X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fstlink_usb.c;h=e94e6c8a4567a5cb69f4061172de08765bb686c4;hp=fb516bf64004318e18426f8e5b385fbf1afa1f65;hb=0ebf1eb94d06f892d8699bb35a8af65c721b5f5f;hpb=3c270bb0a98c7b59f3d19203273752a38dd65b65 diff --git a/src/jtag/drivers/stlink_usb.c b/src/jtag/drivers/stlink_usb.c index fb516bf640..e94e6c8a45 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 * @@ -17,7 +20,7 @@ * 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. * + * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. * ***************************************************************************/ #ifdef HAVE_CONFIG_H @@ -27,26 +30,36 @@ /* 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_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_TRACE_EP (3|ENDPOINT_IN) +#define STLINK_SG_SIZE (31) +#define STLINK_DATA_SIZE (4096) +#define STLINK_CMD_SIZE_V2 (16) +#define STLINK_CMD_SIZE_V1 (10) + +/* the current implementation of the stlink limits + * 8bit read/writes to max 64 bytes. */ +#define STLINK_MAX_RW8 (64) enum stlink_jtag_api_version { - STLINK_JTAG_API_V1 = 0, + STLINK_JTAG_API_V1 = 1, STLINK_JTAG_API_V2, }; @@ -77,7 +90,9 @@ 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; /** */ @@ -86,70 +101,95 @@ 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 data destination file */ + FILE *output_f; + /** trace module source clock (for prescaler) */ + uint32_t source_hz; + /** trace module clock prescaler */ + uint32_t prescale; + } trace; }; -#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_GET_TARGET_VOLTAGE 0xF7 + +#define STLINK_DEV_DFU_MODE 0x00 +#define STLINK_DEV_MASS_MODE 0x01 +#define STLINK_DEV_DEBUG_MODE 0x02 +#define STLINK_DEV_SWIM_MODE 0x03 +#define STLINK_DEV_BOOTLOADER_MODE 0x04 +#define STLINK_DEV_UNKNOWN_MODE -1 + +#define STLINK_DFU_EXIT 0x07 + +#define STLINK_SWIM_ENTER 0x00 +#define STLINK_SWIM_EXIT 0x01 + +#define STLINK_DEBUG_ENTER_JTAG 0x00 +#define STLINK_DEBUG_GETSTATUS 0x01 +#define STLINK_DEBUG_FORCEDEBUG 0x02 +#define STLINK_DEBUG_APIV1_RESETSYS 0x03 +#define STLINK_DEBUG_APIV1_READALLREGS 0x04 +#define STLINK_DEBUG_APIV1_READREG 0x05 +#define STLINK_DEBUG_APIV1_WRITEREG 0x06 +#define STLINK_DEBUG_READMEM_32BIT 0x07 +#define STLINK_DEBUG_WRITEMEM_32BIT 0x08 +#define STLINK_DEBUG_RUNCORE 0x09 +#define STLINK_DEBUG_STEPCORE 0x0a +#define STLINK_DEBUG_APIV1_SETFP 0x0b +#define STLINK_DEBUG_READMEM_8BIT 0x0c +#define STLINK_DEBUG_WRITEMEM_8BIT 0x0d +#define STLINK_DEBUG_APIV1_CLEARFP 0x0e +#define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f +#define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10 + +#define STLINK_DEBUG_ENTER_JTAG 0x00 +#define STLINK_DEBUG_ENTER_SWD 0xa3 + +#define STLINK_DEBUG_APIV1_ENTER 0x20 +#define STLINK_DEBUG_EXIT 0x21 +#define STLINK_DEBUG_READCOREID 0x22 + +#define STLINK_DEBUG_APIV2_ENTER 0x30 +#define STLINK_DEBUG_APIV2_READ_IDCODES 0x31 +#define STLINK_DEBUG_APIV2_RESETSYS 0x32 +#define STLINK_DEBUG_APIV2_READREG 0x33 +#define STLINK_DEBUG_APIV2_WRITEREG 0x34 +#define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35 +#define STLINK_DEBUG_APIV2_READDEBUGREG 0x36 + +#define STLINK_DEBUG_APIV2_READALLREGS 0x3A +#define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B +#define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C + +#define STLINK_DEBUG_APIV2_START_TRACE_RX 0x40 +#define STLINK_DEBUG_APIV2_STOP_TRACE_RX 0x41 +#define STLINK_DEBUG_APIV2_GET_TRACE_NB 0x42 + +#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 1024 +#define STLINK_TRACE_MAX_HZ 2000000 +#define STLINK_TRACE_MIN_VERSION 13 /** */ enum stlink_mode { @@ -161,8 +201,8 @@ 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); @@ -179,7 +219,7 @@ static int stlink_usb_xfer_v1_get_status(void *handle) memset(h->cmdbuf, 0, STLINK_SG_SIZE); if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)h->cmdbuf, - 13, 1000) != 13) + 13, STLINK_READ_TIMEOUT) != 13) return ERROR_FAIL; uint32_t t1; @@ -211,19 +251,19 @@ static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int h = (struct stlink_usb_handle_s *)handle; if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)h->cmdbuf, cmdsize, - 1000) != 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) { + 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) { + size, STLINK_READ_TIMEOUT) != size) { LOG_DEBUG("bulk read failed"); return ERROR_FAIL; } @@ -294,6 +334,26 @@ static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size) return ERROR_OK; } +/** */ +static int stlink_usb_read_trace(void *handle, const uint8_t *buf, int size) +{ + struct stlink_usb_handle_s *h; + + assert(handle != NULL); + + h = (struct stlink_usb_handle_s *)handle; + + assert(h->version.stlink >= 2); + + if (jtag_libusb_bulk_read(h->fd, STLINK_TRACE_EP, (char *)buf, + size, STLINK_READ_TIMEOUT) != size) { + LOG_ERROR("bulk trace read failed"); + return ERROR_FAIL; + } + + return ERROR_OK; +} + /** */ static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size) { @@ -396,15 +456,14 @@ 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, @@ -415,6 +474,40 @@ 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; + uint32_t adc_results[2]; + + h = (struct stlink_usb_handle_s *)handle; + + /* only supported by stlink/v2 and for firmware >= 13 */ + if (h->version.stlink == 1 || h->version.jtag < 13) + return ERROR_COMMAND_NOTFOUND; + + stlink_usb_init_buffer(handle, STLINK_RX_EP, 8); + + h->cmdbuf[h->cmdidx++] = STLINK_GET_TARGET_VOLTAGE; + + int result = stlink_usb_xfer(handle, h->databuf, 8); + + if (result != ERROR_OK) + return result; + + /* convert result */ + adc_results[0] = le_to_h_u32(h->databuf); + adc_results[1] = le_to_h_u32(h->databuf + 4); + + *target_voltage = 0; + + if (adc_results[0]) + *target_voltage = 2 * ((float)adc_results[1]) * (float)(1.2 / adc_results[0]); + + LOG_INFO("Target voltage: %f", (double)*target_voltage); + + return ERROR_OK; +} + /** */ static int stlink_usb_current_mode(void *handle, uint8_t *mode) { @@ -535,8 +628,10 @@ 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 int stlink_usb_init_mode(void *handle) +static int stlink_usb_init_mode(void *handle, bool connect_under_reset) { int res; uint8_t mode; @@ -584,17 +679,40 @@ 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: + case HL_TRANSPORT_SWD: emode = STLINK_MODE_DEBUG_SWD; break; - case STLINK_TRANSPORT_JTAG: + case HL_TRANSPORT_JTAG: emode = STLINK_MODE_DEBUG_JTAG; break; - case STLINK_TRANSPORT_SWIM: + case HL_TRANSPORT_SWIM: emode = STLINK_MODE_DEBUG_SWIM; break; default: @@ -607,6 +725,12 @@ static int stlink_usb_init_mode(void *handle) return ERROR_FAIL; } + if (connect_under_reset) { + res = stlink_usb_assert_srst(handle, 0); + if (res != ERROR_OK) + return res; + } + res = stlink_usb_mode_enter(handle, emode); if (res != ERROR_OK) @@ -649,6 +773,118 @@ 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 void stlink_usb_trace_read(void *handle) +{ + struct stlink_usb_handle_s *h; + + assert(handle != NULL); + + h = (struct stlink_usb_handle_s *)handle; + + if (h->trace.enabled && h->version.jtag >= STLINK_TRACE_MIN_VERSION) { + int res; + + stlink_usb_init_buffer(handle, STLINK_RX_EP, 10); + + 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) { + uint8_t buf[STLINK_TRACE_SIZE]; + size_t size = le_to_h_u16(h->databuf); + + if (size > 0) { + size = size < sizeof(buf) ? size : sizeof(buf) - 1; + + res = stlink_usb_read_trace(handle, buf, size); + if (res == ERROR_OK) { + if (h->trace.output_f) { + /* Log retrieved trace output */ + if (fwrite(buf, 1, size, h->trace.output_f) > 0) + fflush(h->trace.output_f); + } + } + } + } + } +} + +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; + + stlink_usb_trace_read(handle); + + return TARGET_RUNNING; +} + /** */ static enum target_state stlink_usb_state(void *handle) { @@ -660,7 +896,7 @@ 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 +942,163 @@ 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; +} + +/** */ +static int stlink_configure_target_trace_port(void *handle) +{ + int res; + uint32_t reg; + struct stlink_usb_handle_s *h; + + assert(handle != NULL); + + h = (struct stlink_usb_handle_s *)handle; + + /* configure the TPI */ + + /* enable the trace subsystem */ + res = stlink_usb_v2_read_debug_reg(handle, DCB_DEMCR, ®); + if (res != ERROR_OK) + goto out; + res = stlink_usb_write_debug_reg(handle, DCB_DEMCR, TRCENA|reg); + if (res != ERROR_OK) + goto out; + /* set the TPI clock prescaler */ + res = stlink_usb_write_debug_reg(handle, TPI_ACPR, h->trace.prescale); + if (res != ERROR_OK) + goto out; + /* select the pin protocol. The STLinkv2 only supports asynchronous + * UART emulation (NRZ) mode, so that's what we pick. */ + res = stlink_usb_write_debug_reg(handle, TPI_SPPR, 0x02); + if (res != ERROR_OK) + goto out; + /* disable continuous formatting */ + res = stlink_usb_write_debug_reg(handle, TPI_FFCR, (1<<8)); + if (res != ERROR_OK) + goto out; + + /* configure the ITM */ + + /* unlock access to the ITM registers */ + res = stlink_usb_write_debug_reg(handle, ITM_LAR, 0xC5ACCE55); + if (res != ERROR_OK) + goto out; + /* enable trace with ATB ID 1 */ + res = stlink_usb_write_debug_reg(handle, ITM_TCR, (1<<16)|(1<<0)|(1<<2)); + if (res != ERROR_OK) + goto out; + /* trace privilege */ + res = stlink_usb_write_debug_reg(handle, ITM_TPR, 1); + if (res != ERROR_OK) + goto out; + /* trace port enable (port 0) */ + res = stlink_usb_write_debug_reg(handle, ITM_TER, (1<<0)); + if (res != ERROR_OK) + goto out; + + res = ERROR_OK; +out: + return res; +} + +/** */ +static void stlink_usb_trace_disable(void *handle) +{ + int res = ERROR_OK; + struct stlink_usb_handle_s *h; + + assert(handle != NULL); + + h = (struct stlink_usb_handle_s *)handle; + + assert(h->version.jtag >= STLINK_TRACE_MIN_VERSION); + + LOG_DEBUG("Tracing: disable\n"); + + stlink_usb_init_buffer(handle, STLINK_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; + + assert(handle != NULL); + + h = (struct stlink_usb_handle_s *)handle; + + if (h->version.jtag >= STLINK_TRACE_MIN_VERSION) { + uint32_t trace_hz; + + res = stlink_configure_target_trace_port(handle); + if (res != ERROR_OK) + LOG_ERROR("Unable to configure tracing on target\n"); + + trace_hz = h->trace.prescale > 0 ? + h->trace.source_hz / (h->trace.prescale + 1) : + h->trace.source_hz; + + stlink_usb_init_buffer(handle, STLINK_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, trace_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 %uHz\n", trace_hz); + } + } else { + LOG_ERROR("Tracing is not supported by this version."); + res = ERROR_FAIL; + } + + return res; } /** */ @@ -719,8 +1111,19 @@ 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; + if (h->jtag_api == STLINK_JTAG_API_V2) { + res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN); + + /* Try to start tracing, if requested */ + if (res == ERROR_OK && h->trace.source_hz) { + if (stlink_usb_trace_enable(handle) == ERROR_OK) + LOG_DEBUG("Tracing: enabled\n"); + else + LOG_ERROR("Tracing: enable failed\n"); + } + + return res; + } stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); @@ -732,7 +1135,7 @@ 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; } /** */ @@ -745,8 +1148,14 @@ 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; + if (h->jtag_api == STLINK_JTAG_API_V2) { + res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN); + + if (res == ERROR_OK && h->trace.enabled) + stlink_usb_trace_disable(handle); + + return res; + } stlink_usb_init_buffer(handle, STLINK_RX_EP, 2); @@ -758,7 +1167,7 @@ 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 +1180,13 @@ 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 +1198,7 @@ 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 +1237,7 @@ 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 +1246,17 @@ 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 +1287,32 @@ 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; } /** */ @@ -881,6 +1325,12 @@ static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len, assert(handle != NULL); + /* max 8bit read/write is 64bytes */ + if (len > STLINK_MAX_RW8) { + LOG_DEBUG("max buffer length exceeded"); + return ERROR_FAIL; + } + h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_RX_EP, read_len); @@ -903,7 +1353,7 @@ 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); } /** */ @@ -915,6 +1365,12 @@ static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len, assert(handle != NULL); + /* max 8bit read/write is 64bytes */ + if (len > STLINK_MAX_RW8) { + LOG_DEBUG("max buffer length exceeded"); + return ERROR_FAIL; + } + h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_TX_EP, len); @@ -931,7 +1387,7 @@ 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); } /** */ @@ -943,9 +1399,13 @@ static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len, assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + /* 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; + } - len *= 4; + h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_RX_EP, len); @@ -963,7 +1423,7 @@ 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); } /** */ @@ -975,9 +1435,13 @@ static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, assert(handle != NULL); - h = (struct stlink_usb_handle_s *)handle; + /* 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; + } - len *= 4; + h = (struct stlink_usb_handle_s *)handle; stlink_usb_init_buffer(handle, STLINK_TX_EP, len); @@ -993,18 +1457,164 @@ static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len, if (res != ERROR_OK) return res; + 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; + struct stlink_usb_handle_s *h = (struct stlink_usb_handle_s *)handle; + + /* calculate byte count */ + count *= size; + + while (count) { + + bytes_remaining = (size == 4) ? \ + stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8; + + if (count < bytes_remaining) + bytes_remaining = count; + + /* the stlink only supports 8/32bit memory read/writes + * honour 32bit, all others will be handled as 8bit access */ + if (size == 4) { + + /* When in jtag mode the stlink uses the auto-increment functinality. + * 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 implementiong 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 % 4) { + + uint32_t head_bytes = 4 - (addr % 4); + retval = stlink_usb_read_mem8(handle, addr, head_bytes, buffer); + if (retval != ERROR_OK) + return retval; + buffer += head_bytes; + addr += head_bytes; + count -= head_bytes; + bytes_remaining -= head_bytes; + } + + if (bytes_remaining % 4) + retval = stlink_usb_read_mem(handle, addr, 1, bytes_remaining, buffer); + else + retval = stlink_usb_read_mem32(handle, addr, bytes_remaining, buffer); + } else + retval = stlink_usb_read_mem8(handle, addr, bytes_remaining, buffer); + + if (retval != ERROR_OK) + return retval; + + buffer += bytes_remaining; + addr += bytes_remaining; + count -= bytes_remaining; + } + + return retval; +} + +static int stlink_usb_write_mem(void *handle, uint32_t addr, uint32_t size, + uint32_t count, const uint8_t *buffer) +{ + int retval = ERROR_OK; + uint32_t bytes_remaining; + struct stlink_usb_handle_s *h = (struct stlink_usb_handle_s *)handle; + + /* calculate byte count */ + count *= size; + + while (count) { + + bytes_remaining = (size == 4) ? \ + stlink_max_block_size(h->max_mem_packet, addr) : STLINK_MAX_RW8; + + if (count < bytes_remaining) + bytes_remaining = count; + + /* the stlink only supports 8/32bit memory read/writes + * honour 32bit, all others will be handled as 8bit access */ + if (size == 4) { + + /* When in jtag mode the stlink uses the auto-increment functinality. + * 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 implementiong 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 % 4) { + + uint32_t head_bytes = 4 - (addr % 4); + retval = stlink_usb_write_mem8(handle, addr, head_bytes, buffer); + if (retval != ERROR_OK) + return retval; + buffer += head_bytes; + addr += head_bytes; + count -= head_bytes; + bytes_remaining -= head_bytes; + } + + if (bytes_remaining % 4) + retval = stlink_usb_write_mem(handle, addr, 1, bytes_remaining, buffer); + else + retval = stlink_usb_write_mem32(handle, addr, bytes_remaining, buffer); + + } else + retval = stlink_usb_write_mem8(handle, addr, bytes_remaining, buffer); + if (retval != ERROR_OK) + return retval; + + buffer += bytes_remaining; + addr += bytes_remaining; + count -= bytes_remaining; + } + + return retval; +} + +/** */ +static int stlink_usb_close(void *fd) +{ + struct stlink_usb_handle_s *h; + + h = (struct stlink_usb_handle_s *)fd; + + if (h->fd) + jtag_libusb_close(h->fd); + + free(fd); + return ERROR_OK; } /** */ -static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd) +static int stlink_usb_open(struct hl_interface_param_s *param, void **fd) { - int err; + 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"); @@ -1019,37 +1629,69 @@ static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd) 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"); - return ERROR_FAIL; - } + /* + 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(vids, pids, &h->fd) != ERROR_OK) { + LOG_ERROR("open failed"); + goto error_open; + } - 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"); - return ERROR_FAIL; - } + if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) { + LOG_DEBUG("claim interface failed"); + goto error_open; + } - /* wrap version for first read */ - switch (param->pid) { + /* 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); + /* get the device version */ + err = stlink_usb_version(h); - if (err != ERROR_OK) { - LOG_ERROR("read version failed"); - jtag_libusb_close(h->fd); - free(h); - return err; - } + 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); /* compare usb vid/pid */ if ((param->vid != h->vid) || (param->pid != h->pid)) @@ -1061,12 +1703,12 @@ static int stlink_usb_open(struct stlink_interface_param_s *param, void **fd) err = ERROR_OK; switch (h->transport) { - case STLINK_TRANSPORT_SWD: - case STLINK_TRANSPORT_JTAG: + case HL_TRANSPORT_SWD: + 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; @@ -1077,37 +1719,69 @@ 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; } - /* 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; + + if (h->jtag_api >= 2 && param->trace_source_hz > 0) { + uint32_t prescale; + + prescale = param->trace_source_hz > STLINK_TRACE_MAX_HZ ? + (param->trace_source_hz / STLINK_TRACE_MAX_HZ) - 1 : 0; + + h->trace.output_f = param->trace_f; + h->trace.source_hz = param->trace_source_hz; + h->trace.prescale = prescale; + } /* 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; + goto error_open; } + /* 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; -} -/** */ -static int stlink_usb_close(void *fd) -{ - return ERROR_OK; +error_open: + stlink_usb_close(h); + + return ERROR_FAIL; } /** */ -struct stlink_layout_api_s stlink_usb_layout_api = { +struct hl_layout_api_s stlink_usb_layout_api = { /** */ .open = stlink_usb_open, /** */ @@ -1119,6 +1793,8 @@ 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, @@ -1131,11 +1807,9 @@ struct stlink_layout_api_s stlink_usb_layout_api = { /** */ .write_reg = stlink_usb_write_reg, /** */ - .read_mem8 = stlink_usb_read_mem8, - /** */ - .write_mem8 = stlink_usb_write_mem8, + .read_mem = stlink_usb_read_mem, /** */ - .read_mem32 = stlink_usb_read_mem32, + .write_mem = stlink_usb_write_mem, /** */ - .write_mem32 = stlink_usb_write_mem32, + .write_debug_reg = stlink_usb_write_debug_reg };