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>
85 #include "stlink-common.h"
86 #include "stlink-sg.h"
87 #include "uglylogging.h"
89 static void clear_cdb(struct stlink_libsg *sl) {
90 for (size_t i = 0; i < sizeof (sl->cdb_cmd_blk); i++)
91 sl->cdb_cmd_blk[i] = 0;
93 sl->cdb_cmd_blk[0] = STLINK_DEBUG_COMMAND;
94 sl->q_data_dir = Q_DATA_IN;
98 * Close and free any _backend_ related information...
101 void _stlink_sg_close(stlink_t *sl) {
103 struct stlink_libsg *slsg = sl->backend_data;
104 libusb_close(slsg->usb_handle);
105 libusb_exit(slsg->libusb_ctx);
110 static int get_usb_mass_storage_status(libusb_device_handle *handle, uint8_t endpoint, uint32_t *tag)
112 unsigned char csw[13];
113 memset(csw, 0, sizeof(csw));
118 ret = libusb_bulk_transfer(handle, endpoint, (unsigned char *)&csw, sizeof(csw),
119 &transferred, SG_TIMEOUT_MSEC);
120 if (ret == LIBUSB_ERROR_PIPE) {
121 libusb_clear_halt(handle, endpoint);
124 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
125 if (ret != LIBUSB_SUCCESS) {
126 WLOG("%s: receiving failed: %d\n", __func__, ret);
129 if (transferred != sizeof(csw)) {
130 WLOG("%s: received unexpected amount: %d\n", __func__, transferred);
134 uint32_t rsig = read_uint32(csw, 0);
135 uint32_t rtag = read_uint32(csw, 4);
136 /* uint32_t residue = read_uint32(csw, 8); */
137 #define USB_CSW_SIGNATURE 0x53425355 // 'U' 'S' 'B' 'S' (reversed)
138 if (rsig != USB_CSW_SIGNATURE) {
139 WLOG("status signature was invalid: %#x\n", rsig);
143 uint8_t rstatus = csw[12];
147 static int dump_CDB_command(uint8_t *cdb, uint8_t cdb_len) {
149 char *dbugp = dbugblah;
150 dbugp += sprintf(dbugp, "Sending CDB [");
151 for (uint8_t i = 0; i < cdb_len; i++) {
152 dbugp += sprintf(dbugp, " %#02x", (unsigned int) cdb[i]);
154 sprintf(dbugp, "]\n");
160 * Wraps a CDB mass storage command in the appropriate gunk to get it down
167 * @param expected_rx_size
170 int send_usb_mass_storage_command(libusb_device_handle *handle, uint8_t endpoint_out,
171 uint8_t *cdb, uint8_t cdb_length,
172 uint8_t lun, uint8_t flags, uint32_t expected_rx_size) {
173 DLOG("Sending usb m-s cmd: cdblen:%d, rxsize=%d\n", cdb_length, expected_rx_size);
174 dump_CDB_command(cdb, cdb_length);
183 int real_transferred;
186 uint8_t c_buf[STLINK_SG_SIZE];
187 // tag is allegedly ignored... TODO - verify
192 write_uint32(&c_buf[i], tag);
193 uint32_t this_tag = tag++;
194 write_uint32(&c_buf[i+4], expected_rx_size);
199 c_buf[i++] = cdb_length;
201 // Now the actual CDB request
202 assert(cdb_length <= CDB_SL);
203 memcpy(&(c_buf[i]), cdb, cdb_length);
205 int sending_length = STLINK_SG_SIZE;
209 ret = libusb_bulk_transfer(handle, endpoint_out, c_buf, sending_length,
210 &real_transferred, SG_TIMEOUT_MSEC);
211 if (ret == LIBUSB_ERROR_PIPE) {
212 libusb_clear_halt(handle, endpoint_out);
215 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
216 if (ret != LIBUSB_SUCCESS) {
217 WLOG("sending failed: %d\n", ret);
225 * Straight from stm8 stlink code...
228 * @param endpoint_out
231 get_sense(libusb_device_handle *handle, uint8_t endpoint_in, uint8_t endpoint_out)
233 DLOG("Fetching sense...\n");
235 memset(cdb, 0, sizeof(cdb));
236 #define REQUEST_SENSE 0x03
237 #define REQUEST_SENSE_LENGTH 18
238 cdb[0] = REQUEST_SENSE;
239 cdb[4] = REQUEST_SENSE_LENGTH;
240 uint32_t tag = send_usb_mass_storage_command(handle, endpoint_out, cdb, sizeof(cdb), 0,
241 LIBUSB_ENDPOINT_IN, REQUEST_SENSE_LENGTH);
243 WLOG("refusing to send request sense with tag 0\n");
246 unsigned char sense[REQUEST_SENSE_LENGTH];
251 ret = libusb_bulk_transfer(handle, endpoint_in, sense, sizeof(sense),
252 &transferred, SG_TIMEOUT_MSEC);
253 if (ret == LIBUSB_ERROR_PIPE) {
254 libusb_clear_halt(handle, endpoint_in);
257 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
258 if (ret != LIBUSB_SUCCESS) {
259 WLOG("receiving sense failed: %d\n", ret);
262 if (transferred != sizeof(sense)) {
263 WLOG("received unexpected amount of sense: %d != %d\n", transferred, sizeof(sense));
265 uint32_t received_tag;
266 int status = get_usb_mass_storage_status(handle, endpoint_in, &received_tag);
268 WLOG("receiving sense failed with status: %02x\n", status);
271 if (sense[0] != 0x70 && sense[0] != 0x71) {
272 WLOG("No sense data\n");
274 WLOG("Sense KCQ: %02X %02X %02X\n", sense[2] & 0x0f, sense[12], sense[13]);
279 * Just send a buffer on an endpoint, no questions asked.
280 * Handles repeats, and time outs. Also handles reading status reports and sense
281 * @param handle libusb device *
282 * @param endpoint_out sends
283 * @param endpoint_in used to read status reports back in
284 * @param cbuf what to send
285 * @param length how much to send
286 * @return number of bytes actually sent, or -1 for failures.
288 int send_usb_data_only(libusb_device_handle *handle, unsigned char endpoint_out,
289 unsigned char endpoint_in, unsigned char *cbuf, unsigned int length) {
291 int real_transferred;
294 ret = libusb_bulk_transfer(handle, endpoint_out, cbuf, length,
295 &real_transferred, SG_TIMEOUT_MSEC);
296 if (ret == LIBUSB_ERROR_PIPE) {
297 libusb_clear_halt(handle, endpoint_out);
300 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
301 if (ret != LIBUSB_SUCCESS) {
302 WLOG("sending failed: %d\n", ret);
306 // now, swallow up the status, so that things behave nicely...
307 uint32_t received_tag;
308 // -ve is for my errors, 0 is good, +ve is libusb sense status bytes
309 int status = get_usb_mass_storage_status(handle, endpoint_in, &received_tag);
311 WLOG("receiving status failed: %d\n", status);
315 WLOG("receiving status not passed :(: %02x\n", status);
318 get_sense(handle, endpoint_in, endpoint_out);
322 return real_transferred;
326 int stlink_q(stlink_t *sl) {
327 struct stlink_libsg* sg = sl->backend_data;
328 //uint8_t cdb_len = 6; // FIXME varies!!!
329 uint8_t cdb_len = 10; // FIXME varies!!!
330 uint8_t lun = 0; // always zero...
331 uint32_t tag = send_usb_mass_storage_command(sg->usb_handle, sg->ep_req,
332 sg->cdb_cmd_blk, cdb_len, lun, LIBUSB_ENDPOINT_IN, sl->q_len);
335 // now wait for our response...
336 // length copied from stlink-usb...
337 int rx_length = sl->q_len;
339 int real_transferred;
343 ret = libusb_bulk_transfer(sg->usb_handle, sg->ep_rep, sl->q_buf, rx_length,
344 &real_transferred, SG_TIMEOUT_MSEC);
345 if (ret == LIBUSB_ERROR_PIPE) {
346 libusb_clear_halt(sg->usb_handle, sg->ep_req);
349 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
351 if (ret != LIBUSB_SUCCESS) {
352 WLOG("Receiving failed: %d\n", ret);
356 if (real_transferred != rx_length) {
357 WLOG("received unexpected amount: %d != %d\n", real_transferred, rx_length);
361 uint32_t received_tag;
362 // -ve is for my errors, 0 is good, +ve is libusb sense status bytes
363 int status = get_usb_mass_storage_status(sg->usb_handle, sg->ep_rep, &received_tag);
365 WLOG("receiving status failed: %d\n", status);
369 WLOG("receiving status not passed :(: %02x\n", status);
372 get_sense(sg->usb_handle, sg->ep_rep, sg->ep_req);
375 if (received_tag != tag) {
376 WLOG("received tag %d but expected %d\n", received_tag, tag);
379 if (rx_length > 0 && real_transferred != rx_length) {
385 // TODO thinking, cleanup
387 void stlink_stat(stlink_t *stl, char *txt) {
391 stlink_print_data(stl);
393 switch (stl->q_buf[0]) {
395 DLOG(" %s: ok\n", txt);
398 DLOG(" %s: false\n", txt);
401 DLOG(" %s: unknown\n", txt);
406 int _stlink_sg_version(stlink_t *stl) {
407 struct stlink_libsg *sl = stl->backend_data;
409 sl->cdb_cmd_blk[0] = STLINK_GET_VERSION;
412 return stlink_q(stl);
416 // STLINK_DEV_DFU_MODE || STLINK_DEV_MASS_MODE || STLINK_DEV_DEBUG_MODE
417 // usb dfu || usb mass || jtag or swd
419 int _stlink_sg_current_mode(stlink_t *stl) {
420 struct stlink_libsg *sl = stl->backend_data;
422 sl->cdb_cmd_blk[0] = STLINK_GET_CURRENT_MODE;
428 return stl->q_buf[0];
431 // Exit the mass mode and enter the swd debug mode.
433 int _stlink_sg_enter_swd_mode(stlink_t *sl) {
434 struct stlink_libsg *sg = sl->backend_data;
436 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
437 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_SWD;
438 sl->q_len = 0; // >0 -> aboard
442 // Exit the mass mode and enter the jtag debug mode.
443 // (jtag is disabled in the discovery's stlink firmware)
445 int _stlink_sg_enter_jtag_mode(stlink_t *sl) {
446 struct stlink_libsg *sg = sl->backend_data;
447 DLOG("\n*** stlink_enter_jtag_mode ***\n");
449 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
450 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_JTAG;
455 // XXX kernel driver performs reset, the device temporally disappears
456 // Suspect this is no longer the case when we have ignore on? RECHECK
457 int _stlink_sg_exit_dfu_mode(stlink_t *sl) {
458 struct stlink_libsg *sg = sl->backend_data;
459 DLOG("\n*** stlink_exit_dfu_mode ***\n");
461 sg->cdb_cmd_blk[0] = STLINK_DFU_COMMAND;
462 sg->cdb_cmd_blk[1] = STLINK_DFU_EXIT;
466 [135121.844564] sd 19:0:0:0: [sdb] Unhandled error code
467 [135121.844569] sd 19:0:0:0: [sdb] Result: hostbyte=DID_ERROR driverbyte=DRIVER_OK
468 [135121.844574] sd 19:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 10 00 00 00 08 00
469 [135121.844584] end_request: I/O error, dev sdb, sector 4096
470 [135121.844590] Buffer I/O error on device sdb, logical block 512
471 [135130.122567] usb 6-1: reset full speed USB device using uhci_hcd and address 7
472 [135130.274551] usb 6-1: device firmware changed
473 [135130.274618] usb 6-1: USB disconnect, address 7
474 [135130.275186] VFS: busy inodes on changed media or resized disk sdb
475 [135130.275424] VFS: busy inodes on changed media or resized disk sdb
476 [135130.286758] VFS: busy inodes on changed media or resized disk sdb
477 [135130.292796] VFS: busy inodes on changed media or resized disk sdb
478 [135130.301481] VFS: busy inodes on changed media or resized disk sdb
479 [135130.304316] VFS: busy inodes on changed media or resized disk sdb
480 [135130.431113] usb 6-1: new full speed USB device using uhci_hcd and address 8
481 [135130.629444] usb-storage 6-1:1.0: Quirks match for vid 0483 pid 3744: 102a1
482 [135130.629492] scsi20 : usb-storage 6-1:1.0
483 [135131.625600] scsi 20:0:0:0: Direct-Access STM32 PQ: 0 ANSI: 0
484 [135131.627010] sd 20:0:0:0: Attached scsi generic sg2 type 0
485 [135131.633603] sd 20:0:0:0: [sdb] 64000 512-byte logical blocks: (32.7 MB/31.2 MiB)
486 [135131.633613] sd 20:0:0:0: [sdb] Assuming Write Enabled
487 [135131.633620] sd 20:0:0:0: [sdb] Assuming drive cache: write through
488 [135131.640584] sd 20:0:0:0: [sdb] Assuming Write Enabled
489 [135131.640592] sd 20:0:0:0: [sdb] Assuming drive cache: write through
491 [135131.652634] sd 20:0:0:0: [sdb] Assuming Write Enabled
492 [135131.652639] sd 20:0:0:0: [sdb] Assuming drive cache: write through
493 [135131.652645] sd 20:0:0:0: [sdb] Attached SCSI removable disk
494 [135131.671536] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
495 [135131.671548] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
496 [135131.671553] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
497 [135131.671560] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
498 [135131.671570] end_request: I/O error, dev sdb, sector 63872
499 [135131.671575] Buffer I/O error on device sdb, logical block 7984
500 [135131.678527] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
501 [135131.678532] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
502 [135131.678537] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
503 [135131.678542] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
504 [135131.678551] end_request: I/O error, dev sdb, sector 63872
506 [135131.853565] end_request: I/O error, dev sdb, sector 4096
510 int _stlink_sg_core_id(stlink_t *sl) {
511 struct stlink_libsg *sg = sl->backend_data;
514 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READCOREID;
521 sl->core_id = read_uint32(sl->q_buf, 0);
525 // Arm-core reset -> halted state.
527 int _stlink_sg_reset(stlink_t *sl) {
528 struct stlink_libsg *sg = sl->backend_data;
530 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RESETSYS;
536 stlink_stat(sl, "core reset");
540 // Arm-core reset -> halted state.
542 int _stlink_sg_jtag_reset(stlink_t *sl, int value) {
543 struct stlink_libsg *sg = sl->backend_data;
545 sg->cdb_cmd_blk[1] = STLINK_JTAG_DRIVE_NRST;
546 sg->cdb_cmd_blk[2] = (value)?0:1;
552 stlink_stat(sl, "core reset");
557 // Arm-core status: halted or running.
559 int _stlink_sg_status(stlink_t *sl) {
560 struct stlink_libsg *sg = sl->backend_data;
562 sg->cdb_cmd_blk[1] = STLINK_DEBUG_GETSTATUS;
568 // Force the core into the debug mode -> halted state.
570 int _stlink_sg_force_debug(stlink_t *sl) {
571 struct stlink_libsg *sg = sl->backend_data;
573 sg->cdb_cmd_blk[1] = STLINK_DEBUG_FORCEDEBUG;
579 stlink_stat(sl, "force debug");
583 // Read all arm-core registers.
585 int _stlink_sg_read_all_regs(stlink_t *sl, reg *regp) {
586 struct stlink_libsg *sg = sl->backend_data;
589 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READALLREGS;
595 stlink_print_data(sl);
597 // TODO - most of this should be re-extracted up....
599 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
600 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
601 for (int i = 0; i < 16; i++) {
602 regp->r[i] = read_uint32(sl->q_buf, 4 * i);
604 DLOG("r%2d = 0x%08x\n", i, regp->r[i]);
606 regp->xpsr = read_uint32(sl->q_buf, 64);
607 regp->main_sp = read_uint32(sl->q_buf, 68);
608 regp->process_sp = read_uint32(sl->q_buf, 72);
609 regp->rw = read_uint32(sl->q_buf, 76);
610 regp->rw2 = read_uint32(sl->q_buf, 80);
614 DLOG("xpsr = 0x%08x\n", regp->xpsr);
615 DLOG("main_sp = 0x%08x\n", regp->main_sp);
616 DLOG("process_sp = 0x%08x\n", regp->process_sp);
617 DLOG("rw = 0x%08x\n", regp->rw);
618 DLOG("rw2 = 0x%08x\n", regp->rw2);
623 // Read an arm-core register, the index must be in the range 0..20.
624 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
625 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
627 int _stlink_sg_read_reg(stlink_t *sl, int r_idx, reg *regp) {
628 struct stlink_libsg *sg = sl->backend_data;
630 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READREG;
631 sg->cdb_cmd_blk[2] = r_idx;
637 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
638 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
639 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
640 stlink_print_data(sl);
642 uint32_t r = read_uint32(sl->q_buf, 0);
643 DLOG("r_idx (%2d) = 0x%08x\n", r_idx, r);
653 regp->process_sp = r;
656 regp->rw = r; //XXX ?(primask, basemask etc.)
659 regp->rw2 = r; //XXX ?(primask, basemask etc.)
668 // Write an arm-core register. Index:
669 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
670 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
672 int _stlink_sg_write_reg(stlink_t *sl, uint32_t reg, int idx) {
673 struct stlink_libsg *sg = sl->backend_data;
675 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEREG;
678 sg->cdb_cmd_blk[2] = idx;
679 write_uint32(sg->cdb_cmd_blk + 3, reg);
685 stlink_stat(sl, "write reg");
689 // Write a register of the debug module of the core.
690 // XXX ?(atomic writes)
693 void stlink_write_dreg(stlink_t *sl, uint32_t reg, uint32_t addr) {
694 struct stlink_libsg *sg = sl->backend_data;
695 DLOG("\n*** stlink_write_dreg ***\n");
697 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEDEBUGREG;
698 // 2-5: address of reg of the debug module
700 write_uint32(sg->cdb_cmd_blk + 2, addr);
701 write_uint32(sg->cdb_cmd_blk + 6, reg);
705 stlink_stat(sl, "write debug reg");
708 // Force the core exit the debug mode.
710 int _stlink_sg_run(stlink_t *sl) {
711 struct stlink_libsg *sg = sl->backend_data;
713 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RUNCORE;
719 stlink_stat(sl, "run core");
724 // Step the arm-core.
726 int _stlink_sg_step(stlink_t *sl) {
727 struct stlink_libsg *sg = sl->backend_data;
729 sg->cdb_cmd_blk[1] = STLINK_DEBUG_STEPCORE;
735 stlink_stat(sl, "step core");
740 // see Cortex-M3 Technical Reference Manual
741 // TODO make delegate!
742 void stlink_set_hw_bp(stlink_t *sl, int fp_nr, uint32_t addr, int fp) {
743 DLOG("\n*** stlink_set_hw_bp ***\n");
744 struct stlink_libsg *sg = sl->backend_data;
746 sg->cdb_cmd_blk[1] = STLINK_DEBUG_SETFP;
747 // 2:The number of the flash patch used to set the breakpoint
748 // 3-6: Address of the breakpoint (LSB)
749 // 7: FP_ALL (0x02) / FP_UPPER (0x01) / FP_LOWER (0x00)
750 sl->q_buf[2] = fp_nr;
751 write_uint32(sl->q_buf, addr);
756 stlink_stat(sl, "set flash breakpoint");
761 // TODO make delegate!
762 void stlink_clr_hw_bp(stlink_t *sl, int fp_nr) {
763 struct stlink_libsg *sg = sl->backend_data;
764 DLOG("\n*** stlink_clr_hw_bp ***\n");
766 sg->cdb_cmd_blk[1] = STLINK_DEBUG_CLEARFP;
767 sg->cdb_cmd_blk[2] = fp_nr;
771 stlink_stat(sl, "clear flash breakpoint");
774 // Read a "len" bytes to the sl->q_buf from the memory, max 6kB (6144 bytes)
776 int _stlink_sg_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
777 struct stlink_libsg *sg = sl->backend_data;
779 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READMEM_32BIT;
782 write_uint32(sg->cdb_cmd_blk + 2, addr);
783 write_uint16(sg->cdb_cmd_blk + 6, len);
785 // data_in 0-0x40-len
786 // !!! len _and_ q_len must be max 6k,
787 // i.e. >1024 * 6 = 6144 -> aboard)
788 // !!! if len < q_len: 64*k, 1024*n, n=1..5 -> aboard
789 // (broken residue issue)
795 stlink_print_data(sl);
799 // Write a "len" bytes from the sl->q_buf to the memory, max 64 Bytes.
801 int _stlink_sg_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
802 struct stlink_libsg *sg = sl->backend_data;
806 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_8BIT;
808 // 6-7: len (>0x40 (64) -> aboard)
809 write_uint32(sg->cdb_cmd_blk + 2, addr);
810 write_uint16(sg->cdb_cmd_blk + 6, len);
812 // this sends the command...
813 ret = send_usb_mass_storage_command(sg->usb_handle,
814 sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0);
818 // This sends the data...
819 ret = send_usb_data_only(sg->usb_handle,
820 sg->ep_req, sg->ep_rep, sl->q_buf, len);
824 stlink_print_data(sl);
828 // Write a "len" bytes from the sl->q_buf to the memory, max Q_BUF_LEN bytes.
830 int _stlink_sg_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
831 struct stlink_libsg *sg = sl->backend_data;
835 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_32BIT;
837 // 6-7: len "unlimited"
838 write_uint32(sg->cdb_cmd_blk + 2, addr);
839 write_uint16(sg->cdb_cmd_blk + 6, len);
841 // this sends the command...
842 ret = send_usb_mass_storage_command(sg->usb_handle,
843 sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0);
847 // This sends the data...
848 ret = send_usb_data_only(sg->usb_handle,
849 sg->ep_req, sg->ep_rep, sl->q_buf, len);
853 stlink_print_data(sl);
857 // Write one DWORD data to memory
859 int _stlink_sg_write_debug32(stlink_t *sl, uint32_t addr, uint32_t data) {
860 struct stlink_libsg *sg = sl->backend_data;
862 sg->cdb_cmd_blk[1] = STLINK_JTAG_WRITEDEBUG_32BIT;
864 write_uint32(sg->cdb_cmd_blk + 2, addr);
865 write_uint32(sg->cdb_cmd_blk + 6, data);
870 // Read one DWORD data from memory
872 int _stlink_sg_read_debug32(stlink_t *sl, uint32_t addr, uint32_t *data) {
873 struct stlink_libsg *sg = sl->backend_data;
875 sg->cdb_cmd_blk[1] = STLINK_JTAG_READDEBUG_32BIT;
877 write_uint32(sg->cdb_cmd_blk + 2, addr);
882 *data = read_uint32(sl->q_buf, 4);
886 // Exit the jtag or swd mode and enter the mass mode.
888 int _stlink_sg_exit_debug_mode(stlink_t *stl)
891 struct stlink_libsg* sl = stl->backend_data;
893 sl->cdb_cmd_blk[1] = STLINK_DEBUG_EXIT;
894 stl->q_len = 0; // >0 -> aboard
895 return stlink_q(stl);
902 // 1) open a sg device, switch the stlink from dfu to mass mode
903 // 2) wait 5s until the kernel driver stops reseting the broken device
904 // 3) reopen the device
905 // 4) the device driver is now ready for a switch to jtag/swd mode
906 // TODO thinking, better error handling, wait until the kernel driver stops reseting the plugged-in device
908 stlink_backend_t _stlink_sg_backend = {
910 _stlink_sg_exit_debug_mode,
911 _stlink_sg_enter_swd_mode,
912 _stlink_sg_enter_jtag_mode,
913 _stlink_sg_exit_dfu_mode,
916 _stlink_sg_jtag_reset,
920 _stlink_sg_read_debug32,
921 _stlink_sg_read_mem32,
922 _stlink_sg_write_debug32,
923 _stlink_sg_write_mem32,
924 _stlink_sg_write_mem8,
925 _stlink_sg_read_all_regs,
927 NULL, /* read_all_unsupported_regs */
928 NULL, /* read_unsupported_regs */
929 NULL, /* write_unsupported_regs */
930 _stlink_sg_write_reg,
932 _stlink_sg_current_mode,
933 _stlink_sg_force_debug,
937 static stlink_t* stlink_open(const int verbose) {
939 stlink_t *sl = malloc(sizeof (stlink_t));
940 memset(sl, 0, sizeof(stlink_t));
941 struct stlink_libsg *slsg = malloc(sizeof (struct stlink_libsg));
942 if (sl == NULL || slsg == NULL) {
943 WLOG("Couldn't malloc stlink and stlink_sg structures out of memory!\n");
947 if (libusb_init(&(slsg->libusb_ctx))) {
948 WLOG("failed to init libusb context, wrong version of libraries?\n");
954 libusb_set_debug(slsg->libusb_ctx, 3);
956 slsg->usb_handle = libusb_open_device_with_vid_pid(slsg->libusb_ctx, USB_ST_VID, USB_STLINK_PID);
957 if (slsg->usb_handle == NULL) {
958 WLOG("Failed to find an stlink v1 by VID:PID\n");
959 libusb_close(slsg->usb_handle);
960 libusb_exit(slsg->libusb_ctx);
967 // Could read the interface config descriptor, and assert lots of the assumptions
969 // assumption: numInterfaces is always 1...
970 if (libusb_kernel_driver_active(slsg->usb_handle, 0) == 1) {
971 int r = libusb_detach_kernel_driver(slsg->usb_handle, 0);
973 WLOG("libusb_detach_kernel_driver(() error %s\n", strerror(-r));
974 libusb_close(slsg->usb_handle);
975 libusb_exit(slsg->libusb_ctx);
980 DLOG("Kernel driver was successfully detached\n");
984 if (libusb_get_configuration(slsg->usb_handle, &config)) {
985 /* this may fail for a previous configured device */
986 WLOG("libusb_get_configuration()\n");
987 libusb_close(slsg->usb_handle);
988 libusb_exit(slsg->libusb_ctx);
995 // assumption: bConfigurationValue is always 1
997 WLOG("Your stlink got into a real weird configuration, trying to fix it!\n");
998 DLOG("setting new configuration (%d -> 1)\n", config);
999 if (libusb_set_configuration(slsg->usb_handle, 1)) {
1000 /* this may fail for a previous configured device */
1001 WLOG("libusb_set_configuration() failed\n");
1002 libusb_close(slsg->usb_handle);
1003 libusb_exit(slsg->libusb_ctx);
1010 if (libusb_claim_interface(slsg->usb_handle, 0)) {
1011 WLOG("libusb_claim_interface() failed\n");
1012 libusb_close(slsg->usb_handle);
1013 libusb_exit(slsg->libusb_ctx);
1019 // assumption: endpoint config is fixed mang. really.
1020 slsg->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN;
1021 slsg->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT;
1023 DLOG("Successfully opened stlinkv1 by libusb :)\n");
1025 sl->verbose = verbose;
1026 sl->backend_data = slsg;
1027 sl->backend = &_stlink_sg_backend;
1029 sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
1036 stlink_t* stlink_v1_open_inner(const int verbose) {
1038 stlink_t *sl = stlink_open(verbose);
1040 ELOG("Could not open stlink device\n");
1045 if ((sl->version.st_vid != USB_ST_VID) || (sl->version.stlink_pid != USB_STLINK_PID)) {
1046 ELOG("WTF? successfully opened, but unable to read version details. BROKEN!\n");
1050 DLOG("Reading current mode...\n");
1051 switch (stlink_current_mode(sl)) {
1052 case STLINK_DEV_MASS_MODE:
1054 case STLINK_DEV_DEBUG_MODE:
1058 ILOG("Current mode unusable, trying to get back to a useful state...\n");
1062 DLOG("Attempting to exit DFU mode\n");
1063 _stlink_sg_exit_dfu_mode(sl);
1065 // re-query device info (and retest)
1067 if ((sl->version.st_vid != USB_ST_VID) || (sl->version.stlink_pid != USB_STLINK_PID)) {
1068 ELOG("WTF? successfully opened, but unable to read version details. BROKEN!\n");
1075 stlink_t* stlink_v1_open(const int verbose, int reset) {
1076 stlink_t *sl = stlink_v1_open_inner(verbose);
1080 // by now, it _must_ be fully open and in a useful mode....
1081 stlink_enter_swd_mode(sl);
1082 /* Now we are ready to read the parameters */
1086 stlink_load_device_params(sl);
1087 ILOG("Successfully opened a stlink v1 debugger\n");