7 #include <libusb-1.0/libusb.h>
9 #include "stlink-common.h"
10 #include "stlink-usb.h"
11 #include "uglylogging.h"
13 #define LOG_TAG __FILE__
14 #define DLOG(format, args...) ugly_log(UDEBUG, LOG_TAG, format, ## args)
15 #define ILOG(format, args...) ugly_log(UINFO, LOG_TAG, format, ## args)
16 #define WLOG(format, args...) ugly_log(UWARN, LOG_TAG, format, ## args)
17 #define fatal(format, args...) ugly_log(UFATAL, LOG_TAG, format, ## args)
20 enum SCSI_Generic_Direction {SG_DXFER_TO_DEV=0, SG_DXFER_FROM_DEV=0x80};
22 void _stlink_usb_close(stlink_t* sl) {
23 struct stlink_libusb * const handle = sl->backend_data;
24 // maybe we couldn't even get the usb device?
26 if (handle->req_trans != NULL)
27 libusb_free_transfer(handle->req_trans);
29 if (handle->rep_trans != NULL)
30 libusb_free_transfer(handle->rep_trans);
32 if (handle->usb_handle != NULL) {
33 libusb_close(handle->usb_handle);
36 libusb_exit(handle->libusb_ctx);
43 #define TRANS_FLAGS_IS_DONE (1 << 0)
44 #define TRANS_FLAGS_HAS_ERROR (1 << 1)
45 volatile unsigned long flags;
48 static void on_trans_done(struct libusb_transfer * trans) {
49 struct trans_ctx * const ctx = trans->user_data;
51 if (trans->status != LIBUSB_TRANSFER_COMPLETED)
52 ctx->flags |= TRANS_FLAGS_HAS_ERROR;
54 ctx->flags |= TRANS_FLAGS_IS_DONE;
57 int submit_wait(struct stlink_libusb *slu, struct libusb_transfer * trans) {
61 struct trans_ctx trans_ctx;
62 enum libusb_error error;
66 /* brief intrusion inside the libusb interface */
67 trans->callback = on_trans_done;
68 trans->user_data = &trans_ctx;
70 if ((error = libusb_submit_transfer(trans))) {
71 printf("libusb_submit_transfer(%d)\n", error);
75 gettimeofday(&start, NULL);
77 while (trans_ctx.flags == 0) {
78 struct timeval timeout;
81 if (libusb_handle_events_timeout(slu->libusb_ctx, &timeout)) {
82 printf("libusb_handle_events()\n");
86 gettimeofday(&now, NULL);
87 timersub(&now, &start, &diff);
88 if (diff.tv_sec >= 3) {
89 printf("libusb_handle_events() timeout\n");
94 if (trans_ctx.flags & TRANS_FLAGS_HAS_ERROR) {
95 printf("libusb_handle_events() | has_error\n");
102 ssize_t send_recv(struct stlink_libusb* handle, int terminate,
103 unsigned char* txbuf, size_t txsize,
104 unsigned char* rxbuf, size_t rxsize) {
105 /* note: txbuf and rxbuf can point to the same area */
108 libusb_fill_bulk_transfer(handle->req_trans, handle->usb_handle,
115 if (submit_wait(handle, handle->req_trans)) return -1;
120 /* read the response */
122 libusb_fill_bulk_transfer(handle->rep_trans, handle->usb_handle,
123 handle->ep_rep, rxbuf, rxsize, NULL, NULL, 0);
125 if (submit_wait(handle, handle->rep_trans)) return -1;
126 res = handle->rep_trans->actual_length;
129 if ((handle->protocoll == 1) && terminate) {
130 fprintf(stderr, "This is never used....\n");
132 /* Read the SG reply */
133 unsigned char sg_buf[13];
134 libusb_fill_bulk_transfer
135 (handle->rep_trans, handle->usb_handle,
136 handle->ep_rep, sg_buf, 13, NULL, NULL, 0);
137 res = submit_wait(handle, handle->rep_trans);
138 /* The STLink doesn't seem to evaluate the sequence number */
139 handle->sg_transfer_idx++;
143 return handle->rep_trans->actual_length;
146 static inline int send_only
147 (struct stlink_libusb* handle, int terminate,
148 unsigned char* txbuf, size_t txsize) {
149 return send_recv(handle, terminate, txbuf, txsize, NULL, 0);
153 static int fill_command
154 (stlink_t * sl, enum SCSI_Generic_Direction dir, uint32_t len) {
155 struct stlink_libusb * const slu = sl->backend_data;
156 unsigned char* const cmd = sl->c_buf;
158 memset(cmd, 0, sizeof (sl->c_buf));
159 if(slu->protocoll == 1) {
160 fprintf(stderr, "This is never used....\n");
165 write_uint32(&cmd[i], slu->sg_transfer_idx);
166 write_uint32(&cmd[i + 4], len);
168 cmd[i++] = (dir == SG_DXFER_FROM_DEV)?0x80:0;
169 cmd[i++] = 0; /* Logical unit */
170 cmd[i++] = 0xa; /* Command length */
175 void _stlink_usb_version(stlink_t *sl) {
176 struct stlink_libusb * const slu = sl->backend_data;
177 unsigned char* const data = sl->q_buf;
178 unsigned char* const cmd = sl->c_buf;
180 uint32_t rep_len = 6;
181 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
183 cmd[i++] = STLINK_GET_VERSION;
185 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
187 printf("[!] send_recv\n");
192 uint32_t _stlink_usb_read_debug32(stlink_t *sl, uint32_t addr) {
193 struct stlink_libusb * const slu = sl->backend_data;
194 unsigned char* const rdata = sl->q_buf;
195 unsigned char* const cmd = sl->c_buf;
197 const int rep_len = 8;
199 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
200 cmd[i++] = STLINK_DEBUG_COMMAND;
201 cmd[i++] = STLINK_JTAG_READDEBUG_32BIT;
202 write_uint32(&cmd[i], addr);
203 size = send_recv(slu, 1, cmd, slu->cmd_len, rdata, rep_len);
205 printf("[!] send_recv\n");
208 return read_uint32(rdata, 4);
211 void _stlink_usb_write_debug32(stlink_t *sl, uint32_t addr, uint32_t data) {
212 struct stlink_libusb * const slu = sl->backend_data;
213 unsigned char* const rdata = sl->q_buf;
214 unsigned char* const cmd = sl->c_buf;
216 const int rep_len = 2;
218 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
219 cmd[i++] = STLINK_DEBUG_COMMAND;
220 cmd[i++] = STLINK_JTAG_WRITEDEBUG_32BIT;
221 write_uint32(&cmd[i], addr);
222 write_uint32(&cmd[i + 4], data);
223 size = send_recv(slu, 1, cmd, slu->cmd_len, rdata, rep_len);
225 printf("[!] send_recv\n");
230 void _stlink_usb_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
231 struct stlink_libusb * const slu = sl->backend_data;
232 unsigned char* const data = sl->q_buf;
233 unsigned char* const cmd = sl->c_buf;
235 int i = fill_command(sl, SG_DXFER_TO_DEV, len);
236 cmd[i++] = STLINK_DEBUG_COMMAND;
237 cmd[i++] = STLINK_DEBUG_WRITEMEM_32BIT;
238 write_uint32(&cmd[i], addr);
239 write_uint16(&cmd[i + 4], len);
240 send_only(slu, 0, cmd, slu->cmd_len);
242 send_only(slu, 1, data, len);
245 void _stlink_usb_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
246 struct stlink_libusb * const slu = sl->backend_data;
247 unsigned char* const data = sl->q_buf;
248 unsigned char* const cmd = sl->c_buf;
250 int i = fill_command(sl, SG_DXFER_TO_DEV, 0);
251 cmd[i++] = STLINK_DEBUG_COMMAND;
252 cmd[i++] = STLINK_DEBUG_WRITEMEM_8BIT;
253 write_uint32(&cmd[i], addr);
254 write_uint16(&cmd[i + 4], len);
255 send_only(slu, 0, cmd, slu->cmd_len);
256 send_only(slu, 1, data, len);
260 int _stlink_usb_current_mode(stlink_t * sl) {
261 struct stlink_libusb * const slu = sl->backend_data;
262 unsigned char* const cmd = sl->c_buf;
263 unsigned char* const data = sl->q_buf;
266 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
268 cmd[i++] = STLINK_GET_CURRENT_MODE;
269 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
271 printf("[!] send_recv\n");
277 void _stlink_usb_core_id(stlink_t * sl) {
278 struct stlink_libusb * const slu = sl->backend_data;
279 unsigned char* const cmd = sl->c_buf;
280 unsigned char* const data = sl->q_buf;
283 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
285 cmd[i++] = STLINK_DEBUG_COMMAND;
286 cmd[i++] = STLINK_DEBUG_READCOREID;
288 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
290 printf("[!] send_recv\n");
294 sl->core_id = read_uint32(data, 0);
297 void _stlink_usb_status(stlink_t * sl) {
298 struct stlink_libusb * const slu = sl->backend_data;
299 unsigned char* const data = sl->q_buf;
300 unsigned char* const cmd = sl->c_buf;
303 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
305 cmd[i++] = STLINK_DEBUG_COMMAND;
306 cmd[i++] = STLINK_DEBUG_GETSTATUS;
308 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
310 printf("[!] send_recv\n");
315 void _stlink_usb_force_debug(stlink_t *sl) {
316 struct stlink_libusb *slu = sl->backend_data;
317 unsigned char* const data = sl->q_buf;
318 unsigned char* const cmd = sl->c_buf;
321 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
323 cmd[i++] = STLINK_DEBUG_COMMAND;
324 cmd[i++] = STLINK_DEBUG_FORCEDEBUG;
325 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
327 printf("[!] send_recv\n");
332 void _stlink_usb_enter_swd_mode(stlink_t * sl) {
333 struct stlink_libusb * const slu = sl->backend_data;
334 unsigned char* const cmd = sl->c_buf;
336 const int rep_len = 0;
337 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
339 cmd[i++] = STLINK_DEBUG_COMMAND;
340 cmd[i++] = STLINK_DEBUG_ENTER;
341 cmd[i++] = STLINK_DEBUG_ENTER_SWD;
343 size = send_only(slu, 1, cmd, slu->cmd_len);
345 printf("[!] send_recv\n");
350 void _stlink_usb_exit_dfu_mode(stlink_t* sl) {
351 struct stlink_libusb * const slu = sl->backend_data;
352 unsigned char* const cmd = sl->c_buf;
354 int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
356 cmd[i++] = STLINK_DFU_COMMAND;
357 cmd[i++] = STLINK_DFU_EXIT;
359 size = send_only(slu, 1, cmd, slu->cmd_len);
361 printf("[!] send_recv\n");
367 * TODO - not convinced this does anything...
370 void _stlink_usb_reset(stlink_t * sl) {
371 struct stlink_libusb * const slu = sl->backend_data;
372 unsigned char* const data = sl->q_buf;
373 unsigned char* const cmd = sl->c_buf;
376 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
378 cmd[i++] = STLINK_DEBUG_COMMAND;
379 cmd[i++] = STLINK_DEBUG_RESETSYS;
381 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
383 printf("[!] send_recv\n");
389 void _stlink_usb_jtag_reset(stlink_t * sl, int value) {
390 struct stlink_libusb * const slu = sl->backend_data;
391 unsigned char* const data = sl->q_buf;
392 unsigned char* const cmd = sl->c_buf;
395 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
397 cmd[i++] = STLINK_DEBUG_COMMAND;
398 cmd[i++] = STLINK_JTAG_DRIVE_NRST;
399 cmd[i++] = (value)?0:1;
401 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
403 printf("[!] send_recv\n");
409 void _stlink_usb_step(stlink_t* sl) {
410 struct stlink_libusb * const slu = sl->backend_data;
411 unsigned char* const data = sl->q_buf;
412 unsigned char* const cmd = sl->c_buf;
415 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
417 cmd[i++] = STLINK_DEBUG_COMMAND;
418 cmd[i++] = STLINK_DEBUG_STEPCORE;
420 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
422 printf("[!] send_recv\n");
428 * This seems to do a good job of restarting things from the beginning?
431 void _stlink_usb_run(stlink_t* sl) {
432 struct stlink_libusb * const slu = sl->backend_data;
433 unsigned char* const data = sl->q_buf;
434 unsigned char* const cmd = sl->c_buf;
437 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
439 cmd[i++] = STLINK_DEBUG_COMMAND;
440 cmd[i++] = STLINK_DEBUG_RUNCORE;
442 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
444 printf("[!] send_recv\n");
449 void _stlink_usb_exit_debug_mode(stlink_t *sl) {
450 struct stlink_libusb * const slu = sl->backend_data;
451 unsigned char* const cmd = sl->c_buf;
453 int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
455 cmd[i++] = STLINK_DEBUG_COMMAND;
456 cmd[i++] = STLINK_DEBUG_EXIT;
458 size = send_only(slu, 1, cmd, slu->cmd_len);
460 printf("[!] send_only\n");
465 void _stlink_usb_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
466 struct stlink_libusb * const slu = sl->backend_data;
467 unsigned char* const data = sl->q_buf;
468 unsigned char* const cmd = sl->c_buf;
470 int i = fill_command(sl, SG_DXFER_FROM_DEV, len);
472 cmd[i++] = STLINK_DEBUG_COMMAND;
473 cmd[i++] = STLINK_DEBUG_READMEM_32BIT;
474 write_uint32(&cmd[i], addr);
475 write_uint16(&cmd[i + 4], len);
477 size = send_recv(slu, 1, cmd, slu->cmd_len, data, len);
479 printf("[!] send_recv\n");
483 sl->q_len = (size_t) size;
485 stlink_print_data(sl);
488 void _stlink_usb_read_all_regs(stlink_t *sl, reg *regp) {
489 struct stlink_libusb * const slu = sl->backend_data;
490 unsigned char* const cmd = sl->c_buf;
491 unsigned char* const data = sl->q_buf;
493 uint32_t rep_len = 84;
494 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
496 cmd[i++] = STLINK_DEBUG_COMMAND;
497 cmd[i++] = STLINK_DEBUG_READALLREGS;
498 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
500 printf("[!] send_recv\n");
503 sl->q_len = (size_t) size;
504 stlink_print_data(sl);
506 regp->r[i]= read_uint32(sl->q_buf, i*4);
507 regp->xpsr = read_uint32(sl->q_buf, 64);
508 regp->main_sp = read_uint32(sl->q_buf, 68);
509 regp->process_sp = read_uint32(sl->q_buf, 72);
510 regp->rw = read_uint32(sl->q_buf, 76);
511 regp->rw2 = read_uint32(sl->q_buf, 80);
515 DLOG("xpsr = 0x%08x\n", read_uint32(sl->q_buf, 64));
516 DLOG("main_sp = 0x%08x\n", read_uint32(sl->q_buf, 68));
517 DLOG("process_sp = 0x%08x\n", read_uint32(sl->q_buf, 72));
518 DLOG("rw = 0x%08x\n", read_uint32(sl->q_buf, 76));
519 DLOG("rw2 = 0x%08x\n", read_uint32(sl->q_buf, 80));
522 void _stlink_usb_read_reg(stlink_t *sl, int r_idx, reg *regp) {
523 struct stlink_libusb * const slu = sl->backend_data;
524 unsigned char* const data = sl->q_buf;
525 unsigned char* const cmd = sl->c_buf;
528 uint32_t rep_len = 4;
529 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
531 cmd[i++] = STLINK_DEBUG_COMMAND;
532 cmd[i++] = STLINK_DEBUG_READREG;
533 cmd[i++] = (uint8_t) r_idx;
534 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
536 printf("[!] send_recv\n");
539 sl->q_len = (size_t) size;
540 stlink_print_data(sl);
541 r = read_uint32(sl->q_buf, 0);
542 DLOG("r_idx (%2d) = 0x%08x\n", r_idx, r);
552 regp->process_sp = r;
555 regp->rw = r; /* XXX ?(primask, basemask etc.) */
558 regp->rw2 = r; /* XXX ?(primask, basemask etc.) */
565 void _stlink_usb_write_reg(stlink_t *sl, uint32_t reg, int idx) {
566 struct stlink_libusb * const slu = sl->backend_data;
567 unsigned char* const data = sl->q_buf;
568 unsigned char* const cmd = sl->c_buf;
570 uint32_t rep_len = 2;
571 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
573 cmd[i++] = STLINK_DEBUG_COMMAND;
574 cmd[i++] = STLINK_DEBUG_WRITEREG;
576 write_uint32(&cmd[i], reg);
577 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
579 printf("[!] send_recv\n");
582 sl->q_len = (size_t) size;
583 stlink_print_data(sl);
586 stlink_backend_t _stlink_usb_backend = {
588 _stlink_usb_exit_debug_mode,
589 _stlink_usb_enter_swd_mode,
590 NULL, // no enter_jtag_mode here...
591 _stlink_usb_exit_dfu_mode,
594 _stlink_usb_jtag_reset,
598 _stlink_usb_read_debug32,
599 _stlink_usb_read_mem32,
600 _stlink_usb_write_debug32,
601 _stlink_usb_write_mem32,
602 _stlink_usb_write_mem8,
603 _stlink_usb_read_all_regs,
604 _stlink_usb_read_reg,
605 _stlink_usb_write_reg,
607 _stlink_usb_current_mode,
608 _stlink_usb_force_debug
612 stlink_t* stlink_open_usb(const int verbose) {
614 struct stlink_libusb* slu = NULL;
616 libusb_device** devs = NULL;
619 sl = malloc(sizeof (stlink_t));
620 slu = malloc(sizeof (struct stlink_libusb));
621 if (sl == NULL) goto on_error;
622 if (slu == NULL) goto on_error;
623 memset(sl, 0, sizeof (stlink_t));
624 memset(slu, 0, sizeof (struct stlink_libusb));
627 sl->backend = &_stlink_usb_backend;
628 sl->backend_data = slu;
630 sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
632 if (libusb_init(&(slu->libusb_ctx))) {
633 WLOG("failed to init libusb context, wrong version of libraries?\n");
637 slu->usb_handle = libusb_open_device_with_vid_pid(slu->libusb_ctx, USB_ST_VID, USB_STLINK_32L_PID);
638 if (slu->usb_handle == NULL) {
639 // TODO - free usb context too...
640 WLOG("Couldn't find any ST-Link/V2 devices");
644 if (libusb_kernel_driver_active(slu->usb_handle, 0) == 1) {
647 r = libusb_detach_kernel_driver(slu->usb_handle, 0);
649 WLOG("libusb_detach_kernel_driver(() error %s\n", strerror(-r));
650 goto on_libusb_error;
654 if (libusb_get_configuration(slu->usb_handle, &config)) {
655 /* this may fail for a previous configured device */
656 WLOG("libusb_get_configuration()\n");
657 goto on_libusb_error;
661 printf("setting new configuration (%d -> 1)\n", config);
662 if (libusb_set_configuration(slu->usb_handle, 1)) {
663 /* this may fail for a previous configured device */
664 WLOG("libusb_set_configuration() failed\n");
665 goto on_libusb_error;
669 if (libusb_claim_interface(slu->usb_handle, 0)) {
670 WLOG("libusb_claim_interface() failed\n");
671 goto on_libusb_error;
674 slu->req_trans = libusb_alloc_transfer(0);
675 if (slu->req_trans == NULL) {
676 WLOG("libusb_alloc_transfer failed\n");
677 goto on_libusb_error;
680 slu->rep_trans = libusb_alloc_transfer(0);
681 if (slu->rep_trans == NULL) {
682 WLOG("libusb_alloc_transfer failed\n");
683 goto on_libusb_error;
685 // TODO - could use the scanning techniq from stm8 code here...
686 slu->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN;
687 slu->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT;
689 slu->sg_transfer_idx = 0;
690 // TODO - never used at the moment, always CMD_SIZE
691 slu->cmd_len = (slu->protocoll == 1)? STLINK_SG_SIZE: STLINK_CMD_SIZE;
695 if (stlink_current_mode(sl) == STLINK_DEV_DFU_MODE) {
696 ILOG("-- exit_dfu_mode\n");
697 stlink_exit_dfu_mode(sl);
700 if (stlink_current_mode(sl) != STLINK_DEV_DEBUG_MODE) {
701 stlink_enter_swd_mode(sl);
705 stlink_load_device_params(sl);
712 libusb_free_device_list(devs, 1);
725 libusb_exit(slu->libusb_ctx);
726 if (sl != NULL) free(sl);
727 if (slu != NULL) free(slu);