ST-LINK USB initial release

ST-Link USB support added.

Change-Id: I2812646f2895b1529ff3f911edbdce7fa0051c8f
Signed-off-by: Mathias K <kesmtp@freenet.de>
Reviewed-on: http://openocd.zylin.com/261
Tested-by: jenkins
Reviewed-by: Spencer Oliver <spen@spen-soft.co.uk>

1 files changed, 658 insertions, 0 deletions

diff --git a/src/jtag/drivers/stlink_usb.c b/src/jtag/drivers/stlink_usb.c
new file mode 100644
index 00000000..aaf55b0a
--- /dev/null
+++ b/src/jtag/drivers/stlink_usb.c
@@ -0,0 +1,658 @@
+/***************************************************************************
+ *   Copyright (C) 2011 by Mathias Kuester                                 *
+ *   Mathias Kuester <kesmtp@freenet.de>                                   *
+ *                                                                         *
+ *   This code is based on https://github.com/texane/stlink                *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, write to the                         *
+ *   Free Software Foundation, Inc.,                                       *
+ *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+/* project specific includes */
+#include <helper/binarybuffer.h>
+#include <jtag/interface.h>
+#include <jtag/stlink/stlink_layout.h>
+#include <jtag/stlink/stlink_interface.h>
+#include <target/target.h>
+
+#include "libusb_common.h"
+
+#define ENDPOINT_IN	0x80
+#define ENDPOINT_OUT	0x00
+
+#define STLINK_RX_EP	(1|ENDPOINT_IN)
+#define STLINK_TX_EP	(2|ENDPOINT_OUT)
+#define STLINK_CMD_SIZE	(16)
+#define STLINK_TX_SIZE	(4*128)
+#define STLINK_RX_SIZE	(4*128)
+
+/** */
+struct stlink_usb_handle_s {
+	/** */
+	struct jtag_libusb_device_handle *fd;
+	/** */
+	struct libusb_transfer *trans;
+	/** */
+	uint8_t txbuf[STLINK_TX_SIZE];
+	/** */
+	uint8_t rxbuf[STLINK_RX_SIZE];
+};
+
+#define STLINK_OK			0x80
+#define STLINK_FALSE			0x81
+#define STLINK_CORE_RUNNING		0x80
+#define STLINK_CORE_HALTED		0x81
+#define STLINK_CORE_STAT_UNKNOWN	-1
+
+#define STLINK_GET_VERSION		0xf1
+#define STLINK_GET_CURRENT_MODE		0xf5
+
+#define STLINK_DEBUG_COMMAND		0xF2
+#define STLINK_DFU_COMMAND		0xF3
+#define STLINK_DFU_EXIT			0x07
+
+#define STLINK_DEV_DFU_MODE		0x00
+#define STLINK_DEV_MASS_MODE		0x01
+#define STLINK_DEV_DEBUG_MODE		0x02
+#define STLINK_DEV_UNKNOWN_MODE		-1
+
+#define STLINK_DEBUG_ENTER		0x20
+#define STLINK_DEBUG_EXIT		0x21
+#define STLINK_DEBUG_READCOREID		0x22
+
+#define STLINK_DEBUG_GETSTATUS		0x01
+#define STLINK_DEBUG_FORCEDEBUG		0x02
+#define STLINK_DEBUG_RESETSYS		0x03
+#define STLINK_DEBUG_READALLREGS	0x04
+#define STLINK_DEBUG_READREG		0x05
+#define STLINK_DEBUG_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_SETFP		0x0b
+#define STLINK_DEBUG_WRITEMEM_8BIT	0x0d
+#define STLINK_DEBUG_CLEARFP		0x0e
+#define STLINK_DEBUG_WRITEDEBUGREG	0x0f
+#define STLINK_DEBUG_ENTER_SWD		0xa3
+#define STLINK_DEBUG_ENTER_JTAG		0x00
+
+#define STLINK_SWD_ENTER		0x30
+#define STLINK_SWD_READCOREID		0x32
+
+/** */
+int stlink_usb_recv(void *handle, uint8_t *txbuf, int txsize, uint8_t *rxbuf,
+		    int rxsize)
+{
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	if (jtag_libusb_bulk_write(h->fd, STLINK_TX_EP, (char *)txbuf, txsize,
+				   1000) != txsize) {
+		return ERROR_FAIL;
+	}
+	if (rxsize && rxbuf) {
+		if (jtag_libusb_bulk_read(h->fd, STLINK_RX_EP, (char *)rxbuf,
+					  rxsize, 1000) != rxsize) {
+			return ERROR_FAIL;
+		}
+	}
+	return ERROR_OK;
+}
+
+/** */
+void stlink_usb_init_buffer(void *handle)
+{
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	memset(h->txbuf, 0, STLINK_CMD_SIZE);
+}
+
+/** */
+int stlink_usb_version(void *handle)
+{
+	int res;
+	uint16_t v;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	h->txbuf[0] = STLINK_GET_VERSION;
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 6);
+
+	if (res != ERROR_OK)
+		return res;
+
+	v = (h->rxbuf[0] << 8) | h->rxbuf[1];
+
+	LOG_DEBUG("STLINK v%d", (v >> 12) & 0x0f);
+	LOG_DEBUG("JTAG   v%d", (v >> 6) & 0x3f);
+	LOG_DEBUG("SWIM   v%d", v & 0x3f);
+	LOG_DEBUG("VID    %04X", buf_get_u32(h->rxbuf, 16, 16));
+	LOG_DEBUG("PID    %04X", buf_get_u32(h->rxbuf, 32, 16));
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_current_mode(void *handle, uint8_t *mode)
+{
+	int res;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	h->txbuf[0] = STLINK_GET_CURRENT_MODE;
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
+
+	if (res != ERROR_OK)
+		return res;
+
+	*mode = h->rxbuf[0];
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_dfu_mode_leave(void *handle)
+{
+	int res;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	h->txbuf[0] = STLINK_DFU_COMMAND;
+	h->txbuf[1] = STLINK_DFU_EXIT;
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0);
+
+	if (res != ERROR_OK)
+		return res;
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_swd_mode_enter(void *handle)
+{
+	int res;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	h->txbuf[0] = STLINK_DEBUG_COMMAND;
+	h->txbuf[1] = STLINK_DEBUG_ENTER;
+	h->txbuf[2] = STLINK_DEBUG_ENTER_SWD;
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0);
+	if (res != ERROR_OK)
+		return res;
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_debug_mode_leave(void *handle)
+{
+	int res;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	h->txbuf[0] = STLINK_DEBUG_COMMAND;
+	h->txbuf[1] = STLINK_DEBUG_EXIT;
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0);
+	if (res != ERROR_OK)
+		return res;
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_init_mode(void *handle)
+{
+	int res;
+	uint8_t mode;
+
+	assert(handle != NULL);
+
+	res = stlink_usb_current_mode(handle, &mode);
+
+	if (res != ERROR_OK)
+		return res;
+
+	LOG_DEBUG("MODE: %02X", mode);
+
+	if (mode == STLINK_DEV_DFU_MODE) {
+		res = stlink_usb_dfu_mode_leave(handle);
+
+		if (res != ERROR_OK)
+			return res;
+	}
+
+	res = stlink_usb_current_mode(handle, &mode);
+
+	if (res != ERROR_OK)
+		return res;
+
+	LOG_DEBUG("MODE: %02X", mode);
+
+	if (mode != STLINK_DEV_DEBUG_MODE) {
+		res = stlink_usb_swd_mode_enter(handle);
+
+		if (res != ERROR_OK)
+			return res;
+	}
+
+	res = stlink_usb_current_mode(handle, &mode);
+
+	if (res != ERROR_OK)
+		return res;
+
+	LOG_DEBUG("MODE: %02X", mode);
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_idcode(void *handle, uint32_t *idcode)
+{
+	int res;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	h->txbuf[0] = STLINK_DEBUG_COMMAND;
+	h->txbuf[1] = STLINK_DEBUG_READCOREID;
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 4);
+
+	if (res != ERROR_OK)
+		return res;
+
+	*idcode = le_to_h_u32(h->rxbuf);
+
+	LOG_DEBUG("IDCODE: %08X", *idcode);
+
+	return ERROR_OK;
+}
+
+/** */
+enum target_state stlink_usb_state(void *handle)
+{
+	int res;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	h->txbuf[0] = STLINK_DEBUG_COMMAND;
+	h->txbuf[1] = STLINK_DEBUG_GETSTATUS;
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
+
+	if (res != ERROR_OK)
+		return TARGET_UNKNOWN;
+
+	if (h->rxbuf[0] == STLINK_CORE_RUNNING)
+		return TARGET_RUNNING;
+	if (h->rxbuf[0] == STLINK_CORE_HALTED)
+		return TARGET_HALTED;
+
+	return TARGET_UNKNOWN;
+}
+
+/** */
+int stlink_usb_reset(void *handle)
+{
+	int res;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	h->txbuf[0] = STLINK_DEBUG_COMMAND;
+	h->txbuf[1] = STLINK_DEBUG_RESETSYS;
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
+
+	if (res != ERROR_OK)
+		return res;
+
+	LOG_DEBUG("RESET: %08X", h->rxbuf[0]);
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_run(void *handle)
+{
+	int res;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	h->txbuf[0] = STLINK_DEBUG_COMMAND;
+	h->txbuf[1] = STLINK_DEBUG_RUNCORE;
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
+
+	if (res != ERROR_OK)
+		return res;
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_halt(void *handle)
+{
+	int res;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	h->txbuf[0] = STLINK_DEBUG_COMMAND;
+	h->txbuf[1] = STLINK_DEBUG_FORCEDEBUG;
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
+
+	if (res != ERROR_OK)
+		return res;
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_step(void *handle)
+{
+	int res;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	h->txbuf[0] = STLINK_DEBUG_COMMAND;
+	h->txbuf[1] = STLINK_DEBUG_STEPCORE;
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
+
+	if (res != ERROR_OK)
+		return res;
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_read_regs(void *handle)
+{
+	int res;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	h->txbuf[0] = STLINK_DEBUG_COMMAND;
+	h->txbuf[1] = STLINK_DEBUG_READALLREGS;
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 84);
+
+	if (res != ERROR_OK)
+		return res;
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_read_reg(void *handle, int num, 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);
+
+	h->txbuf[0] = STLINK_DEBUG_COMMAND;
+	h->txbuf[1] = STLINK_DEBUG_READREG;
+	h->txbuf[2] = num;
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 4);
+
+	if (res != ERROR_OK)
+		return res;
+
+	*val = le_to_h_u32(h->rxbuf);
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_write_reg(void *handle, int num, 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);
+
+	h->txbuf[0] = STLINK_DEBUG_COMMAND;
+	h->txbuf[1] = STLINK_DEBUG_WRITEREG;
+	h->txbuf[2] = num;
+	h_u32_to_le(h->txbuf + 3, val);
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, 2);
+
+	if (res != ERROR_OK)
+		return res;
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_read_mem32(void *handle, uint32_t addr, uint16_t len,
+			  uint32_t *buffer)
+{
+	int res;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	len *= 4;
+
+	h->txbuf[0] = STLINK_DEBUG_COMMAND;
+	h->txbuf[1] = STLINK_DEBUG_READMEM_32BIT;
+	h_u32_to_le(h->txbuf + 2, addr);
+	h_u16_to_le(h->txbuf + 2 + 4, len);
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, h->rxbuf, len);
+
+	if (res != ERROR_OK)
+		return res;
+
+	memcpy(buffer, h->rxbuf, len);
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_write_mem32(void *handle, uint32_t addr, uint16_t len,
+			   uint32_t *buffer)
+{
+	int res;
+	struct stlink_usb_handle_s *h;
+
+	assert(handle != NULL);
+
+	h = (struct stlink_usb_handle_s *)handle;
+
+	stlink_usb_init_buffer(handle);
+
+	len *= 4;
+
+	h->txbuf[0] = STLINK_DEBUG_COMMAND;
+	h->txbuf[1] = STLINK_DEBUG_WRITEMEM_32BIT;
+	h_u32_to_le(h->txbuf + 2, addr);
+	h_u16_to_le(h->txbuf + 2 + 4, len);
+
+	res = stlink_usb_recv(handle, h->txbuf, STLINK_CMD_SIZE, 0, 0);
+
+	if (res != ERROR_OK)
+		return res;
+
+	res = stlink_usb_recv(handle, (uint8_t *) buffer, len, 0, 0);
+
+	if (res != ERROR_OK)
+		return res;
+
+	memcpy(buffer, h->rxbuf, len);
+
+	return ERROR_OK;
+}
+
+/** */
+int stlink_usb_open(struct stlink_interface_param_s *param, void **fd)
+{
+	struct stlink_usb_handle_s *h;
+
+	LOG_DEBUG("stlink_usb_open");
+
+	h = malloc(sizeof(struct stlink_usb_handle_s));
+
+	if (h == 0) {
+		LOG_DEBUG("stlink_open_usb: malloc failed");
+		return ERROR_FAIL;
+	}
+
+	const uint16_t vids[] = { param->vid, 0 };
+	const uint16_t pids[] = { param->pid, 0 };
+
+	LOG_DEBUG("stlink_open_usb: vid: %04x pid: %04x", param->vid,
+		  param->pid);
+
+	if (jtag_libusb_open(vids, pids, &h->fd) != ERROR_OK) {
+		LOG_DEBUG("stlink_open_usb: open failed");
+		return ERROR_FAIL;
+	}
+
+	jtag_libusb_set_configuration(h->fd, 0);
+
+	if (jtag_libusb_claim_interface(h->fd, 0) != ERROR_OK) {
+		LOG_DEBUG("stlink_open_usb: claim failed");
+		return ERROR_FAIL;
+	}
+
+	stlink_usb_init_mode(h);
+
+	stlink_usb_version(h);
+
+	*fd = h;
+
+	return ERROR_OK;
+}
+
+/** */
+struct stlink_layout_api_s stlink_layout_api = {
+	/** */
+	.open = stlink_usb_open,
+	/** */
+	.idcode = stlink_usb_idcode,
+	/** */
+	.state = stlink_usb_state,
+	/** */
+	.reset = stlink_usb_reset,
+	/** */
+	.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_mem32 = stlink_usb_read_mem32,
+	/** */
+	.write_mem32 = stlink_usb_write_mem32,
+};