* Copyright (C) 2011-2012 by Mathias Kuester *
* Mathias Kuester <kesmtp@freenet.de> *
* *
+ * Copyright (C) 2012 by Spencer Oliver *
+ * spen@spen-soft.co.uk *
+ * *
* This code is based on https://github.com/texane/stlink *
* *
* This program is free software; you can redistribute it and/or modify *
#include <jtag/stlink/stlink_interface.h>
#include <target/target.h>
+#include <target/cortex_m.h>
+
#include "libusb_common.h"
-#define ENDPOINT_IN 0x80
-#define ENDPOINT_OUT 0x00
+#define ENDPOINT_IN 0x80
+#define ENDPOINT_OUT 0x00
-#define STLINK_NULL_EP 0
-#define STLINK_RX_EP (1|ENDPOINT_IN)
-#define STLINK_TX_EP (2|ENDPOINT_OUT)
-#define STLINK_SG_SIZE (31)
-#define STLINK_DATA_SIZE (4*128)
-#define STLINK_CMD_SIZE_V2 (16)
-#define STLINK_CMD_SIZE_V1 (10)
+#define STLINK_NULL_EP 0
+#define STLINK_RX_EP (1|ENDPOINT_IN)
+#define STLINK_TX_EP (2|ENDPOINT_OUT)
+#define STLINK_SG_SIZE (31)
+#define STLINK_DATA_SIZE (4*128)
+#define STLINK_CMD_SIZE_V2 (16)
+#define STLINK_CMD_SIZE_V1 (10)
enum stlink_jtag_api_version {
- STLINK_JTAG_API_V1 = 0,
+ STLINK_JTAG_API_V1 = 1,
STLINK_JTAG_API_V2,
};
enum stlink_jtag_api_version jtag_api;
};
-#define STLINK_DEBUG_ERR_OK 0x80
-#define STLINK_DEBUG_ERR_FAULT 0x81
-#define STLINK_CORE_RUNNING 0x80
-#define STLINK_CORE_HALTED 0x81
-#define STLINK_CORE_STAT_UNKNOWN -1
-
-#define STLINK_GET_VERSION 0xF1
-#define STLINK_DEBUG_COMMAND 0xF2
-#define STLINK_DFU_COMMAND 0xF3
-#define STLINK_SWIM_COMMAND 0xF4
-#define STLINK_GET_CURRENT_MODE 0xF5
-
-#define STLINK_DEV_DFU_MODE 0x00
-#define STLINK_DEV_MASS_MODE 0x01
-#define STLINK_DEV_DEBUG_MODE 0x02
-#define STLINK_DEV_SWIM_MODE 0x03
-#define STLINK_DEV_BOOTLOADER_MODE 0x04
-#define STLINK_DEV_UNKNOWN_MODE -1
-
-#define STLINK_DFU_EXIT 0x07
-
-#define STLINK_SWIM_ENTER 0x00
-#define STLINK_SWIM_EXIT 0x01
-
-#define STLINK_DEBUG_ENTER_JTAG 0x00
-#define STLINK_DEBUG_GETSTATUS 0x01
-#define STLINK_DEBUG_FORCEDEBUG 0x02
-#define STLINK_DEBUG_APIV1_RESETSYS 0x03
-#define STLINK_DEBUG_APIV1_READALLREGS 0x04
-#define STLINK_DEBUG_APIV1_READREG 0x05
-#define STLINK_DEBUG_APIV1_WRITEREG 0x06
-#define STLINK_DEBUG_READMEM_32BIT 0x07
-#define STLINK_DEBUG_WRITEMEM_32BIT 0x08
-#define STLINK_DEBUG_RUNCORE 0x09
-#define STLINK_DEBUG_STEPCORE 0x0a
-#define STLINK_DEBUG_APIV1_SETFP 0x0b
-#define STLINK_DEBUG_READMEM_8BIT 0x0c
-#define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
-#define STLINK_DEBUG_APIV1_CLEARFP 0x0e
-#define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
-#define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
-
-#define STLINK_DEBUG_ENTER_JTAG 0x00
-#define STLINK_DEBUG_ENTER_SWD 0xa3
-
-#define STLINK_DEBUG_APIV1_ENTER 0x20
-#define STLINK_DEBUG_EXIT 0x21
-#define STLINK_DEBUG_READCOREID 0x22
-
-#define STLINK_DEBUG_APIV2_ENTER 0x30
-#define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
-#define STLINK_DEBUG_APIV2_RESETSYS 0x32
-#define STLINK_DEBUG_APIV2_READREG 0x33
-#define STLINK_DEBUG_APIV2_WRITEREG 0x34
-
-#define STLINK_DEBUG_APIV2_READALLREGS 0x3A
-
-#define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
-
-#define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
-#define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
-#define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
+#define STLINK_DEBUG_ERR_OK 0x80
+#define STLINK_DEBUG_ERR_FAULT 0x81
+#define STLINK_SWD_AP_WAIT 0x10
+#define STLINK_SWD_DP_WAIT 0x14
+
+#define STLINK_CORE_RUNNING 0x80
+#define STLINK_CORE_HALTED 0x81
+#define STLINK_CORE_STAT_UNKNOWN -1
+
+#define STLINK_GET_VERSION 0xF1
+#define STLINK_DEBUG_COMMAND 0xF2
+#define STLINK_DFU_COMMAND 0xF3
+#define STLINK_SWIM_COMMAND 0xF4
+#define STLINK_GET_CURRENT_MODE 0xF5
+
+#define STLINK_DEV_DFU_MODE 0x00
+#define STLINK_DEV_MASS_MODE 0x01
+#define STLINK_DEV_DEBUG_MODE 0x02
+#define STLINK_DEV_SWIM_MODE 0x03
+#define STLINK_DEV_BOOTLOADER_MODE 0x04
+#define STLINK_DEV_UNKNOWN_MODE -1
+
+#define STLINK_DFU_EXIT 0x07
+
+#define STLINK_SWIM_ENTER 0x00
+#define STLINK_SWIM_EXIT 0x01
+
+#define STLINK_DEBUG_ENTER_JTAG 0x00
+#define STLINK_DEBUG_GETSTATUS 0x01
+#define STLINK_DEBUG_FORCEDEBUG 0x02
+#define STLINK_DEBUG_APIV1_RESETSYS 0x03
+#define STLINK_DEBUG_APIV1_READALLREGS 0x04
+#define STLINK_DEBUG_APIV1_READREG 0x05
+#define STLINK_DEBUG_APIV1_WRITEREG 0x06
+#define STLINK_DEBUG_READMEM_32BIT 0x07
+#define STLINK_DEBUG_WRITEMEM_32BIT 0x08
+#define STLINK_DEBUG_RUNCORE 0x09
+#define STLINK_DEBUG_STEPCORE 0x0a
+#define STLINK_DEBUG_APIV1_SETFP 0x0b
+#define STLINK_DEBUG_READMEM_8BIT 0x0c
+#define STLINK_DEBUG_WRITEMEM_8BIT 0x0d
+#define STLINK_DEBUG_APIV1_CLEARFP 0x0e
+#define STLINK_DEBUG_APIV1_WRITEDEBUGREG 0x0f
+#define STLINK_DEBUG_APIV1_SETWATCHPOINT 0x10
+
+#define STLINK_DEBUG_ENTER_JTAG 0x00
+#define STLINK_DEBUG_ENTER_SWD 0xa3
+
+#define STLINK_DEBUG_APIV1_ENTER 0x20
+#define STLINK_DEBUG_EXIT 0x21
+#define STLINK_DEBUG_READCOREID 0x22
+
+#define STLINK_DEBUG_APIV2_ENTER 0x30
+#define STLINK_DEBUG_APIV2_READ_IDCODES 0x31
+#define STLINK_DEBUG_APIV2_RESETSYS 0x32
+#define STLINK_DEBUG_APIV2_READREG 0x33
+#define STLINK_DEBUG_APIV2_WRITEREG 0x34
+#define STLINK_DEBUG_APIV2_WRITEDEBUGREG 0x35
+#define STLINK_DEBUG_APIV2_READDEBUGREG 0x36
+
+#define STLINK_DEBUG_APIV2_READALLREGS 0x3A
+#define STLINK_DEBUG_APIV2_GETLASTRWSTATUS 0x3B
+#define STLINK_DEBUG_APIV2_DRIVE_NRST 0x3C
+
+#define STLINK_DEBUG_APIV2_DRIVE_NRST_LOW 0x00
+#define STLINK_DEBUG_APIV2_DRIVE_NRST_HIGH 0x01
+#define STLINK_DEBUG_APIV2_DRIVE_NRST_PULSE 0x02
/** */
enum stlink_mode {
STLINK_MODE_DEBUG_SWIM
};
-#define REQUEST_SENSE 0x03
-#define REQUEST_SENSE_LENGTH 18
+#define REQUEST_SENSE 0x03
+#define REQUEST_SENSE_LENGTH 18
static void stlink_usb_init_buffer(void *handle, uint8_t direction, uint32_t size);
h->pid = buf_get_u32(h->databuf, 32, 16);
/* set the supported jtag api version
- * V1 doesn't support API V2 at all
- * V2 support API V2 since JTAG V13
+ * API V2 is supported since JTAG V11
*/
- if ((h->version.stlink == 2) && (h->version.jtag > 12))
+ if (h->version.jtag >= 11)
h->version.jtag_api_max = STLINK_JTAG_API_V2;
else
h->version.jtag_api_max = STLINK_JTAG_API_V1;
return ERROR_OK;
}
+static int stlink_usb_v2_read_debug_reg(void *handle, uint32_t addr, uint32_t *val)
+{
+ struct stlink_usb_handle_s *h;
+ int res;
+
+ assert(handle != NULL);
+
+ h = (struct stlink_usb_handle_s *)handle;
+
+ stlink_usb_init_buffer(handle, STLINK_RX_EP, 8);
+
+ h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
+ h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READDEBUGREG;
+ h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
+ h->cmdidx += 4;
+
+ res = stlink_usb_xfer(handle, h->databuf, 8);
+
+ if (res != ERROR_OK)
+ return res;
+
+ *val = le_to_h_u32(h->databuf + 4);
+
+ return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
+}
+
+static int stlink_usb_write_debug_reg(void *handle, uint32_t addr, uint32_t val)
+{
+ int res;
+ struct stlink_usb_handle_s *h;
+
+ assert(handle != NULL);
+
+ h = (struct stlink_usb_handle_s *)handle;
+
+ stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
+
+ h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
+ if (h->jtag_api == STLINK_JTAG_API_V1)
+ h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV1_WRITEDEBUGREG;
+ else
+ h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_WRITEDEBUGREG;
+ h_u32_to_le(h->cmdbuf+h->cmdidx, addr);
+ h->cmdidx += 4;
+ h_u32_to_le(h->cmdbuf+h->cmdidx, val);
+ h->cmdidx += 4;
+
+ res = stlink_usb_xfer(handle, h->databuf, 2);
+
+ if (res != ERROR_OK)
+ return res;
+
+ return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
+}
+
+static enum target_state stlink_usb_v2_get_status(void *handle)
+{
+ int result;
+ uint32_t status;
+
+ result = stlink_usb_v2_read_debug_reg(handle, DCB_DHCSR, &status);
+ if (result != ERROR_OK)
+ return TARGET_UNKNOWN;
+
+ if (status & S_HALT)
+ return TARGET_HALTED;
+ else if (status & S_RESET_ST)
+ return TARGET_RESET;
+
+ return TARGET_RUNNING;
+}
+
/** */
static enum target_state stlink_usb_state(void *handle)
{
h = (struct stlink_usb_handle_s *)handle;
if (h->jtag_api == STLINK_JTAG_API_V2)
- return TARGET_UNKNOWN;
+ return stlink_usb_v2_get_status(handle);
stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
LOG_DEBUG("RESET: 0x%08X", h->databuf[0]);
+ /* the following is not a error under swd (using hardware srst), so return success */
+ if (h->databuf[0] == STLINK_SWD_AP_WAIT || h->databuf[0] == STLINK_SWD_DP_WAIT)
+ return ERROR_OK;
+
+ return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
+}
+
+static int stlink_usb_assert_srst(void *handle, int srst)
+{
+ int res;
+ struct stlink_usb_handle_s *h;
+
+ assert(handle != NULL);
+
+ h = (struct stlink_usb_handle_s *)handle;
+
+ if (h->jtag_api == STLINK_JTAG_API_V1)
+ return ERROR_COMMAND_NOTFOUND;
+
+ stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
+
+ h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
+ h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_DRIVE_NRST;
+ h->cmdbuf[h->cmdidx++] = srst;
+
+ res = stlink_usb_xfer(handle, h->databuf, 2);
+
+ if (res != ERROR_OK)
+ return res;
+
return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
}
h = (struct stlink_usb_handle_s *)handle;
if (h->jtag_api == STLINK_JTAG_API_V2)
- return ERROR_FAIL;
+ return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_DEBUGEN);
stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
h = (struct stlink_usb_handle_s *)handle;
if (h->jtag_api == STLINK_JTAG_API_V2)
- return ERROR_FAIL;
+ return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
h = (struct stlink_usb_handle_s *)handle;
- if (h->jtag_api == STLINK_JTAG_API_V2)
- return ERROR_FAIL;
+ if (h->jtag_api == STLINK_JTAG_API_V2) {
+ /* TODO: this emulates the v1 api, it should really use a similar auto mask isr
+ * that the cortex-m3 currently does. */
+ stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_MASKINTS|C_DEBUGEN);
+ stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_STEP|C_MASKINTS|C_DEBUGEN);
+ return stlink_usb_write_debug_reg(handle, DCB_DHCSR, DBGKEY|C_HALT|C_DEBUGEN);
+ }
stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
h = (struct stlink_usb_handle_s *)handle;
- stlink_usb_init_buffer(handle, STLINK_RX_EP, 4);
+ stlink_usb_init_buffer(handle, STLINK_RX_EP, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
if (h->jtag_api == STLINK_JTAG_API_V1)
h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_READREG;
h->cmdbuf[h->cmdidx++] = num;
- res = stlink_usb_xfer(handle, h->databuf, 4);
+ res = stlink_usb_xfer(handle, h->databuf, h->jtag_api == STLINK_JTAG_API_V1 ? 4 : 8);
if (res != ERROR_OK)
return res;
- *val = le_to_h_u32(h->databuf);
+ if (h->jtag_api == STLINK_JTAG_API_V1)
+ *val = le_to_h_u32(h->databuf);
+ else {
+ *val = le_to_h_u32(h->databuf + 4);
+ return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
+ }
return ERROR_OK;
}
return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : ERROR_FAIL;
}
+static int stlink_usb_get_rw_status(void *handle)
+{
+ int res;
+ struct stlink_usb_handle_s *h;
+
+ assert(handle != NULL);
+
+ h = (struct stlink_usb_handle_s *)handle;
+
+ if (h->jtag_api == STLINK_JTAG_API_V1)
+ return ERROR_OK;
+
+ stlink_usb_init_buffer(handle, STLINK_RX_EP, 2);
+
+ h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_COMMAND;
+ h->cmdbuf[h->cmdidx++] = STLINK_DEBUG_APIV2_GETLASTRWSTATUS;
+
+ res = stlink_usb_xfer(handle, h->databuf, 2);
+
+ if (res != ERROR_OK)
+ return res;
+
+ return h->databuf[0] == STLINK_DEBUG_ERR_OK ? ERROR_OK : res;
+}
+
/** */
static int stlink_usb_read_mem8(void *handle, uint32_t addr, uint16_t len,
uint8_t *buffer)
memcpy(buffer, h->databuf, len);
- return ERROR_OK;
+ return stlink_usb_get_rw_status(handle);
}
/** */
if (res != ERROR_OK)
return res;
- return ERROR_OK;
+ return stlink_usb_get_rw_status(handle);
}
/** */
memcpy(buffer, h->databuf, len);
- return ERROR_OK;
+ return stlink_usb_get_rw_status(handle);
}
/** */
if (res != ERROR_OK)
return res;
- return ERROR_OK;
+ return stlink_usb_get_rw_status(handle);
}
/** */
{
int err;
struct stlink_usb_handle_s *h;
+ enum stlink_jtag_api_version api;
LOG_DEBUG("stlink_usb_open");
return err;
}
- /* set the used jtag api */
- h->jtag_api = STLINK_JTAG_API_V1;
+ api = h->version.jtag_api_max;
+
+ /* check that user has not requested certain api version
+ * and if they have check it is supported */
+ if ((param->api != 0) && (param->api <= h->version.jtag_api_max)) {
+ api = param->api;
+ LOG_INFO("using stlink api v%d", api);
+ }
+
+ /* set the used jtag api, this will default to the newest supported version */
+ h->jtag_api = api;
/* initialize the debug hardware */
err = stlink_usb_init_mode(h);
/** */
.reset = stlink_usb_reset,
/** */
+ .assert_srst = stlink_usb_assert_srst,
+ /** */
.run = stlink_usb_run,
/** */
.halt = stlink_usb_halt,
.read_mem32 = stlink_usb_read_mem32,
/** */
.write_mem32 = stlink_usb_write_mem32,
+ /** */
+ .write_debug_reg = stlink_usb_write_debug_reg
};
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