1893 lines
47 KiB
C
1893 lines
47 KiB
C
/***************************************************************************
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* Copyright (C) 2011-2012 by Mathias Kuester *
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* Mathias Kuester <kesmtp@freenet.de> *
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* *
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* Copyright (C) 2012 by Spencer Oliver *
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* spen@spen-soft.co.uk *
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* *
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* This code is based on https://github.com/texane/stlink *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, write to the *
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* Free Software Foundation, Inc., *
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
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***************************************************************************/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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/* project specific includes */
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#include <helper/binarybuffer.h>
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#include <jtag/interface.h>
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#include <jtag/hla/hla_layout.h>
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#include <jtag/hla/hla_transport.h>
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#include <jtag/hla/hla_interface.h>
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#include <target/target.h>
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#include <target/cortex_m.h>
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#include "libusb_common.h"
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#define ENDPOINT_IN 0x80
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#define ENDPOINT_OUT 0x00
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#define STLINK_WRITE_TIMEOUT 1000
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#define STLINK_READ_TIMEOUT 1000
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#define STLINK_NULL_EP 0
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#define STLINK_RX_EP (1|ENDPOINT_IN)
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#define STLINK_TX_EP (2|ENDPOINT_OUT)
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#define STLINK_TRACE_EP (3|ENDPOINT_IN)
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#define STLINK_V2_1_TX_EP (1|ENDPOINT_OUT)
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#define STLINK_V2_1_TRACE_EP (2|ENDPOINT_IN)
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#define STLINK_SG_SIZE (31)
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#define STLINK_DATA_SIZE (4096)
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#define STLINK_CMD_SIZE_V2 (16)
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#define STLINK_CMD_SIZE_V1 (10)
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#define STLINK_V1_PID (0x3744)
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#define STLINK_V2_PID (0x3748)
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#define STLINK_V2_1_PID (0x374B)
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/* the current implementation of the stlink limits
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* 8bit read/writes to max 64 bytes. */
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#define STLINK_MAX_RW8 (64)
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/* "WAIT" responses will be retried (with exponential backoff) at
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* most this many times before failing to caller.
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*/
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#define MAX_WAIT_RETRIES 8
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enum stlink_jtag_api_version {
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STLINK_JTAG_API_V1 = 1,
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STLINK_JTAG_API_V2,
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};
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/** */
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struct stlink_usb_version {
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/** */
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int stlink;
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/** */
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int jtag;
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/** */
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int swim;
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/** highest supported jtag api version */
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enum stlink_jtag_api_version jtag_api_max;
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};
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/** */
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struct stlink_usb_handle_s {
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/** */
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struct jtag_libusb_device_handle *fd;
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/** */
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struct libusb_transfer *trans;
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/** */
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uint8_t rx_ep;
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/** */
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uint8_t tx_ep;
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/** */
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uint8_t trace_ep;
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/** */
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uint8_t cmdbuf[STLINK_SG_SIZE];
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/** */
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uint8_t cmdidx;
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/** */
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uint8_t direction;
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/** */
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uint8_t databuf[STLINK_DATA_SIZE];
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/** */
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uint32_t max_mem_packet;
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/** */
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enum hl_transports transport;
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/** */
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struct stlink_usb_version version;
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/** */
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uint16_t vid;
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/** */
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uint16_t pid;
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/** this is the currently used jtag api */
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enum stlink_jtag_api_version jtag_api;
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/** */
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struct {
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/** whether SWO tracing is enabled or not */
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bool enabled;
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/** trace module source clock */
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uint32_t source_hz;
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} trace;
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/** reconnect is needed next time we try to query the
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* status */
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bool reconnect_pending;
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};
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#define STLINK_DEBUG_ERR_OK 0x80
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#define STLINK_DEBUG_ERR_FAULT 0x81
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#define STLINK_SWD_AP_WAIT 0x10
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#define STLINK_SWD_AP_FAULT 0x11
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#define STLINK_SWD_AP_ERROR 0x12
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#define STLINK_SWD_AP_PARITY_ERROR 0x13
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#define STLINK_JTAG_WRITE_ERROR 0x0c
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#define STLINK_JTAG_WRITE_VERIF_ERROR 0x0d
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#define STLINK_SWD_DP_WAIT 0x14
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#define STLINK_SWD_DP_FAULT 0x15
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#define STLINK_SWD_DP_ERROR 0x16
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#define STLINK_SWD_DP_PARITY_ERROR 0x17
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#define STLINK_SWD_AP_WDATA_ERROR 0x18
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#define STLINK_SWD_AP_STICKY_ERROR 0x19
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#define STLINK_SWD_AP_STICKYORUN_ERROR 0x1a
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#define STLINK_CORE_RUNNING 0x80
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#define STLINK_CORE_HALTED 0x81
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#define STLINK_CORE_STAT_UNKNOWN -1
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#define STLINK_GET_VERSION 0xF1
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#define STLINK_DEBUG_COMMAND 0xF2
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#define STLINK_DFU_COMMAND 0xF3
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#define STLINK_SWIM_COMMAND 0xF4
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#define STLINK_GET_CURRENT_MODE 0xF5
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#define STLINK_GET_TARGET_VOLTAGE 0xF7
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#define STLINK_DEV_DFU_MODE 0x00
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#define STLINK_DEV_MASS_MODE 0x01
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#define STLINK_DEV_DEBUG_MODE 0x02
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#define STLINK_DEV_SWIM_MODE 0x03
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#define STLINK_DEV_BOOTLOADER_MODE 0x04
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#define STLINK_DEV_UNKNOWN_MODE -1
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#define STLINK_DFU_EXIT 0x07
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#define STLINK_SWIM_ENTER 0x00
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#define STLINK_SWIM_EXIT 0x01
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#define STLINK_DEBUG_ENTER_JTAG 0x00
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#define STLINK_DEBUG_GETSTATUS 0x01
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#define STLINK_DEBUG_FORCEDEBUG 0x02
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#define STLINK_DEBUG_APIV1_RESETSYS 0x03
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#define STLINK_DEBUG_APIV1_READALLREGS 0x04
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#define STLINK_DEBUG_APIV1_READREG 0x05
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#define STLINK_DEBUG_APIV1_WRITEREG 0x06
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#define STLINK_DEBUG_READMEM_32BIT 0x07
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#define STLINK_DEBUG_WRITEMEM_32BIT 0x08
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#define STLINK_DEBUG_RUNCORE 0x09
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#define STLINK_DEBUG_STEPCORE 0x0a
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#define STLINK_DEBUG_APIV1_SETFP 0x0b
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#define STLINK_DEBUG_READMEM_8BIT 0x0c
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#define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
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#define STLINK_DEBUG_APIV1_CLEARFP 0x0e
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#define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
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#define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
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#define STLINK_DEBUG_ENTER_JTAG 0x00
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#define STLINK_DEBUG_ENTER_SWD 0xa3
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#define STLINK_DEBUG_APIV1_ENTER 0x20
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#define STLINK_DEBUG_EXIT 0x21
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#define STLINK_DEBUG_READCOREID 0x22
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#define STLINK_DEBUG_APIV2_ENTER 0x30
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#define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
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#define STLINK_DEBUG_APIV2_RESETSYS 0x32
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#define STLINK_DEBUG_APIV2_READREG 0x33
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#define STLINK_DEBUG_APIV2_WRITEREG 0x34
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#define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35
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#define STLINK_DEBUG_APIV2_READDEBUGREG 0x36
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#define STLINK_DEBUG_APIV2_READALLREGS 0x3A
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#define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B
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#define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
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#define STLINK_DEBUG_APIV2_START_TRACE_RX 0x40
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#define STLINK_DEBUG_APIV2_STOP_TRACE_RX 0x41
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#define STLINK_DEBUG_APIV2_GET_TRACE_NB 0x42
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#define STLINK_DEBUG_APIV2_SWD_SET_FREQ 0x43
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#define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
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#define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
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#define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
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#define STLINK_TRACE_SIZE 1024
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#define STLINK_TRACE_MAX_HZ 2000000
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#define STLINK_TRACE_MIN_VERSION 13
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/** */
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enum stlink_mode {
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STLINK_MODE_UNKNOWN = 0,
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STLINK_MODE_DFU,
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STLINK_MODE_MASS,
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STLINK_MODE_DEBUG_JTAG,
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STLINK_MODE_DEBUG_SWD,
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STLINK_MODE_DEBUG_SWIM
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};
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#define REQUEST_SENSE 0x03
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#define REQUEST_SENSE_LENGTH 18
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static const struct {
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int speed;
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int speed_divisor;
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} stlink_khz_to_speed_map[] = {
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{4000, 0},
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{1800, 1}, /* default */
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{1200, 2},
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{950, 3},
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{480, 7},
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{240, 15},
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{125, 31},
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{100, 40},
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{50, 79},
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{25, 158},
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{15, 265},
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{5, 798}
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};
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static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size);
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/** */
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static int stlink_usb_xfer_v1_get_status(void *handle)
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{
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struct stlink_usb_handle_s *h = handle;
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assert(handle != NULL);
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/* read status */
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memset(h->cmdbuf, 0, STLINK_SG_SIZE);
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if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)h->cmdbuf,
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13, STLINK_READ_TIMEOUT) != 13)
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return ERROR_FAIL;
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uint32_t t1;
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t1 = buf_get_u32(h->cmdbuf, 0, 32);
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/* check for USBS */
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if (t1 != 0x53425355)
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return ERROR_FAIL;
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/*
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* CSW status:
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* 0 success
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* 1 command failure
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* 2 phase error
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*/
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if (h->cmdbuf[12] != 0)
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return ERROR_FAIL;
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return ERROR_OK;
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}
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/** */
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static int stlink_usb_xfer_rw(void *handle, int cmdsize, const uint8_t *buf, int size)
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{
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struct stlink_usb_handle_s *h = handle;
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assert(handle != NULL);
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if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)h->cmdbuf, cmdsize,
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STLINK_WRITE_TIMEOUT) != cmdsize) {
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return ERROR_FAIL;
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}
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if (h->direction == h->tx_ep && size) {
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if (jtag_libusb_bulk_write(h->fd, h->tx_ep, (char *)buf,
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size, STLINK_WRITE_TIMEOUT) != size) {
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LOG_DEBUG("bulk write failed");
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return ERROR_FAIL;
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}
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} else if (h->direction == h->rx_ep && size) {
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if (jtag_libusb_bulk_read(h->fd, h->rx_ep, (char *)buf,
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size, STLINK_READ_TIMEOUT) != size) {
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LOG_DEBUG("bulk read failed");
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return ERROR_FAIL;
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}
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}
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return ERROR_OK;
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}
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/** */
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static int stlink_usb_xfer_v1_get_sense(void *handle)
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{
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int res;
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struct stlink_usb_handle_s *h = handle;
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assert(handle != NULL);
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stlink_usb_init_buffer(handle, h->rx_ep, 16);
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h->cmdbuf[h->cmdidx++] = REQUEST_SENSE;
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h->cmdbuf[h->cmdidx++] = 0;
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h->cmdbuf[h->cmdidx++] = 0;
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h->cmdbuf[h->cmdidx++] = 0;
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h->cmdbuf[h->cmdidx++] = REQUEST_SENSE_LENGTH;
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res = stlink_usb_xfer_rw(handle, REQUEST_SENSE_LENGTH, h->databuf, 16);
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if (res != ERROR_OK)
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return res;
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if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK)
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return ERROR_FAIL;
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return ERROR_OK;
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}
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/** */
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static int stlink_usb_xfer(void *handle, const uint8_t *buf, int size)
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{
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int err, cmdsize = STLINK_CMD_SIZE_V2;
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struct stlink_usb_handle_s *h = handle;
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assert(handle != NULL);
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if (h->version.stlink == 1)
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cmdsize = STLINK_SG_SIZE;
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err = stlink_usb_xfer_rw(handle, cmdsize, buf, size);
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if (err != ERROR_OK)
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return err;
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if (h->version.stlink == 1) {
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if (stlink_usb_xfer_v1_get_status(handle) != ERROR_OK) {
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/* check csw status */
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if (h->cmdbuf[12] == 1) {
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LOG_DEBUG("get sense");
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if (stlink_usb_xfer_v1_get_sense(handle) != ERROR_OK)
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return ERROR_FAIL;
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}
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return ERROR_FAIL;
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}
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}
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return ERROR_OK;
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}
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/**
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Converts an STLINK status code held in the first byte of a response
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to an openocd error, logs any error/wait status as debug output.
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*/
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static int stlink_usb_error_check(void *handle)
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{
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struct stlink_usb_handle_s *h = handle;
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assert(handle != NULL);
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/* TODO: no error checking yet on api V1 */
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if (h->jtag_api == STLINK_JTAG_API_V1)
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h->databuf[0] = STLINK_DEBUG_ERR_OK;
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switch (h->databuf[0]) {
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case STLINK_DEBUG_ERR_OK:
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return ERROR_OK;
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case STLINK_DEBUG_ERR_FAULT:
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LOG_DEBUG("SWD fault response (0x%x)", STLINK_DEBUG_ERR_FAULT);
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return ERROR_FAIL;
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case STLINK_SWD_AP_WAIT:
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LOG_DEBUG("wait status SWD_AP_WAIT (0x%x)", STLINK_SWD_AP_WAIT);
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return ERROR_WAIT;
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case STLINK_SWD_DP_WAIT:
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LOG_DEBUG("wait status SWD_DP_WAIT (0x%x)", STLINK_SWD_DP_WAIT);
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return ERROR_WAIT;
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case STLINK_JTAG_WRITE_ERROR:
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LOG_DEBUG("Write error");
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return ERROR_FAIL;
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case STLINK_JTAG_WRITE_VERIF_ERROR:
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LOG_DEBUG("Verify error");
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return ERROR_FAIL;
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case STLINK_SWD_AP_FAULT:
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/* git://git.ac6.fr/openocd commit 657e3e885b9ee10
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* returns ERROR_OK with the comment:
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* Change in error status when reading outside RAM.
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* This fix allows CDT plugin to visualize memory.
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*/
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LOG_DEBUG("STLINK_SWD_AP_FAULT");
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return ERROR_FAIL;
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case STLINK_SWD_AP_ERROR:
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LOG_DEBUG("STLINK_SWD_AP_ERROR");
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return ERROR_FAIL;
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case STLINK_SWD_AP_PARITY_ERROR:
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LOG_DEBUG("STLINK_SWD_AP_PARITY_ERROR");
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return ERROR_FAIL;
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case STLINK_SWD_DP_FAULT:
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LOG_DEBUG("STLINK_SWD_DP_FAULT");
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return ERROR_FAIL;
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case STLINK_SWD_DP_ERROR:
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LOG_DEBUG("STLINK_SWD_DP_ERROR");
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return ERROR_FAIL;
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case STLINK_SWD_DP_PARITY_ERROR:
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LOG_DEBUG("STLINK_SWD_DP_PARITY_ERROR");
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return ERROR_FAIL;
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case STLINK_SWD_AP_WDATA_ERROR:
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LOG_DEBUG("STLINK_SWD_AP_WDATA_ERROR");
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return ERROR_FAIL;
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case STLINK_SWD_AP_STICKY_ERROR:
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LOG_DEBUG("STLINK_SWD_AP_STICKY_ERROR");
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return ERROR_FAIL;
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case STLINK_SWD_AP_STICKYORUN_ERROR:
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LOG_DEBUG("STLINK_SWD_AP_STICKYORUN_ERROR");
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return ERROR_FAIL;
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default:
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LOG_DEBUG("unknown/unexpected STLINK status code 0x%x", h->databuf[0]);
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return ERROR_FAIL;
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}
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}
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/** Issue an STLINK command via USB transfer, with retries on any wait status responses.
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Works for commands where the STLINK_DEBUG status is returned in the first
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byte of the response packet.
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Returns an openocd result code.
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*/
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static int stlink_cmd_allow_retry(void *handle, const uint8_t *buf, int size)
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{
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int retries = 0;
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int res;
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while (1) {
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res = stlink_usb_xfer(handle, buf, size);
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if (res != ERROR_OK)
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return res;
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res = stlink_usb_error_check(handle);
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if (res == ERROR_WAIT && retries < MAX_WAIT_RETRIES) {
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usleep((1<<retries++) * 1000);
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continue;
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}
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return res;
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}
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}
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/** */
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static int stlink_usb_read_trace(void *handle, const uint8_t *buf, int size)
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{
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struct stlink_usb_handle_s *h = handle;
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assert(handle != NULL);
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assert(h->version.stlink >= 2);
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if (jtag_libusb_bulk_read(h->fd, h->trace_ep, (char *)buf,
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size, STLINK_READ_TIMEOUT) != size) {
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LOG_ERROR("bulk trace read failed");
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return ERROR_FAIL;
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}
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return ERROR_OK;
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}
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/** */
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static void stlink_usb_xfer_v1_create_cmd(void *handle, uint8_t direction, uint32_t size)
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{
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
/* fill the send buffer */
|
|
strcpy((char *)h->cmdbuf, "USBC");
|
|
h->cmdidx += 4;
|
|
/* csw tag not used */
|
|
h->cmdidx += 4;
|
|
buf_set_u32(h->cmdbuf+h->cmdidx, 0, 32, size);
|
|
h->cmdidx += 4;
|
|
h->cmdbuf[h->cmdidx++] = (direction == h->rx_ep ? ENDPOINT_IN : ENDPOINT_OUT);
|
|
h->cmdbuf[h->cmdidx++] = 0; /* lun */
|
|
h->cmdbuf[h->cmdidx++] = STLINK_CMD_SIZE_V1;
|
|
}
|
|
|
|
/** */
|
|
static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size)
|
|
{
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
h->direction = direction;
|
|
|
|
h->cmdidx = 0;
|
|
|
|
memset(h->cmdbuf, 0, STLINK_SG_SIZE);
|
|
memset(h->databuf, 0, STLINK_DATA_SIZE);
|
|
|
|
if (h->version.stlink == 1)
|
|
stlink_usb_xfer_v1_create_cmd(handle, direction, size);
|
|
}
|
|
|
|
/** */
|
|
static int stlink_usb_version(void *handle)
|
|
{
|
|
int res;
|
|
uint16_t v;
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
stlink_usb_init_buffer(handle, h->rx_ep, 6);
|
|
|
|
h->cmdbuf[h->cmdidx++] = STLINK_GET_VERSION;
|
|
|
|
res = stlink_usb_xfer(handle, h->databuf, 6);
|
|
|
|
if (res != ERROR_OK)
|
|
return res;
|
|
|
|
v = (h->databuf[0] << 8) | h->databuf[1];
|
|
|
|
h->version.stlink = (v >> 12) & 0x0f;
|
|
h->version.jtag = (v >> 6) & 0x3f;
|
|
h->version.swim = v & 0x3f;
|
|
h->vid = buf_get_u32(h->databuf, 16, 16);
|
|
h->pid = buf_get_u32(h->databuf, 32, 16);
|
|
|
|
/* set the supported jtag api version
|
|
* API V2 is supported since JTAG V11
|
|
*/
|
|
if (h->version.jtag >= 11)
|
|
h->version.jtag_api_max = STLINK_JTAG_API_V2;
|
|
else
|
|
h->version.jtag_api_max = STLINK_JTAG_API_V1;
|
|
|
|
LOG_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,
|
|
h->version.swim,
|
|
h->vid,
|
|
h->pid);
|
|
|
|
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_current_mode(void *handle, uint8_t *mode)
|
|
{
|
|
int res;
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
stlink_usb_init_buffer(handle, h->rx_ep, 2);
|
|
|
|
h->cmdbuf[h->cmdidx++] = STLINK_GET_CURRENT_MODE;
|
|
|
|
res = stlink_usb_xfer(handle, h->databuf, 2);
|
|
|
|
if (res != ERROR_OK)
|
|
return res;
|
|
|
|
*mode = h->databuf[0];
|
|
|
|
return ERROR_OK;
|
|
}
|
|
|
|
/** */
|
|
static int stlink_usb_mode_enter(void *handle, enum stlink_mode type)
|
|
{
|
|
int rx_size = 0;
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
/* on api V2 we are able the read the latest command
|
|
* status
|
|
* TODO: we need the test on api V1 too
|
|
*/
|
|
if (h->jtag_api == STLINK_JTAG_API_V2)
|
|
rx_size = 2;
|
|
|
|
stlink_usb_init_buffer(handle, h->rx_ep, rx_size);
|
|
|
|
switch (type) {
|
|
case STLINK_MODE_DEBUG_JTAG:
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
|
|
if (h->jtag_api == STLINK_JTAG_API_V1)
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
|
|
else
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_JTAG;
|
|
break;
|
|
case STLINK_MODE_DEBUG_SWD:
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
|
|
if (h->jtag_api == STLINK_JTAG_API_V1)
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_ENTER;
|
|
else
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_ENTER;
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_ENTER_SWD;
|
|
break;
|
|
case STLINK_MODE_DEBUG_SWIM:
|
|
h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
|
|
h->cmdbuf[h->cmdidx++] = STLINK_SWIM_ENTER;
|
|
break;
|
|
case STLINK_MODE_DFU:
|
|
case STLINK_MODE_MASS:
|
|
default:
|
|
return ERROR_FAIL;
|
|
}
|
|
|
|
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 = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
stlink_usb_init_buffer(handle, STLINK_NULL_EP, 0);
|
|
|
|
switch (type) {
|
|
case STLINK_MODE_DEBUG_JTAG:
|
|
case STLINK_MODE_DEBUG_SWD:
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_EXIT;
|
|
break;
|
|
case STLINK_MODE_DEBUG_SWIM:
|
|
h->cmdbuf[h->cmdidx++] = STLINK_SWIM_COMMAND;
|
|
h->cmdbuf[h->cmdidx++] = STLINK_SWIM_EXIT;
|
|
break;
|
|
case STLINK_MODE_DFU:
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DFU_COMMAND;
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DFU_EXIT;
|
|
break;
|
|
case STLINK_MODE_MASS:
|
|
default:
|
|
return ERROR_FAIL;
|
|
}
|
|
|
|
res = stlink_usb_xfer(handle, 0, 0);
|
|
|
|
if (res != ERROR_OK)
|
|
return res;
|
|
|
|
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, bool connect_under_reset)
|
|
{
|
|
int res;
|
|
uint8_t mode;
|
|
enum stlink_mode emode;
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
res = stlink_usb_current_mode(handle, &mode);
|
|
|
|
if (res != ERROR_OK)
|
|
return res;
|
|
|
|
LOG_DEBUG("MODE: 0x%02X", mode);
|
|
|
|
/* 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) {
|
|
res = stlink_usb_mode_leave(handle, emode);
|
|
|
|
if (res != ERROR_OK)
|
|
return res;
|
|
}
|
|
|
|
res = stlink_usb_current_mode(handle, &mode);
|
|
|
|
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 */
|
|
emode = stlink_get_mode(h->transport);
|
|
|
|
if (emode == STLINK_MODE_UNKNOWN) {
|
|
LOG_ERROR("selected mode (transport) not supported");
|
|
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)
|
|
return res;
|
|
|
|
res = stlink_usb_current_mode(handle, &mode);
|
|
|
|
if (res != ERROR_OK)
|
|
return res;
|
|
|
|
LOG_DEBUG("MODE: 0x%02X", mode);
|
|
|
|
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);
|
|
|
|
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)
|
|
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;
|
|
|
|
return stlink_cmd_allow_retry(handle, h->databuf, 2);
|
|
}
|
|
|
|
/** */
|
|
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);
|
|
|
|
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)
|
|
{
|
|
int result;
|
|
uint32_t status;
|
|
|
|
result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status);
|
|
if (result != ERROR_OK)
|
|
return TARGET_UNKNOWN;
|
|
|
|
if (status & S_HALT)
|
|
return TARGET_HALTED;
|
|
else if (status & S_RESET_ST)
|
|
return TARGET_RESET;
|
|
|
|
return TARGET_RUNNING;
|
|
}
|
|
|
|
/** */
|
|
static enum target_state stlink_usb_state(void *handle)
|
|
{
|
|
int res;
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
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;
|
|
|
|
res = stlink_usb_xfer(handle, h->databuf, 2);
|
|
|
|
if (res != ERROR_OK)
|
|
return TARGET_UNKNOWN;
|
|
|
|
if (h->databuf[0] == STLINK_CORE_RUNNING)
|
|
return TARGET_RUNNING;
|
|
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->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 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 = 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);
|
|
|
|
stlink_usb_init_buffer(handle, h->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_RESETSYS;
|
|
else
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_RESETSYS;
|
|
|
|
retval = stlink_cmd_allow_retry(handle, h->databuf, 2);
|
|
if (retval != ERROR_OK)
|
|
return retval;
|
|
|
|
if (h->trace.enabled) {
|
|
stlink_usb_trace_disable(h);
|
|
return stlink_usb_trace_enable(h);
|
|
}
|
|
|
|
return ERROR_OK;
|
|
}
|
|
|
|
/** */
|
|
static int stlink_usb_run(void *handle)
|
|
{
|
|
int res;
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
if (h->jtag_api == STLINK_JTAG_API_V2) {
|
|
res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN);
|
|
|
|
return res;
|
|
}
|
|
|
|
stlink_usb_init_buffer(handle, h->rx_ep, 2);
|
|
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_RUNCORE;
|
|
|
|
return stlink_cmd_allow_retry(handle, h->databuf, 2);
|
|
}
|
|
|
|
/** */
|
|
static int stlink_usb_halt(void *handle)
|
|
{
|
|
int res;
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
if (h->jtag_api == STLINK_JTAG_API_V2) {
|
|
res = stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
|
|
|
|
return res;
|
|
}
|
|
|
|
stlink_usb_init_buffer(handle, h->rx_ep, 2);
|
|
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_FORCEDEBUG;
|
|
|
|
return stlink_cmd_allow_retry(handle, h->databuf, 2);
|
|
}
|
|
|
|
/** */
|
|
static int stlink_usb_step(void *handle)
|
|
{
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
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, h->rx_ep, 2);
|
|
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_STEPCORE;
|
|
|
|
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 = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
stlink_usb_init_buffer(handle, h->rx_ep, 84);
|
|
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
|
|
if (h->jtag_api == STLINK_JTAG_API_V1)
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READALLREGS;
|
|
else
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READALLREGS;
|
|
|
|
res = stlink_usb_xfer(handle, h->databuf, 84);
|
|
|
|
if (res != ERROR_OK)
|
|
return res;
|
|
|
|
return ERROR_OK;
|
|
}
|
|
|
|
/** */
|
|
static int stlink_usb_read_reg(void *handle, int num, uint32_t *val)
|
|
{
|
|
int res;
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
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)
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_READREG;
|
|
else
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG;
|
|
h->cmdbuf[h->cmdidx++] = num;
|
|
|
|
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);
|
|
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 ERROR_OK;
|
|
}
|
|
}
|
|
|
|
/** */
|
|
static int stlink_usb_write_reg(void *handle, int num, 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)
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEREG;
|
|
else
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEREG;
|
|
h->cmdbuf[h->cmdidx++] = num;
|
|
h_u32_to_le(h->cmdbuf+h->cmdidx, val);
|
|
h->cmdidx += 4;
|
|
|
|
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 = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
if (h->jtag_api == STLINK_JTAG_API_V1)
|
|
return ERROR_OK;
|
|
|
|
stlink_usb_init_buffer(handle, h->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 stlink_usb_error_check(h);
|
|
}
|
|
|
|
/** */
|
|
static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
|
|
uint8_t *buffer)
|
|
{
|
|
int res;
|
|
uint16_t read_len = len;
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
/* 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, h->rx_ep, read_len);
|
|
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_READMEM_8BIT;
|
|
h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
|
|
h->cmdidx += 4;
|
|
h_u16_to_le(h->cmdbuf+h->cmdidx, len);
|
|
h->cmdidx += 2;
|
|
|
|
/* we need to fix read length for single bytes */
|
|
if (read_len == 1)
|
|
read_len++;
|
|
|
|
res = stlink_usb_xfer(handle, h->databuf, read_len);
|
|
|
|
if (res != ERROR_OK)
|
|
return res;
|
|
|
|
memcpy(buffer, h->databuf, len);
|
|
|
|
return stlink_usb_get_rw_status(handle);
|
|
}
|
|
|
|
/** */
|
|
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 = handle;
|
|
|
|
assert(handle != NULL);
|
|
|
|
/* 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, h->tx_ep, len);
|
|
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_8BIT;
|
|
h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
|
|
h->cmdidx += 4;
|
|
h_u16_to_le(h->cmdbuf+h->cmdidx, len);
|
|
h->cmdidx += 2;
|
|
|
|
res = stlink_usb_xfer(handle, buffer, len);
|
|
|
|
if (res != ERROR_OK)
|
|
return res;
|
|
|
|
return stlink_usb_get_rw_status(handle);
|
|
}
|
|
|
|
/** */
|
|
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;
|
|
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_mem32(void *handle, uint32_t addr, uint16_t len,
|
|
const 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->tx_ep, len);
|
|
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
|
|
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_WRITEMEM_32BIT;
|
|
h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
|
|
h->cmdidx += 4;
|
|
h_u16_to_le(h->cmdbuf+h->cmdidx, len);
|
|
h->cmdidx += 2;
|
|
|
|
res = stlink_usb_xfer(handle, buffer, 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;
|
|
int retries = 0;
|
|
struct stlink_usb_handle_s *h = 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_WAIT && retries < MAX_WAIT_RETRIES) {
|
|
usleep((1<<retries++) * 1000);
|
|
continue;
|
|
}
|
|
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_WAIT && retries < MAX_WAIT_RETRIES) {
|
|
usleep((1<<retries++) * 1000);
|
|
continue;
|
|
}
|
|
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;
|
|
int retries = 0;
|
|
struct stlink_usb_handle_s *h = 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_WAIT && retries < MAX_WAIT_RETRIES) {
|
|
usleep((1<<retries++) * 1000);
|
|
continue;
|
|
}
|
|
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_WAIT && retries < MAX_WAIT_RETRIES) {
|
|
usleep((1<<retries++) * 1000);
|
|
continue;
|
|
}
|
|
if (retval != ERROR_OK)
|
|
return retval;
|
|
|
|
buffer += bytes_remaining;
|
|
addr += bytes_remaining;
|
|
count -= bytes_remaining;
|
|
}
|
|
|
|
return retval;
|
|
}
|
|
|
|
/** */
|
|
static int stlink_usb_override_target(const char *targetname)
|
|
{
|
|
return !strcmp(targetname, "cortex_m");
|
|
}
|
|
|
|
static int stlink_speed(void *handle, int khz, bool query)
|
|
{
|
|
unsigned i;
|
|
int speed_index = -1;
|
|
int speed_diff = INT_MAX;
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
/* only supported by stlink/v2 and for firmware >= 22 */
|
|
if (h && (h->version.stlink == 1 || h->version.jtag < 22))
|
|
return khz;
|
|
|
|
for (i = 0; i < ARRAY_SIZE(stlink_khz_to_speed_map); i++) {
|
|
if (khz == stlink_khz_to_speed_map[i].speed) {
|
|
speed_index = i;
|
|
break;
|
|
} else {
|
|
int current_diff = khz - stlink_khz_to_speed_map[i].speed;
|
|
/* get abs value for comparison */
|
|
current_diff = (current_diff > 0) ? current_diff : -current_diff;
|
|
if ((current_diff < speed_diff) && khz >= stlink_khz_to_speed_map[i].speed) {
|
|
speed_diff = current_diff;
|
|
speed_index = i;
|
|
}
|
|
}
|
|
}
|
|
|
|
bool match = true;
|
|
|
|
if (speed_index == -1) {
|
|
/* this will only be here if we cannot match the slow speed.
|
|
* use the slowest speed we support.*/
|
|
speed_index = ARRAY_SIZE(stlink_khz_to_speed_map) - 1;
|
|
match = false;
|
|
} else if (i == ARRAY_SIZE(stlink_khz_to_speed_map))
|
|
match = false;
|
|
|
|
if (!match && query) {
|
|
LOG_INFO("Unable to match requested speed %d kHz, using %d kHz", \
|
|
khz, stlink_khz_to_speed_map[speed_index].speed);
|
|
}
|
|
|
|
if (h && !query) {
|
|
int result = stlink_usb_set_swdclk(h, stlink_khz_to_speed_map[speed_index].speed_divisor);
|
|
if (result != ERROR_OK) {
|
|
LOG_ERROR("Unable to set adapter speed");
|
|
return khz;
|
|
}
|
|
}
|
|
|
|
return stlink_khz_to_speed_map[speed_index].speed;
|
|
}
|
|
|
|
/** */
|
|
static int stlink_usb_close(void *handle)
|
|
{
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
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 = calloc(1, sizeof(struct stlink_usb_handle_s));
|
|
|
|
if (h == 0) {
|
|
LOG_DEBUG("malloc failed");
|
|
return ERROR_FAIL;
|
|
}
|
|
|
|
h->transport = param->transport;
|
|
|
|
const uint16_t vids[] = { param->vid, 0 };
|
|
const uint16_t pids[] = { param->pid, 0 };
|
|
const char *serial = param->serial;
|
|
|
|
LOG_DEBUG("transport: %d vid: 0x%04x pid: 0x%04x serial: %s",
|
|
param->transport, param->vid, param->pid,
|
|
param->serial ? param->serial : "");
|
|
|
|
/*
|
|
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, serial, &h->fd) != ERROR_OK) {
|
|
LOG_ERROR("open failed");
|
|
goto error_open;
|
|
}
|
|
|
|
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;
|
|
}
|
|
|
|
/* RX EP is common for all versions */
|
|
h->rx_ep = STLINK_RX_EP;
|
|
|
|
/* wrap version for first read */
|
|
switch (param->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:
|
|
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;
|
|
}
|
|
|
|
/* get the device version */
|
|
err = stlink_usb_version(h);
|
|
|
|
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))
|
|
LOG_INFO("vid/pid are not identical: 0x%04X/0x%04X 0x%04X/0x%04X",
|
|
param->vid, param->pid,
|
|
h->vid, h->pid);
|
|
|
|
/* check if mode is supported */
|
|
err = ERROR_OK;
|
|
|
|
switch (h->transport) {
|
|
case HL_TRANSPORT_SWD:
|
|
case HL_TRANSPORT_JTAG:
|
|
if (h->version.jtag == 0)
|
|
err = ERROR_FAIL;
|
|
break;
|
|
case HL_TRANSPORT_SWIM:
|
|
if (h->version.swim == 0)
|
|
err = ERROR_FAIL;
|
|
break;
|
|
default:
|
|
err = ERROR_FAIL;
|
|
break;
|
|
}
|
|
|
|
if (err != ERROR_OK) {
|
|
LOG_ERROR("mode (transport) not supported by device");
|
|
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 = api;
|
|
|
|
/* initialize the debug hardware */
|
|
err = stlink_usb_init_mode(h, param->connect_under_reset);
|
|
|
|
if (err != ERROR_OK) {
|
|
LOG_ERROR("init mode failed (unable to connect to the target)");
|
|
goto error_open;
|
|
}
|
|
|
|
/* clock speed only supported by stlink/v2 and for firmware >= 22 */
|
|
if (h->version.stlink >= 2 && h->version.jtag >= 22) {
|
|
LOG_DEBUG("Supported clock speeds are:");
|
|
|
|
for (unsigned i = 0; i < ARRAY_SIZE(stlink_khz_to_speed_map); i++)
|
|
LOG_DEBUG("%d kHz", stlink_khz_to_speed_map[i].speed);
|
|
|
|
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;
|
|
}
|
|
|
|
int stlink_config_trace(void *handle, bool enabled, enum tpio_pin_protocol pin_protocol,
|
|
uint32_t port_size, unsigned int *trace_freq)
|
|
{
|
|
struct stlink_usb_handle_s *h = handle;
|
|
|
|
if (enabled && (h->jtag_api < 2 || 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 hl_layout_api_s stlink_usb_layout_api = {
|
|
/** */
|
|
.open = stlink_usb_open,
|
|
/** */
|
|
.close = stlink_usb_close,
|
|
/** */
|
|
.idcode = stlink_usb_idcode,
|
|
/** */
|
|
.state = stlink_usb_state,
|
|
/** */
|
|
.reset = stlink_usb_reset,
|
|
/** */
|
|
.assert_srst = stlink_usb_assert_srst,
|
|
/** */
|
|
.run = stlink_usb_run,
|
|
/** */
|
|
.halt = stlink_usb_halt,
|
|
/** */
|
|
.step = stlink_usb_step,
|
|
/** */
|
|
.read_regs = stlink_usb_read_regs,
|
|
/** */
|
|
.read_reg = stlink_usb_read_reg,
|
|
/** */
|
|
.write_reg = stlink_usb_write_reg,
|
|
/** */
|
|
.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,
|
|
/** */
|
|
.speed = stlink_speed,
|
|
/** */
|
|
.config_trace = stlink_config_trace,
|
|
/** */
|
|
.poll_trace = stlink_usb_trace_read,
|
|
};
|