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)
19 /* code from bsd timersub.h
20 http://www.gnu-darwin.org/www001/src/ports/net/libevnet/work/libevnet-0.3.8/libnostd/bsd/sys/time/timersub.h.html
23 #define timersub(a, b, r) do { \
24 (r)->tv_sec = (a)->tv_sec - (b)->tv_sec; \
25 (r)->tv_usec = (a)->tv_usec - (b)->tv_usec; \
26 if ((r)->tv_usec < 0) { \
28 (r)->tv_usec += 1000000; \
33 enum SCSI_Generic_Direction {SG_DXFER_TO_DEV=0, SG_DXFER_FROM_DEV=0x80};
35 void _stlink_usb_close(stlink_t* sl) {
36 struct stlink_libusb * const handle = sl->backend_data;
37 // maybe we couldn't even get the usb device?
39 if (handle->req_trans != NULL)
40 libusb_free_transfer(handle->req_trans);
42 if (handle->rep_trans != NULL)
43 libusb_free_transfer(handle->rep_trans);
45 if (handle->usb_handle != NULL) {
46 libusb_close(handle->usb_handle);
49 libusb_exit(handle->libusb_ctx);
56 #define TRANS_FLAGS_IS_DONE (1 << 0)
57 #define TRANS_FLAGS_HAS_ERROR (1 << 1)
58 volatile unsigned long flags;
61 static void LIBUSB_CALL on_trans_done(struct libusb_transfer * trans) {
62 struct trans_ctx * const ctx = trans->user_data;
64 if (trans->status != LIBUSB_TRANSFER_COMPLETED)
65 ctx->flags |= TRANS_FLAGS_HAS_ERROR;
67 ctx->flags |= TRANS_FLAGS_IS_DONE;
70 int submit_wait(struct stlink_libusb *slu, struct libusb_transfer * trans) {
74 struct trans_ctx trans_ctx;
75 enum libusb_error error;
79 /* brief intrusion inside the libusb interface */
80 trans->callback = on_trans_done;
81 trans->user_data = &trans_ctx;
83 if ((error = libusb_submit_transfer(trans))) {
84 printf("libusb_submit_transfer(%d)\n", error);
88 gettimeofday(&start, NULL);
90 while (trans_ctx.flags == 0) {
91 struct timeval timeout;
94 if (libusb_handle_events_timeout(slu->libusb_ctx, &timeout)) {
95 printf("libusb_handle_events()\n");
99 gettimeofday(&now, NULL);
100 timersub(&now, &start, &diff);
101 if (diff.tv_sec >= 3) {
102 printf("libusb_handle_events() timeout\n");
107 if (trans_ctx.flags & TRANS_FLAGS_HAS_ERROR) {
108 printf("libusb_handle_events() | has_error\n");
115 ssize_t send_recv(struct stlink_libusb* handle, int terminate,
116 unsigned char* txbuf, size_t txsize,
117 unsigned char* rxbuf, size_t rxsize) {
118 /* note: txbuf and rxbuf can point to the same area */
121 libusb_fill_bulk_transfer(handle->req_trans, handle->usb_handle,
128 if (submit_wait(handle, handle->req_trans)) return -1;
133 /* read the response */
135 libusb_fill_bulk_transfer(handle->rep_trans, handle->usb_handle,
136 handle->ep_rep, rxbuf, rxsize, NULL, NULL, 0);
138 if (submit_wait(handle, handle->rep_trans)) return -1;
139 res = handle->rep_trans->actual_length;
142 if ((handle->protocoll == 1) && terminate) {
143 /* Read the SG reply */
144 unsigned char sg_buf[13];
145 libusb_fill_bulk_transfer
146 (handle->rep_trans, handle->usb_handle,
147 handle->ep_rep, sg_buf, 13, NULL, NULL, 0);
148 res = submit_wait(handle, handle->rep_trans);
149 /* The STLink doesn't seem to evaluate the sequence number */
150 handle->sg_transfer_idx++;
154 return handle->rep_trans->actual_length;
157 static inline int send_only
158 (struct stlink_libusb* handle, int terminate,
159 unsigned char* txbuf, size_t txsize) {
160 return send_recv(handle, terminate, txbuf, txsize, NULL, 0);
164 static int fill_command
165 (stlink_t * sl, enum SCSI_Generic_Direction dir, uint32_t len) {
166 struct stlink_libusb * const slu = sl->backend_data;
167 unsigned char* const cmd = sl->c_buf;
169 memset(cmd, 0, sizeof (sl->c_buf));
170 if(slu->protocoll == 1) {
175 write_uint32(&cmd[i], slu->sg_transfer_idx);
176 write_uint32(&cmd[i + 4], len);
178 cmd[i++] = (dir == SG_DXFER_FROM_DEV)?0x80:0;
179 cmd[i++] = 0; /* Logical unit */
180 cmd[i++] = 0xa; /* Command length */
185 void _stlink_usb_version(stlink_t *sl) {
186 struct stlink_libusb * const slu = sl->backend_data;
187 unsigned char* const data = sl->q_buf;
188 unsigned char* const cmd = sl->c_buf;
190 uint32_t rep_len = 6;
191 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
193 cmd[i++] = STLINK_GET_VERSION;
195 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
197 printf("[!] send_recv\n");
202 uint32_t _stlink_usb_read_debug32(stlink_t *sl, uint32_t addr) {
203 struct stlink_libusb * const slu = sl->backend_data;
204 unsigned char* const rdata = sl->q_buf;
205 unsigned char* const cmd = sl->c_buf;
207 const int rep_len = 8;
209 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
210 cmd[i++] = STLINK_DEBUG_COMMAND;
211 cmd[i++] = STLINK_JTAG_READDEBUG_32BIT;
212 write_uint32(&cmd[i], addr);
213 size = send_recv(slu, 1, cmd, slu->cmd_len, rdata, rep_len);
215 printf("[!] send_recv\n");
218 return read_uint32(rdata, 4);
221 void _stlink_usb_write_debug32(stlink_t *sl, uint32_t addr, uint32_t data) {
222 struct stlink_libusb * const slu = sl->backend_data;
223 unsigned char* const rdata = sl->q_buf;
224 unsigned char* const cmd = sl->c_buf;
226 const int rep_len = 2;
228 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
229 cmd[i++] = STLINK_DEBUG_COMMAND;
230 cmd[i++] = STLINK_JTAG_WRITEDEBUG_32BIT;
231 write_uint32(&cmd[i], addr);
232 write_uint32(&cmd[i + 4], data);
233 size = send_recv(slu, 1, cmd, slu->cmd_len, rdata, rep_len);
235 printf("[!] send_recv\n");
240 void _stlink_usb_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
241 struct stlink_libusb * const slu = sl->backend_data;
242 unsigned char* const data = sl->q_buf;
243 unsigned char* const cmd = sl->c_buf;
245 int i = fill_command(sl, SG_DXFER_TO_DEV, len);
246 cmd[i++] = STLINK_DEBUG_COMMAND;
247 cmd[i++] = STLINK_DEBUG_WRITEMEM_32BIT;
248 write_uint32(&cmd[i], addr);
249 write_uint16(&cmd[i + 4], len);
250 send_only(slu, 0, cmd, slu->cmd_len);
252 send_only(slu, 1, data, len);
255 void _stlink_usb_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
256 struct stlink_libusb * const slu = sl->backend_data;
257 unsigned char* const data = sl->q_buf;
258 unsigned char* const cmd = sl->c_buf;
260 int i = fill_command(sl, SG_DXFER_TO_DEV, 0);
261 cmd[i++] = STLINK_DEBUG_COMMAND;
262 cmd[i++] = STLINK_DEBUG_WRITEMEM_8BIT;
263 write_uint32(&cmd[i], addr);
264 write_uint16(&cmd[i + 4], len);
265 send_only(slu, 0, cmd, slu->cmd_len);
266 send_only(slu, 1, data, len);
270 int _stlink_usb_current_mode(stlink_t * sl) {
271 struct stlink_libusb * const slu = sl->backend_data;
272 unsigned char* const cmd = sl->c_buf;
273 unsigned char* const data = sl->q_buf;
276 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
278 cmd[i++] = STLINK_GET_CURRENT_MODE;
279 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
281 printf("[!] send_recv\n");
287 void _stlink_usb_core_id(stlink_t * sl) {
288 struct stlink_libusb * const slu = sl->backend_data;
289 unsigned char* const cmd = sl->c_buf;
290 unsigned char* const data = sl->q_buf;
293 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
295 cmd[i++] = STLINK_DEBUG_COMMAND;
296 cmd[i++] = STLINK_DEBUG_READCOREID;
298 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
300 printf("[!] send_recv\n");
304 sl->core_id = read_uint32(data, 0);
307 void _stlink_usb_status(stlink_t * sl) {
308 struct stlink_libusb * const slu = sl->backend_data;
309 unsigned char* const data = sl->q_buf;
310 unsigned char* const cmd = sl->c_buf;
313 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
315 cmd[i++] = STLINK_DEBUG_COMMAND;
316 cmd[i++] = STLINK_DEBUG_GETSTATUS;
318 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
320 printf("[!] send_recv\n");
325 void _stlink_usb_force_debug(stlink_t *sl) {
326 struct stlink_libusb *slu = sl->backend_data;
327 unsigned char* const data = sl->q_buf;
328 unsigned char* const cmd = sl->c_buf;
331 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
333 cmd[i++] = STLINK_DEBUG_COMMAND;
334 cmd[i++] = STLINK_DEBUG_FORCEDEBUG;
335 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
337 printf("[!] send_recv\n");
342 void _stlink_usb_enter_swd_mode(stlink_t * sl) {
343 struct stlink_libusb * const slu = sl->backend_data;
344 unsigned char* const cmd = sl->c_buf;
346 const int rep_len = 0;
347 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
349 cmd[i++] = STLINK_DEBUG_COMMAND;
350 cmd[i++] = STLINK_DEBUG_ENTER;
351 cmd[i++] = STLINK_DEBUG_ENTER_SWD;
353 size = send_only(slu, 1, cmd, slu->cmd_len);
355 printf("[!] send_recv\n");
360 void _stlink_usb_exit_dfu_mode(stlink_t* sl) {
361 struct stlink_libusb * const slu = sl->backend_data;
362 unsigned char* const cmd = sl->c_buf;
364 int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
366 cmd[i++] = STLINK_DFU_COMMAND;
367 cmd[i++] = STLINK_DFU_EXIT;
369 size = send_only(slu, 1, cmd, slu->cmd_len);
371 printf("[!] send_recv\n");
377 * TODO - not convinced this does anything...
380 void _stlink_usb_reset(stlink_t * sl) {
381 struct stlink_libusb * const slu = sl->backend_data;
382 unsigned char* const data = sl->q_buf;
383 unsigned char* const cmd = sl->c_buf;
386 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
388 cmd[i++] = STLINK_DEBUG_COMMAND;
389 cmd[i++] = STLINK_DEBUG_RESETSYS;
391 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
393 printf("[!] send_recv\n");
399 void _stlink_usb_jtag_reset(stlink_t * sl, int value) {
400 struct stlink_libusb * const slu = sl->backend_data;
401 unsigned char* const data = sl->q_buf;
402 unsigned char* const cmd = sl->c_buf;
405 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
407 cmd[i++] = STLINK_DEBUG_COMMAND;
408 cmd[i++] = STLINK_JTAG_DRIVE_NRST;
409 cmd[i++] = (value)?0:1;
411 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
413 printf("[!] send_recv\n");
419 void _stlink_usb_step(stlink_t* sl) {
420 struct stlink_libusb * const slu = sl->backend_data;
421 unsigned char* const data = sl->q_buf;
422 unsigned char* const cmd = sl->c_buf;
425 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
427 cmd[i++] = STLINK_DEBUG_COMMAND;
428 cmd[i++] = STLINK_DEBUG_STEPCORE;
430 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
432 printf("[!] send_recv\n");
438 * This seems to do a good job of restarting things from the beginning?
441 void _stlink_usb_run(stlink_t* sl) {
442 struct stlink_libusb * const slu = sl->backend_data;
443 unsigned char* const data = sl->q_buf;
444 unsigned char* const cmd = sl->c_buf;
447 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
449 cmd[i++] = STLINK_DEBUG_COMMAND;
450 cmd[i++] = STLINK_DEBUG_RUNCORE;
452 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
454 printf("[!] send_recv\n");
459 void _stlink_usb_exit_debug_mode(stlink_t *sl) {
460 struct stlink_libusb * const slu = sl->backend_data;
461 unsigned char* const cmd = sl->c_buf;
463 int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
465 cmd[i++] = STLINK_DEBUG_COMMAND;
466 cmd[i++] = STLINK_DEBUG_EXIT;
468 size = send_only(slu, 1, cmd, slu->cmd_len);
470 printf("[!] send_only\n");
475 void _stlink_usb_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
476 struct stlink_libusb * const slu = sl->backend_data;
477 unsigned char* const data = sl->q_buf;
478 unsigned char* const cmd = sl->c_buf;
480 int i = fill_command(sl, SG_DXFER_FROM_DEV, len);
482 cmd[i++] = STLINK_DEBUG_COMMAND;
483 cmd[i++] = STLINK_DEBUG_READMEM_32BIT;
484 write_uint32(&cmd[i], addr);
485 write_uint16(&cmd[i + 4], len);
487 size = send_recv(slu, 1, cmd, slu->cmd_len, data, len);
489 printf("[!] send_recv\n");
493 sl->q_len = (size_t) size;
495 stlink_print_data(sl);
498 void _stlink_usb_read_all_regs(stlink_t *sl, reg *regp) {
499 struct stlink_libusb * const slu = sl->backend_data;
500 unsigned char* const cmd = sl->c_buf;
501 unsigned char* const data = sl->q_buf;
503 uint32_t rep_len = 84;
504 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
506 cmd[i++] = STLINK_DEBUG_COMMAND;
507 cmd[i++] = STLINK_DEBUG_READALLREGS;
508 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
510 printf("[!] send_recv\n");
513 sl->q_len = (size_t) size;
514 stlink_print_data(sl);
516 regp->r[i]= read_uint32(sl->q_buf, i*4);
517 regp->xpsr = read_uint32(sl->q_buf, 64);
518 regp->main_sp = read_uint32(sl->q_buf, 68);
519 regp->process_sp = read_uint32(sl->q_buf, 72);
520 regp->rw = read_uint32(sl->q_buf, 76);
521 regp->rw2 = read_uint32(sl->q_buf, 80);
525 DLOG("xpsr = 0x%08x\n", read_uint32(sl->q_buf, 64));
526 DLOG("main_sp = 0x%08x\n", read_uint32(sl->q_buf, 68));
527 DLOG("process_sp = 0x%08x\n", read_uint32(sl->q_buf, 72));
528 DLOG("rw = 0x%08x\n", read_uint32(sl->q_buf, 76));
529 DLOG("rw2 = 0x%08x\n", read_uint32(sl->q_buf, 80));
532 void _stlink_usb_read_reg(stlink_t *sl, int r_idx, reg *regp) {
533 struct stlink_libusb * const slu = sl->backend_data;
534 unsigned char* const data = sl->q_buf;
535 unsigned char* const cmd = sl->c_buf;
538 uint32_t rep_len = 4;
539 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
541 cmd[i++] = STLINK_DEBUG_COMMAND;
542 cmd[i++] = STLINK_DEBUG_READREG;
543 cmd[i++] = (uint8_t) r_idx;
544 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
546 printf("[!] send_recv\n");
549 sl->q_len = (size_t) size;
550 stlink_print_data(sl);
551 r = read_uint32(sl->q_buf, 0);
552 DLOG("r_idx (%2d) = 0x%08x\n", r_idx, r);
562 regp->process_sp = r;
565 regp->rw = r; /* XXX ?(primask, basemask etc.) */
568 regp->rw2 = r; /* XXX ?(primask, basemask etc.) */
575 void _stlink_usb_write_reg(stlink_t *sl, uint32_t reg, int idx) {
576 struct stlink_libusb * const slu = sl->backend_data;
577 unsigned char* const data = sl->q_buf;
578 unsigned char* const cmd = sl->c_buf;
580 uint32_t rep_len = 2;
581 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
583 cmd[i++] = STLINK_DEBUG_COMMAND;
584 cmd[i++] = STLINK_DEBUG_WRITEREG;
586 write_uint32(&cmd[i], reg);
587 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
589 printf("[!] send_recv\n");
592 sl->q_len = (size_t) size;
593 stlink_print_data(sl);
596 stlink_backend_t _stlink_usb_backend = {
598 _stlink_usb_exit_debug_mode,
599 _stlink_usb_enter_swd_mode,
600 NULL, // no enter_jtag_mode here...
601 _stlink_usb_exit_dfu_mode,
604 _stlink_usb_jtag_reset,
608 _stlink_usb_read_debug32,
609 _stlink_usb_read_mem32,
610 _stlink_usb_write_debug32,
611 _stlink_usb_write_mem32,
612 _stlink_usb_write_mem8,
613 _stlink_usb_read_all_regs,
614 _stlink_usb_read_reg,
615 _stlink_usb_write_reg,
617 _stlink_usb_current_mode,
618 _stlink_usb_force_debug
622 stlink_t* stlink_open_usb(const int verbose) {
624 struct stlink_libusb* slu = NULL;
626 libusb_device** devs = NULL;
629 sl = malloc(sizeof (stlink_t));
630 slu = malloc(sizeof (struct stlink_libusb));
631 if (sl == NULL) goto on_error;
632 if (slu == NULL) goto on_error;
633 memset(sl, 0, sizeof (stlink_t));
634 memset(slu, 0, sizeof (struct stlink_libusb));
637 sl->backend = &_stlink_usb_backend;
638 sl->backend_data = slu;
640 sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
642 if (libusb_init(&(slu->libusb_ctx))) {
643 WLOG("failed to init libusb context, wrong version of libraries?\n");
647 slu->usb_handle = libusb_open_device_with_vid_pid(slu->libusb_ctx, USB_ST_VID, USB_STLINK_32L_PID);
648 if (slu->usb_handle == NULL) {
649 slu->usb_handle = libusb_open_device_with_vid_pid(slu->libusb_ctx, USB_ST_VID, USB_STLINK_PID);
650 if (slu->usb_handle == NULL) {
651 WLOG("Couldn't find any ST-Link/V2 devices");
657 if (libusb_kernel_driver_active(slu->usb_handle, 0) == 1) {
660 r = libusb_detach_kernel_driver(slu->usb_handle, 0);
662 WLOG("libusb_detach_kernel_driver(() error %s\n", strerror(-r));
663 goto on_libusb_error;
667 if (libusb_get_configuration(slu->usb_handle, &config)) {
668 /* this may fail for a previous configured device */
669 WLOG("libusb_get_configuration()\n");
670 goto on_libusb_error;
674 printf("setting new configuration (%d -> 1)\n", config);
675 if (libusb_set_configuration(slu->usb_handle, 1)) {
676 /* this may fail for a previous configured device */
677 WLOG("libusb_set_configuration() failed\n");
678 goto on_libusb_error;
682 if (libusb_claim_interface(slu->usb_handle, 0)) {
683 WLOG("libusb_claim_interface() failed\n");
684 goto on_libusb_error;
687 slu->req_trans = libusb_alloc_transfer(0);
688 if (slu->req_trans == NULL) {
689 WLOG("libusb_alloc_transfer failed\n");
690 goto on_libusb_error;
693 slu->rep_trans = libusb_alloc_transfer(0);
694 if (slu->rep_trans == NULL) {
695 WLOG("libusb_alloc_transfer failed\n");
696 goto on_libusb_error;
698 // TODO - could use the scanning techniq from stm8 code here...
699 slu->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN;
700 slu->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT;
702 slu->sg_transfer_idx = 0;
703 // TODO - never used at the moment, always CMD_SIZE
704 slu->cmd_len = (slu->protocoll == 1)? STLINK_SG_SIZE: STLINK_CMD_SIZE;
708 if (stlink_current_mode(sl) == STLINK_DEV_DFU_MODE) {
709 ILOG("-- exit_dfu_mode\n");
710 stlink_exit_dfu_mode(sl);
713 if (stlink_current_mode(sl) != STLINK_DEV_DEBUG_MODE) {
714 stlink_enter_swd_mode(sl);
718 stlink_load_device_params(sl);
725 libusb_free_device_list(devs, 1);
738 libusb_exit(slu->libusb_ctx);
739 if (sl != NULL) free(sl);
740 if (slu != NULL) free(slu);