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 Code format ~ TAB = 8, K&R, linux kernel source, golang oriented
16 Tested compatibility: linux, gcc >= 4.3.3
18 The communication is based on standard USB mass storage device
19 BOT (Bulk Only Transfer)
20 - Endpoint 1: BULK_IN, 64 bytes max
21 - Endpoint 2: BULK_OUT, 64 bytes max
23 All CBW transfers are ordered with the LSB (byte 0) first (little endian).
24 Any command must be answered before sending the next command.
25 Each USB transfer must complete in less than 1s.
27 SB Device Class Definition for Mass Storage Devices:
28 www.usb.org/developers/devclass_docs/usbmassbulk_10.pdf
30 dt - Data Transfer (IN/OUT)
31 CBW - Command Block Wrapper
32 CSW - Command Status Wrapper
33 RFU - Reserved for Future Use
34 scsi_pt - SCSI pass-through
38 http://git.kernel.org/?p=linux/kernel/git/torvalds/linux-2.6.git;a=blob_plain;f=Documentation/kernel-parameters.txt
39 Each entry has the form VID:PID:Flags where VID and PID are Vendor and Product
40 ID values (4-digit hex numbers) and Flags is a set of characters, each corresponding
41 to a common usb-storage quirk flag as follows:
43 a = SANE_SENSE (collect more than 18 bytes of sense data);
44 b = BAD_SENSE (don't collect more than 18 bytes of sense data);
45 c = FIX_CAPACITY (decrease the reported device capacity by one sector);
46 h = CAPACITY_HEURISTICS (decrease the reported device capacity by one sector if the number is odd);
47 i = IGNORE_DEVICE (don't bind to this device);
48 l = NOT_LOCKABLE (don't try to lock and unlock ejectable media);
49 m = MAX_SECTORS_64 (don't transfer more than 64 sectors = 32 KB at a time);
50 o = CAPACITY_OK (accept the capacity reported by the device);
51 r = IGNORE_RESIDUE (the device reports bogus residue values);
52 s = SINGLE_LUN (the device has only one Logical Unit);
53 w = NO_WP_DETECT (don't test whether the medium is write-protected).
55 Example: quirks=0419:aaf5:rl,0421:0433:rc
56 http://permalink.gmane.org/gmane.linux.usb.general/35053
58 modprobe -r usb-storage && modprobe usb-storage quirks=483:3744:l
60 Equivalently, you can add a line saying
62 options usb-storage quirks=483:3744:l
64 to your /etc/modprobe.conf or /etc/modprobe.d/local.conf (or add the "quirks=..."
65 part to an existing options line for usb-storage).
76 #include <sys/types.h>
80 // sgutils2 (apt-get install libsgutils2-dev)
81 #include <scsi/sg_lib.h>
82 #include <scsi/sg_pt.h>
84 #include "stlink-common.h"
85 #include "stlink-sg.h"
88 // Suspends execution of the calling process for
89 // (at least) ms milliseconds.
91 static void delay(int ms) {
92 //fprintf(stderr, "*** wait %d ms\n", ms);
96 static void clear_cdb(struct stlink_libsg *sl) {
97 for (size_t i = 0; i < sizeof (sl->cdb_cmd_blk); i++)
98 sl->cdb_cmd_blk[i] = 0;
100 sl->cdb_cmd_blk[0] = STLINK_DEBUG_COMMAND;
101 sl->q_data_dir = Q_DATA_IN;
104 // E.g. make the valgrind happy.
106 static void clear_buf(stlink_t *sl) {
107 DD(sl, "*** clear_buf ***\n");
108 for (size_t i = 0; i < sizeof (sl->q_buf); i++)
113 // close the device, free the allocated memory
115 void _stlink_sg_close(stlink_t *sl) {
117 struct stlink_libsg *slsg = sl->backend_data;
118 scsi_pt_close_device(slsg->sg_fd);
119 // CAUTION!? s this right?
126 //TODO rewrite/cleanup, save the error in sl
128 static void stlink_confirm_inq(stlink_t *stl, struct sg_pt_base *ptvp) {
129 struct stlink_libsg *sl = stl->backend_data;
130 const int e = sl->do_scsi_pt_err;
132 fprintf(stderr, "scsi_pt error: pass through os error: %s\n",
135 } else if (e == SCSI_PT_DO_BAD_PARAMS) {
136 fprintf(stderr, "scsi_pt error: bad pass through setup\n");
138 } else if (e == SCSI_PT_DO_TIMEOUT) {
139 fprintf(stderr, " pass through timeout\n");
142 const int duration = get_scsi_pt_duration_ms(ptvp);
143 if ((stl->verbose > 1) && (duration >= 0))
144 DD(stl, " duration=%d ms\n", duration);
146 // XXX stlink fw sends broken residue, so ignore it and use the known q_len
147 // "usb-storage quirks=483:3744:r"
148 // forces residue to be ignored and calculated, but this causes aboard if
149 // data_len = 0 and by some other data_len values.
151 const int resid = get_scsi_pt_resid(ptvp);
152 const int dsize = stl->q_len - resid;
154 const int cat = get_scsi_pt_result_category(ptvp);
159 case SCSI_PT_RESULT_GOOD:
160 if (stl->verbose && (resid > 0))
161 DD(stl, " notice: requested %d bytes but "
162 "got %d bytes, ignore [broken] residue = %d\n",
163 stl->q_len, dsize, resid);
165 case SCSI_PT_RESULT_STATUS:
167 sg_get_scsi_status_str(
168 get_scsi_pt_status_response(ptvp), sizeof (buf),
170 DD(stl, " scsi status: %s\n", buf);
173 case SCSI_PT_RESULT_SENSE:
174 slen = get_scsi_pt_sense_len(ptvp);
176 sg_get_sense_str("", sl->sense_buf, slen, (stl->verbose
177 > 1), sizeof (buf), buf);
180 if (stl->verbose && (resid > 0)) {
181 if ((stl->verbose) || (stl->q_len > 0))
182 DD(stl, " requested %d bytes but "
183 "got %d bytes\n", stl->q_len, dsize);
186 case SCSI_PT_RESULT_TRANSPORT_ERR:
188 get_scsi_pt_transport_err_str(ptvp, sizeof (buf), buf);
189 // http://tldp.org/HOWTO/SCSI-Generic-HOWTO/x291.html
190 // These codes potentially come from the firmware on a host adapter
191 // or from one of several hosts that an adapter driver controls.
192 // The 'host_status' field has the following values:
193 // [0x07] Internal error detected in the host adapter.
194 // This may not be fatal (and the command may have succeeded).
195 DD(stl, " transport: %s", buf);
198 case SCSI_PT_RESULT_OS_ERR:
200 get_scsi_pt_os_err_str(ptvp, sizeof (buf), buf);
201 DD(stl, " os: %s", buf);
205 fprintf(stderr, " unknown pass through result "
206 "category (%d)\n", cat);
210 void stlink_q(stlink_t *sl) {
211 struct stlink_libsg* sg = sl->backend_data;
213 for (int i = 0; i < CDB_SL; i++)
214 DD(sl, " 0x%02x", (unsigned int) sg->cdb_cmd_blk[i]);
217 // Get control command descriptor of scsi structure,
218 // (one object per command!!)
219 struct sg_pt_base *ptvp = construct_scsi_pt_obj();
221 fprintf(stderr, "construct_scsi_pt_obj: out of memory\n");
225 set_scsi_pt_cdb(ptvp, sg->cdb_cmd_blk, sizeof (sg->cdb_cmd_blk));
227 // set buffer for sense (error information) data
228 set_scsi_pt_sense(ptvp, sg->sense_buf, sizeof (sg->sense_buf));
230 // Set a buffer to be used for data transferred from device
231 if (sg->q_data_dir == Q_DATA_IN) {
233 set_scsi_pt_data_in(ptvp, sl->q_buf, sl->q_len);
235 set_scsi_pt_data_out(ptvp, sl->q_buf, sl->q_len);
237 // Executes SCSI command (or at least forwards it to lower layers).
238 sg->do_scsi_pt_err = do_scsi_pt(ptvp, sg->sg_fd, SG_TIMEOUT_SEC,
241 // check for scsi errors
242 stlink_confirm_inq(sl, ptvp);
243 // TODO recycle: clear_scsi_pt_obj(struct sg_pt_base * objp);
244 destruct_scsi_pt_obj(ptvp);
247 // TODO thinking, cleanup
249 void stlink_parse_version(stlink_t *stl) {
250 struct stlink_libsg *sl = stl->backend_data;
253 if (stl->q_len <= 0) {
254 fprintf(stderr, "Error: could not parse the stlink version");
257 stlink_print_data(stl);
258 uint32_t b0 = stl->q_buf[0]; //lsb
259 uint32_t b1 = stl->q_buf[1];
260 uint32_t b2 = stl->q_buf[2];
261 uint32_t b3 = stl->q_buf[3];
262 uint32_t b4 = stl->q_buf[4];
263 uint32_t b5 = stl->q_buf[5]; //msb
265 // b0 b1 || b2 b3 | b4 b5
266 // 4b | 6b | 6b || 2B | 2B
267 // stlink_v | jtag_v | swim_v || st_vid | stlink_pid
269 sl->stlink_v = (b0 & 0xf0) >> 4;
270 sl->jtag_v = ((b0 & 0x0f) << 2) | ((b1 & 0xc0) >> 6);
271 sl->swim_v = b1 & 0x3f;
272 sl->st_vid = (b3 << 8) | b2;
273 sl->stlink_pid = (b5 << 8) | b4;
275 if (stl->verbose < 2)
278 DD(stl, "st vid = 0x%04x (expect 0x%04x)\n",
279 sl->st_vid, USB_ST_VID);
280 DD(stl, "stlink pid = 0x%04x (expect 0x%04x)\n",
281 sl->stlink_pid, USB_STLINK_PID);
282 DD(stl, "stlink version = 0x%x\n", sl->stlink_v);
283 DD(stl, "jtag version = 0x%x\n", sl->jtag_v);
284 DD(stl, "swim version = 0x%x\n", sl->swim_v);
287 " notice: the firmware doesn't support a jtag/swd interface\n");
290 " notice: the firmware doesn't support a swim interface\n");
294 void stlink_stat(stlink_t *stl, char *txt) {
298 stlink_print_data(stl);
300 switch (stl->q_buf[0]) {
302 DD(stl, " %s: ok\n", txt);
305 DD(stl, " %s: false\n", txt);
308 DD(stl, " %s: unknown\n", txt);
312 void _stlink_sg_version(stlink_t *stl) {
313 struct stlink_libsg *sl = stl->backend_data;
314 D(stl, "\n*** stlink_version ***\n");
316 sl->cdb_cmd_blk[0] = STLINK_GET_VERSION;
320 stlink_parse_version(stl);
324 // STLINK_DEV_DFU_MODE || STLINK_DEV_MASS_MODE || STLINK_DEV_DEBUG_MODE
325 // usb dfu || usb mass || jtag or swd
327 int _stlink_sg_current_mode(stlink_t *stl) {
328 struct stlink_libsg *sl = stl->backend_data;
330 sl->cdb_cmd_blk[0] = STLINK_GET_CURRENT_MODE;
334 return stl->q_buf[0];
337 // Exit the mass mode and enter the swd debug mode.
339 void _stlink_sg_enter_swd_mode(stlink_t *sl) {
340 struct stlink_libsg *sg = sl->backend_data;
342 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
343 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_SWD;
344 sl->q_len = 0; // >0 -> aboard
348 // Exit the mass mode and enter the jtag debug mode.
349 // (jtag is disabled in the discovery's stlink firmware)
351 void _stlink_sg_enter_jtag_mode(stlink_t *sl) {
352 struct stlink_libsg *sg = sl->backend_data;
353 D(sl, "\n*** stlink_enter_jtag_mode ***\n");
355 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
356 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_JTAG;
361 // XXX kernel driver performs reset, the device temporally disappears
363 void _stlink_sg_exit_dfu_mode(stlink_t *sl) {
364 struct stlink_libsg *sg = sl->backend_data;
365 D(sl, "\n*** stlink_exit_dfu_mode ***\n");
367 sg->cdb_cmd_blk[0] = STLINK_DFU_COMMAND;
368 sg->cdb_cmd_blk[1] = STLINK_DFU_EXIT;
372 [135121.844564] sd 19:0:0:0: [sdb] Unhandled error code
373 [135121.844569] sd 19:0:0:0: [sdb] Result: hostbyte=DID_ERROR driverbyte=DRIVER_OK
374 [135121.844574] sd 19:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 10 00 00 00 08 00
375 [135121.844584] end_request: I/O error, dev sdb, sector 4096
376 [135121.844590] Buffer I/O error on device sdb, logical block 512
377 [135130.122567] usb 6-1: reset full speed USB device using uhci_hcd and address 7
378 [135130.274551] usb 6-1: device firmware changed
379 [135130.274618] usb 6-1: USB disconnect, address 7
380 [135130.275186] VFS: busy inodes on changed media or resized disk sdb
381 [135130.275424] VFS: busy inodes on changed media or resized disk sdb
382 [135130.286758] VFS: busy inodes on changed media or resized disk sdb
383 [135130.292796] VFS: busy inodes on changed media or resized disk sdb
384 [135130.301481] VFS: busy inodes on changed media or resized disk sdb
385 [135130.304316] VFS: busy inodes on changed media or resized disk sdb
386 [135130.431113] usb 6-1: new full speed USB device using uhci_hcd and address 8
387 [135130.629444] usb-storage 6-1:1.0: Quirks match for vid 0483 pid 3744: 102a1
388 [135130.629492] scsi20 : usb-storage 6-1:1.0
389 [135131.625600] scsi 20:0:0:0: Direct-Access STM32 PQ: 0 ANSI: 0
390 [135131.627010] sd 20:0:0:0: Attached scsi generic sg2 type 0
391 [135131.633603] sd 20:0:0:0: [sdb] 64000 512-byte logical blocks: (32.7 MB/31.2 MiB)
392 [135131.633613] sd 20:0:0:0: [sdb] Assuming Write Enabled
393 [135131.633620] sd 20:0:0:0: [sdb] Assuming drive cache: write through
394 [135131.640584] sd 20:0:0:0: [sdb] Assuming Write Enabled
395 [135131.640592] sd 20:0:0:0: [sdb] Assuming drive cache: write through
397 [135131.652634] sd 20:0:0:0: [sdb] Assuming Write Enabled
398 [135131.652639] sd 20:0:0:0: [sdb] Assuming drive cache: write through
399 [135131.652645] sd 20:0:0:0: [sdb] Attached SCSI removable disk
400 [135131.671536] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
401 [135131.671548] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
402 [135131.671553] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
403 [135131.671560] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
404 [135131.671570] end_request: I/O error, dev sdb, sector 63872
405 [135131.671575] Buffer I/O error on device sdb, logical block 7984
406 [135131.678527] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
407 [135131.678532] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
408 [135131.678537] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
409 [135131.678542] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
410 [135131.678551] end_request: I/O error, dev sdb, sector 63872
412 [135131.853565] end_request: I/O error, dev sdb, sector 4096
416 void _stlink_sg_core_id(stlink_t *sl) {
417 struct stlink_libsg *sg = sl->backend_data;
419 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READCOREID;
423 sl->core_id = read_uint32(sl->q_buf, 0);
426 // Arm-core reset -> halted state.
428 void _stlink_sg_reset(stlink_t *sl) {
429 struct stlink_libsg *sg = sl->backend_data;
431 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RESETSYS;
435 stlink_stat(sl, "core reset");
438 // Arm-core status: halted or running.
440 void _stlink_sg_status(stlink_t *sl) {
441 struct stlink_libsg *sg = sl->backend_data;
442 D(sl, "\n*** stlink_status ***\n");
444 sg->cdb_cmd_blk[1] = STLINK_DEBUG_GETSTATUS;
450 // Force the core into the debug mode -> halted state.
452 void stlink_force_debug(stlink_t *sl) {
453 struct stlink_libsg *sg = sl->backend_data;
454 D(sl, "\n*** stlink_force_debug ***\n");
456 sg->cdb_cmd_blk[1] = STLINK_DEBUG_FORCEDEBUG;
460 stlink_stat(sl, "force debug");
463 // Read all arm-core registers.
465 void _stlink_sg_read_all_regs(stlink_t *sl, reg *regp) {
466 struct stlink_libsg *sg = sl->backend_data;
468 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READALLREGS;
472 stlink_print_data(sl);
474 // TODO - most of this should be re-extracted up....
476 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
477 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
478 for (int i = 0; i < 16; i++) {
479 sg->reg.r[i] = read_uint32(sl->q_buf, 4 * i);
481 DD(sl, "r%2d = 0x%08x\n", i, sg->reg.r[i]);
483 sg->reg.xpsr = read_uint32(sl->q_buf, 64);
484 sg->reg.main_sp = read_uint32(sl->q_buf, 68);
485 sg->reg.process_sp = read_uint32(sl->q_buf, 72);
486 sg->reg.rw = read_uint32(sl->q_buf, 76);
487 sg->reg.rw2 = read_uint32(sl->q_buf, 80);
491 DD(sl, "xpsr = 0x%08x\n", sg->reg.xpsr);
492 DD(sl, "main_sp = 0x%08x\n", sg->reg.main_sp);
493 DD(sl, "process_sp = 0x%08x\n", sg->reg.process_sp);
494 DD(sl, "rw = 0x%08x\n", sg->reg.rw);
495 DD(sl, "rw2 = 0x%08x\n", sg->reg.rw2);
498 // Read an arm-core register, the index must be in the range 0..20.
499 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
500 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
502 void _stlink_sg_read_reg(stlink_t *sl, int r_idx, reg *regp) {
503 struct stlink_libsg *sg = sl->backend_data;
505 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READREG;
506 sg->cdb_cmd_blk[2] = r_idx;
510 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
511 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
512 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
513 stlink_print_data(sl);
515 uint32_t r = read_uint32(sl->q_buf, 0);
516 DD(sl, "r_idx (%2d) = 0x%08x\n", r_idx, r);
526 regp->process_sp = r;
529 regp->rw = r; //XXX ?(primask, basemask etc.)
532 regp->rw2 = r; //XXX ?(primask, basemask etc.)
539 // Write an arm-core register. Index:
540 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
541 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
543 void _stlink_sg_write_reg(stlink_t *sl, uint32_t reg, int idx) {
544 struct stlink_libsg *sg = sl->backend_data;
546 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEREG;
549 sg->cdb_cmd_blk[2] = idx;
550 write_uint32(sg->cdb_cmd_blk + 3, reg);
554 stlink_stat(sl, "write reg");
557 // Write a register of the debug module of the core.
558 // XXX ?(atomic writes)
561 void stlink_write_dreg(stlink_t *sl, uint32_t reg, uint32_t addr) {
562 struct stlink_libsg *sg = sl->backend_data;
563 D(sl, "\n*** stlink_write_dreg ***\n");
565 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEDEBUGREG;
566 // 2-5: address of reg of the debug module
568 write_uint32(sg->cdb_cmd_blk + 2, addr);
569 write_uint32(sg->cdb_cmd_blk + 6, reg);
573 stlink_stat(sl, "write debug reg");
576 // Force the core exit the debug mode.
578 void _stlink_sg_run(stlink_t *sl) {
579 struct stlink_libsg *sg = sl->backend_data;
580 D(sl, "\n*** stlink_run ***\n");
582 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RUNCORE;
586 stlink_stat(sl, "run core");
589 // Step the arm-core.
591 void _stlink_sg_step(stlink_t *sl) {
592 struct stlink_libsg *sg = sl->backend_data;
594 sg->cdb_cmd_blk[1] = STLINK_DEBUG_STEPCORE;
598 stlink_stat(sl, "step core");
602 // see Cortex-M3 Technical Reference Manual
603 // TODO make delegate!
604 void stlink_set_hw_bp(stlink_t *sl, int fp_nr, uint32_t addr, int fp) {
605 D(sl, "\n*** stlink_set_hw_bp ***\n");
606 struct stlink_libsg *sg = sl->backend_data;
608 sg->cdb_cmd_blk[1] = STLINK_DEBUG_SETFP;
609 // 2:The number of the flash patch used to set the breakpoint
610 // 3-6: Address of the breakpoint (LSB)
611 // 7: FP_ALL (0x02) / FP_UPPER (0x01) / FP_LOWER (0x00)
612 sl->q_buf[2] = fp_nr;
613 write_uint32(sl->q_buf, addr);
618 stlink_stat(sl, "set flash breakpoint");
623 // TODO make delegate!
624 void stlink_clr_hw_bp(stlink_t *sl, int fp_nr) {
625 struct stlink_libsg *sg = sl->backend_data;
626 D(sl, "\n*** stlink_clr_hw_bp ***\n");
628 sg->cdb_cmd_blk[1] = STLINK_DEBUG_CLEARFP;
629 sg->cdb_cmd_blk[2] = fp_nr;
633 stlink_stat(sl, "clear flash breakpoint");
636 // Read a "len" bytes to the sl->q_buf from the memory, max 6kB (6144 bytes)
638 void _stlink_sg_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
639 struct stlink_libsg *sg = sl->backend_data;
641 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READMEM_32BIT;
644 write_uint32(sg->cdb_cmd_blk + 2, addr);
645 write_uint16(sg->cdb_cmd_blk + 6, len);
647 // data_in 0-0x40-len
648 // !!! len _and_ q_len must be max 6k,
649 // i.e. >1024 * 6 = 6144 -> aboard)
650 // !!! if len < q_len: 64*k, 1024*n, n=1..5 -> aboard
651 // (broken residue issue)
655 stlink_print_data(sl);
658 // Write a "len" bytes from the sl->q_buf to the memory, max 64 Bytes.
660 void _stlink_sg_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
661 struct stlink_libsg *sg = sl->backend_data;
663 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_8BIT;
665 // 6-7: len (>0x40 (64) -> aboard)
666 write_uint32(sg->cdb_cmd_blk + 2, addr);
667 write_uint16(sg->cdb_cmd_blk + 6, len);
672 sg->q_data_dir = Q_DATA_OUT;
674 stlink_print_data(sl);
677 // Write a "len" bytes from the sl->q_buf to the memory, max Q_BUF_LEN bytes.
679 void _stlink_sg_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
680 struct stlink_libsg *sg = sl->backend_data;
682 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_32BIT;
684 // 6-7: len "unlimited"
685 write_uint32(sg->cdb_cmd_blk + 2, addr);
686 write_uint16(sg->cdb_cmd_blk + 6, len);
688 // data_out 0-0x40-...-len
691 sg->q_data_dir = Q_DATA_OUT;
693 stlink_print_data(sl);
696 #if 0 /* not working */
698 static int write_flash_mem16
699 (struct stlink* sl, uint32_t addr, uint16_t val) {
700 /* half word writes */
701 if (addr % 2) return -1;
703 /* unlock if locked */
706 /* set flash programming chosen bit */
709 write_uint16(sl->q_buf, val);
710 stlink_write_mem16(sl, addr, 2);
712 /* wait for non business */
717 /* check the programmed value back */
718 stlink_read_mem16(sl, addr, 2);
719 if (*(const uint16_t*) sl->q_buf != val) {
720 /* values differ at i * sizeof(uint16_t) */
727 #endif /* not working */
729 // Exit the jtag or swd mode and enter the mass mode.
731 void _stlink_sg_exit_debug_mode(stlink_t *stl) {
734 struct stlink_libsg* sl = stl->backend_data;
736 sl->cdb_cmd_blk[1] = STLINK_DEBUG_EXIT;
737 stl->q_len = 0; // >0 -> aboard
743 // 1) open a sg device, switch the stlink from dfu to mass mode
744 // 2) wait 5s until the kernel driver stops reseting the broken device
745 // 3) reopen the device
746 // 4) the device driver is now ready for a switch to jtag/swd mode
747 // TODO thinking, better error handling, wait until the kernel driver stops reseting the plugged-in device
749 stlink_backend_t _stlink_sg_backend = {
751 _stlink_sg_exit_debug_mode,
752 _stlink_sg_enter_swd_mode,
753 _stlink_sg_enter_jtag_mode,
754 _stlink_sg_exit_dfu_mode,
760 _stlink_sg_read_mem32,
761 _stlink_sg_write_mem32,
762 _stlink_sg_write_mem8,
763 _stlink_sg_read_all_regs,
765 _stlink_sg_write_reg,
767 _stlink_sg_current_mode
770 stlink_t* stlink_open(const char *dev_name, const int verbose) {
771 fprintf(stderr, "\n*** stlink_open [%s] ***\n", dev_name);
772 int sg_fd = scsi_pt_open_device(dev_name, RDWR, verbose);
774 fprintf(stderr, "error opening device: %s: %s\n", dev_name,
775 safe_strerror(-sg_fd));
779 stlink_t *sl = malloc(sizeof (stlink_t));
780 struct stlink_libsg *slsg = malloc(sizeof (struct stlink_libsg));
781 if (sl == NULL || slsg == NULL) {
782 fprintf(stderr, "Couldn't malloc stlink and stlink_sg structures out of memory!\n");
785 sl->verbose = verbose;
786 sl->backend_data = slsg;
787 sl->backend = &_stlink_sg_backend;
790 sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
795 /* flash memory settings */
796 sl->flash_base = STM32_FLASH_BASE;
797 sl->flash_size = STM32_FLASH_SIZE;
798 sl->flash_pgsz = STM32_FLASH_PGSZ;
801 sl->sys_base = STM32_SYSTEM_BASE;
802 sl->sys_size = STM32_SYSTEM_SIZE;
804 /* sram memory settings */
805 sl->sram_base = STM32_SRAM_BASE;
806 sl->sram_size = STM32_SRAM_SIZE;
813 stlink_t* stlink_quirk_open(const char *dev_name, const int verbose) {
815 stlink_t *sl = stlink_open(dev_name, verbose);
817 fputs("Error: could not open stlink device\n", stderr);
822 struct stlink_libsg *sg = sl->backend_data;
824 if (sg->st_vid != USB_ST_VID || sg->stlink_pid != USB_STLINK_PID) {
825 fprintf(stderr, "Error: the device %s is not a stlink\n",
827 fprintf(stderr, " VID: got %04x expect %04x \n",
828 sg->st_vid, USB_ST_VID);
829 fprintf(stderr, " PID: got %04x expect %04x \n",
830 sg->stlink_pid, USB_STLINK_PID);
834 D(sl, "\n*** stlink_force_open ***\n");
835 switch (stlink_current_mode(sl)) {
836 case STLINK_DEV_MASS_MODE:
838 case STLINK_DEV_DEBUG_MODE:
842 DD(sl, "\n*** switch the stlink to mass mode ***\n");
843 _stlink_sg_exit_dfu_mode(sl);
844 // exit the dfu mode -> the device is gone
845 DD(sl, "\n*** reopen the stlink device ***\n");
850 sl = stlink_open(dev_name, verbose);
852 fputs("Error: could not open stlink device\n", stderr);
855 // re-query device info
860 static void __attribute__((unused)) mark_buf(stlink_t *sl) {
867 sl->q_buf[15] = 0x42;
868 sl->q_buf[16] = 0x43;
869 sl->q_buf[63] = 0x42;
870 sl->q_buf[64] = 0x43;
871 sl->q_buf[1024 * 6 - 1] = 0x42; //6kB
872 sl->q_buf[1024 * 8 - 1] = 0x42; //8kB