, 10); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_START_TRACE_RX; + h_u16_to_le(h->cmdbuf+h->cmdidx, (uint16_t)STLINK_TRACE_SIZE); + h->cmdidx += 2; + h_u32_to_le(h->cmdbuf+h->cmdidx, h->trace.source_hz); + h->cmdidx += 4; + + res = stlink_usb_xfer(handle, h->databuf, 2); + + if (res == ERROR_OK) { + h->trace.enabled = true; + LOG_DEBUG("Tracing: recording at %" PRIu32 "Hz", h->trace.source_hz); + } + } else { + LOG_ERROR("Tracing is not supported by this version."); + res = ERROR_FAIL; + } + + return res; +} + +/** */ +static int stlink_usb_reset(void *handle) +{ + struct stlink_usb_handle_s *h = handle; + int retval; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + if (h->transport == HL_TRANSPORT_SWIM) + return stlink_swim_generate_rst(handle); - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; @@ -773,105 +1451,94 @@ static int stlink_usb_reset(void *handle) else h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS; - res = stlink_usb_xfer(handle, h->databuf, 2); - - if (res != ERROR_OK) - return res; + retval = stlink_cmd_allow_retry(handle, h->databuf, 2); + if (retval != ERROR_OK) + return retval; - LOG_DEBUG("RESET: 0x%08X", h->databuf[0]); + if (h->trace.enabled) { + stlink_usb_trace_disable(h); + return stlink_usb_trace_enable(h); + } - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL; + return ERROR_OK; } /** */ static int stlink_usb_run(void *handle) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + if (h->jtag_api == STLINK_JTAG_API_V2) { + res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN); - if (h->jtag_api == STLINK_JTAG_API_V2) - return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN); + return res; + } - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->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; + return stlink_cmd_allow_retry(handle, h->databuf, 2); } /** */ static int stlink_usb_halt(void *handle) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + if (h->jtag_api == STLINK_JTAG_API_V2) { + res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN); - if (h->jtag_api == STLINK_JTAG_API_V2) - return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN); + return res; + } - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->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; + return stlink_cmd_allow_retry(handle, h->databuf, 2); } /** */ static int stlink_usb_step(void *handle) { - int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; 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_STEP|C_DEBUGEN); + 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); + stlink_usb_init_buffer(handle, h->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; + return stlink_cmd_allow_retry(handle, h->databuf, 2); } /** */ static int stlink_usb_read_regs(void *handle) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - - stlink_usb_init_buffer(handle, STLINK_RX_EP, 84); + stlink_usb_init_buffer(handle, h->rx_ep, 84); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; if (h->jtag_api == STLINK_JTAG_API_V1) @@ -891,13 +1558,11 @@ static int stlink_usb_read_regs(void *handle) static int stlink_usb_read_reg(void *handle, int num, uint32_t *val) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; 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); + stlink_usb_init_buffer(handle, h->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) @@ -906,32 +1571,29 @@ 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, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8); - - if (res != ERROR_OK) - return res; - - if (h->jtag_api == STLINK_JTAG_API_V1) + if (h->jtag_api == STLINK_JTAG_API_V1) { + res = stlink_usb_xfer(handle, h->databuf, 4); + if (res != ERROR_OK) + return res; *val = le_to_h_u32(h->databuf); - else { + return ERROR_OK; + } else { + res = stlink_cmd_allow_retry(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; + return ERROR_OK; } - - return ERROR_OK; } /** */ static int stlink_usb_write_reg(void *handle, int num, uint32_t val) { - int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - - stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; if (h->jtag_api == STLINK_JTAG_API_V1) @@ -942,27 +1604,20 @@ static int stlink_usb_write_reg(void *handle, int num, uint32_t val) 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; + return stlink_cmd_allow_retry(handle, h->databuf, 2); } static int stlink_usb_get_rw_status(void *handle) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; 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); + stlink_usb_init_buffer(handle, h->rx_ep, 2); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS; @@ -972,7 +1627,7 @@ static int stlink_usb_get_rw_status(void *handle) if (res != ERROR_OK) return res; - return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : res; + return stlink_usb_error_check(h); } /** */ @@ -981,13 +1636,17 @@ static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, { int res; uint16_t read_len = len; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + /* max 8bit read/write is 64bytes */ + if (len > STLINK_MAX_RW8) { + LOG_DEBUG("max buffer length exceeded"); + return ERROR_FAIL; + } - stlink_usb_init_buffer(handle, STLINK_RX_EP, read_len); + stlink_usb_init_buffer(handle, h->rx_ep, read_len); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT; @@ -1015,13 +1674,17 @@ 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; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + /* max 8bit read/write is 64bytes */ + if (len > STLINK_MAX_RW8) { + LOG_DEBUG("max buffer length exceeded"); + return ERROR_FAIL; + } - stlink_usb_init_buffer(handle, STLINK_TX_EP, len); + stlink_usb_init_buffer(handle, h->tx_ep, len); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT; @@ -1039,19 +1702,97 @@ static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, } /** */ -static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, +static int stlink_usb_read_mem16(void *handle, uint32_t addr, uint16_t len, uint8_t *buffer) { int res; - struct stlink_usb_handle_s *h; + struct stlink_usb_handle_s *h = handle; + + assert(handle != NULL); + + /* only supported by stlink/v2 and for firmware >= 26 */ + if (h->jtag_api == STLINK_JTAG_API_V1 || + (h->jtag_api == STLINK_JTAG_API_V2 && h->version.jtag < 26)) + return ERROR_COMMAND_NOTFOUND; + + /* data must be a multiple of 2 and half-word aligned */ + if (len % 2 || addr % 2) { + LOG_DEBUG("Invalid data alignment"); + return ERROR_TARGET_UNALIGNED_ACCESS; + } + + stlink_usb_init_buffer(handle, h->rx_ep, len); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READMEM_16BIT; + 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_mem16(void *handle, uint32_t addr, uint16_t len, + const uint8_t *buffer) +{ + int res; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + /* only supported by stlink/v2 and for firmware >= 26 */ + if (h->jtag_api == STLINK_JTAG_API_V1 || + (h->jtag_api == STLINK_JTAG_API_V2 && h->version.jtag < 26)) + return ERROR_COMMAND_NOTFOUND; + + /* data must be a multiple of 2 and half-word aligned */ + if (len % 2 || addr % 2) { + LOG_DEBUG("Invalid data alignment"); + return ERROR_TARGET_UNALIGNED_ACCESS; + } + + stlink_usb_init_buffer(handle, h->tx_ep, len); + + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; + h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEMEM_16BIT; + 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; - len *= 4; + return stlink_usb_get_rw_status(handle); +} - stlink_usb_init_buffer(handle, STLINK_RX_EP, len); +/** */ +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 = handle; + + assert(handle != NULL); + + /* data must be a multiple of 4 and word aligned */ + if (len % 4 || addr % 4) { + LOG_DEBUG("Invalid data alignment"); + return ERROR_TARGET_UNALIGNED_ACCESS; + } + + stlink_usb_init_buffer(handle, h->rx_ep, len); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT; @@ -1075,15 +1816,17 @@ 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; + struct stlink_usb_handle_s *h = handle; assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; - - len *= 4; + /* data must be a multiple of 4 and word aligned */ + if (len % 4 || addr % 4) { + LOG_DEBUG("Invalid data alignment"); + return ERROR_TARGET_UNALIGNED_ACCESS; + } - stlink_usb_init_buffer(handle, STLINK_TX_EP, len); + stlink_usb_init_buffer(handle, h->tx_ep, len); h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND; h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT; @@ -1100,15 +1843,375 @@ static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, return stlink_usb_get_rw_status(handle); } +static uint32_t stlink_max_block_size(uint32_t tar_autoincr_block, uint32_t address) +{ + uint32_t max_tar_block = (tar_autoincr_block - ((tar_autoincr_block - 1) & address)); + if (max_tar_block == 0) + max_tar_block = 4; + return max_tar_block; +} + +static int stlink_usb_read_mem(void *handle, uint32_t addr, uint32_t size, + uint32_t count, uint8_t *buffer) +{ + int retval = ERROR_OK; + uint32_t bytes_remaining; + int retries = 0; + struct stlink_usb_handle_s *h = handle; + + /* calculate byte count */ + count *= size; + + /* switch to 8 bit if stlink does not support 16 bit memory read */ + if (size == 2 && (h->jtag_api == STLINK_JTAG_API_V1 || + (h->jtag_api == STLINK_JTAG_API_V2 && h->version.jtag < 26))) + size = 1; + + while (count) { + + bytes_remaining = (size != 1) ? \ + stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8; + + if (count < bytes_remaining) + bytes_remaining = count; + + if (h->transport == HL_TRANSPORT_SWIM) { + retval = stlink_swim_readbytes(handle, addr, bytes_remaining, buffer); + if (retval != ERROR_OK) + return retval; + } else + /* + * all stlink support 8/32bit memory read/writes and only from + * stlink V2J26 there is support for 16 bit memory read/write. + * Honour 32 bit and, if possible, 16 bit too. Otherwise, handle + * as 8bit access. + */ + if (size != 1) { + + /* When in jtag mode the stlink uses the auto-increment functionality. + * However it expects us to pass the data correctly, this includes + * alignment and any page boundaries. We already do this as part of the + * adi_v5 implementation, but the stlink is a hla adapter and so this + * needs implementing manually. + * currently this only affects jtag mode, according to ST they do single + * access in SWD mode - but this may change and so we do it for both modes */ + + /* we first need to check for any unaligned bytes */ + if (addr & (size - 1)) { + + uint32_t head_bytes = size - (addr & (size - 1)); + retval = stlink_usb_read_mem8(handle, addr, head_bytes, buffer); + if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) { + usleep((1<jtag_api == STLINK_JTAG_API_V1 || + (h->jtag_api == STLINK_JTAG_API_V2 && h->version.jtag < 26))) + size = 1; + + while (count) { + + bytes_remaining = (size != 1) ? \ + stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8; + + if (count < bytes_remaining) + bytes_remaining = count; + + if (h->transport == HL_TRANSPORT_SWIM) { + retval = stlink_swim_writebytes(handle, addr, bytes_remaining, buffer); + if (retval != ERROR_OK) + return retval; + } else + /* + * all stlink support 8/32bit memory read/writes and only from + * stlink V2J26 there is support for 16 bit memory read/write. + * Honour 32 bit and, if possible, 16 bit too. Otherwise, handle + * as 8bit access. + */ + if (size != 1) { + + /* When in jtag mode the stlink uses the auto-increment functionality. + * However it expects us to pass the data correctly, this includes + * alignment and any page boundaries. We already do this as part of the + * adi_v5 implementation, but the stlink is a hla adapter and so this + * needs implementing manually. + * currently this only affects jtag mode, according to ST they do single + * access in SWD mode - but this may change and so we do it for both modes */ + + /* we first need to check for any unaligned bytes */ + if (addr & (size - 1)) { + + uint32_t head_bytes = size - (addr & (size - 1)); + retval = stlink_usb_write_mem8(handle, addr, head_bytes, buffer); + if (retval == ERROR_WAIT && retries < MAX_WAIT_RETRIES) { + usleep((1< 0) ? current_diff : -current_diff; + if ((current_diff < speed_diff) && khz >= map[i].speed) { + speed_diff = current_diff; + speed_index = i; + } + } + } + + if (speed_index == -1) { + /* this will only be here if we cannot match the slow speed. + * use the slowest speed we support.*/ + speed_index = map_size - 1; + match = false; + } else if (i == map_size) + match = false; + + if (!match && query) { + LOG_INFO("Unable to match requested speed %d kHz, using %d kHz", \ + khz, map[speed_index].speed); + } + + return speed_index; +} + +static int stlink_speed_swd(void *handle, int khz, bool query) +{ + int speed_index; + struct stlink_usb_handle_s *h = handle; + + /* only supported by stlink/v2 and for firmware >= 22 */ + if (h->version.stlink == 1 || h->version.jtag < 22) + return khz; + + speed_index = stlink_match_speed_map(stlink_khz_to_speed_map_swd, + ARRAY_SIZE(stlink_khz_to_speed_map_swd), khz, query); + + if (!query) { + int result = stlink_usb_set_swdclk(h, stlink_khz_to_speed_map_swd[speed_index].speed_divisor); + if (result != ERROR_OK) { + LOG_ERROR("Unable to set adapter speed"); + return khz; + } + } + + return stlink_khz_to_speed_map_swd[speed_index].speed; +} + +static int stlink_speed_jtag(void *handle, int khz, bool query) +{ + int speed_index; + struct stlink_usb_handle_s *h = handle; + + /* only supported by stlink/v2 and for firmware >= 24 */ + if (h->version.stlink == 1 || h->version.jtag < 24) + return khz; + + speed_index = stlink_match_speed_map(stlink_khz_to_speed_map_jtag, + ARRAY_SIZE(stlink_khz_to_speed_map_jtag), khz, query); + + if (!query) { + int result = stlink_usb_set_jtagclk(h, stlink_khz_to_speed_map_jtag[speed_index].speed_divisor); + if (result != ERROR_OK) { + LOG_ERROR("Unable to set adapter speed"); + return khz; + } + } + + return stlink_khz_to_speed_map_jtag[speed_index].speed; +} + +void stlink_dump_speed_map(const struct speed_map *map, unsigned int map_size) +{ + unsigned int i; + + LOG_DEBUG("Supported clock speeds are:"); + for (i = 0; i < map_size; i++) + LOG_DEBUG("%d kHz", map[i].speed); +} + +static int stlink_speed(void *handle, int khz, bool query) +{ + struct stlink_usb_handle_s *h = handle; + + if (!handle) + return khz; + + if (h->transport == HL_TRANSPORT_SWIM) + return stlink_speed_swim(handle, khz, query); + else if (h->transport == HL_TRANSPORT_SWD) + return stlink_speed_swd(handle, khz, query); + else if (h->transport == HL_TRANSPORT_JTAG) + return stlink_speed_jtag(handle, khz, query); + + return khz; +} + +/** */ +static int stlink_usb_close(void *handle) +{ + int res; + uint8_t mode; + enum stlink_mode emode; + struct stlink_usb_handle_s *h = handle; + + if (h && h->fd) + res = stlink_usb_current_mode(handle, &mode); + else + res = ERROR_FAIL; + /* do not exit if return code != ERROR_OK, + it prevents us from closing jtag_libusb */ + + if (res == ERROR_OK) { + /* 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) + stlink_usb_mode_leave(handle, emode); + /* do not check return code, it prevent + us from closing jtag_libusb */ + } + + if (h && h->fd) + jtag_libusb_close(h->fd); + + free(h); + + return ERROR_OK; +} + +/** */ +static int stlink_usb_open(struct hl_interface_param_s *param, void **fd) +{ + int err, retry_count = 1; struct stlink_usb_handle_s *h; + enum stlink_jtag_api_version api; LOG_DEBUG("stlink_usb_open"); - h = malloc(sizeof(struct stlink_usb_handle_s)); + h = calloc(1, sizeof(struct stlink_usb_handle_s)); if (h == 0) { LOG_DEBUG("malloc failed"); @@ -1117,60 +2220,110 @@ static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd) h->transport = param->transport; - const uint16_t vids[] = { param->vid, 0 }; - const uint16_t pids[] = { param->pid, 0 }; + for (unsigned i = 0; param->vid[i]; i++) { + LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x serial: %s", + param->transport, param->vid[i], param->pid[i], + param->serial ? param->serial : ""); + } - LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport, - param->vid, param->pid); + /* + On certain host USB configurations(e.g. MacBook Air) + STLINKv2 dongle seems to have its FW in a funky state if, + after plugging it in, you try to use openocd with it more + then once (by launching and closing openocd). In cases like + that initial attempt to read the FW info via + stlink_usb_version will fail and the device has to be reset + in order to become operational. + */ + do { + if (jtag_libusb_open(param->vid, param->pid, param->serial, &h->fd) != ERROR_OK) { + LOG_ERROR("open failed"); + goto error_open; + } - if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) { - LOG_ERROR("open failed"); - return ERROR_FAIL; - } + jtag_libusb_set_configuration(h->fd, 0); - 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; + } - if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) { - LOG_DEBUG("claim interface failed"); - return ERROR_FAIL; - } + /* RX EP is common for all versions */ + h->rx_ep = STLINK_RX_EP; - /* wrap version for first read */ - switch (param->pid) { - case 0x3744: - h->version.stlink = 1; - break; - default: - h->version.stlink = 2; - break; - } + uint16_t pid; + if (jtag_libusb_get_pid(jtag_libusb_get_device(h->fd), &pid) != ERROR_OK) { + LOG_DEBUG("libusb_get_pid failed"); + goto error_open; + } - /* get the device version */ - err = stlink_usb_version(h); + /* wrap version for first read */ + switch (pid) { + case STLINK_V1_PID: + h->version.stlink = 1; + h->tx_ep = STLINK_TX_EP; + h->trace_ep = STLINK_TRACE_EP; + break; + case STLINK_V2_1_PID: + case STLINK_V2_1_NO_MSD_PID: + h->version.stlink = 2; + h->tx_ep = STLINK_V2_1_TX_EP; + h->trace_ep = STLINK_V2_1_TRACE_EP; + break; + default: + /* fall through - we assume V2 to be the default version*/ + case STLINK_V2_PID: + h->version.stlink = 2; + h->tx_ep = STLINK_TX_EP; + h->trace_ep = STLINK_TRACE_EP; + break; + } - if (err != ERROR_OK) { - LOG_ERROR("read version failed"); - jtag_libusb_close(h->fd); - free(h); - return err; - } + /* get the device version */ + err = stlink_usb_version(h); - /* 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); + if (err == ERROR_OK) { + break; + } else if (h->version.stlink == 1 || + retry_count == 0) { + LOG_ERROR("read version failed"); + goto error_open; + } else { + err = jtag_libusb_release_interface(h->fd, 0); + if (err != ERROR_OK) { + LOG_ERROR("release interface failed"); + goto error_open; + } + + err = jtag_libusb_reset_device(h->fd); + if (err != ERROR_OK) { + LOG_ERROR("reset device failed"); + goto error_open; + } + + jtag_libusb_close(h->fd); + /* + Give the device one second to settle down and + reenumerate. + */ + usleep(1 * 1000 * 1000); + retry_count--; + } + } while (1); /* check if mode is supported */ err = ERROR_OK; switch (h->transport) { - case STLINK_TRANSPORT_SWD: - case STLINK_TRANSPORT_JTAG: + case HL_TRANSPORT_SWD: + if (h->version.jtag_api_max == STLINK_JTAG_API_V1) + err = ERROR_FAIL; + /* fall-through */ + case HL_TRANSPORT_JTAG: if (h->version.jtag == 0) err = ERROR_FAIL; break; - case STLINK_TRANSPORT_SWIM: + case HL_TRANSPORT_SWIM: if (h->version.swim == 0) err = ERROR_FAIL; break; @@ -1181,37 +2334,109 @@ static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd) if (err != ERROR_OK) { LOG_ERROR("mode (transport) not supported by device"); - jtag_libusb_close(h->fd); - free(h); - return err; + goto error_open; } + api = h->version.jtag_api_max; + + LOG_INFO("using stlink api v%d", api); + /* set the used jtag api, this will default to the newest supported version */ - h->jtag_api = h->version.jtag_api_max; + h->jtag_api = api; /* initialize the debug hardware */ - err = stlink_usb_init_mode(h); + err = stlink_usb_init_mode(h, param->connect_under_reset); if (err != ERROR_OK) { - LOG_ERROR("init mode failed"); - jtag_libusb_close(h->fd); - free(h); - return err; + LOG_ERROR("init mode failed (unable to connect to the target)"); + goto error_open; + } + + if (h->transport == HL_TRANSPORT_SWIM) { + err = stlink_swim_enter(h); + if (err != ERROR_OK) { + LOG_ERROR("stlink_swim_enter_failed (unable to connect to the target)"); + goto error_open; + } + *fd = h; + h->max_mem_packet = STLINK_DATA_SIZE; + return ERROR_OK; } + if (h->transport == HL_TRANSPORT_JTAG) { + /* jtag clock speed only supported by stlink/v2 and for firmware >= 24 */ + if (h->version.stlink >= 2 && h->version.jtag >= 24) { + stlink_dump_speed_map(stlink_khz_to_speed_map_jtag, ARRAY_SIZE(stlink_khz_to_speed_map_jtag)); + stlink_speed(h, param->initial_interface_speed, false); + } + } else if (h->transport == HL_TRANSPORT_SWD) { + /* clock speed only supported by stlink/v2 and for firmware >= 22 */ + if (h->version.stlink >= 2 && h->version.jtag >= 22) { + stlink_dump_speed_map(stlink_khz_to_speed_map_swd, ARRAY_SIZE(stlink_khz_to_speed_map_swd)); + stlink_speed(h, param->initial_interface_speed, false); + } + } + + /* get cpuid, so we can determine the max page size + * start with a safe default */ + h->max_mem_packet = (1 << 10); + + uint8_t buffer[4]; + err = stlink_usb_read_mem32(h, CPUID, 4, buffer); + if (err == ERROR_OK) { + uint32_t cpuid = le_to_h_u32(buffer); + int i = (cpuid >> 4) & 0xf; + if (i == 4 || i == 3) { + /* Cortex-M3/M4 has 4096 bytes autoincrement range */ + h->max_mem_packet = (1 << 12); + } + } + + LOG_DEBUG("Using TAR autoincrement: %" PRIu32, h->max_mem_packet); + *fd = h; return ERROR_OK; + +error_open: + stlink_usb_close(h); + + return ERROR_FAIL; } -/** */ -static int stlink_usb_close(void *fd) +int stlink_config_trace(void *handle, bool enabled, enum tpiu_pin_protocol pin_protocol, + uint32_t port_size, unsigned int *trace_freq) { - return ERROR_OK; + struct stlink_usb_handle_s *h = handle; + + if (enabled && (h->jtag_api < 2 || + pin_protocol != TPIU_PIN_PROTOCOL_ASYNC_UART)) { + LOG_ERROR("The attached ST-LINK version doesn't support this trace mode"); + return ERROR_FAIL; + } + + if (!enabled) { + stlink_usb_trace_disable(h); + return ERROR_OK; + } + + if (*trace_freq > STLINK_TRACE_MAX_HZ) { + LOG_ERROR("ST-LINK doesn't support SWO frequency higher than %u", + STLINK_TRACE_MAX_HZ); + return ERROR_FAIL; + } + + stlink_usb_trace_disable(h); + + if (!*trace_freq) + *trace_freq = STLINK_TRACE_MAX_HZ; + h->trace.source_hz = *trace_freq; + + return stlink_usb_trace_enable(h); } /** */ -struct stlink_layout_api_s stlink_usb_layout_api = { +struct hl_layout_api_s stlink_usb_layout_api = { /** */ .open = stlink_usb_open, /** */ @@ -1223,6 +2448,8 @@ 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, @@ -1235,11 +2462,17 @@ struct stlink_layout_api_s stlink_usb_layout_api = { /** */ .write_reg = stlink_usb_write_reg, /** */ - .read_mem8 = stlink_usb_read_mem8, + .read_mem = stlink_usb_read_mem, + /** */ + .write_mem = stlink_usb_write_mem, + /** */ + .write_debug_reg = stlink_usb_write_debug_reg, + /** */ + .override_target = stlink_usb_override_target, /** */ - .write_mem8 = stlink_usb_write_mem8, + .speed = stlink_speed, /** */ - .read_mem32 = stlink_usb_read_mem32, + .config_trace = stlink_config_trace, /** */ - .write_mem32 = stlink_usb_write_mem32, + .poll_trace = stlink_usb_trace_read, };