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).
86 #include <sys/types.h>
90 #include "stlink-common.h"
91 #include "stlink-sg.h"
92 #include "uglylogging.h"
94 static void clear_cdb(struct stlink_libsg *sl) {
95 for (size_t i = 0; i < sizeof (sl->cdb_cmd_blk); i++)
96 sl->cdb_cmd_blk[i] = 0;
98 sl->cdb_cmd_blk[0] = STLINK_DEBUG_COMMAND;
99 sl->q_data_dir = Q_DATA_IN;
103 * Close and free any _backend_ related information...
106 void _stlink_sg_close(stlink_t *sl) {
108 struct stlink_libsg *slsg = sl->backend_data;
109 libusb_close(slsg->usb_handle);
110 libusb_exit(slsg->libusb_ctx);
115 static int get_usb_mass_storage_status(libusb_device_handle *handle, uint8_t endpoint, uint32_t *tag)
117 unsigned char csw[13];
118 memset(csw, 0, sizeof(csw));
123 ret = libusb_bulk_transfer(handle, endpoint, (unsigned char *)&csw, sizeof(csw),
124 &transferred, SG_TIMEOUT_MSEC);
125 if (ret == LIBUSB_ERROR_PIPE) {
126 libusb_clear_halt(handle, endpoint);
129 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
130 if (ret != LIBUSB_SUCCESS) {
131 WLOG("%s: receiving failed: %d\n", __func__, ret);
134 if (transferred != sizeof(csw)) {
135 WLOG("%s: received unexpected amount: %d\n", __func__, transferred);
139 uint32_t rsig = read_uint32(csw, 0);
140 uint32_t rtag = read_uint32(csw, 4);
141 /* uint32_t residue = read_uint32(csw, 8); */
142 #define USB_CSW_SIGNATURE 0x53425355 // 'U' 'S' 'B' 'S' (reversed)
143 if (rsig != USB_CSW_SIGNATURE) {
144 WLOG("status signature was invalid: %#x\n", rsig);
148 uint8_t rstatus = csw[12];
152 static int dump_CDB_command(uint8_t *cdb, uint8_t cdb_len) {
154 char *dbugp = dbugblah;
155 dbugp += sprintf(dbugp, "Sending CDB [");
156 for (uint8_t i = 0; i < cdb_len; i++) {
157 dbugp += sprintf(dbugp, " %#02x", (unsigned int) cdb[i]);
159 sprintf(dbugp, "]\n");
165 * Wraps a CDB mass storage command in the appropriate gunk to get it down
172 * @param expected_rx_size
175 int send_usb_mass_storage_command(libusb_device_handle *handle, uint8_t endpoint_out,
176 uint8_t *cdb, uint8_t cdb_length,
177 uint8_t lun, uint8_t flags, uint32_t expected_rx_size) {
178 DLOG("Sending usb m-s cmd: cdblen:%d, rxsize=%d\n", cdb_length, expected_rx_size);
179 dump_CDB_command(cdb, cdb_length);
188 int real_transferred;
191 uint8_t c_buf[STLINK_SG_SIZE];
192 // tag is allegedly ignored... TODO - verify
197 write_uint32(&c_buf[i], tag);
198 uint32_t this_tag = tag++;
199 write_uint32(&c_buf[i+4], expected_rx_size);
204 c_buf[i++] = cdb_length;
206 // Now the actual CDB request
207 assert(cdb_length <= CDB_SL);
208 memcpy(&(c_buf[i]), cdb, cdb_length);
210 int sending_length = STLINK_SG_SIZE;
214 ret = libusb_bulk_transfer(handle, endpoint_out, c_buf, sending_length,
215 &real_transferred, SG_TIMEOUT_MSEC);
216 if (ret == LIBUSB_ERROR_PIPE) {
217 libusb_clear_halt(handle, endpoint_out);
220 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
221 if (ret != LIBUSB_SUCCESS) {
222 WLOG("sending failed: %d\n", ret);
230 * Straight from stm8 stlink code...
233 * @param endpoint_out
236 get_sense(libusb_device_handle *handle, uint8_t endpoint_in, uint8_t endpoint_out)
238 DLOG("Fetching sense...\n");
240 memset(cdb, 0, sizeof(cdb));
241 #define REQUEST_SENSE 0x03
242 #define REQUEST_SENSE_LENGTH 18
243 cdb[0] = REQUEST_SENSE;
244 cdb[4] = REQUEST_SENSE_LENGTH;
245 uint32_t tag = send_usb_mass_storage_command(handle, endpoint_out, cdb, sizeof(cdb), 0,
246 LIBUSB_ENDPOINT_IN, REQUEST_SENSE_LENGTH);
248 WLOG("refusing to send request sense with tag 0\n");
251 unsigned char sense[REQUEST_SENSE_LENGTH];
256 ret = libusb_bulk_transfer(handle, endpoint_in, sense, sizeof(sense),
257 &transferred, SG_TIMEOUT_MSEC);
258 if (ret == LIBUSB_ERROR_PIPE) {
259 libusb_clear_halt(handle, endpoint_in);
262 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
263 if (ret != LIBUSB_SUCCESS) {
264 WLOG("receiving sense failed: %d\n", ret);
267 if (transferred != sizeof(sense)) {
268 WLOG("received unexpected amount of sense: %d != %d\n", transferred, sizeof(sense));
270 uint32_t received_tag;
271 int status = get_usb_mass_storage_status(handle, endpoint_in, &received_tag);
273 WLOG("receiving sense failed with status: %02x\n", status);
276 if (sense[0] != 0x70 && sense[0] != 0x71) {
277 WLOG("No sense data\n");
279 WLOG("Sense KCQ: %02X %02X %02X\n", sense[2] & 0x0f, sense[12], sense[13]);
284 * Just send a buffer on an endpoint, no questions asked.
285 * Handles repeats, and time outs. Also handles reading status reports and sense
286 * @param handle libusb device *
287 * @param endpoint_out sends
288 * @param endpoint_in used to read status reports back in
289 * @param cbuf what to send
290 * @param length how much to send
291 * @return number of bytes actually sent, or -1 for failures.
293 int send_usb_data_only(libusb_device_handle *handle, unsigned char endpoint_out,
294 unsigned char endpoint_in, unsigned char *cbuf, unsigned int length) {
296 int real_transferred;
299 ret = libusb_bulk_transfer(handle, endpoint_out, cbuf, length,
300 &real_transferred, SG_TIMEOUT_MSEC);
301 if (ret == LIBUSB_ERROR_PIPE) {
302 libusb_clear_halt(handle, endpoint_out);
305 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
306 if (ret != LIBUSB_SUCCESS) {
307 WLOG("sending failed: %d\n", ret);
311 // now, swallow up the status, so that things behave nicely...
312 uint32_t received_tag;
313 // -ve is for my errors, 0 is good, +ve is libusb sense status bytes
314 int status = get_usb_mass_storage_status(handle, endpoint_in, &received_tag);
316 WLOG("receiving status failed: %d\n", status);
320 WLOG("receiving status not passed :(: %02x\n", status);
323 get_sense(handle, endpoint_in, endpoint_out);
327 return real_transferred;
331 int stlink_q(stlink_t *sl) {
332 struct stlink_libsg* sg = sl->backend_data;
333 //uint8_t cdb_len = 6; // FIXME varies!!!
334 uint8_t cdb_len = 10; // FIXME varies!!!
335 uint8_t lun = 0; // always zero...
336 uint32_t tag = send_usb_mass_storage_command(sg->usb_handle, sg->ep_req,
337 sg->cdb_cmd_blk, cdb_len, lun, LIBUSB_ENDPOINT_IN, sl->q_len);
340 // now wait for our response...
341 // length copied from stlink-usb...
342 int rx_length = sl->q_len;
344 int real_transferred;
348 ret = libusb_bulk_transfer(sg->usb_handle, sg->ep_rep, sl->q_buf, rx_length,
349 &real_transferred, SG_TIMEOUT_MSEC);
350 if (ret == LIBUSB_ERROR_PIPE) {
351 libusb_clear_halt(sg->usb_handle, sg->ep_req);
354 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
356 if (ret != LIBUSB_SUCCESS) {
357 WLOG("Receiving failed: %d\n", ret);
361 if (real_transferred != rx_length) {
362 WLOG("received unexpected amount: %d != %d\n", real_transferred, rx_length);
366 uint32_t received_tag;
367 // -ve is for my errors, 0 is good, +ve is libusb sense status bytes
368 int status = get_usb_mass_storage_status(sg->usb_handle, sg->ep_rep, &received_tag);
370 WLOG("receiving status failed: %d\n", status);
374 WLOG("receiving status not passed :(: %02x\n", status);
377 get_sense(sg->usb_handle, sg->ep_rep, sg->ep_req);
380 if (received_tag != tag) {
381 WLOG("received tag %d but expected %d\n", received_tag, tag);
384 if (rx_length > 0 && real_transferred != rx_length) {
390 // TODO thinking, cleanup
392 void stlink_stat(stlink_t *stl, char *txt) {
396 stlink_print_data(stl);
398 switch (stl->q_buf[0]) {
400 DLOG(" %s: ok\n", txt);
403 DLOG(" %s: false\n", txt);
406 DLOG(" %s: unknown\n", txt);
411 void _stlink_sg_version(stlink_t *stl) {
412 struct stlink_libsg *sl = stl->backend_data;
414 sl->cdb_cmd_blk[0] = STLINK_GET_VERSION;
421 // STLINK_DEV_DFU_MODE || STLINK_DEV_MASS_MODE || STLINK_DEV_DEBUG_MODE
422 // usb dfu || usb mass || jtag or swd
424 int _stlink_sg_current_mode(stlink_t *stl) {
425 struct stlink_libsg *sl = stl->backend_data;
427 sl->cdb_cmd_blk[0] = STLINK_GET_CURRENT_MODE;
431 return stl->q_buf[0];
434 // Exit the mass mode and enter the swd debug mode.
436 void _stlink_sg_enter_swd_mode(stlink_t *sl) {
437 struct stlink_libsg *sg = sl->backend_data;
439 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
440 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_SWD;
441 sl->q_len = 0; // >0 -> aboard
445 // Exit the mass mode and enter the jtag debug mode.
446 // (jtag is disabled in the discovery's stlink firmware)
448 void _stlink_sg_enter_jtag_mode(stlink_t *sl) {
449 struct stlink_libsg *sg = sl->backend_data;
450 DLOG("\n*** stlink_enter_jtag_mode ***\n");
452 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
453 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_JTAG;
458 // XXX kernel driver performs reset, the device temporally disappears
459 // Suspect this is no longer the case when we have ignore on? RECHECK
460 void _stlink_sg_exit_dfu_mode(stlink_t *sl) {
461 struct stlink_libsg *sg = sl->backend_data;
462 DLOG("\n*** stlink_exit_dfu_mode ***\n");
464 sg->cdb_cmd_blk[0] = STLINK_DFU_COMMAND;
465 sg->cdb_cmd_blk[1] = STLINK_DFU_EXIT;
469 [135121.844564] sd 19:0:0:0: [sdb] Unhandled error code
470 [135121.844569] sd 19:0:0:0: [sdb] Result: hostbyte=DID_ERROR driverbyte=DRIVER_OK
471 [135121.844574] sd 19:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 10 00 00 00 08 00
472 [135121.844584] end_request: I/O error, dev sdb, sector 4096
473 [135121.844590] Buffer I/O error on device sdb, logical block 512
474 [135130.122567] usb 6-1: reset full speed USB device using uhci_hcd and address 7
475 [135130.274551] usb 6-1: device firmware changed
476 [135130.274618] usb 6-1: USB disconnect, address 7
477 [135130.275186] VFS: busy inodes on changed media or resized disk sdb
478 [135130.275424] VFS: busy inodes on changed media or resized disk sdb
479 [135130.286758] VFS: busy inodes on changed media or resized disk sdb
480 [135130.292796] VFS: busy inodes on changed media or resized disk sdb
481 [135130.301481] VFS: busy inodes on changed media or resized disk sdb
482 [135130.304316] VFS: busy inodes on changed media or resized disk sdb
483 [135130.431113] usb 6-1: new full speed USB device using uhci_hcd and address 8
484 [135130.629444] usb-storage 6-1:1.0: Quirks match for vid 0483 pid 3744: 102a1
485 [135130.629492] scsi20 : usb-storage 6-1:1.0
486 [135131.625600] scsi 20:0:0:0: Direct-Access STM32 PQ: 0 ANSI: 0
487 [135131.627010] sd 20:0:0:0: Attached scsi generic sg2 type 0
488 [135131.633603] sd 20:0:0:0: [sdb] 64000 512-byte logical blocks: (32.7 MB/31.2 MiB)
489 [135131.633613] sd 20:0:0:0: [sdb] Assuming Write Enabled
490 [135131.633620] sd 20:0:0:0: [sdb] Assuming drive cache: write through
491 [135131.640584] sd 20:0:0:0: [sdb] Assuming Write Enabled
492 [135131.640592] sd 20:0:0:0: [sdb] Assuming drive cache: write through
494 [135131.652634] sd 20:0:0:0: [sdb] Assuming Write Enabled
495 [135131.652639] sd 20:0:0:0: [sdb] Assuming drive cache: write through
496 [135131.652645] sd 20:0:0:0: [sdb] Attached SCSI removable disk
497 [135131.671536] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
498 [135131.671548] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
499 [135131.671553] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
500 [135131.671560] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
501 [135131.671570] end_request: I/O error, dev sdb, sector 63872
502 [135131.671575] Buffer I/O error on device sdb, logical block 7984
503 [135131.678527] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
504 [135131.678532] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
505 [135131.678537] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
506 [135131.678542] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
507 [135131.678551] end_request: I/O error, dev sdb, sector 63872
509 [135131.853565] end_request: I/O error, dev sdb, sector 4096
513 void _stlink_sg_core_id(stlink_t *sl) {
514 struct stlink_libsg *sg = sl->backend_data;
516 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READCOREID;
520 sl->core_id = read_uint32(sl->q_buf, 0);
523 // Arm-core reset -> halted state.
525 void _stlink_sg_reset(stlink_t *sl) {
526 struct stlink_libsg *sg = sl->backend_data;
528 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RESETSYS;
532 stlink_stat(sl, "core reset");
535 // Arm-core reset -> halted state.
537 void _stlink_sg_jtag_reset(stlink_t *sl, int value) {
538 struct stlink_libsg *sg = sl->backend_data;
540 sg->cdb_cmd_blk[1] = STLINK_JTAG_DRIVE_NRST;
541 sg->cdb_cmd_blk[2] = (value)?0:1;
545 stlink_stat(sl, "core reset");
548 // Arm-core status: halted or running.
550 void _stlink_sg_status(stlink_t *sl) {
551 struct stlink_libsg *sg = sl->backend_data;
553 sg->cdb_cmd_blk[1] = STLINK_DEBUG_GETSTATUS;
559 // Force the core into the debug mode -> halted state.
561 void _stlink_sg_force_debug(stlink_t *sl) {
562 struct stlink_libsg *sg = sl->backend_data;
564 sg->cdb_cmd_blk[1] = STLINK_DEBUG_FORCEDEBUG;
568 stlink_stat(sl, "force debug");
571 // Read all arm-core registers.
573 void _stlink_sg_read_all_regs(stlink_t *sl, reg *regp) {
574 struct stlink_libsg *sg = sl->backend_data;
577 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READALLREGS;
581 stlink_print_data(sl);
583 // TODO - most of this should be re-extracted up....
585 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
586 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
587 for (int i = 0; i < 16; i++) {
588 regp->r[i] = read_uint32(sl->q_buf, 4 * i);
590 DLOG("r%2d = 0x%08x\n", i, regp->r[i]);
592 regp->xpsr = read_uint32(sl->q_buf, 64);
593 regp->main_sp = read_uint32(sl->q_buf, 68);
594 regp->process_sp = read_uint32(sl->q_buf, 72);
595 regp->rw = read_uint32(sl->q_buf, 76);
596 regp->rw2 = read_uint32(sl->q_buf, 80);
600 DLOG("xpsr = 0x%08x\n", regp->xpsr);
601 DLOG("main_sp = 0x%08x\n", regp->main_sp);
602 DLOG("process_sp = 0x%08x\n", regp->process_sp);
603 DLOG("rw = 0x%08x\n", regp->rw);
604 DLOG("rw2 = 0x%08x\n", regp->rw2);
607 // Read an arm-core register, the index must be in the range 0..20.
608 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
609 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
611 void _stlink_sg_read_reg(stlink_t *sl, int r_idx, reg *regp) {
612 struct stlink_libsg *sg = sl->backend_data;
614 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READREG;
615 sg->cdb_cmd_blk[2] = r_idx;
619 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
620 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
621 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
622 stlink_print_data(sl);
624 uint32_t r = read_uint32(sl->q_buf, 0);
625 DLOG("r_idx (%2d) = 0x%08x\n", r_idx, r);
635 regp->process_sp = r;
638 regp->rw = r; //XXX ?(primask, basemask etc.)
641 regp->rw2 = r; //XXX ?(primask, basemask etc.)
648 // Write an arm-core register. Index:
649 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
650 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
652 void _stlink_sg_write_reg(stlink_t *sl, uint32_t reg, int idx) {
653 struct stlink_libsg *sg = sl->backend_data;
655 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEREG;
658 sg->cdb_cmd_blk[2] = idx;
659 write_uint32(sg->cdb_cmd_blk + 3, reg);
663 stlink_stat(sl, "write reg");
666 // Write a register of the debug module of the core.
667 // XXX ?(atomic writes)
670 void stlink_write_dreg(stlink_t *sl, uint32_t reg, uint32_t addr) {
671 struct stlink_libsg *sg = sl->backend_data;
672 DLOG("\n*** stlink_write_dreg ***\n");
674 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEDEBUGREG;
675 // 2-5: address of reg of the debug module
677 write_uint32(sg->cdb_cmd_blk + 2, addr);
678 write_uint32(sg->cdb_cmd_blk + 6, reg);
682 stlink_stat(sl, "write debug reg");
685 // Force the core exit the debug mode.
687 void _stlink_sg_run(stlink_t *sl) {
688 struct stlink_libsg *sg = sl->backend_data;
690 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RUNCORE;
694 stlink_stat(sl, "run core");
697 // Step the arm-core.
699 void _stlink_sg_step(stlink_t *sl) {
700 struct stlink_libsg *sg = sl->backend_data;
702 sg->cdb_cmd_blk[1] = STLINK_DEBUG_STEPCORE;
706 stlink_stat(sl, "step core");
710 // see Cortex-M3 Technical Reference Manual
711 // TODO make delegate!
712 void stlink_set_hw_bp(stlink_t *sl, int fp_nr, uint32_t addr, int fp) {
713 DLOG("\n*** stlink_set_hw_bp ***\n");
714 struct stlink_libsg *sg = sl->backend_data;
716 sg->cdb_cmd_blk[1] = STLINK_DEBUG_SETFP;
717 // 2:The number of the flash patch used to set the breakpoint
718 // 3-6: Address of the breakpoint (LSB)
719 // 7: FP_ALL (0x02) / FP_UPPER (0x01) / FP_LOWER (0x00)
720 sl->q_buf[2] = fp_nr;
721 write_uint32(sl->q_buf, addr);
726 stlink_stat(sl, "set flash breakpoint");
731 // TODO make delegate!
732 void stlink_clr_hw_bp(stlink_t *sl, int fp_nr) {
733 struct stlink_libsg *sg = sl->backend_data;
734 DLOG("\n*** stlink_clr_hw_bp ***\n");
736 sg->cdb_cmd_blk[1] = STLINK_DEBUG_CLEARFP;
737 sg->cdb_cmd_blk[2] = fp_nr;
741 stlink_stat(sl, "clear flash breakpoint");
744 // Read a "len" bytes to the sl->q_buf from the memory, max 6kB (6144 bytes)
746 void _stlink_sg_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
747 struct stlink_libsg *sg = sl->backend_data;
749 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READMEM_32BIT;
752 write_uint32(sg->cdb_cmd_blk + 2, addr);
753 write_uint16(sg->cdb_cmd_blk + 6, len);
755 // data_in 0-0x40-len
756 // !!! len _and_ q_len must be max 6k,
757 // i.e. >1024 * 6 = 6144 -> aboard)
758 // !!! if len < q_len: 64*k, 1024*n, n=1..5 -> aboard
759 // (broken residue issue)
763 stlink_print_data(sl);
766 // Write a "len" bytes from the sl->q_buf to the memory, max 64 Bytes.
768 void _stlink_sg_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
769 struct stlink_libsg *sg = sl->backend_data;
771 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_8BIT;
773 // 6-7: len (>0x40 (64) -> aboard)
774 write_uint32(sg->cdb_cmd_blk + 2, addr);
775 write_uint16(sg->cdb_cmd_blk + 6, len);
777 // this sends the command...
778 send_usb_mass_storage_command(sg->usb_handle, sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0);
779 // This sends the data...
780 send_usb_data_only(sg->usb_handle, sg->ep_req, sg->ep_rep, sl->q_buf, len);
781 stlink_print_data(sl);
784 // Write a "len" bytes from the sl->q_buf to the memory, max Q_BUF_LEN bytes.
786 void _stlink_sg_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
787 struct stlink_libsg *sg = sl->backend_data;
789 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_32BIT;
791 // 6-7: len "unlimited"
792 write_uint32(sg->cdb_cmd_blk + 2, addr);
793 write_uint16(sg->cdb_cmd_blk + 6, len);
795 // this sends the command...
796 send_usb_mass_storage_command(sg->usb_handle, sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0);
797 // This sends the data...
798 send_usb_data_only(sg->usb_handle, sg->ep_req, sg->ep_rep, sl->q_buf, len);
800 stlink_print_data(sl);
803 // Write one DWORD data to memory
805 void _stlink_sg_write_debug32(stlink_t *sl, uint32_t addr, uint32_t data) {
806 struct stlink_libsg *sg = sl->backend_data;
808 sg->cdb_cmd_blk[1] = STLINK_JTAG_WRITEDEBUG_32BIT;
810 write_uint32(sg->cdb_cmd_blk + 2, addr);
811 write_uint32(sg->cdb_cmd_blk + 6, data);
817 // Read one DWORD data from memory
819 uint32_t _stlink_sg_read_debug32(stlink_t *sl, uint32_t addr) {
820 struct stlink_libsg *sg = sl->backend_data;
822 sg->cdb_cmd_blk[1] = STLINK_JTAG_READDEBUG_32BIT;
824 write_uint32(sg->cdb_cmd_blk + 2, addr);
828 return read_uint32(sl->q_buf, 4);
831 // Exit the jtag or swd mode and enter the mass mode.
833 void _stlink_sg_exit_debug_mode(stlink_t *stl) {
836 struct stlink_libsg* sl = stl->backend_data;
838 sl->cdb_cmd_blk[1] = STLINK_DEBUG_EXIT;
839 stl->q_len = 0; // >0 -> aboard
845 // 1) open a sg device, switch the stlink from dfu to mass mode
846 // 2) wait 5s until the kernel driver stops reseting the broken device
847 // 3) reopen the device
848 // 4) the device driver is now ready for a switch to jtag/swd mode
849 // TODO thinking, better error handling, wait until the kernel driver stops reseting the plugged-in device
851 stlink_backend_t _stlink_sg_backend = {
853 _stlink_sg_exit_debug_mode,
854 _stlink_sg_enter_swd_mode,
855 _stlink_sg_enter_jtag_mode,
856 _stlink_sg_exit_dfu_mode,
859 _stlink_sg_jtag_reset,
863 _stlink_sg_read_debug32,
864 _stlink_sg_read_mem32,
865 _stlink_sg_write_debug32,
866 _stlink_sg_write_mem32,
867 _stlink_sg_write_mem8,
868 _stlink_sg_read_all_regs,
870 NULL, /* read_all_unsupported_regs */
871 NULL, /* read_unsupported_regs */
872 NULL, /* write_unsupported_regs */
873 _stlink_sg_write_reg,
875 _stlink_sg_current_mode,
876 _stlink_sg_force_debug,
880 static stlink_t* stlink_open(const int verbose) {
882 stlink_t *sl = malloc(sizeof (stlink_t));
883 memset(sl, 0, sizeof(stlink_t));
884 struct stlink_libsg *slsg = malloc(sizeof (struct stlink_libsg));
885 if (sl == NULL || slsg == NULL) {
886 WLOG("Couldn't malloc stlink and stlink_sg structures out of memory!\n");
890 if (libusb_init(&(slsg->libusb_ctx))) {
891 WLOG("failed to init libusb context, wrong version of libraries?\n");
897 libusb_set_debug(slsg->libusb_ctx, 3);
899 slsg->usb_handle = libusb_open_device_with_vid_pid(slsg->libusb_ctx, USB_ST_VID, USB_STLINK_PID);
900 if (slsg->usb_handle == NULL) {
901 WLOG("Failed to find an stlink v1 by VID:PID\n");
902 libusb_close(slsg->usb_handle);
903 libusb_exit(slsg->libusb_ctx);
910 // Could read the interface config descriptor, and assert lots of the assumptions
912 // assumption: numInterfaces is always 1...
913 if (libusb_kernel_driver_active(slsg->usb_handle, 0) == 1) {
914 int r = libusb_detach_kernel_driver(slsg->usb_handle, 0);
916 WLOG("libusb_detach_kernel_driver(() error %s\n", strerror(-r));
917 libusb_close(slsg->usb_handle);
918 libusb_exit(slsg->libusb_ctx);
923 DLOG("Kernel driver was successfully detached\n");
927 if (libusb_get_configuration(slsg->usb_handle, &config)) {
928 /* this may fail for a previous configured device */
929 WLOG("libusb_get_configuration()\n");
930 libusb_close(slsg->usb_handle);
931 libusb_exit(slsg->libusb_ctx);
938 // assumption: bConfigurationValue is always 1
940 WLOG("Your stlink got into a real weird configuration, trying to fix it!\n");
941 DLOG("setting new configuration (%d -> 1)\n", config);
942 if (libusb_set_configuration(slsg->usb_handle, 1)) {
943 /* this may fail for a previous configured device */
944 WLOG("libusb_set_configuration() failed\n");
945 libusb_close(slsg->usb_handle);
946 libusb_exit(slsg->libusb_ctx);
953 if (libusb_claim_interface(slsg->usb_handle, 0)) {
954 WLOG("libusb_claim_interface() failed\n");
955 libusb_close(slsg->usb_handle);
956 libusb_exit(slsg->libusb_ctx);
962 // assumption: endpoint config is fixed mang. really.
963 slsg->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN;
964 slsg->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT;
966 DLOG("Successfully opened stlinkv1 by libusb :)\n");
968 sl->verbose = verbose;
969 sl->backend_data = slsg;
970 sl->backend = &_stlink_sg_backend;
972 sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
979 stlink_t* stlink_v1_open_inner(const int verbose) {
981 stlink_t *sl = stlink_open(verbose);
983 fputs("Error: could not open stlink device\n", stderr);
988 if ((sl->version.st_vid != USB_ST_VID) || (sl->version.stlink_pid != USB_STLINK_PID)) {
989 ELOG("WTF? successfully opened, but unable to read version details. BROKEN!\n");
993 DLOG("Reading current mode...\n");
994 switch (stlink_current_mode(sl)) {
995 case STLINK_DEV_MASS_MODE:
997 case STLINK_DEV_DEBUG_MODE:
1001 ILOG("Current mode unusable, trying to get back to a useful state...\n");
1005 DLOG("Attempting to exit DFU mode\n");
1006 _stlink_sg_exit_dfu_mode(sl);
1008 // re-query device info (and retest)
1010 if ((sl->version.st_vid != USB_ST_VID) || (sl->version.stlink_pid != USB_STLINK_PID)) {
1011 ELOG("WTF? successfully opened, but unable to read version details. BROKEN!\n");
1018 stlink_t* stlink_v1_open(const int verbose, int reset) {
1019 stlink_t *sl = stlink_v1_open_inner(verbose);
1021 fputs("Error: could not open stlink device\n", stderr);
1024 // by now, it _must_ be fully open and in a useful mode....
1025 stlink_enter_swd_mode(sl);
1026 /* Now we are ready to read the parameters */
1030 stlink_load_device_params(sl);
1031 ILOG("Successfully opened a stlink v1 debugger\n");