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 /* This is a copy from GNU C Library (GNU LGPL 2.1), sys/time.h. */
21 # define timersub(a, b, result) \
23 (result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \
24 (result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \
25 if ((result)->tv_usec < 0) { \
27 (result)->tv_usec += 1000000; \
32 enum SCSI_Generic_Direction {SG_DXFER_TO_DEV=0, SG_DXFER_FROM_DEV=0x80};
34 void _stlink_usb_close(stlink_t* sl) {
35 struct stlink_libusb * const handle = sl->backend_data;
36 // maybe we couldn't even get the usb device?
38 if (handle->req_trans != NULL)
39 libusb_free_transfer(handle->req_trans);
41 if (handle->rep_trans != NULL)
42 libusb_free_transfer(handle->rep_trans);
44 if (handle->usb_handle != NULL) {
45 libusb_close(handle->usb_handle);
48 libusb_exit(handle->libusb_ctx);
55 #define TRANS_FLAGS_IS_DONE (1 << 0)
56 #define TRANS_FLAGS_HAS_ERROR (1 << 1)
57 volatile unsigned long flags;
60 static void on_trans_done(struct libusb_transfer * trans) {
61 struct trans_ctx * const ctx = trans->user_data;
63 if (trans->status != LIBUSB_TRANSFER_COMPLETED)
64 ctx->flags |= TRANS_FLAGS_HAS_ERROR;
66 ctx->flags |= TRANS_FLAGS_IS_DONE;
69 int submit_wait(struct stlink_libusb *slu, struct libusb_transfer * trans) {
73 struct trans_ctx trans_ctx;
74 enum libusb_error error;
78 /* brief intrusion inside the libusb interface */
79 trans->callback = on_trans_done;
80 trans->user_data = &trans_ctx;
82 if ((error = libusb_submit_transfer(trans))) {
83 printf("libusb_submit_transfer(%d)\n", error);
87 gettimeofday(&start, NULL);
89 while (trans_ctx.flags == 0) {
90 struct timeval timeout;
93 if (libusb_handle_events_timeout(slu->libusb_ctx, &timeout)) {
94 printf("libusb_handle_events()\n");
98 gettimeofday(&now, NULL);
99 timersub(&now, &start, &diff);
100 if (diff.tv_sec >= 3) {
101 printf("libusb_handle_events() timeout\n");
106 if (trans_ctx.flags & TRANS_FLAGS_HAS_ERROR) {
107 printf("libusb_handle_events() | has_error\n");
114 ssize_t send_recv(struct stlink_libusb* handle, int terminate,
115 unsigned char* txbuf, size_t txsize,
116 unsigned char* rxbuf, size_t rxsize) {
117 /* note: txbuf and rxbuf can point to the same area */
120 libusb_fill_bulk_transfer(handle->req_trans, handle->usb_handle,
127 if (submit_wait(handle, handle->req_trans)) return -1;
132 /* read the response */
134 libusb_fill_bulk_transfer(handle->rep_trans, handle->usb_handle,
135 handle->ep_rep, rxbuf, rxsize, NULL, NULL, 0);
137 if (submit_wait(handle, handle->rep_trans)) return -1;
138 res = handle->rep_trans->actual_length;
141 if ((handle->protocoll == 1) && terminate) {
142 /* Read the SG reply */
143 unsigned char sg_buf[13];
144 libusb_fill_bulk_transfer
145 (handle->rep_trans, handle->usb_handle,
146 handle->ep_rep, sg_buf, 13, NULL, NULL, 0);
147 res = submit_wait(handle, handle->rep_trans);
148 /* The STLink doesn't seem to evaluate the sequence number */
149 handle->sg_transfer_idx++;
153 return handle->rep_trans->actual_length;
156 static inline int send_only
157 (struct stlink_libusb* handle, int terminate,
158 unsigned char* txbuf, size_t txsize) {
159 return send_recv(handle, terminate, txbuf, txsize, NULL, 0);
163 static int fill_command
164 (stlink_t * sl, enum SCSI_Generic_Direction dir, uint32_t len) {
165 struct stlink_libusb * const slu = sl->backend_data;
166 unsigned char* const cmd = sl->c_buf;
168 memset(cmd, 0, sizeof (sl->c_buf));
169 if(slu->protocoll == 1) {
174 write_uint32(&cmd[i], slu->sg_transfer_idx);
175 write_uint32(&cmd[i + 4], len);
177 cmd[i++] = (dir == SG_DXFER_FROM_DEV)?0x80:0;
178 cmd[i++] = 0; /* Logical unit */
179 cmd[i++] = 0xa; /* Command length */
184 void _stlink_usb_version(stlink_t *sl) {
185 struct stlink_libusb * const slu = sl->backend_data;
186 unsigned char* const data = sl->q_buf;
187 unsigned char* const cmd = sl->c_buf;
189 uint32_t rep_len = 6;
190 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
192 cmd[i++] = STLINK_GET_VERSION;
194 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
196 printf("[!] send_recv\n");
201 uint32_t _stlink_usb_read_debug32(stlink_t *sl, uint32_t addr) {
202 struct stlink_libusb * const slu = sl->backend_data;
203 unsigned char* const rdata = sl->q_buf;
204 unsigned char* const cmd = sl->c_buf;
206 const int rep_len = 8;
208 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
209 cmd[i++] = STLINK_DEBUG_COMMAND;
210 cmd[i++] = STLINK_JTAG_READDEBUG_32BIT;
211 write_uint32(&cmd[i], addr);
212 size = send_recv(slu, 1, cmd, slu->cmd_len, rdata, rep_len);
214 printf("[!] send_recv\n");
217 return read_uint32(rdata, 4);
220 void _stlink_usb_write_debug32(stlink_t *sl, uint32_t addr, uint32_t data) {
221 struct stlink_libusb * const slu = sl->backend_data;
222 unsigned char* const rdata = sl->q_buf;
223 unsigned char* const cmd = sl->c_buf;
225 const int rep_len = 2;
227 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
228 cmd[i++] = STLINK_DEBUG_COMMAND;
229 cmd[i++] = STLINK_JTAG_WRITEDEBUG_32BIT;
230 write_uint32(&cmd[i], addr);
231 write_uint32(&cmd[i + 4], data);
232 size = send_recv(slu, 1, cmd, slu->cmd_len, rdata, rep_len);
234 printf("[!] send_recv\n");
239 void _stlink_usb_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
240 struct stlink_libusb * const slu = sl->backend_data;
241 unsigned char* const data = sl->q_buf;
242 unsigned char* const cmd = sl->c_buf;
244 int i = fill_command(sl, SG_DXFER_TO_DEV, len);
245 cmd[i++] = STLINK_DEBUG_COMMAND;
246 cmd[i++] = STLINK_DEBUG_WRITEMEM_32BIT;
247 write_uint32(&cmd[i], addr);
248 write_uint16(&cmd[i + 4], len);
249 send_only(slu, 0, cmd, slu->cmd_len);
251 send_only(slu, 1, data, len);
254 void _stlink_usb_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
255 struct stlink_libusb * const slu = sl->backend_data;
256 unsigned char* const data = sl->q_buf;
257 unsigned char* const cmd = sl->c_buf;
259 int i = fill_command(sl, SG_DXFER_TO_DEV, 0);
260 cmd[i++] = STLINK_DEBUG_COMMAND;
261 cmd[i++] = STLINK_DEBUG_WRITEMEM_8BIT;
262 write_uint32(&cmd[i], addr);
263 write_uint16(&cmd[i + 4], len);
264 send_only(slu, 0, cmd, slu->cmd_len);
265 send_only(slu, 1, data, len);
269 int _stlink_usb_current_mode(stlink_t * sl) {
270 struct stlink_libusb * const slu = sl->backend_data;
271 unsigned char* const cmd = sl->c_buf;
272 unsigned char* const data = sl->q_buf;
275 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
277 cmd[i++] = STLINK_GET_CURRENT_MODE;
278 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
280 printf("[!] send_recv\n");
286 void _stlink_usb_core_id(stlink_t * sl) {
287 struct stlink_libusb * const slu = sl->backend_data;
288 unsigned char* const cmd = sl->c_buf;
289 unsigned char* const data = sl->q_buf;
292 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
294 cmd[i++] = STLINK_DEBUG_COMMAND;
295 cmd[i++] = STLINK_DEBUG_READCOREID;
297 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
299 printf("[!] send_recv\n");
303 sl->core_id = read_uint32(data, 0);
306 void _stlink_usb_status(stlink_t * sl) {
307 struct stlink_libusb * const slu = sl->backend_data;
308 unsigned char* const data = sl->q_buf;
309 unsigned char* const cmd = sl->c_buf;
312 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
314 cmd[i++] = STLINK_DEBUG_COMMAND;
315 cmd[i++] = STLINK_DEBUG_GETSTATUS;
317 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
319 printf("[!] send_recv\n");
324 void _stlink_usb_force_debug(stlink_t *sl) {
325 struct stlink_libusb *slu = sl->backend_data;
326 unsigned char* const data = sl->q_buf;
327 unsigned char* const cmd = sl->c_buf;
330 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
332 cmd[i++] = STLINK_DEBUG_COMMAND;
333 cmd[i++] = STLINK_DEBUG_FORCEDEBUG;
334 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
336 printf("[!] send_recv\n");
341 void _stlink_usb_enter_swd_mode(stlink_t * sl) {
342 struct stlink_libusb * const slu = sl->backend_data;
343 unsigned char* const cmd = sl->c_buf;
345 const int rep_len = 0;
346 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
348 cmd[i++] = STLINK_DEBUG_COMMAND;
349 cmd[i++] = STLINK_DEBUG_ENTER;
350 cmd[i++] = STLINK_DEBUG_ENTER_SWD;
352 size = send_only(slu, 1, cmd, slu->cmd_len);
354 printf("[!] send_recv\n");
359 void _stlink_usb_exit_dfu_mode(stlink_t* sl) {
360 struct stlink_libusb * const slu = sl->backend_data;
361 unsigned char* const cmd = sl->c_buf;
363 int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
365 cmd[i++] = STLINK_DFU_COMMAND;
366 cmd[i++] = STLINK_DFU_EXIT;
368 size = send_only(slu, 1, cmd, slu->cmd_len);
370 printf("[!] send_recv\n");
376 * TODO - not convinced this does anything...
379 void _stlink_usb_reset(stlink_t * sl) {
380 struct stlink_libusb * const slu = sl->backend_data;
381 unsigned char* const data = sl->q_buf;
382 unsigned char* const cmd = sl->c_buf;
385 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
387 cmd[i++] = STLINK_DEBUG_COMMAND;
388 cmd[i++] = STLINK_DEBUG_RESETSYS;
390 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
392 printf("[!] send_recv\n");
398 void _stlink_usb_jtag_reset(stlink_t * sl, int value) {
399 struct stlink_libusb * const slu = sl->backend_data;
400 unsigned char* const data = sl->q_buf;
401 unsigned char* const cmd = sl->c_buf;
404 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
406 cmd[i++] = STLINK_DEBUG_COMMAND;
407 cmd[i++] = STLINK_JTAG_DRIVE_NRST;
408 cmd[i++] = (value)?0:1;
410 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
412 printf("[!] send_recv\n");
418 void _stlink_usb_step(stlink_t* sl) {
419 struct stlink_libusb * const slu = sl->backend_data;
420 unsigned char* const data = sl->q_buf;
421 unsigned char* const cmd = sl->c_buf;
424 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
426 cmd[i++] = STLINK_DEBUG_COMMAND;
427 cmd[i++] = STLINK_DEBUG_STEPCORE;
429 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
431 printf("[!] send_recv\n");
437 * This seems to do a good job of restarting things from the beginning?
440 void _stlink_usb_run(stlink_t* sl) {
441 struct stlink_libusb * const slu = sl->backend_data;
442 unsigned char* const data = sl->q_buf;
443 unsigned char* const cmd = sl->c_buf;
446 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
448 cmd[i++] = STLINK_DEBUG_COMMAND;
449 cmd[i++] = STLINK_DEBUG_RUNCORE;
451 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
453 printf("[!] send_recv\n");
458 void _stlink_usb_exit_debug_mode(stlink_t *sl) {
459 struct stlink_libusb * const slu = sl->backend_data;
460 unsigned char* const cmd = sl->c_buf;
462 int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
464 cmd[i++] = STLINK_DEBUG_COMMAND;
465 cmd[i++] = STLINK_DEBUG_EXIT;
467 size = send_only(slu, 1, cmd, slu->cmd_len);
469 printf("[!] send_only\n");
474 void _stlink_usb_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
475 struct stlink_libusb * const slu = sl->backend_data;
476 unsigned char* const data = sl->q_buf;
477 unsigned char* const cmd = sl->c_buf;
479 int i = fill_command(sl, SG_DXFER_FROM_DEV, len);
481 cmd[i++] = STLINK_DEBUG_COMMAND;
482 cmd[i++] = STLINK_DEBUG_READMEM_32BIT;
483 write_uint32(&cmd[i], addr);
484 write_uint16(&cmd[i + 4], len);
486 size = send_recv(slu, 1, cmd, slu->cmd_len, data, len);
488 printf("[!] send_recv\n");
492 sl->q_len = (size_t) size;
494 stlink_print_data(sl);
497 void _stlink_usb_read_all_regs(stlink_t *sl, reg *regp) {
498 struct stlink_libusb * const slu = sl->backend_data;
499 unsigned char* const cmd = sl->c_buf;
500 unsigned char* const data = sl->q_buf;
502 uint32_t rep_len = 84;
503 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
505 cmd[i++] = STLINK_DEBUG_COMMAND;
506 cmd[i++] = STLINK_DEBUG_READALLREGS;
507 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
509 printf("[!] send_recv\n");
512 sl->q_len = (size_t) size;
513 stlink_print_data(sl);
515 regp->r[i]= read_uint32(sl->q_buf, i*4);
516 regp->xpsr = read_uint32(sl->q_buf, 64);
517 regp->main_sp = read_uint32(sl->q_buf, 68);
518 regp->process_sp = read_uint32(sl->q_buf, 72);
519 regp->rw = read_uint32(sl->q_buf, 76);
520 regp->rw2 = read_uint32(sl->q_buf, 80);
524 DLOG("xpsr = 0x%08x\n", read_uint32(sl->q_buf, 64));
525 DLOG("main_sp = 0x%08x\n", read_uint32(sl->q_buf, 68));
526 DLOG("process_sp = 0x%08x\n", read_uint32(sl->q_buf, 72));
527 DLOG("rw = 0x%08x\n", read_uint32(sl->q_buf, 76));
528 DLOG("rw2 = 0x%08x\n", read_uint32(sl->q_buf, 80));
531 void _stlink_usb_read_reg(stlink_t *sl, int r_idx, reg *regp) {
532 struct stlink_libusb * const slu = sl->backend_data;
533 unsigned char* const data = sl->q_buf;
534 unsigned char* const cmd = sl->c_buf;
537 uint32_t rep_len = 4;
538 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
540 cmd[i++] = STLINK_DEBUG_COMMAND;
541 cmd[i++] = STLINK_DEBUG_READREG;
542 cmd[i++] = (uint8_t) r_idx;
543 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
545 printf("[!] send_recv\n");
548 sl->q_len = (size_t) size;
549 stlink_print_data(sl);
550 r = read_uint32(sl->q_buf, 0);
551 DLOG("r_idx (%2d) = 0x%08x\n", r_idx, r);
561 regp->process_sp = r;
564 regp->rw = r; /* XXX ?(primask, basemask etc.) */
567 regp->rw2 = r; /* XXX ?(primask, basemask etc.) */
574 void _stlink_usb_write_reg(stlink_t *sl, uint32_t reg, int idx) {
575 struct stlink_libusb * const slu = sl->backend_data;
576 unsigned char* const data = sl->q_buf;
577 unsigned char* const cmd = sl->c_buf;
579 uint32_t rep_len = 2;
580 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
582 cmd[i++] = STLINK_DEBUG_COMMAND;
583 cmd[i++] = STLINK_DEBUG_WRITEREG;
585 write_uint32(&cmd[i], reg);
586 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
588 printf("[!] send_recv\n");
591 sl->q_len = (size_t) size;
592 stlink_print_data(sl);
595 stlink_backend_t _stlink_usb_backend = {
597 _stlink_usb_exit_debug_mode,
598 _stlink_usb_enter_swd_mode,
599 NULL, // no enter_jtag_mode here...
600 _stlink_usb_exit_dfu_mode,
603 _stlink_usb_jtag_reset,
607 _stlink_usb_read_debug32,
608 _stlink_usb_read_mem32,
609 _stlink_usb_write_debug32,
610 _stlink_usb_write_mem32,
611 _stlink_usb_write_mem8,
612 _stlink_usb_read_all_regs,
613 _stlink_usb_read_reg,
614 _stlink_usb_write_reg,
616 _stlink_usb_current_mode,
617 _stlink_usb_force_debug
621 stlink_t* stlink_open_usb(const int verbose) {
623 struct stlink_libusb* slu = NULL;
625 libusb_device** devs = NULL;
628 sl = malloc(sizeof (stlink_t));
629 slu = malloc(sizeof (struct stlink_libusb));
630 if (sl == NULL) goto on_error;
631 if (slu == NULL) goto on_error;
632 memset(sl, 0, sizeof (stlink_t));
633 memset(slu, 0, sizeof (struct stlink_libusb));
636 sl->backend = &_stlink_usb_backend;
637 sl->backend_data = slu;
639 sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
641 if (libusb_init(&(slu->libusb_ctx))) {
642 WLOG("failed to init libusb context, wrong version of libraries?\n");
646 slu->usb_handle = libusb_open_device_with_vid_pid(slu->libusb_ctx, USB_ST_VID, USB_STLINK_32L_PID);
647 if (slu->usb_handle == NULL) {
648 slu->usb_handle = libusb_open_device_with_vid_pid(slu->libusb_ctx, USB_ST_VID, USB_STLINK_PID);
649 if (slu->usb_handle == NULL) {
650 WLOG("Couldn't find any ST-Link/V2 devices");
656 if (libusb_kernel_driver_active(slu->usb_handle, 0) == 1) {
659 r = libusb_detach_kernel_driver(slu->usb_handle, 0);
661 WLOG("libusb_detach_kernel_driver(() error %s\n", strerror(-r));
662 goto on_libusb_error;
666 if (libusb_get_configuration(slu->usb_handle, &config)) {
667 /* this may fail for a previous configured device */
668 WLOG("libusb_get_configuration()\n");
669 goto on_libusb_error;
673 printf("setting new configuration (%d -> 1)\n", config);
674 if (libusb_set_configuration(slu->usb_handle, 1)) {
675 /* this may fail for a previous configured device */
676 WLOG("libusb_set_configuration() failed\n");
677 goto on_libusb_error;
681 if (libusb_claim_interface(slu->usb_handle, 0)) {
682 WLOG("libusb_claim_interface() failed\n");
683 goto on_libusb_error;
686 slu->req_trans = libusb_alloc_transfer(0);
687 if (slu->req_trans == NULL) {
688 WLOG("libusb_alloc_transfer failed\n");
689 goto on_libusb_error;
692 slu->rep_trans = libusb_alloc_transfer(0);
693 if (slu->rep_trans == NULL) {
694 WLOG("libusb_alloc_transfer failed\n");
695 goto on_libusb_error;
697 // TODO - could use the scanning techniq from stm8 code here...
698 slu->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN;
699 slu->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT;
701 slu->sg_transfer_idx = 0;
702 // TODO - never used at the moment, always CMD_SIZE
703 slu->cmd_len = (slu->protocoll == 1)? STLINK_SG_SIZE: STLINK_CMD_SIZE;
707 if (stlink_current_mode(sl) == STLINK_DEV_DFU_MODE) {
708 ILOG("-- exit_dfu_mode\n");
709 stlink_exit_dfu_mode(sl);
712 if (stlink_current_mode(sl) != STLINK_DEV_DEBUG_MODE) {
713 stlink_enter_swd_mode(sl);
717 stlink_load_device_params(sl);
724 libusb_free_device_list(devs, 1);
737 libusb_exit(slu->libusb_ctx);
738 if (sl != NULL) free(sl);
739 if (slu != NULL) free(slu);