1 /***************************************************************************
2 * Copyright (C) 2011-2012 by Mathias Kuester *
3 * Mathias Kuester <kesmtp@freenet.de> *
5 * Copyright (C) 2012 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
8 * This code is based on https://github.com/texane/stlink *
10 * This program is free software; you can redistribute it and/or modify *
11 * it under the terms of the GNU General Public License as published by *
12 * the Free Software Foundation; either version 2 of the License, or *
13 * (at your option) any later version. *
15 * This program is distributed in the hope that it will be useful, *
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
18 * GNU General Public License for more details. *
20 * You should have received a copy of the GNU General Public License *
21 * along with this program; if not, write to the *
22 * Free Software Foundation, Inc., *
23 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
24 ***************************************************************************/
30 /* project specific includes */
31 #include <helper/binarybuffer.h>
32 #include <jtag/interface.h>
33 #include <jtag/hla/hla_layout.h>
34 #include <jtag/hla/hla_transport.h>
35 #include <jtag/hla/hla_interface.h>
36 #include <target/target.h>
38 #include <target/cortex_m.h>
40 #include "libusb_common.h"
42 #define ENDPOINT_IN 0x80
43 #define ENDPOINT_OUT 0x00
45 #define STLINK_NULL_EP 0
46 #define STLINK_RX_EP (1|ENDPOINT_IN)
47 #define STLINK_TX_EP (2|ENDPOINT_OUT)
48 #define STLINK_SG_SIZE (31)
49 #define STLINK_DATA_SIZE (4*128)
50 #define STLINK_CMD_SIZE_V2 (16)
51 #define STLINK_CMD_SIZE_V1 (10)
53 enum stlink_jtag_api_version {
54 STLINK_JTAG_API_V1 = 1,
59 struct stlink_usb_version {
66 /** highest supported jtag api version */
67 enum stlink_jtag_api_version jtag_api_max;
71 struct stlink_usb_handle_s {
73 struct jtag_libusb_device_handle *fd;
75 struct libusb_transfer *trans;
77 uint8_t cmdbuf[STLINK_SG_SIZE];
83 uint8_t databuf[STLINK_DATA_SIZE];
85 enum hl_transports transport;
87 struct stlink_usb_version version;
92 /** this is the currently used jtag api */
93 enum stlink_jtag_api_version jtag_api;
96 #define STLINK_DEBUG_ERR_OK 0x80
97 #define STLINK_DEBUG_ERR_FAULT 0x81
98 #define STLINK_SWD_AP_WAIT 0x10
99 #define STLINK_SWD_DP_WAIT 0x14
101 #define STLINK_CORE_RUNNING 0x80
102 #define STLINK_CORE_HALTED 0x81
103 #define STLINK_CORE_STAT_UNKNOWN -1
105 #define STLINK_GET_VERSION 0xF1
106 #define STLINK_DEBUG_COMMAND 0xF2
107 #define STLINK_DFU_COMMAND 0xF3
108 #define STLINK_SWIM_COMMAND 0xF4
109 #define STLINK_GET_CURRENT_MODE 0xF5
110 #define STLINK_GET_TARGET_VOLTAGE 0xF7
112 #define STLINK_DEV_DFU_MODE 0x00
113 #define STLINK_DEV_MASS_MODE 0x01
114 #define STLINK_DEV_DEBUG_MODE 0x02
115 #define STLINK_DEV_SWIM_MODE 0x03
116 #define STLINK_DEV_BOOTLOADER_MODE 0x04
117 #define STLINK_DEV_UNKNOWN_MODE -1
119 #define STLINK_DFU_EXIT 0x07
121 #define STLINK_SWIM_ENTER 0x00
122 #define STLINK_SWIM_EXIT 0x01
124 #define STLINK_DEBUG_ENTER_JTAG 0x00
125 #define STLINK_DEBUG_GETSTATUS 0x01
126 #define STLINK_DEBUG_FORCEDEBUG 0x02
127 #define STLINK_DEBUG_APIV1_RESETSYS 0x03
128 #define STLINK_DEBUG_APIV1_READALLREGS 0x04
129 #define STLINK_DEBUG_APIV1_READREG 0x05
130 #define STLINK_DEBUG_APIV1_WRITEREG 0x06
131 #define STLINK_DEBUG_READMEM_32BIT 0x07
132 #define STLINK_DEBUG_WRITEMEM_32BIT 0x08
133 #define STLINK_DEBUG_RUNCORE 0x09
134 #define STLINK_DEBUG_STEPCORE 0x0a
135 #define STLINK_DEBUG_APIV1_SETFP 0x0b
136 #define STLINK_DEBUG_READMEM_8BIT 0x0c
137 #define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
138 #define STLINK_DEBUG_APIV1_CLEARFP 0x0e
139 #define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
140 #define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
142 #define STLINK_DEBUG_ENTER_JTAG 0x00
143 #define STLINK_DEBUG_ENTER_SWD 0xa3
145 #define STLINK_DEBUG_APIV1_ENTER 0x20
146 #define STLINK_DEBUG_EXIT 0x21
147 #define STLINK_DEBUG_READCOREID 0x22
149 #define STLINK_DEBUG_APIV2_ENTER 0x30
150 #define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
151 #define STLINK_DEBUG_APIV2_RESETSYS 0x32
152 #define STLINK_DEBUG_APIV2_READREG 0x33
153 #define STLINK_DEBUG_APIV2_WRITEREG 0x34
154 #define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35
155 #define STLINK_DEBUG_APIV2_READDEBUGREG 0x36
157 #define STLINK_DEBUG_APIV2_READALLREGS 0x3A
158 #define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B
159 #define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
161 #define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
162 #define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
163 #define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
167 STLINK_MODE_UNKNOWN = 0,
170 STLINK_MODE_DEBUG_JTAG,
171 STLINK_MODE_DEBUG_SWD,
172 STLINK_MODE_DEBUG_SWIM
175 #define REQUEST_SENSE 0x03
176 #define REQUEST_SENSE_LENGTH 18
178 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size);
181 static int stlink_usb_xfer_v1_get_status(void *handle)
183 struct stlink_usb_handle_s *h;
185 assert(handle != NULL);
187 h = (struct stlink_usb_handle_s *)handle;
190 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
192 if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)h->cmdbuf,
198 t1 = buf_get_u32(h->cmdbuf, 0, 32);
201 if (t1 != 0x53425355)
209 if (h->cmdbuf[12] != 0)
216 static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size)
218 struct stlink_usb_handle_s *h;
220 assert(handle != NULL);
222 h = (struct stlink_usb_handle_s *)handle;
224 if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)h->cmdbuf, cmdsize,
229 if (h->direction == STLINK_TX_EP && size) {
230 if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)buf,
231 size, 1000) != size) {
232 LOG_DEBUG("bulk write failed");
235 } else if (h->direction == STLINK_RX_EP && size) {
236 if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)buf,
237 size, 1000) != size) {
238 LOG_DEBUG("bulk read failed");
247 static int stlink_usb_xfer_v1_get_sense(void *handle)
250 struct stlink_usb_handle_s *h;
252 assert(handle != NULL);
254 h = (struct stlink_usb_handle_s *)handle;
256 stlink_usb_init_buffer(handle, STLINK_RX_EP, 16);
258 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE;
259 h->cmdbuf[h->cmdidx++] = 0;
260 h->cmdbuf[h->cmdidx++] = 0;
261 h->cmdbuf[h->cmdidx++] = 0;
262 h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH;
264 res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16);
269 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK)
276 static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size)
278 int err, cmdsize = STLINK_CMD_SIZE_V2;
279 struct stlink_usb_handle_s *h;
281 assert(handle != NULL);
283 h = (struct stlink_usb_handle_s *)handle;
285 if (h->version.stlink == 1)
286 cmdsize = STLINK_SG_SIZE;
288 err = stlink_usb_xfer_rw(handle, cmdsize, buf, size);
293 if (h->version.stlink == 1) {
294 if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) {
295 /* check csw status */
296 if (h->cmdbuf[12] == 1) {
297 LOG_DEBUG("get sense");
298 if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK)
309 static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size)
311 struct stlink_usb_handle_s *h;
313 h = (struct stlink_usb_handle_s *)handle;
315 /* fill the send buffer */
316 strcpy((char *)h->cmdbuf, "USBC");
318 /* csw tag not used */
320 buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size);
322 h->cmdbuf[h->cmdidx++] = (direction == STLINK_RX_EP ? ENDPOINT_IN : ENDPOINT_OUT);
323 h->cmdbuf[h->cmdidx++] = 0; /* lun */
324 h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1;
328 static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size)
330 struct stlink_usb_handle_s *h;
332 h = (struct stlink_usb_handle_s *)handle;
334 h->direction = direction;
338 memset(h->cmdbuf, 0, STLINK_SG_SIZE);
339 memset(h->databuf, 0, STLINK_DATA_SIZE);
341 if (h->version.stlink == 1)
342 stlink_usb_xfer_v1_create_cmd(handle, direction, size);
345 static const char * const stlink_usb_error_msg[] = {
350 static int stlink_usb_error_check(void *handle)
353 const char *err_msg = 0;
354 struct stlink_usb_handle_s *h;
356 assert(handle != NULL);
358 h = (struct stlink_usb_handle_s *)handle;
360 /* TODO: no error checking yet on api V1 */
361 if (h->jtag_api == STLINK_JTAG_API_V1)
362 h->databuf[0] = STLINK_DEBUG_ERR_OK;
364 switch (h->databuf[0]) {
365 case STLINK_DEBUG_ERR_OK:
368 case STLINK_DEBUG_ERR_FAULT:
370 err_msg = stlink_usb_error_msg[0];
376 LOG_DEBUG("status error: %d ('%s')", h->databuf[0], err_msg);
382 static int stlink_usb_version(void *handle)
386 struct stlink_usb_handle_s *h;
388 assert(handle != NULL);
390 h = (struct stlink_usb_handle_s *)handle;
392 stlink_usb_init_buffer(handle, STLINK_RX_EP, 6);
394 h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION;
396 res = stlink_usb_xfer(handle, h->databuf, 6);
401 v = (h->databuf[0] << 8) | h->databuf[1];
403 h->version.stlink = (v >> 12) & 0x0f;
404 h->version.jtag = (v >> 6) & 0x3f;
405 h->version.swim = v & 0x3f;
406 h->vid = buf_get_u32(h->databuf, 16, 16);
407 h->pid = buf_get_u32(h->databuf, 32, 16);
409 /* set the supported jtag api version
410 * API V2 is supported since JTAG V11
412 if (h->version.jtag >= 11)
413 h->version.jtag_api_max = STLINK_JTAG_API_V2;
415 h->version.jtag_api_max = STLINK_JTAG_API_V1;
417 LOG_INFO("STLINK v%d JTAG v%d API v%d SWIM v%d VID 0x%04X PID 0x%04X",
420 (h->version.jtag_api_max == STLINK_JTAG_API_V1) ? 1 : 2,
428 static int stlink_usb_check_voltage(void *handle, float *target_voltage)
430 struct stlink_usb_handle_s *h;
431 uint32_t adc_results[2];
433 h = (struct stlink_usb_handle_s *)handle;
435 /* only supported by stlink/v2 and for firmware >= 13 */
436 if (h->version.stlink == 1 || h->version.jtag < 13)
437 return ERROR_COMMAND_NOTFOUND;
439 stlink_usb_init_buffer(handle, STLINK_RX_EP, 8);
441 h->cmdbuf[h->cmdidx++] = STLINK_GET_TARGET_VOLTAGE;
443 int result = stlink_usb_xfer(handle, h->databuf, 8);
445 if (result != ERROR_OK)
449 adc_results[0] = le_to_h_u32(h->databuf);
450 adc_results[1] = le_to_h_u32(h->databuf + 4);
455 *target_voltage = 2 * ((float)adc_results[1]) * (float)(1.2 / adc_results[0]);
457 LOG_INFO("Target voltage: %f", (double)*target_voltage);
463 static int stlink_usb_current_mode(void *handle, uint8_t *mode)
466 struct stlink_usb_handle_s *h;
468 assert(handle != NULL);
470 h = (struct stlink_usb_handle_s *)handle;
472 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
474 h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE;
476 res = stlink_usb_xfer(handle, h->databuf, 2);
481 *mode = h->databuf[0];
487 static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
491 struct stlink_usb_handle_s *h;
493 assert(handle != NULL);
495 h = (struct stlink_usb_handle_s *)handle;
497 /* on api V2 we are able the read the latest command
499 * TODO: we need the test on api V1 too
501 if (h->jtag_api == STLINK_JTAG_API_V2)
504 stlink_usb_init_buffer(handle, STLINK_RX_EP, rx_size);
507 case STLINK_MODE_DEBUG_JTAG:
508 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
509 if (h->jtag_api == STLINK_JTAG_API_V1)
510 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
512 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
513 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG;
515 case STLINK_MODE_DEBUG_SWD:
516 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
517 if (h->jtag_api == STLINK_JTAG_API_V1)
518 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
520 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
521 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD;
523 case STLINK_MODE_DEBUG_SWIM:
524 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
525 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER;
527 case STLINK_MODE_DFU:
528 case STLINK_MODE_MASS:
533 res = stlink_usb_xfer(handle, h->databuf, rx_size);
538 res = stlink_usb_error_check(h);
544 static int stlink_usb_mode_leave(void *handle, enum stlink_mode type)
547 struct stlink_usb_handle_s *h;
549 assert(handle != NULL);
551 h = (struct stlink_usb_handle_s *)handle;
553 stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0);
556 case STLINK_MODE_DEBUG_JTAG:
557 case STLINK_MODE_DEBUG_SWD:
558 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
559 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT;
561 case STLINK_MODE_DEBUG_SWIM:
562 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
563 h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT;
565 case STLINK_MODE_DFU:
566 h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND;
567 h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT;
569 case STLINK_MODE_MASS:
574 res = stlink_usb_xfer(handle, 0, 0);
583 static int stlink_usb_init_mode(void *handle)
587 enum stlink_mode emode;
588 struct stlink_usb_handle_s *h;
590 assert(handle != NULL);
592 h = (struct stlink_usb_handle_s *)handle;
594 res = stlink_usb_current_mode(handle, &mode);
599 LOG_DEBUG("MODE: 0x%02X", mode);
601 /* try to exit current mode */
603 case STLINK_DEV_DFU_MODE:
604 emode = STLINK_MODE_DFU;
606 case STLINK_DEV_DEBUG_MODE:
607 emode = STLINK_MODE_DEBUG_SWD;
609 case STLINK_DEV_SWIM_MODE:
610 emode = STLINK_MODE_DEBUG_SWIM;
612 case STLINK_DEV_BOOTLOADER_MODE:
613 case STLINK_DEV_MASS_MODE:
615 emode = STLINK_MODE_UNKNOWN;
619 if (emode != STLINK_MODE_UNKNOWN) {
620 res = stlink_usb_mode_leave(handle, emode);
626 res = stlink_usb_current_mode(handle, &mode);
631 /* we check the target voltage here as an aid to debugging connection problems.
632 * the stlink requires the target Vdd to be connected for reliable debugging.
633 * this cmd is supported in all modes except DFU
635 if (mode != STLINK_DEV_DFU_MODE) {
637 float target_voltage;
639 /* check target voltage (if supported) */
640 res = stlink_usb_check_voltage(h, &target_voltage);
642 if (res != ERROR_OK) {
643 if (res != ERROR_COMMAND_NOTFOUND)
644 LOG_ERROR("voltage check failed");
645 /* attempt to continue as it is not a catastrophic failure */
647 /* check for a sensible target voltage, operating range is 1.65-5.5v
648 * according to datasheet */
649 if (target_voltage < 1.5)
650 LOG_ERROR("target voltage may be too low for reliable debugging");
654 LOG_DEBUG("MODE: 0x%02X", mode);
656 /* set selected mode */
657 switch (h->transport) {
658 case HL_TRANSPORT_SWD:
659 emode = STLINK_MODE_DEBUG_SWD;
661 case HL_TRANSPORT_JTAG:
662 emode = STLINK_MODE_DEBUG_JTAG;
664 case HL_TRANSPORT_SWIM:
665 emode = STLINK_MODE_DEBUG_SWIM;
668 emode = STLINK_MODE_UNKNOWN;
672 if (emode == STLINK_MODE_UNKNOWN) {
673 LOG_ERROR("selected mode (transport) not supported");
677 res = stlink_usb_mode_enter(handle, emode);
682 res = stlink_usb_current_mode(handle, &mode);
687 LOG_DEBUG("MODE: 0x%02X", mode);
693 static int stlink_usb_idcode(void *handle, uint32_t *idcode)
696 struct stlink_usb_handle_s *h;
698 assert(handle != NULL);
700 h = (struct stlink_usb_handle_s *)handle;
702 stlink_usb_init_buffer(handle, STLINK_RX_EP, 4);
704 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
705 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READCOREID;
707 res = stlink_usb_xfer(handle, h->databuf, 4);
712 *idcode = le_to_h_u32(h->databuf);
714 LOG_DEBUG("IDCODE: 0x%08X", *idcode);
719 static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val)
721 struct stlink_usb_handle_s *h;
724 assert(handle != NULL);
726 h = (struct stlink_usb_handle_s *)handle;
728 stlink_usb_init_buffer(handle, STLINK_RX_EP, 8);
730 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
731 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG;
732 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
735 res = stlink_usb_xfer(handle, h->databuf, 8);
740 *val = le_to_h_u32(h->databuf + 4);
742 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
745 static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
748 struct stlink_usb_handle_s *h;
750 assert(handle != NULL);
752 h = (struct stlink_usb_handle_s *)handle;
754 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
756 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
757 if (h->jtag_api == STLINK_JTAG_API_V1)
758 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG;
760 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG;
761 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
763 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
766 res = stlink_usb_xfer(handle, h->databuf, 2);
771 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
774 static enum target_state stlink_usb_v2_get_status(void *handle)
779 result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status);
780 if (result != ERROR_OK)
781 return TARGET_UNKNOWN;
784 return TARGET_HALTED;
785 else if (status & S_RESET_ST)
788 return TARGET_RUNNING;
792 static enum target_state stlink_usb_state(void *handle)
795 struct stlink_usb_handle_s *h;
797 assert(handle != NULL);
799 h = (struct stlink_usb_handle_s *)handle;
801 if (h->jtag_api == STLINK_JTAG_API_V2)
802 return stlink_usb_v2_get_status(handle);
804 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
806 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
807 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_GETSTATUS;
809 res = stlink_usb_xfer(handle, h->databuf, 2);
812 return TARGET_UNKNOWN;
814 if (h->databuf[0] == STLINK_CORE_RUNNING)
815 return TARGET_RUNNING;
816 if (h->databuf[0] == STLINK_CORE_HALTED)
817 return TARGET_HALTED;
819 return TARGET_UNKNOWN;
823 static int stlink_usb_reset(void *handle)
826 struct stlink_usb_handle_s *h;
828 assert(handle != NULL);
830 h = (struct stlink_usb_handle_s *)handle;
832 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
834 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
836 if (h->jtag_api == STLINK_JTAG_API_V1)
837 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_RESETSYS;
839 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS;
841 res = stlink_usb_xfer(handle, h->databuf, 2);
846 LOG_DEBUG("RESET: 0x%08X", h->databuf[0]);
848 /* the following is not a error under swd (using hardware srst), so return success */
849 if (h->databuf[0] == STLINK_SWD_AP_WAIT || h->databuf[0] == STLINK_SWD_DP_WAIT)
852 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
855 static int stlink_usb_assert_srst(void *handle, int srst)
858 struct stlink_usb_handle_s *h;
860 assert(handle != NULL);
862 h = (struct stlink_usb_handle_s *)handle;
864 if (h->jtag_api == STLINK_JTAG_API_V1)
865 return ERROR_COMMAND_NOTFOUND;
867 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
869 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
870 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST;
871 h->cmdbuf[h->cmdidx++] = srst;
873 res = stlink_usb_xfer(handle, h->databuf, 2);
878 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
882 static int stlink_usb_run(void *handle)
885 struct stlink_usb_handle_s *h;
887 assert(handle != NULL);
889 h = (struct stlink_usb_handle_s *)handle;
891 if (h->jtag_api == STLINK_JTAG_API_V2)
892 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN);
894 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
896 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
897 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE;
899 res = stlink_usb_xfer(handle, h->databuf, 2);
904 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
908 static int stlink_usb_halt(void *handle)
911 struct stlink_usb_handle_s *h;
913 assert(handle != NULL);
915 h = (struct stlink_usb_handle_s *)handle;
917 if (h->jtag_api == STLINK_JTAG_API_V2)
918 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
920 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
922 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
923 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG;
925 res = stlink_usb_xfer(handle, h->databuf, 2);
930 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
934 static int stlink_usb_step(void *handle)
937 struct stlink_usb_handle_s *h;
939 assert(handle != NULL);
941 h = (struct stlink_usb_handle_s *)handle;
943 if (h->jtag_api == STLINK_JTAG_API_V2) {
944 /* TODO: this emulates the v1 api, it should really use a similar auto mask isr
945 * that the cortex-m3 currently does. */
946 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_MASKINTS|C_DEBUGEN);
947 stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_MASKINTS|C_DEBUGEN);
948 return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
951 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
953 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
954 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE;
956 res = stlink_usb_xfer(handle, h->databuf, 2);
961 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
965 static int stlink_usb_read_regs(void *handle)
968 struct stlink_usb_handle_s *h;
970 assert(handle != NULL);
972 h = (struct stlink_usb_handle_s *)handle;
974 stlink_usb_init_buffer(handle, STLINK_RX_EP, 84);
976 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
977 if (h->jtag_api == STLINK_JTAG_API_V1)
978 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS;
980 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS;
982 res = stlink_usb_xfer(handle, h->databuf, 84);
991 static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
994 struct stlink_usb_handle_s *h;
996 assert(handle != NULL);
998 h = (struct stlink_usb_handle_s *)handle;
1000 stlink_usb_init_buffer(handle, STLINK_RX_EP, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1002 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1003 if (h->jtag_api == STLINK_JTAG_API_V1)
1004 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG;
1006 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG;
1007 h->cmdbuf[h->cmdidx++] = num;
1009 res = stlink_usb_xfer(handle, h->databuf, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
1011 if (res != ERROR_OK)
1014 if (h->jtag_api == STLINK_JTAG_API_V1)
1015 *val = le_to_h_u32(h->databuf);
1017 *val = le_to_h_u32(h->databuf + 4);
1018 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1025 static int stlink_usb_write_reg(void *handle, int num, uint32_t val)
1028 struct stlink_usb_handle_s *h;
1030 assert(handle != NULL);
1032 h = (struct stlink_usb_handle_s *)handle;
1034 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1036 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1037 if (h->jtag_api == STLINK_JTAG_API_V1)
1038 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG;
1040 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG;
1041 h->cmdbuf[h->cmdidx++] = num;
1042 h_u32_to_le(h->cmdbuf+h->cmdidx, val);
1045 res = stlink_usb_xfer(handle, h->databuf, 2);
1047 if (res != ERROR_OK)
1050 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
1053 static int stlink_usb_get_rw_status(void *handle)
1056 struct stlink_usb_handle_s *h;
1058 assert(handle != NULL);
1060 h = (struct stlink_usb_handle_s *)handle;
1062 if (h->jtag_api == STLINK_JTAG_API_V1)
1065 stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
1067 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1068 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS;
1070 res = stlink_usb_xfer(handle, h->databuf, 2);
1072 if (res != ERROR_OK)
1075 return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : res;
1079 static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
1083 uint16_t read_len = len;
1084 struct stlink_usb_handle_s *h;
1086 assert(handle != NULL);
1088 h = (struct stlink_usb_handle_s *)handle;
1090 stlink_usb_init_buffer(handle, STLINK_RX_EP, read_len);
1092 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1093 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT;
1094 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1096 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1099 /* we need to fix read length for single bytes */
1103 res = stlink_usb_xfer(handle, h->databuf, read_len);
1105 if (res != ERROR_OK)
1108 memcpy(buffer, h->databuf, len);
1110 return stlink_usb_get_rw_status(handle);
1114 static int stlink_usb_write_mem8(void *handle, uint32_t addr, uint16_t len,
1115 const uint8_t *buffer)
1118 struct stlink_usb_handle_s *h;
1120 assert(handle != NULL);
1122 h = (struct stlink_usb_handle_s *)handle;
1124 stlink_usb_init_buffer(handle, STLINK_TX_EP, len);
1126 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1127 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT;
1128 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1130 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1133 res = stlink_usb_xfer(handle, buffer, len);
1135 if (res != ERROR_OK)
1138 return stlink_usb_get_rw_status(handle);
1142 static int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
1146 struct stlink_usb_handle_s *h;
1148 assert(handle != NULL);
1150 h = (struct stlink_usb_handle_s *)handle;
1154 stlink_usb_init_buffer(handle, STLINK_RX_EP, len);
1156 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1157 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_32BIT;
1158 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1160 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1163 res = stlink_usb_xfer(handle, h->databuf, len);
1165 if (res != ERROR_OK)
1168 memcpy(buffer, h->databuf, len);
1170 return stlink_usb_get_rw_status(handle);
1174 static int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
1175 const uint8_t *buffer)
1178 struct stlink_usb_handle_s *h;
1180 assert(handle != NULL);
1182 h = (struct stlink_usb_handle_s *)handle;
1186 stlink_usb_init_buffer(handle, STLINK_TX_EP, len);
1188 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
1189 h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT;
1190 h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
1192 h_u16_to_le(h->cmdbuf+h->cmdidx, len);
1195 res = stlink_usb_xfer(handle, buffer, len);
1197 if (res != ERROR_OK)
1200 return stlink_usb_get_rw_status(handle);
1204 static int stlink_usb_close(void *fd)
1206 struct stlink_usb_handle_s *h;
1208 h = (struct stlink_usb_handle_s *)fd;
1211 jtag_libusb_close(h->fd);
1219 static int stlink_usb_open(struct hl_interface_param_s *param, void **fd)
1222 struct stlink_usb_handle_s *h;
1223 enum stlink_jtag_api_version api;
1225 LOG_DEBUG("stlink_usb_open");
1227 h = calloc(1, sizeof(struct stlink_usb_handle_s));
1230 LOG_DEBUG("malloc failed");
1234 h->transport = param->transport;
1236 /* set max read/write buffer size in bytes */
1237 param->max_buffer = 512;
1239 const uint16_t vids[] = { param->vid, 0 };
1240 const uint16_t pids[] = { param->pid, 0 };
1242 LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x", param->transport,
1243 param->vid, param->pid);
1245 if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) {
1246 LOG_ERROR("open failed");
1250 jtag_libusb_set_configuration(h->fd, 0);
1252 if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
1253 LOG_DEBUG("claim interface failed");
1257 /* wrap version for first read */
1258 switch (param->pid) {
1260 h->version.stlink = 1;
1263 h->version.stlink = 2;
1267 /* get the device version */
1268 err = stlink_usb_version(h);
1270 if (err != ERROR_OK) {
1271 LOG_ERROR("read version failed");
1275 /* compare usb vid/pid */
1276 if ((param->vid != h->vid) || (param->pid != h->pid))
1277 LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
1278 param->vid, param->pid,
1281 /* check if mode is supported */
1284 switch (h->transport) {
1285 case HL_TRANSPORT_SWD:
1286 case HL_TRANSPORT_JTAG:
1287 if (h->version.jtag == 0)
1290 case HL_TRANSPORT_SWIM:
1291 if (h->version.swim == 0)
1299 if (err != ERROR_OK) {
1300 LOG_ERROR("mode (transport) not supported by device");
1304 api = h->version.jtag_api_max;
1306 /* check that user has not requested certain api version
1307 * and if they have check it is supported */
1308 if ((param->api != 0) && (param->api <= h->version.jtag_api_max)) {
1310 LOG_INFO("using stlink api v%d", api);
1313 /* set the used jtag api, this will default to the newest supported version */
1316 /* initialize the debug hardware */
1317 err = stlink_usb_init_mode(h);
1319 if (err != ERROR_OK) {
1320 LOG_ERROR("init mode failed");
1329 stlink_usb_close(h);
1335 struct hl_layout_api_s stlink_usb_layout_api = {
1337 .open = stlink_usb_open,
1339 .close = stlink_usb_close,
1341 .idcode = stlink_usb_idcode,
1343 .state = stlink_usb_state,
1345 .reset = stlink_usb_reset,
1347 .assert_srst = stlink_usb_assert_srst,
1349 .run = stlink_usb_run,
1351 .halt = stlink_usb_halt,
1353 .step = stlink_usb_step,
1355 .read_regs = stlink_usb_read_regs,
1357 .read_reg = stlink_usb_read_reg,
1359 .write_reg = stlink_usb_write_reg,
1361 .read_mem8 = stlink_usb_read_mem8,
1363 .write_mem8 = stlink_usb_write_mem8,
1365 .read_mem32 = stlink_usb_read_mem32,
1367 .write_mem32 = stlink_usb_write_mem32,
1369 .write_debug_reg = stlink_usb_write_debug_reg