Added stlink platform for Discovery boards and ST's ST-Link hardware.

src/platforms/native/Makefile.inc

@@ -4,8 +4,8 @@ OBJCOPY = $(CROSS_COMPILE)objcopy
 
 CFLAGS += -Istm32/include -mcpu=cortex-m3 -mthumb -DSTM32F1
 LDFLAGS_BOOT = -lopencm3_stm32f1 -Wl,--defsym,_stack=0x20005000 \
-	-Wl,-T,$(PLATFORM_DIR)/blackmagic.ld -nostartfiles -lc -lnosys -Wl,-Map=mapfile \
+	-Wl,-T,platforms/stm32/blackmagic.ld -nostartfiles -lc -lnosys \
-	-mthumb -mcpu=cortex-m3 -Wl,-gc-sections
+	-Wl,-Map=mapfile -mthumb -mcpu=cortex-m3 -Wl,-gc-sections
 LDFLAGS = $(LDFLAGS_BOOT) -Wl,-Ttext=0x8002000
 
 VPATH += platforms/stm32

src/platforms/native/platform.c

@@ -41,7 +41,6 @@ volatile uint32_t timeout_counter;
 
 jmp_buf fatal_error_jmpbuf;
 
-void morse(const char *msg, char repeat);
 static void morse_update(void);
 
 static void adc_init(void);
@@ -69,10 +68,8 @@ int platform_init(void)
 
 	/* Enable peripherals */
 	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USBEN);
-	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_TIM2EN);
 	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
 	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
-	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPDEN);
 	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
 
 	/* Setup GPIO ports */

src/platforms/stlink/Makefile.inc

@@ -0,0 +1,22 @@
+CROSS_COMPILE ?= arm-none-eabi-
+CC = $(CROSS_COMPILE)gcc
+OBJCOPY = $(CROSS_COMPILE)objcopy
+
+CFLAGS += -mcpu=cortex-m3 -mthumb -DSTM32F1
+LDFLAGS = -lopencm3_stm32f1 -Wl,--defsym,_stack=0x20005000 \
+	-Wl,-T,platforms/stm32/blackmagic.ld -nostartfiles -lc -lnosys \
+	-Wl,-Map=mapfile -mthumb -mcpu=cortex-m3 -Wl,-gc-sections
+
+VPATH += platforms/stm32
+
+SRC += 	cdcacm.c	\
+	platform.c	\
+
+all:	blackmagic.bin
+
+blackmagic.bin:	blackmagic
+	$(OBJCOPY) -O binary $^ $@
+
+host_clean:
+	-rm blackmagic.bin
+

src/platforms/stlink/cdcacm.c

@@ -0,0 +1,306 @@
+/*
+ * This file is part of the Black Magic Debug project.
+ *
+ * Copyright (C) 2011  Black Sphere Technologies Ltd.
+ * Written by Gareth McMullin <gareth@blacksphere.co.nz>
+ *
+ * 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 3 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, see <http://www.gnu.org/licenses/>.
+ */
+
+/* This file implements a the USB Communications Device Class - Abstract
+ * Control Model (CDC-ACM) as defined in CDC PSTN subclass 1.2.  
+ * A Device Firmware Upgrade (DFU 1.1) class interface is provided for 
+ * field firmware upgrade.
+ * 
+ * The device's unique id is used as the USB serial number string.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/nvic.h>
+#include <libopencm3/stm32/exti.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/usb/usbd.h>
+#include <libopencm3/usb/cdc.h>
+#include <libopencm3/stm32/f1/scb.h>
+#include <libopencm3/usb/dfu.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+static char *get_dev_unique_id(char *serial_no);
+
+static int configured;
+static int cdcacm_gdb_dtr = 1;
+
+static const struct usb_device_descriptor dev = {
+        .bLength = USB_DT_DEVICE_SIZE,
+        .bDescriptorType = USB_DT_DEVICE,
+        .bcdUSB = 0x0200,
+        .bDeviceClass = 0xEF,		/* Miscellaneous Device */
+        .bDeviceSubClass = 2,		/* Common Class */
+        .bDeviceProtocol = 1,		/* Interface Association */
+        .bMaxPacketSize0 = 64,
+        .idVendor = 0x1D50,
+        .idProduct = 0x6018,
+        .bcdDevice = 0x0100,
+        .iManufacturer = 1,
+        .iProduct = 2,
+        .iSerialNumber = 3,
+        .bNumConfigurations = 1,
+};
+
+/* This notification endpoint isn't implemented. According to CDC spec its 
+ * optional, but its absence causes a NULL pointer dereference in Linux cdc_acm 
+ * driver. */
+static const struct usb_endpoint_descriptor gdb_comm_endp[] = {{
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x82,
+	.bmAttributes = USB_ENDPOINT_ATTR_INTERRUPT,
+	.wMaxPacketSize = 16,
+	.bInterval = 255,
+}};
+
+static const struct usb_endpoint_descriptor gdb_data_endp[] = {{
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x01,
+	.bmAttributes = USB_ENDPOINT_ATTR_BULK,
+	.wMaxPacketSize = CDCACM_PACKET_SIZE,
+	.bInterval = 1,
+}, {
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x81,
+	.bmAttributes = USB_ENDPOINT_ATTR_BULK,
+	.wMaxPacketSize = CDCACM_PACKET_SIZE,
+	.bInterval = 1,
+}};
+
+static const struct {
+	struct usb_cdc_header_descriptor header;
+	struct usb_cdc_call_management_descriptor call_mgmt;
+	struct usb_cdc_acm_descriptor acm;
+	struct usb_cdc_union_descriptor cdc_union;
+} __attribute__((packed)) gdb_cdcacm_functional_descriptors = {
+	.header = {
+		.bFunctionLength = sizeof(struct usb_cdc_header_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_HEADER,
+		.bcdCDC = 0x0110,
+	},
+	.call_mgmt = {
+		.bFunctionLength = 
+			sizeof(struct usb_cdc_call_management_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_CALL_MANAGEMENT,
+		.bmCapabilities = 0,
+		.bDataInterface = 1,
+	},
+	.acm = {
+		.bFunctionLength = sizeof(struct usb_cdc_acm_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_ACM,
+		.bmCapabilities = 2, /* SET_LINE_CODING supported */
+	},
+	.cdc_union = {
+		.bFunctionLength = sizeof(struct usb_cdc_union_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_UNION,
+		.bControlInterface = 0,
+		.bSubordinateInterface0 = 1, 
+	 }
+};
+
+static const struct usb_interface_descriptor gdb_comm_iface[] = {{
+	.bLength = USB_DT_INTERFACE_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE,
+	.bInterfaceNumber = 0,
+	.bAlternateSetting = 0,
+	.bNumEndpoints = 1,
+	.bInterfaceClass = USB_CLASS_CDC,
+	.bInterfaceSubClass = USB_CDC_SUBCLASS_ACM,
+	.bInterfaceProtocol = USB_CDC_PROTOCOL_AT,
+	.iInterface = 4,
+
+	.endpoint = gdb_comm_endp,
+
+	.extra = &gdb_cdcacm_functional_descriptors,
+	.extralen = sizeof(gdb_cdcacm_functional_descriptors)
+}};
+
+static const struct usb_interface_descriptor gdb_data_iface[] = {{
+	.bLength = USB_DT_INTERFACE_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE,
+	.bInterfaceNumber = 1,
+	.bAlternateSetting = 0,
+	.bNumEndpoints = 2,
+	.bInterfaceClass = USB_CLASS_DATA,
+	.bInterfaceSubClass = 0,
+	.bInterfaceProtocol = 0,
+	.iInterface = 0,
+
+	.endpoint = gdb_data_endp,
+}};
+
+static const struct usb_iface_assoc_descriptor gdb_assoc = {
+	.bLength = USB_DT_INTERFACE_ASSOCIATION_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE_ASSOCIATION,
+	.bFirstInterface = 0,
+	.bInterfaceCount = 2,
+	.bFunctionClass = USB_CLASS_CDC,
+	.bFunctionSubClass = USB_CDC_SUBCLASS_ACM,
+	.bFunctionProtocol = USB_CDC_PROTOCOL_AT,
+	.iFunction = 0,
+};
+
+static const struct usb_interface ifaces[] = {{
+	.num_altsetting = 1,
+	.iface_assoc = &gdb_assoc,
+	.altsetting = gdb_comm_iface,
+}, {
+	.num_altsetting = 1,
+	.altsetting = gdb_data_iface,
+}};
+
+static const struct usb_config_descriptor config = {
+	.bLength = USB_DT_CONFIGURATION_SIZE,
+	.bDescriptorType = USB_DT_CONFIGURATION,
+	.wTotalLength = 0,
+	.bNumInterfaces = 2,
+	.bConfigurationValue = 1,
+	.iConfiguration = 0,
+	.bmAttributes = 0x80,
+	.bMaxPower = 0x32,
+
+	.interface = ifaces,
+};
+
+char serial_no[9];
+
+static const char *usb_strings[] = {
+	"x",
+	"Black Sphere Technologies",
+	"Black Magic Probe",
+	serial_no,
+	"Black Magic GDB Server",
+};
+
+static int cdcacm_control_request(struct usb_setup_data *req, uint8_t **buf,
+		uint16_t *len, void (**complete)(struct usb_setup_data *req))
+{
+	(void)complete;
+	(void)buf;
+	(void)len;
+
+	switch(req->bRequest) {
+	case USB_CDC_REQ_SET_CONTROL_LINE_STATE: 
+		/* Ignore if not for GDB interface */
+		if(req->wIndex != 0)
+			return 1;
+
+		cdcacm_gdb_dtr = req->wValue & 1;
+
+		return 1;
+	case USB_CDC_REQ_SET_LINE_CODING: 
+		if(*len < sizeof(struct usb_cdc_line_coding)) 
+			return 0;
+
+		switch(req->wIndex) {
+		case 0:
+			return 1; /* Ignore on GDB Port */
+		default:
+			return 0;
+		}
+	}
+	return 0;
+}
+
+int cdcacm_get_config(void)
+{
+	return configured;
+}
+
+int cdcacm_get_dtr(void)
+{
+	return cdcacm_gdb_dtr;
+}
+
+static void cdcacm_set_config(u16 wValue)
+{
+	configured = wValue;
+
+	/* GDB interface */
+	usbd_ep_setup(0x01, USB_ENDPOINT_ATTR_BULK, CDCACM_PACKET_SIZE, NULL);
+	usbd_ep_setup(0x81, USB_ENDPOINT_ATTR_BULK, CDCACM_PACKET_SIZE, NULL);
+	usbd_ep_setup(0x82, USB_ENDPOINT_ATTR_INTERRUPT, 16, NULL);
+
+	usbd_register_control_callback(
+			USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE, 
+			USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
+			cdcacm_control_request);
+
+	/* Notify the host that DCD is asserted.  
+	 * Allows the use of /dev/tty* devices on *BSD/MacOS
+	 */
+	char buf[10];
+	struct usb_cdc_notification *notif = (void*)buf;
+	/* We echo signals back to host as notification */
+	notif->bmRequestType = 0xA1;
+	notif->bNotification = USB_CDC_NOTIFY_SERIAL_STATE;
+	notif->wValue = 0;
+	notif->wIndex = 0;
+	notif->wLength = 2;
+	buf[8] = 3; /* DCD | DSR */
+	buf[9] = 0;
+	usbd_ep_write_packet(0x82, buf, 10);
+}
+
+void cdcacm_init(void)
+{
+	void exti15_10_isr(void);
+
+	get_dev_unique_id(serial_no);
+
+	usbd_init(&stm32f103_usb_driver, &dev, &config, usb_strings);
+	usbd_register_set_config_callback(cdcacm_set_config);
+
+	nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
+}
+
+void usb_lp_can_rx0_isr(void)
+{
+	usbd_poll();
+}
+
+static char *get_dev_unique_id(char *s) 
+{
+        volatile uint32_t *unique_id_p = (volatile uint32_t *)0x1FFFF7E8;
+	uint32_t unique_id = *unique_id_p +
+			*(unique_id_p + 1) +
+			*(unique_id_p + 2);
+        int i;
+
+        /* Fetch serial number from chip's unique ID */
+        for(i = 0; i < 8; i++) {
+                s[7-i] = ((unique_id >> (4*i)) & 0xF) + '0';
+        }
+        for(i = 0; i < 8; i++)
+                if(s[i] > '9') 
+                        s[i] += 'A' - '9' - 1;
+	s[8] = 0;
+
+	return s;
+}
+

src/platforms/stlink/platform.c

@@ -0,0 +1,96 @@
+/*
+ * This file is part of the Black Magic Debug project.
+ *
+ * Copyright (C) 2011  Black Sphere Technologies Ltd.
+ * Written by Gareth McMullin <gareth@blacksphere.co.nz>
+ *
+ * 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 3 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, see <http://www.gnu.org/licenses/>.
+ */
+
+/* This file implements the platform specific functions for the ST-Link
+ * implementation.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/systick.h>
+#include <libopencm3/stm32/f1/scb.h>
+#include <libopencm3/stm32/nvic.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/usb/usbd.h>
+#include <libopencm3/stm32/f1/adc.h>
+
+#include "platform.h"
+#include "jtag_scan.h"
+
+#include <ctype.h>
+
+uint8_t running_status;
+volatile uint32_t timeout_counter;
+
+jmp_buf fatal_error_jmpbuf;
+
+int platform_init(void)
+{
+	rcc_clock_setup_in_hse_8mhz_out_72mhz();
+
+	/* Enable peripherals */
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USBEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+
+	/* Setup GPIO ports */
+	gpio_set_mode(TMS_PORT, GPIO_MODE_OUTPUT_50_MHZ, 
+			GPIO_CNF_OUTPUT_PUSHPULL, TMS_PIN);
+	gpio_set_mode(TCK_PORT, GPIO_MODE_OUTPUT_50_MHZ, 
+			GPIO_CNF_OUTPUT_PUSHPULL, TCK_PIN);
+	gpio_set_mode(TDI_PORT, GPIO_MODE_OUTPUT_50_MHZ, 
+			GPIO_CNF_OUTPUT_PUSHPULL, TDI_PIN);
+	
+	gpio_set_mode(LED_PORT, GPIO_MODE_OUTPUT_2_MHZ, 
+			GPIO_CNF_OUTPUT_PUSHPULL, LED_IDLE_RUN);
+
+	/* Setup heartbeat timer */
+	systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8); 
+	systick_set_reload(900000);	/* Interrupt us at 10 Hz */
+	systick_interrupt_enable();
+	systick_counter_enable();
+
+	cdcacm_init();
+
+	jtag_scan();
+	
+	return 0;
+}
+
+void sys_tick_handler(void)
+{
+	if(running_status) 
+		gpio_toggle(LED_PORT, LED_IDLE_RUN);
+
+	if(timeout_counter) 
+		timeout_counter--;
+}
+
+const char *morse_msg;
+
+void morse(const char *msg, char repeat)
+{
+	(void)repeat;
+	morse_msg = msg;
+}
+
+const char *platform_target_voltage(void)
+{
+	return "unknown";
+}

src/platforms/stlink/platform.h

@@ -0,0 +1,142 @@
+/*
+ * This file is part of the Black Magic Debug project.
+ *
+ * Copyright (C) 2011  Black Sphere Technologies Ltd.
+ * Written by Gareth McMullin <gareth@blacksphere.co.nz>
+ *
+ * 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 3 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, see <http://www.gnu.org/licenses/>.
+ */
+
+/* This file implements the platform specific functions for the STM32
+ * implementation.
+ */
+#ifndef __PLATFORM_H
+#define __PLATFORM_H
+
+#include <libopencm3/stm32/f1/gpio.h>
+
+#include <setjmp.h>
+#include <alloca.h>
+
+#include "gdb_packet.h"
+
+#define INLINE_GPIO
+#define CDCACM_PACKET_SIZE 	64
+#define CDCACM_GDB_ENDPOINT	1
+
+/* Important pin mappings for STM32 implementation:
+ *
+ * LED0 = 	PB2	(Yellow LED : Running)
+ * LED1 = 	PB10	(Yellow LED : Idle)
+ * LED2 = 	PB11	(Red LED    : Error)
+ *
+ * TPWR = 	RB0 (input) -- analogue on mini design ADC1, ch8
+ * nTRST = 	PB1
+ * SRST_OUT = 	PA2
+ * TDI = 	PA3
+ * TMS = 	PA4 (input for SWDP)
+ * TCK = 	PA5
+ * TDO = 	PA6 (input)
+ * nSRST = 	PA7 (input)
+ *
+ * USB cable pull-up: PA8
+ * USB VBUS detect:  PB13 -- New on mini design.  
+ *                           Enable pull up for compatibility.
+ * Force DFU mode button: PB12
+ */
+
+/* Hardware definitions... */
+#define TDI_PORT	GPIOA
+#define TMS_PORT	GPIOB
+#define TCK_PORT	GPIOA
+#define TDO_PORT	GPIOA
+#define TDI_PIN		GPIO7
+#define TMS_PIN		GPIO14
+#define TCK_PIN		GPIO5
+#define TDO_PIN		GPIO6
+
+#define SWDIO_PORT 	TMS_PORT
+#define SWCLK_PORT 	TCK_PORT
+#define SWDIO_PIN	TMS_PIN
+#define SWCLK_PIN	TCK_PIN
+
+#define LED_PORT	GPIOA
+#define LED_IDLE_RUN	GPIO8
+
+#define DEBUG(...)
+
+extern uint8_t running_status;
+extern volatile uint32_t timeout_counter;
+
+extern jmp_buf fatal_error_jmpbuf;
+
+extern const char *morse_msg;
+
+#define gpio_set_val(port, pin, val) do {	\
+	if(val)					\
+		gpio_set((port), (pin));	\
+	else					\
+		gpio_clear((port), (pin));	\
+} while(0)
+
+#define SET_RUN_STATE(state)	{running_status = (state);}
+#define SET_IDLE_STATE(state)	{gpio_set_val(LED_PORT, LED_IDLE_RUN, state);}
+
+#define PLATFORM_SET_FATAL_ERROR_RECOVERY()	{setjmp(fatal_error_jmpbuf);}
+#define PLATFORM_FATAL_ERROR(error)	{ 		\
+	if(running_status) gdb_putpacketz("X1D");	\
+		else gdb_putpacketz("EFF");		\
+	running_status = 0;				\
+	TARGET_LIST_FREE();				\
+	cur_target = last_target = NULL;		\
+	longjmp(fatal_error_jmpbuf, (error));		\
+}
+
+int platform_init(void);
+void morse(const char *msg, char repeat);
+const char *platform_target_voltage(void);
+
+/* <cdcacm.c> */
+void cdcacm_init(void);
+/* Returns current usb configuration, or 0 if not configured. */
+int cdcacm_get_config(void);
+int cdcacm_get_dtr(void);
+
+/* Use newlib provided integer only stdio functions */
+#define sscanf siscanf
+#define sprintf siprintf
+#define vasprintf vasiprintf
+
+#ifdef INLINE_GPIO
+static inline void _gpio_set(u32 gpioport, u16 gpios)
+{
+	GPIO_BSRR(gpioport) = gpios;
+}
+#define gpio_set _gpio_set
+
+static inline void _gpio_clear(u32 gpioport, u16 gpios)
+{
+	GPIO_BRR(gpioport) = gpios;
+}
+#define gpio_clear _gpio_clear
+
+static inline u16 _gpio_get(u32 gpioport, u16 gpios)
+{
+	return (u16)GPIO_IDR(gpioport) & gpios;
+}
+#define gpio_get _gpio_get
+#endif
+
+#endif
+

src/platforms/stm32/jtagtap.c

@@ -41,19 +41,23 @@ int jtagtap_init(void)
 
 void jtagtap_reset(void)
 {
+#ifdef TRST_PORT
 	volatile int i;
 	gpio_clear(TRST_PORT, TRST_PIN);
 	for(i = 0; i < 10000; i++) asm("nop");
 	gpio_set(TRST_PORT, TRST_PIN);
+#endif
 	jtagtap_soft_reset();
 }
 
 void jtagtap_srst(void)
 {
+#ifdef SRST_PORT
 	volatile int i;
 	gpio_set(SRST_PORT, SRST_PIN);
 	for(i = 0; i < 10000; i++) asm("nop");
 	gpio_clear(SRST_PORT, SRST_PIN);
+#endif
 }
 
 inline uint8_t jtagtap_next(uint8_t dTMS, uint8_t dTDO)