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 /* Search for a STLINK device, either any or teh one with the given PID
154 * Return the protocoll version
156 static int is_stlink_device(libusb_device * dev, uint16_t pid) {
157 struct libusb_device_descriptor desc;
160 if (libusb_get_device_descriptor(dev, &desc))
163 if (desc.idVendor != USB_ST_VID)
166 if ((desc.idProduct != USB_STLINK_32L_PID) &&
167 (desc.idProduct != USB_STLINK_PID ))
170 if(pid && (pid != desc.idProduct))
172 if (desc.idProduct == USB_STLINK_PID )
180 static int fill_command
181 (stlink_t * sl, enum SCSI_Generic_Direction dir, uint32_t len) {
182 struct stlink_libusb * const slu = sl->backend_data;
183 unsigned char* const cmd = sl->c_buf;
185 memset(cmd, 0, sizeof (sl->c_buf));
186 if(slu->protocoll == 1) {
187 fprintf(stderr, "This is never used....\n");
192 write_uint32(&cmd[i], slu->sg_transfer_idx);
193 write_uint32(&cmd[i + 4], len);
195 cmd[i++] = (dir == SG_DXFER_FROM_DEV)?0x80:0;
196 cmd[i++] = 0; /* Logical unit */
197 cmd[i++] = 0xa; /* Command length */
202 void _stlink_usb_version(stlink_t *sl) {
203 struct stlink_libusb * const slu = sl->backend_data;
204 unsigned char* const data = sl->q_buf;
205 unsigned char* const cmd = sl->c_buf;
207 uint32_t rep_len = 6;
208 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
210 cmd[i++] = STLINK_GET_VERSION;
212 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
214 printf("[!] send_recv\n");
219 void _stlink_usb_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
220 struct stlink_libusb * const slu = sl->backend_data;
221 unsigned char* const data = sl->q_buf;
222 unsigned char* const cmd = sl->c_buf;
224 int i = fill_command(sl, SG_DXFER_TO_DEV, len);
225 cmd[i++] = STLINK_DEBUG_COMMAND;
226 cmd[i++] = STLINK_DEBUG_WRITEMEM_32BIT;
227 write_uint32(&cmd[i], addr);
228 write_uint16(&cmd[i + 4], len);
229 send_only(slu, 0, cmd, slu->cmd_len);
231 send_only(slu, 1, data, len);
234 void _stlink_usb_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
235 struct stlink_libusb * const slu = sl->backend_data;
236 unsigned char* const data = sl->q_buf;
237 unsigned char* const cmd = sl->c_buf;
239 int i = fill_command(sl, SG_DXFER_TO_DEV, 0);
240 cmd[i++] = STLINK_DEBUG_COMMAND;
241 cmd[i++] = STLINK_DEBUG_WRITEMEM_8BIT;
242 write_uint32(&cmd[i], addr);
243 write_uint16(&cmd[i + 4], len);
244 send_only(slu, 0, cmd, slu->cmd_len);
245 send_only(slu, 1, data, len);
249 int _stlink_usb_current_mode(stlink_t * sl) {
250 struct stlink_libusb * const slu = sl->backend_data;
251 unsigned char* const cmd = sl->c_buf;
252 unsigned char* const data = sl->q_buf;
255 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
257 cmd[i++] = STLINK_GET_CURRENT_MODE;
258 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
260 printf("[!] send_recv\n");
266 void _stlink_usb_core_id(stlink_t * sl) {
267 struct stlink_libusb * const slu = sl->backend_data;
268 unsigned char* const cmd = sl->c_buf;
269 unsigned char* const data = sl->q_buf;
272 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
274 cmd[i++] = STLINK_DEBUG_COMMAND;
275 cmd[i++] = STLINK_DEBUG_READCOREID;
277 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
279 printf("[!] send_recv\n");
283 sl->core_id = read_uint32(data, 0);
286 void _stlink_usb_status(stlink_t * sl) {
287 struct stlink_libusb * const slu = sl->backend_data;
288 unsigned char* const data = sl->q_buf;
289 unsigned char* const cmd = sl->c_buf;
292 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
294 cmd[i++] = STLINK_DEBUG_COMMAND;
295 cmd[i++] = STLINK_DEBUG_GETSTATUS;
297 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
299 printf("[!] send_recv\n");
304 void _stlink_usb_force_debug(stlink_t *sl) {
305 struct stlink_libusb *slu = sl->backend_data;
306 unsigned char* const data = sl->q_buf;
307 unsigned char* const cmd = sl->c_buf;
310 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
312 cmd[i++] = STLINK_DEBUG_COMMAND;
313 cmd[i++] = STLINK_DEBUG_FORCEDEBUG;
314 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
316 printf("[!] send_recv\n");
321 void _stlink_usb_enter_swd_mode(stlink_t * sl) {
322 struct stlink_libusb * const slu = sl->backend_data;
323 unsigned char* const cmd = sl->c_buf;
325 const int rep_len = 0;
326 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
328 cmd[i++] = STLINK_DEBUG_COMMAND;
329 cmd[i++] = STLINK_DEBUG_ENTER;
330 cmd[i++] = STLINK_DEBUG_ENTER_SWD;
332 size = send_only(slu, 1, cmd, slu->cmd_len);
334 printf("[!] send_recv\n");
339 void _stlink_usb_exit_dfu_mode(stlink_t* sl) {
340 struct stlink_libusb * const slu = sl->backend_data;
341 unsigned char* const cmd = sl->c_buf;
343 int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
345 cmd[i++] = STLINK_DFU_COMMAND;
346 cmd[i++] = STLINK_DFU_EXIT;
348 size = send_only(slu, 1, cmd, slu->cmd_len);
350 printf("[!] send_recv\n");
356 * TODO - not convinced this does anything...
359 void _stlink_usb_reset(stlink_t * sl) {
360 struct stlink_libusb * const slu = sl->backend_data;
361 unsigned char* const data = sl->q_buf;
362 unsigned char* const cmd = sl->c_buf;
365 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
367 cmd[i++] = STLINK_DEBUG_COMMAND;
368 cmd[i++] = STLINK_DEBUG_RESETSYS;
370 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
372 printf("[!] send_recv\n");
378 void _stlink_usb_step(stlink_t* sl) {
379 struct stlink_libusb * const slu = sl->backend_data;
380 unsigned char* const data = sl->q_buf;
381 unsigned char* const cmd = sl->c_buf;
384 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
386 cmd[i++] = STLINK_DEBUG_COMMAND;
387 cmd[i++] = STLINK_DEBUG_STEPCORE;
389 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
391 printf("[!] send_recv\n");
397 * This seems to do a good job of restarting things from the beginning?
400 void _stlink_usb_run(stlink_t* sl) {
401 struct stlink_libusb * const slu = sl->backend_data;
402 unsigned char* const data = sl->q_buf;
403 unsigned char* const cmd = sl->c_buf;
406 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
408 cmd[i++] = STLINK_DEBUG_COMMAND;
409 cmd[i++] = STLINK_DEBUG_RUNCORE;
411 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
413 printf("[!] send_recv\n");
418 void _stlink_usb_exit_debug_mode(stlink_t *sl) {
419 struct stlink_libusb * const slu = sl->backend_data;
420 unsigned char* const cmd = sl->c_buf;
422 int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
424 cmd[i++] = STLINK_DEBUG_COMMAND;
425 cmd[i++] = STLINK_DEBUG_EXIT;
427 size = send_only(slu, 1, cmd, slu->cmd_len);
429 printf("[!] send_only\n");
434 void _stlink_usb_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
435 struct stlink_libusb * const slu = sl->backend_data;
436 unsigned char* const data = sl->q_buf;
437 unsigned char* const cmd = sl->c_buf;
439 int i = fill_command(sl, SG_DXFER_FROM_DEV, len);
441 cmd[i++] = STLINK_DEBUG_COMMAND;
442 cmd[i++] = STLINK_DEBUG_READMEM_32BIT;
443 write_uint32(&cmd[i], addr);
444 write_uint16(&cmd[i + 4], len);
446 size = send_recv(slu, 1, cmd, slu->cmd_len, data, len);
448 printf("[!] send_recv\n");
452 sl->q_len = (size_t) size;
454 stlink_print_data(sl);
457 void _stlink_usb_read_all_regs(stlink_t *sl, reg *regp) {
458 struct stlink_libusb * const slu = sl->backend_data;
459 unsigned char* const cmd = sl->c_buf;
460 unsigned char* const data = sl->q_buf;
462 uint32_t rep_len = 84;
463 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
465 cmd[i++] = STLINK_DEBUG_COMMAND;
466 cmd[i++] = STLINK_DEBUG_READALLREGS;
467 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
469 printf("[!] send_recv\n");
472 sl->q_len = (size_t) size;
473 stlink_print_data(sl);
475 regp->r[i]= read_uint32(sl->q_buf, i*4);
476 regp->xpsr = read_uint32(sl->q_buf, 64);
477 regp->main_sp = read_uint32(sl->q_buf, 68);
478 regp->process_sp = read_uint32(sl->q_buf, 72);
479 regp->rw = read_uint32(sl->q_buf, 76);
480 regp->rw2 = read_uint32(sl->q_buf, 80);
484 DLOG("xpsr = 0x%08x\n", read_uint32(sl->q_buf, 64));
485 DLOG("main_sp = 0x%08x\n", read_uint32(sl->q_buf, 68));
486 DLOG("process_sp = 0x%08x\n", read_uint32(sl->q_buf, 72));
487 DLOG("rw = 0x%08x\n", read_uint32(sl->q_buf, 76));
488 DLOG("rw2 = 0x%08x\n", read_uint32(sl->q_buf, 80));
491 void _stlink_usb_read_reg(stlink_t *sl, int r_idx, reg *regp) {
492 struct stlink_libusb * const slu = sl->backend_data;
493 unsigned char* const data = sl->q_buf;
494 unsigned char* const cmd = sl->c_buf;
497 uint32_t rep_len = 4;
498 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
500 cmd[i++] = STLINK_DEBUG_COMMAND;
501 cmd[i++] = STLINK_DEBUG_READREG;
502 cmd[i++] = (uint8_t) r_idx;
503 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
505 printf("[!] send_recv\n");
508 sl->q_len = (size_t) size;
509 stlink_print_data(sl);
510 r = read_uint32(sl->q_buf, 0);
511 DLOG("r_idx (%2d) = 0x%08x\n", r_idx, r);
521 regp->process_sp = r;
524 regp->rw = r; /* XXX ?(primask, basemask etc.) */
527 regp->rw2 = r; /* XXX ?(primask, basemask etc.) */
534 void _stlink_usb_write_reg(stlink_t *sl, uint32_t reg, int idx) {
535 struct stlink_libusb * const slu = sl->backend_data;
536 unsigned char* const data = sl->q_buf;
537 unsigned char* const cmd = sl->c_buf;
539 uint32_t rep_len = 2;
540 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
542 cmd[i++] = STLINK_DEBUG_COMMAND;
543 cmd[i++] = STLINK_DEBUG_WRITEREG;
545 write_uint32(&cmd[i], reg);
546 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
548 printf("[!] send_recv\n");
551 sl->q_len = (size_t) size;
552 stlink_print_data(sl);
555 stlink_backend_t _stlink_usb_backend = {
557 _stlink_usb_exit_debug_mode,
558 _stlink_usb_enter_swd_mode,
559 NULL, // no enter_jtag_mode here...
560 _stlink_usb_exit_dfu_mode,
566 _stlink_usb_read_mem32,
567 _stlink_usb_write_mem32,
568 _stlink_usb_write_mem8,
569 _stlink_usb_read_all_regs,
570 _stlink_usb_read_reg,
571 _stlink_usb_write_reg,
573 _stlink_usb_current_mode,
574 _stlink_usb_force_debug
578 stlink_t* stlink_open_usb(const int verbose) {
580 struct stlink_libusb* slu = NULL;
582 libusb_device** devs = NULL;
587 char *iSerial = NULL;
589 sl = malloc(sizeof (stlink_t));
590 slu = malloc(sizeof (struct stlink_libusb));
591 if (sl == NULL) goto on_error;
592 if (slu == NULL) goto on_error;
593 memset(sl, 0, sizeof (stlink_t));
594 memset(slu, 0, sizeof (struct stlink_libusb));
597 sl->backend = &_stlink_usb_backend;
598 sl->backend_data = slu;
600 sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
602 if (libusb_init(&(slu->libusb_ctx))) {
603 WLOG("failed to init libusb context, wrong version of libraries?\n");
607 slu->usb_handle = libusb_open_device_with_vid_pid(slu->libusb_ctx, USB_ST_VID, USB_STLINK_32L_PID);
608 if (slu->usb_handle == NULL) {
609 // TODO - free usb context too...
611 WLOG("Couldn't find any ST-Link/V2 devices");
615 if (libusb_kernel_driver_active(slu->usb_handle, 0) == 1) {
618 r = libusb_detach_kernel_driver(slu->usb_handle, 0);
620 WLOG("libusb_detach_kernel_driver(() error %s\n", strerror(-r));
621 goto on_libusb_error;
625 if (libusb_get_configuration(slu->usb_handle, &config)) {
626 /* this may fail for a previous configured device */
627 WLOG("libusb_get_configuration()\n");
628 goto on_libusb_error;
632 printf("setting new configuration (%d -> 1)\n", config);
633 if (libusb_set_configuration(slu->usb_handle, 1)) {
634 /* this may fail for a previous configured device */
635 WLOG("libusb_set_configuration() failed\n");
636 goto on_libusb_error;
640 if (libusb_claim_interface(slu->usb_handle, 0)) {
641 WLOG("libusb_claim_interface() failed\n");
642 goto on_libusb_error;
645 slu->req_trans = libusb_alloc_transfer(0);
646 if (slu->req_trans == NULL) {
647 WLOG("libusb_alloc_transfer failed\n");
648 goto on_libusb_error;
651 slu->rep_trans = libusb_alloc_transfer(0);
652 if (slu->rep_trans == NULL) {
653 WLOG("libusb_alloc_transfer failed\n");
654 goto on_libusb_error;
656 // TODO - could use the scanning techniq from stm8 code here...
657 slu->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN;
658 slu->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT;
660 slu->sg_transfer_idx = 0;
661 // TODO - never used at the moment, always CMD_SIZE
662 slu->cmd_len = (slu->protocoll == 1)? STLINK_SG_SIZE: STLINK_CMD_SIZE;
666 if (stlink_current_mode(sl) == STLINK_DEV_DFU_MODE) {
667 ILOG("-- exit_dfu_mode\n");
668 stlink_exit_dfu_mode(sl);
671 if (stlink_current_mode(sl) != STLINK_DEV_DEBUG_MODE) {
672 stlink_enter_swd_mode(sl);
676 stlink_load_device_params(sl);
682 libusb_free_device_list(devs, 1);
694 if (sl != NULL) free(sl);
695 if (slu != NULL) free(slu);