2 * Copyright (c) 2010 "Capt'ns Missing Link" Authors. All rights reserved.
3 * Use of this source code is governed by a BSD-style
4 * license that can be found in the LICENSE file.
6 * A linux stlink access demo. The purpose of this file is to mitigate the usual
7 * "reinventing the wheel" force by incompatible licenses and give you an idea,
8 * how to access the stlink device. That doesn't mean you should be a free-loader
9 * and not contribute your improvements to this code.
11 * Author: Martin Capitanio <m@capitanio.org>
12 * The stlink related constants kindly provided by Oliver Spencer (OpenOCD)
13 * for use in a GPL compatible license.
15 * Tested compatibility: linux, gcc >= 4.3.3
17 * The communication is based on standard USB mass storage device
18 * BOT (Bulk Only Transfer)
19 * - Endpoint 1: BULK_IN, 64 bytes max
20 * - Endpoint 2: BULK_OUT, 64 bytes max
22 * All CBW transfers are ordered with the LSB (byte 0) first (little endian).
23 * Any command must be answered before sending the next command.
24 * Each USB transfer must complete in less than 1s.
26 * SB Device Class Definition for Mass Storage Devices:
27 * www.usb.org/developers/devclass_docs/usbmassbulk_10.pdf
29 * dt - Data Transfer (IN/OUT)
30 * CBW - Command Block Wrapper
31 * CSW - Command Status Wrapper
32 * RFU - Reserved for Future Use
34 * Originally, this driver used scsi pass through commands, which required the
35 * usb-storage module to be loaded, providing the /dev/sgX links. The USB mass
36 * storage implementation on the STLinkv1 is however terribly broken, and it can
37 * take many minutes for the kernel to give up.
39 * However, in Nov 2011, the scsi pass through was replaced by raw libusb, so
40 * instead of having to let usb-storage struggle with the device, and also greatly
41 * limiting the portability of the driver, you can now tell usb-storage to simply
42 * ignore this device completely.
45 * http://git.kernel.org/?p=linux/kernel/git/torvalds/linux-2.6.git;a=blob_plain;f=Documentation/kernel-parameters.txt
46 * Each entry has the form VID:PID:Flags where VID and PID are Vendor and Product
47 * ID values (4-digit hex numbers) and Flags is a set of characters, each corresponding
48 * to a common usb-storage quirk flag as follows:
50 * a = SANE_SENSE (collect more than 18 bytes of sense data);
51 * b = BAD_SENSE (don't collect more than 18 bytes of sense data);
52 * c = FIX_CAPACITY (decrease the reported device capacity by one sector);
53 * h = CAPACITY_HEURISTICS (decrease the reported device capacity by one sector if the number is odd);
54 * i = IGNORE_DEVICE (don't bind to this device);
55 * l = NOT_LOCKABLE (don't try to lock and unlock ejectable media);
56 * m = MAX_SECTORS_64 (don't transfer more than 64 sectors = 32 KB at a time);
57 * o = CAPACITY_OK (accept the capacity reported by the device);
58 * r = IGNORE_RESIDUE (the device reports bogus residue values);
59 * s = SINGLE_LUN (the device has only one Logical Unit);
60 * w = NO_WP_DETECT (don't test whether the medium is write-protected).
62 * Example: quirks=0419:aaf5:rl,0421:0433:rc
63 * http://permalink.gmane.org/gmane.linux.usb.general/35053
65 * For the stlinkv1, you just want the following
67 * modprobe -r usb-storage && modprobe usb-storage quirks=483:3744:i
69 * Equivalently, you can add a line saying
71 * options usb-storage quirks=483:3744:i
73 * to your /etc/modprobe.conf or /etc/modprobe.d/local.conf (or add the "quirks=..."
74 * part to an existing options line for usb-storage).
83 #include <sys/types.h>
86 #include "stlink/logging.h"
88 static void clear_cdb(struct stlink_libsg *sl) {
89 for (size_t i = 0; i < sizeof (sl->cdb_cmd_blk); i++)
90 sl->cdb_cmd_blk[i] = 0;
92 sl->cdb_cmd_blk[0] = STLINK_DEBUG_COMMAND;
93 sl->q_data_dir = Q_DATA_IN;
97 * Close and free any _backend_ related information...
100 void _stlink_sg_close(stlink_t *sl) {
102 struct stlink_libsg *slsg = sl->backend_data;
103 libusb_close(slsg->usb_handle);
104 libusb_exit(slsg->libusb_ctx);
109 static int get_usb_mass_storage_status(libusb_device_handle *handle, uint8_t endpoint, uint32_t *tag)
111 unsigned char csw[13];
112 memset(csw, 0, sizeof(csw));
117 ret = libusb_bulk_transfer(handle, endpoint, (unsigned char *)&csw, sizeof(csw),
118 &transferred, SG_TIMEOUT_MSEC);
119 if (ret == LIBUSB_ERROR_PIPE) {
120 libusb_clear_halt(handle, endpoint);
123 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
124 if (ret != LIBUSB_SUCCESS) {
125 WLOG("%s: receiving failed: %d\n", __func__, ret);
128 if (transferred != sizeof(csw)) {
129 WLOG("%s: received unexpected amount: %d\n", __func__, transferred);
133 uint32_t rsig = read_uint32(csw, 0);
134 uint32_t rtag = read_uint32(csw, 4);
135 /* uint32_t residue = read_uint32(csw, 8); */
136 #define USB_CSW_SIGNATURE 0x53425355 // 'U' 'S' 'B' 'S' (reversed)
137 if (rsig != USB_CSW_SIGNATURE) {
138 WLOG("status signature was invalid: %#x\n", rsig);
142 uint8_t rstatus = csw[12];
146 static int dump_CDB_command(uint8_t *cdb, uint8_t cdb_len) {
148 char *dbugp = dbugblah;
149 dbugp += sprintf(dbugp, "Sending CDB [");
150 for (uint8_t i = 0; i < cdb_len; i++) {
151 dbugp += sprintf(dbugp, " %#02x", (unsigned int) cdb[i]);
153 sprintf(dbugp, "]\n");
159 * Wraps a CDB mass storage command in the appropriate gunk to get it down
166 * @param expected_rx_size
169 int send_usb_mass_storage_command(libusb_device_handle *handle, uint8_t endpoint_out,
170 uint8_t *cdb, uint8_t cdb_length,
171 uint8_t lun, uint8_t flags, uint32_t expected_rx_size) {
172 DLOG("Sending usb m-s cmd: cdblen:%d, rxsize=%d\n", cdb_length, expected_rx_size);
173 dump_CDB_command(cdb, cdb_length);
182 int real_transferred;
185 uint8_t c_buf[STLINK_SG_SIZE];
186 // tag is allegedly ignored... TODO - verify
191 write_uint32(&c_buf[i], tag);
192 uint32_t this_tag = tag++;
193 write_uint32(&c_buf[i+4], expected_rx_size);
198 c_buf[i++] = cdb_length;
200 // Now the actual CDB request
201 assert(cdb_length <= CDB_SL);
202 memcpy(&(c_buf[i]), cdb, cdb_length);
204 int sending_length = STLINK_SG_SIZE;
208 ret = libusb_bulk_transfer(handle, endpoint_out, c_buf, sending_length,
209 &real_transferred, SG_TIMEOUT_MSEC);
210 if (ret == LIBUSB_ERROR_PIPE) {
211 libusb_clear_halt(handle, endpoint_out);
214 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
215 if (ret != LIBUSB_SUCCESS) {
216 WLOG("sending failed: %d\n", ret);
224 * Straight from stm8 stlink code...
227 * @param endpoint_out
230 get_sense(libusb_device_handle *handle, uint8_t endpoint_in, uint8_t endpoint_out)
232 DLOG("Fetching sense...\n");
234 memset(cdb, 0, sizeof(cdb));
235 #define REQUEST_SENSE 0x03
236 #define REQUEST_SENSE_LENGTH 18
237 cdb[0] = REQUEST_SENSE;
238 cdb[4] = REQUEST_SENSE_LENGTH;
239 uint32_t tag = send_usb_mass_storage_command(handle, endpoint_out, cdb, sizeof(cdb), 0,
240 LIBUSB_ENDPOINT_IN, REQUEST_SENSE_LENGTH);
242 WLOG("refusing to send request sense with tag 0\n");
245 unsigned char sense[REQUEST_SENSE_LENGTH];
250 ret = libusb_bulk_transfer(handle, endpoint_in, sense, sizeof(sense),
251 &transferred, SG_TIMEOUT_MSEC);
252 if (ret == LIBUSB_ERROR_PIPE) {
253 libusb_clear_halt(handle, endpoint_in);
256 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
257 if (ret != LIBUSB_SUCCESS) {
258 WLOG("receiving sense failed: %d\n", ret);
261 if (transferred != sizeof(sense)) {
262 WLOG("received unexpected amount of sense: %d != %d\n", transferred, sizeof(sense));
264 uint32_t received_tag;
265 int status = get_usb_mass_storage_status(handle, endpoint_in, &received_tag);
267 WLOG("receiving sense failed with status: %02x\n", status);
270 if (sense[0] != 0x70 && sense[0] != 0x71) {
271 WLOG("No sense data\n");
273 WLOG("Sense KCQ: %02X %02X %02X\n", sense[2] & 0x0f, sense[12], sense[13]);
278 * Just send a buffer on an endpoint, no questions asked.
279 * Handles repeats, and time outs. Also handles reading status reports and sense
280 * @param handle libusb device *
281 * @param endpoint_out sends
282 * @param endpoint_in used to read status reports back in
283 * @param cbuf what to send
284 * @param length how much to send
285 * @return number of bytes actually sent, or -1 for failures.
287 int send_usb_data_only(libusb_device_handle *handle, unsigned char endpoint_out,
288 unsigned char endpoint_in, unsigned char *cbuf, unsigned int length) {
290 int real_transferred;
293 ret = libusb_bulk_transfer(handle, endpoint_out, cbuf, length,
294 &real_transferred, SG_TIMEOUT_MSEC);
295 if (ret == LIBUSB_ERROR_PIPE) {
296 libusb_clear_halt(handle, endpoint_out);
299 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
300 if (ret != LIBUSB_SUCCESS) {
301 WLOG("sending failed: %d\n", ret);
305 // now, swallow up the status, so that things behave nicely...
306 uint32_t received_tag;
307 // -ve is for my errors, 0 is good, +ve is libusb sense status bytes
308 int status = get_usb_mass_storage_status(handle, endpoint_in, &received_tag);
310 WLOG("receiving status failed: %d\n", status);
314 WLOG("receiving status not passed :(: %02x\n", status);
317 get_sense(handle, endpoint_in, endpoint_out);
321 return real_transferred;
325 int stlink_q(stlink_t *sl) {
326 struct stlink_libsg* sg = sl->backend_data;
327 //uint8_t cdb_len = 6; // FIXME varies!!!
328 uint8_t cdb_len = 10; // FIXME varies!!!
329 uint8_t lun = 0; // always zero...
330 uint32_t tag = send_usb_mass_storage_command(sg->usb_handle, sg->ep_req,
331 sg->cdb_cmd_blk, cdb_len, lun, LIBUSB_ENDPOINT_IN, sl->q_len);
334 // now wait for our response...
335 // length copied from stlink-usb...
336 int rx_length = sl->q_len;
338 int real_transferred;
342 ret = libusb_bulk_transfer(sg->usb_handle, sg->ep_rep, sl->q_buf, rx_length,
343 &real_transferred, SG_TIMEOUT_MSEC);
344 if (ret == LIBUSB_ERROR_PIPE) {
345 libusb_clear_halt(sg->usb_handle, sg->ep_req);
348 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
350 if (ret != LIBUSB_SUCCESS) {
351 WLOG("Receiving failed: %d\n", ret);
355 if (real_transferred != rx_length) {
356 WLOG("received unexpected amount: %d != %d\n", real_transferred, rx_length);
360 uint32_t received_tag;
361 // -ve is for my errors, 0 is good, +ve is libusb sense status bytes
362 int status = get_usb_mass_storage_status(sg->usb_handle, sg->ep_rep, &received_tag);
364 WLOG("receiving status failed: %d\n", status);
368 WLOG("receiving status not passed :(: %02x\n", status);
371 get_sense(sg->usb_handle, sg->ep_rep, sg->ep_req);
374 if (received_tag != tag) {
375 WLOG("received tag %d but expected %d\n", received_tag, tag);
378 if (rx_length > 0 && real_transferred != rx_length) {
384 // TODO thinking, cleanup
386 void stlink_stat(stlink_t *stl, char *txt) {
390 stlink_print_data(stl);
392 switch (stl->q_buf[0]) {
394 DLOG(" %s: ok\n", txt);
397 DLOG(" %s: false\n", txt);
400 DLOG(" %s: unknown\n", txt);
405 int _stlink_sg_version(stlink_t *stl) {
406 struct stlink_libsg *sl = stl->backend_data;
408 sl->cdb_cmd_blk[0] = STLINK_GET_VERSION;
411 return stlink_q(stl);
415 // STLINK_DEV_DFU_MODE || STLINK_DEV_MASS_MODE || STLINK_DEV_DEBUG_MODE
416 // usb dfu || usb mass || jtag or swd
418 int _stlink_sg_current_mode(stlink_t *stl) {
419 struct stlink_libsg *sl = stl->backend_data;
421 sl->cdb_cmd_blk[0] = STLINK_GET_CURRENT_MODE;
427 return stl->q_buf[0];
430 // Exit the mass mode and enter the swd debug mode.
432 int _stlink_sg_enter_swd_mode(stlink_t *sl) {
433 struct stlink_libsg *sg = sl->backend_data;
435 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
436 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_SWD;
437 sl->q_len = 0; // >0 -> aboard
441 // Exit the mass mode and enter the jtag debug mode.
442 // (jtag is disabled in the discovery's stlink firmware)
444 int _stlink_sg_enter_jtag_mode(stlink_t *sl) {
445 struct stlink_libsg *sg = sl->backend_data;
446 DLOG("\n*** stlink_enter_jtag_mode ***\n");
448 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
449 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_JTAG;
454 // XXX kernel driver performs reset, the device temporally disappears
455 // Suspect this is no longer the case when we have ignore on? RECHECK
456 int _stlink_sg_exit_dfu_mode(stlink_t *sl) {
457 struct stlink_libsg *sg = sl->backend_data;
458 DLOG("\n*** stlink_exit_dfu_mode ***\n");
460 sg->cdb_cmd_blk[0] = STLINK_DFU_COMMAND;
461 sg->cdb_cmd_blk[1] = STLINK_DFU_EXIT;
465 [135121.844564] sd 19:0:0:0: [sdb] Unhandled error code
466 [135121.844569] sd 19:0:0:0: [sdb] Result: hostbyte=DID_ERROR driverbyte=DRIVER_OK
467 [135121.844574] sd 19:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 10 00 00 00 08 00
468 [135121.844584] end_request: I/O error, dev sdb, sector 4096
469 [135121.844590] Buffer I/O error on device sdb, logical block 512
470 [135130.122567] usb 6-1: reset full speed USB device using uhci_hcd and address 7
471 [135130.274551] usb 6-1: device firmware changed
472 [135130.274618] usb 6-1: USB disconnect, address 7
473 [135130.275186] VFS: busy inodes on changed media or resized disk sdb
474 [135130.275424] VFS: busy inodes on changed media or resized disk sdb
475 [135130.286758] VFS: busy inodes on changed media or resized disk sdb
476 [135130.292796] VFS: busy inodes on changed media or resized disk sdb
477 [135130.301481] VFS: busy inodes on changed media or resized disk sdb
478 [135130.304316] VFS: busy inodes on changed media or resized disk sdb
479 [135130.431113] usb 6-1: new full speed USB device using uhci_hcd and address 8
480 [135130.629444] usb-storage 6-1:1.0: Quirks match for vid 0483 pid 3744: 102a1
481 [135130.629492] scsi20 : usb-storage 6-1:1.0
482 [135131.625600] scsi 20:0:0:0: Direct-Access STM32 PQ: 0 ANSI: 0
483 [135131.627010] sd 20:0:0:0: Attached scsi generic sg2 type 0
484 [135131.633603] sd 20:0:0:0: [sdb] 64000 512-byte logical blocks: (32.7 MB/31.2 MiB)
485 [135131.633613] sd 20:0:0:0: [sdb] Assuming Write Enabled
486 [135131.633620] sd 20:0:0:0: [sdb] Assuming drive cache: write through
487 [135131.640584] sd 20:0:0:0: [sdb] Assuming Write Enabled
488 [135131.640592] sd 20:0:0:0: [sdb] Assuming drive cache: write through
490 [135131.652634] sd 20:0:0:0: [sdb] Assuming Write Enabled
491 [135131.652639] sd 20:0:0:0: [sdb] Assuming drive cache: write through
492 [135131.652645] sd 20:0:0:0: [sdb] Attached SCSI removable disk
493 [135131.671536] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
494 [135131.671548] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
495 [135131.671553] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
496 [135131.671560] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
497 [135131.671570] end_request: I/O error, dev sdb, sector 63872
498 [135131.671575] Buffer I/O error on device sdb, logical block 7984
499 [135131.678527] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
500 [135131.678532] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
501 [135131.678537] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
502 [135131.678542] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
503 [135131.678551] end_request: I/O error, dev sdb, sector 63872
505 [135131.853565] end_request: I/O error, dev sdb, sector 4096
509 int _stlink_sg_core_id(stlink_t *sl) {
510 struct stlink_libsg *sg = sl->backend_data;
513 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READCOREID;
520 sl->core_id = read_uint32(sl->q_buf, 0);
524 // Arm-core reset -> halted state.
526 int _stlink_sg_reset(stlink_t *sl) {
527 struct stlink_libsg *sg = sl->backend_data;
529 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RESETSYS;
535 stlink_stat(sl, "core reset");
539 // Arm-core reset -> halted state.
541 int _stlink_sg_jtag_reset(stlink_t *sl, int value) {
542 struct stlink_libsg *sg = sl->backend_data;
544 sg->cdb_cmd_blk[1] = STLINK_JTAG_DRIVE_NRST;
545 sg->cdb_cmd_blk[2] = (value)?0:1;
551 stlink_stat(sl, "core reset");
556 // Arm-core status: halted or running.
558 int _stlink_sg_status(stlink_t *sl) {
559 struct stlink_libsg *sg = sl->backend_data;
561 sg->cdb_cmd_blk[1] = STLINK_DEBUG_GETSTATUS;
567 // Force the core into the debug mode -> halted state.
569 int _stlink_sg_force_debug(stlink_t *sl) {
570 struct stlink_libsg *sg = sl->backend_data;
572 sg->cdb_cmd_blk[1] = STLINK_DEBUG_FORCEDEBUG;
578 stlink_stat(sl, "force debug");
582 // Read all arm-core registers.
584 int _stlink_sg_read_all_regs(stlink_t *sl, reg *regp) {
585 struct stlink_libsg *sg = sl->backend_data;
588 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READALLREGS;
594 stlink_print_data(sl);
596 // TODO - most of this should be re-extracted up....
598 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
599 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
600 for (int i = 0; i < 16; i++) {
601 regp->r[i] = read_uint32(sl->q_buf, 4 * i);
603 DLOG("r%2d = 0x%08x\n", i, regp->r[i]);
605 regp->xpsr = read_uint32(sl->q_buf, 64);
606 regp->main_sp = read_uint32(sl->q_buf, 68);
607 regp->process_sp = read_uint32(sl->q_buf, 72);
608 regp->rw = read_uint32(sl->q_buf, 76);
609 regp->rw2 = read_uint32(sl->q_buf, 80);
613 DLOG("xpsr = 0x%08x\n", regp->xpsr);
614 DLOG("main_sp = 0x%08x\n", regp->main_sp);
615 DLOG("process_sp = 0x%08x\n", regp->process_sp);
616 DLOG("rw = 0x%08x\n", regp->rw);
617 DLOG("rw2 = 0x%08x\n", regp->rw2);
622 // Read an arm-core register, the index must be in the range 0..20.
623 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
624 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
626 int _stlink_sg_read_reg(stlink_t *sl, int r_idx, reg *regp) {
627 struct stlink_libsg *sg = sl->backend_data;
629 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READREG;
630 sg->cdb_cmd_blk[2] = r_idx;
636 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
637 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
638 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
639 stlink_print_data(sl);
641 uint32_t r = read_uint32(sl->q_buf, 0);
642 DLOG("r_idx (%2d) = 0x%08x\n", r_idx, r);
652 regp->process_sp = r;
655 regp->rw = r; //XXX ?(primask, basemask etc.)
658 regp->rw2 = r; //XXX ?(primask, basemask etc.)
667 // Write an arm-core register. Index:
668 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
669 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
671 int _stlink_sg_write_reg(stlink_t *sl, uint32_t reg, int idx) {
672 struct stlink_libsg *sg = sl->backend_data;
674 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEREG;
677 sg->cdb_cmd_blk[2] = idx;
678 write_uint32(sg->cdb_cmd_blk + 3, reg);
684 stlink_stat(sl, "write reg");
688 // Write a register of the debug module of the core.
689 // XXX ?(atomic writes)
692 void stlink_write_dreg(stlink_t *sl, uint32_t reg, uint32_t addr) {
693 struct stlink_libsg *sg = sl->backend_data;
694 DLOG("\n*** stlink_write_dreg ***\n");
696 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEDEBUGREG;
697 // 2-5: address of reg of the debug module
699 write_uint32(sg->cdb_cmd_blk + 2, addr);
700 write_uint32(sg->cdb_cmd_blk + 6, reg);
704 stlink_stat(sl, "write debug reg");
707 // Force the core exit the debug mode.
709 int _stlink_sg_run(stlink_t *sl) {
710 struct stlink_libsg *sg = sl->backend_data;
712 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RUNCORE;
718 stlink_stat(sl, "run core");
723 // Step the arm-core.
725 int _stlink_sg_step(stlink_t *sl) {
726 struct stlink_libsg *sg = sl->backend_data;
728 sg->cdb_cmd_blk[1] = STLINK_DEBUG_STEPCORE;
734 stlink_stat(sl, "step core");
739 // see Cortex-M3 Technical Reference Manual
740 // TODO make delegate!
741 void stlink_set_hw_bp(stlink_t *sl, int fp_nr, uint32_t addr, int fp) {
742 DLOG("\n*** stlink_set_hw_bp ***\n");
743 struct stlink_libsg *sg = sl->backend_data;
745 sg->cdb_cmd_blk[1] = STLINK_DEBUG_SETFP;
746 // 2:The number of the flash patch used to set the breakpoint
747 // 3-6: Address of the breakpoint (LSB)
748 // 7: FP_ALL (0x02) / FP_UPPER (0x01) / FP_LOWER (0x00)
749 sl->q_buf[2] = fp_nr;
750 write_uint32(sl->q_buf, addr);
755 stlink_stat(sl, "set flash breakpoint");
760 // TODO make delegate!
761 void stlink_clr_hw_bp(stlink_t *sl, int fp_nr) {
762 struct stlink_libsg *sg = sl->backend_data;
763 DLOG("\n*** stlink_clr_hw_bp ***\n");
765 sg->cdb_cmd_blk[1] = STLINK_DEBUG_CLEARFP;
766 sg->cdb_cmd_blk[2] = fp_nr;
770 stlink_stat(sl, "clear flash breakpoint");
773 // Read a "len" bytes to the sl->q_buf from the memory, max 6kB (6144 bytes)
775 int _stlink_sg_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
776 struct stlink_libsg *sg = sl->backend_data;
778 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READMEM_32BIT;
781 write_uint32(sg->cdb_cmd_blk + 2, addr);
782 write_uint16(sg->cdb_cmd_blk + 6, len);
784 // data_in 0-0x40-len
785 // !!! len _and_ q_len must be max 6k,
786 // i.e. >1024 * 6 = 6144 -> aboard)
787 // !!! if len < q_len: 64*k, 1024*n, n=1..5 -> aboard
788 // (broken residue issue)
794 stlink_print_data(sl);
798 // Write a "len" bytes from the sl->q_buf to the memory, max 64 Bytes.
800 int _stlink_sg_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
801 struct stlink_libsg *sg = sl->backend_data;
805 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_8BIT;
807 // 6-7: len (>0x40 (64) -> aboard)
808 write_uint32(sg->cdb_cmd_blk + 2, addr);
809 write_uint16(sg->cdb_cmd_blk + 6, len);
811 // this sends the command...
812 ret = send_usb_mass_storage_command(sg->usb_handle,
813 sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0);
817 // This sends the data...
818 ret = send_usb_data_only(sg->usb_handle,
819 sg->ep_req, sg->ep_rep, sl->q_buf, len);
823 stlink_print_data(sl);
827 // Write a "len" bytes from the sl->q_buf to the memory, max Q_BUF_LEN bytes.
829 int _stlink_sg_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
830 struct stlink_libsg *sg = sl->backend_data;
834 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_32BIT;
836 // 6-7: len "unlimited"
837 write_uint32(sg->cdb_cmd_blk + 2, addr);
838 write_uint16(sg->cdb_cmd_blk + 6, len);
840 // this sends the command...
841 ret = send_usb_mass_storage_command(sg->usb_handle,
842 sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0);
846 // This sends the data...
847 ret = send_usb_data_only(sg->usb_handle,
848 sg->ep_req, sg->ep_rep, sl->q_buf, len);
852 stlink_print_data(sl);
856 // Write one DWORD data to memory
858 int _stlink_sg_write_debug32(stlink_t *sl, uint32_t addr, uint32_t data) {
859 struct stlink_libsg *sg = sl->backend_data;
861 sg->cdb_cmd_blk[1] = STLINK_JTAG_WRITEDEBUG_32BIT;
863 write_uint32(sg->cdb_cmd_blk + 2, addr);
864 write_uint32(sg->cdb_cmd_blk + 6, data);
869 // Read one DWORD data from memory
871 int _stlink_sg_read_debug32(stlink_t *sl, uint32_t addr, uint32_t *data) {
872 struct stlink_libsg *sg = sl->backend_data;
874 sg->cdb_cmd_blk[1] = STLINK_JTAG_READDEBUG_32BIT;
876 write_uint32(sg->cdb_cmd_blk + 2, addr);
881 *data = read_uint32(sl->q_buf, 4);
885 // Exit the jtag or swd mode and enter the mass mode.
887 int _stlink_sg_exit_debug_mode(stlink_t *stl)
890 struct stlink_libsg* sl = stl->backend_data;
892 sl->cdb_cmd_blk[1] = STLINK_DEBUG_EXIT;
893 stl->q_len = 0; // >0 -> aboard
894 return stlink_q(stl);
901 // 1) open a sg device, switch the stlink from dfu to mass mode
902 // 2) wait 5s until the kernel driver stops reseting the broken device
903 // 3) reopen the device
904 // 4) the device driver is now ready for a switch to jtag/swd mode
905 // TODO thinking, better error handling, wait until the kernel driver stops reseting the plugged-in device
907 stlink_backend_t _stlink_sg_backend = {
909 _stlink_sg_exit_debug_mode,
910 _stlink_sg_enter_swd_mode,
911 _stlink_sg_enter_jtag_mode,
912 _stlink_sg_exit_dfu_mode,
915 _stlink_sg_jtag_reset,
919 _stlink_sg_read_debug32,
920 _stlink_sg_read_mem32,
921 _stlink_sg_write_debug32,
922 _stlink_sg_write_mem32,
923 _stlink_sg_write_mem8,
924 _stlink_sg_read_all_regs,
926 NULL, /* read_all_unsupported_regs */
927 NULL, /* read_unsupported_regs */
928 NULL, /* write_unsupported_regs */
929 _stlink_sg_write_reg,
931 _stlink_sg_current_mode,
932 _stlink_sg_force_debug,
936 static stlink_t* stlink_open(const int verbose) {
938 stlink_t *sl = malloc(sizeof (stlink_t));
939 memset(sl, 0, sizeof(stlink_t));
940 struct stlink_libsg *slsg = malloc(sizeof (struct stlink_libsg));
941 if (sl == NULL || slsg == NULL) {
942 WLOG("Couldn't malloc stlink and stlink_sg structures out of memory!\n");
946 if (libusb_init(&(slsg->libusb_ctx))) {
947 WLOG("failed to init libusb context, wrong version of libraries?\n");
953 libusb_set_debug(slsg->libusb_ctx, 3);
955 slsg->usb_handle = libusb_open_device_with_vid_pid(slsg->libusb_ctx, USB_ST_VID, USB_STLINK_PID);
956 if (slsg->usb_handle == NULL) {
957 WLOG("Failed to find an stlink v1 by VID:PID\n");
958 libusb_close(slsg->usb_handle);
959 libusb_exit(slsg->libusb_ctx);
966 // Could read the interface config descriptor, and assert lots of the assumptions
968 // assumption: numInterfaces is always 1...
969 if (libusb_kernel_driver_active(slsg->usb_handle, 0) == 1) {
970 int r = libusb_detach_kernel_driver(slsg->usb_handle, 0);
972 WLOG("libusb_detach_kernel_driver(() error %s\n", strerror(-r));
973 libusb_close(slsg->usb_handle);
974 libusb_exit(slsg->libusb_ctx);
979 DLOG("Kernel driver was successfully detached\n");
983 if (libusb_get_configuration(slsg->usb_handle, &config)) {
984 /* this may fail for a previous configured device */
985 WLOG("libusb_get_configuration()\n");
986 libusb_close(slsg->usb_handle);
987 libusb_exit(slsg->libusb_ctx);
994 // assumption: bConfigurationValue is always 1
996 WLOG("Your stlink got into a real weird configuration, trying to fix it!\n");
997 DLOG("setting new configuration (%d -> 1)\n", config);
998 if (libusb_set_configuration(slsg->usb_handle, 1)) {
999 /* this may fail for a previous configured device */
1000 WLOG("libusb_set_configuration() failed\n");
1001 libusb_close(slsg->usb_handle);
1002 libusb_exit(slsg->libusb_ctx);
1009 if (libusb_claim_interface(slsg->usb_handle, 0)) {
1010 WLOG("libusb_claim_interface() failed\n");
1011 libusb_close(slsg->usb_handle);
1012 libusb_exit(slsg->libusb_ctx);
1018 // assumption: endpoint config is fixed mang. really.
1019 slsg->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN;
1020 slsg->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT;
1022 DLOG("Successfully opened stlinkv1 by libusb :)\n");
1024 sl->verbose = verbose;
1025 sl->backend_data = slsg;
1026 sl->backend = &_stlink_sg_backend;
1028 sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
1035 stlink_t* stlink_v1_open_inner(const int verbose) {
1037 stlink_t *sl = stlink_open(verbose);
1039 ELOG("Could not open stlink device\n");
1044 if ((sl->version.st_vid != USB_ST_VID) || (sl->version.stlink_pid != USB_STLINK_PID)) {
1045 ELOG("WTF? successfully opened, but unable to read version details. BROKEN!\n");
1049 DLOG("Reading current mode...\n");
1050 switch (stlink_current_mode(sl)) {
1051 case STLINK_DEV_MASS_MODE:
1053 case STLINK_DEV_DEBUG_MODE:
1057 ILOG("Current mode unusable, trying to get back to a useful state...\n");
1061 DLOG("Attempting to exit DFU mode\n");
1062 _stlink_sg_exit_dfu_mode(sl);
1064 // re-query device info (and retest)
1066 if ((sl->version.st_vid != USB_ST_VID) || (sl->version.stlink_pid != USB_STLINK_PID)) {
1067 ELOG("WTF? successfully opened, but unable to read version details. BROKEN!\n");
1074 stlink_t* stlink_v1_open(const int verbose, int reset) {
1075 stlink_t *sl = stlink_v1_open_inner(verbose);
1079 // by now, it _must_ be fully open and in a useful mode....
1080 stlink_enter_swd_mode(sl);
1081 /* Now we are ready to read the parameters */
1085 stlink_load_device_params(sl);
1086 ILOG("Successfully opened a stlink v1 debugger\n");