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>

configure.ac

@@ -474,6 +474,10 @@ AC_ARG_ENABLE([buspirate],
   AS_HELP_STRING([--enable-buspirate], [Enable building support for the Buspirate]),
   [build_buspirate=$enableval], [build_buspirate=no])
 
+AC_ARG_ENABLE([stlink],
+  AS_HELP_STRING([--enable-stlink], [Enable building support for the ST-Link JTAG Programmer]),
+  [build_stlink=$enableval], [build_stlink=no])
+
 AC_ARG_ENABLE([minidriver_dummy],
   AS_HELP_STRING([--enable-minidriver-dummy], [Enable the dummy minidriver.]),
   [build_minidriver_dummy=$enableval], [build_minidriver_dummy=no])
@@ -773,6 +777,12 @@ else
   AC_DEFINE([BUILD_BUSPIRATE], [0], [0 if you don't want the Buspirate JTAG driver.])
 fi
 
+if test $build_stlink = yes; then
+  AC_DEFINE(BUILD_STLINK, 1, [1 if you want the ST-Link JTAG driver.])
+else
+  AC_DEFINE(BUILD_STLINK, 0, [0 if you don't want the ST-Link JTAG driver.])
+fi
+
 if test "$use_internal_jimtcl" = yes; then
   if test -f "$srcdir/jimtcl/configure.ac"; then
     AX_CONFIG_SUBDIR_OPTION([jimtcl], [--disable-install-jim])
@@ -1059,7 +1069,7 @@ fi
 
 # Check for libusb1 ported drivers.
 build_usb_ng=no
-if test $build_jlink = yes; then
+if test $build_jlink = yes -o $build_stlink = yes; then
   build_usb_ng=yes
 fi
 
@@ -1107,6 +1117,7 @@ AM_CONDITIONAL([ULINK], [test $build_ulink = yes])
 AM_CONDITIONAL([ARMJTAGEW], [test $build_armjtagew = yes])
 AM_CONDITIONAL([REMOTE_BITBANG], [test $build_remote_bitbang = yes])
 AM_CONDITIONAL([BUSPIRATE], [test $build_buspirate = yes])
+AM_CONDITIONAL([STLINK], [test $build_stlink = yes])
 AM_CONDITIONAL([USB], [test $build_usb = yes])
 AM_CONDITIONAL([USB_NG], [test $build_usb_ng = yes])
 AM_CONDITIONAL([USE_LIBUSB0], [test $use_libusb0 = yes])
@@ -1219,6 +1230,7 @@ AC_CONFIG_FILES([
   src/helper/Makefile
   src/jtag/Makefile
   src/jtag/drivers/Makefile
+  src/jtag/stlink/Makefile
   src/transport/Makefile
   src/xsvf/Makefile
   src/svf/Makefile

src/jtag/Makefile.am

@@ -39,9 +39,15 @@ else
 MINIDRIVER_IMP_DIR = $(srcdir)/drivers
 DRIVERFILES += commands.c
 
+if STLINK
+SUBDIRS += stlink
+libjtag_la_LIBADD += $(top_builddir)/src/jtag/stlink/libocdstlink.la
+endif
+
 SUBDIRS += drivers
 libjtag_la_LIBADD += $(top_builddir)/src/jtag/drivers/libocdjtagdrivers.la
 
+
 endif
 
 # endif // MINIDRIVER

src/jtag/drivers/Makefile.am

@@ -94,6 +94,9 @@ endif
 if REMOTE_BITBANG
 DRIVERFILES += remote_bitbang.c
 endif
+if STLINK
+DRIVERFILES += stlink_usb.c
+endif
 
 noinst_HEADERS = \
 	bitbang.h \
@@ -103,6 +106,7 @@ noinst_HEADERS = \
 	rlink_dtc_cmd.h \
 	rlink_ep1_cmd.h \
 	rlink_st7.h \
-	usb_common.h
+	usb_common.h \
+	stlink_usb.h
 
 MAINTAINERCLEANFILES = $(srcdir)/Makefile.in

src/jtag/drivers/stlink_usb.c

+/***************************************************************************
+ *   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;