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).
83 #include <sys/types.h>
86 #include "stlink/logging.h"
88 #define STLINK_OK 0x80
89 #define STLINK_FALSE 0x81
91 static void clear_cdb(struct stlink_libsg *sl) {
92 for (size_t i = 0; i < sizeof (sl->cdb_cmd_blk); i++)
93 sl->cdb_cmd_blk[i] = 0;
95 sl->cdb_cmd_blk[0] = STLINK_DEBUG_COMMAND;
96 sl->q_data_dir = Q_DATA_IN;
100 * Close and free any _backend_ related information...
103 void _stlink_sg_close(stlink_t *sl) {
105 struct stlink_libsg *slsg = sl->backend_data;
106 libusb_close(slsg->usb_handle);
107 libusb_exit(slsg->libusb_ctx);
112 static int get_usb_mass_storage_status(libusb_device_handle *handle, uint8_t endpoint, uint32_t *tag)
114 unsigned char csw[13];
115 memset(csw, 0, sizeof(csw));
120 ret = libusb_bulk_transfer(handle, endpoint, (unsigned char *)&csw, sizeof(csw),
121 &transferred, SG_TIMEOUT_MSEC);
122 if (ret == LIBUSB_ERROR_PIPE) {
123 libusb_clear_halt(handle, endpoint);
126 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
127 if (ret != LIBUSB_SUCCESS) {
128 WLOG("%s: receiving failed: %d\n", __func__, ret);
131 if (transferred != sizeof(csw)) {
132 WLOG("%s: received unexpected amount: %d\n", __func__, transferred);
136 uint32_t rsig = read_uint32(csw, 0);
137 uint32_t rtag = read_uint32(csw, 4);
138 /* uint32_t residue = read_uint32(csw, 8); */
139 #define USB_CSW_SIGNATURE 0x53425355 // 'U' 'S' 'B' 'S' (reversed)
140 if (rsig != USB_CSW_SIGNATURE) {
141 WLOG("status signature was invalid: %#x\n", rsig);
145 uint8_t rstatus = csw[12];
149 static int dump_CDB_command(uint8_t *cdb, uint8_t cdb_len) {
151 char *dbugp = dbugblah;
152 dbugp += sprintf(dbugp, "Sending CDB [");
153 for (uint8_t i = 0; i < cdb_len; i++) {
154 dbugp += sprintf(dbugp, " %#02x", (unsigned int) cdb[i]);
156 sprintf(dbugp, "]\n");
162 * Wraps a CDB mass storage command in the appropriate gunk to get it down
169 * @param expected_rx_size
172 int send_usb_mass_storage_command(libusb_device_handle *handle, uint8_t endpoint_out,
173 uint8_t *cdb, uint8_t cdb_length,
174 uint8_t lun, uint8_t flags, uint32_t expected_rx_size) {
175 DLOG("Sending usb m-s cmd: cdblen:%d, rxsize=%d\n", cdb_length, expected_rx_size);
176 dump_CDB_command(cdb, cdb_length);
185 int real_transferred;
188 uint8_t c_buf[STLINK_SG_SIZE];
189 // tag is allegedly ignored... TODO - verify
194 write_uint32(&c_buf[i], tag);
195 uint32_t this_tag = tag++;
196 write_uint32(&c_buf[i+4], expected_rx_size);
201 c_buf[i++] = cdb_length;
203 // Now the actual CDB request
204 assert(cdb_length <= CDB_SL);
205 memcpy(&(c_buf[i]), cdb, cdb_length);
207 int sending_length = STLINK_SG_SIZE;
211 ret = libusb_bulk_transfer(handle, endpoint_out, c_buf, sending_length,
212 &real_transferred, SG_TIMEOUT_MSEC);
213 if (ret == LIBUSB_ERROR_PIPE) {
214 libusb_clear_halt(handle, endpoint_out);
217 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
218 if (ret != LIBUSB_SUCCESS) {
219 WLOG("sending failed: %d\n", ret);
227 * Straight from stm8 stlink code...
230 * @param endpoint_out
233 get_sense(libusb_device_handle *handle, uint8_t endpoint_in, uint8_t endpoint_out)
235 DLOG("Fetching sense...\n");
237 memset(cdb, 0, sizeof(cdb));
238 #define REQUEST_SENSE 0x03
239 #define REQUEST_SENSE_LENGTH 18
240 cdb[0] = REQUEST_SENSE;
241 cdb[4] = REQUEST_SENSE_LENGTH;
242 uint32_t tag = send_usb_mass_storage_command(handle, endpoint_out, cdb, sizeof(cdb), 0,
243 LIBUSB_ENDPOINT_IN, REQUEST_SENSE_LENGTH);
245 WLOG("refusing to send request sense with tag 0\n");
248 unsigned char sense[REQUEST_SENSE_LENGTH];
253 ret = libusb_bulk_transfer(handle, endpoint_in, sense, sizeof(sense),
254 &transferred, SG_TIMEOUT_MSEC);
255 if (ret == LIBUSB_ERROR_PIPE) {
256 libusb_clear_halt(handle, endpoint_in);
259 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
260 if (ret != LIBUSB_SUCCESS) {
261 WLOG("receiving sense failed: %d\n", ret);
264 if (transferred != sizeof(sense)) {
265 WLOG("received unexpected amount of sense: %d != %d\n", transferred, sizeof(sense));
267 uint32_t received_tag;
268 int status = get_usb_mass_storage_status(handle, endpoint_in, &received_tag);
270 WLOG("receiving sense failed with status: %02x\n", status);
273 if (sense[0] != 0x70 && sense[0] != 0x71) {
274 WLOG("No sense data\n");
276 WLOG("Sense KCQ: %02X %02X %02X\n", sense[2] & 0x0f, sense[12], sense[13]);
281 * Just send a buffer on an endpoint, no questions asked.
282 * Handles repeats, and time outs. Also handles reading status reports and sense
283 * @param handle libusb device *
284 * @param endpoint_out sends
285 * @param endpoint_in used to read status reports back in
286 * @param cbuf what to send
287 * @param length how much to send
288 * @return number of bytes actually sent, or -1 for failures.
290 int send_usb_data_only(libusb_device_handle *handle, unsigned char endpoint_out,
291 unsigned char endpoint_in, unsigned char *cbuf, unsigned int length) {
293 int real_transferred;
296 ret = libusb_bulk_transfer(handle, endpoint_out, cbuf, length,
297 &real_transferred, SG_TIMEOUT_MSEC);
298 if (ret == LIBUSB_ERROR_PIPE) {
299 libusb_clear_halt(handle, endpoint_out);
302 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
303 if (ret != LIBUSB_SUCCESS) {
304 WLOG("sending failed: %d\n", ret);
308 // now, swallow up the status, so that things behave nicely...
309 uint32_t received_tag;
310 // -ve is for my errors, 0 is good, +ve is libusb sense status bytes
311 int status = get_usb_mass_storage_status(handle, endpoint_in, &received_tag);
313 WLOG("receiving status failed: %d\n", status);
317 WLOG("receiving status not passed :(: %02x\n", status);
320 get_sense(handle, endpoint_in, endpoint_out);
324 return real_transferred;
328 int stlink_q(stlink_t *sl) {
329 struct stlink_libsg* sg = sl->backend_data;
330 //uint8_t cdb_len = 6; // FIXME varies!!!
331 uint8_t cdb_len = 10; // FIXME varies!!!
332 uint8_t lun = 0; // always zero...
333 uint32_t tag = send_usb_mass_storage_command(sg->usb_handle, sg->ep_req,
334 sg->cdb_cmd_blk, cdb_len, lun, LIBUSB_ENDPOINT_IN, sl->q_len);
337 // now wait for our response...
338 // length copied from stlink-usb...
339 int rx_length = sl->q_len;
341 int real_transferred;
345 ret = libusb_bulk_transfer(sg->usb_handle, sg->ep_rep, sl->q_buf, rx_length,
346 &real_transferred, SG_TIMEOUT_MSEC);
347 if (ret == LIBUSB_ERROR_PIPE) {
348 libusb_clear_halt(sg->usb_handle, sg->ep_req);
351 } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3));
353 if (ret != LIBUSB_SUCCESS) {
354 WLOG("Receiving failed: %d\n", ret);
358 if (real_transferred != rx_length) {
359 WLOG("received unexpected amount: %d != %d\n", real_transferred, rx_length);
363 uint32_t received_tag;
364 // -ve is for my errors, 0 is good, +ve is libusb sense status bytes
365 int status = get_usb_mass_storage_status(sg->usb_handle, sg->ep_rep, &received_tag);
367 WLOG("receiving status failed: %d\n", status);
371 WLOG("receiving status not passed :(: %02x\n", status);
374 get_sense(sg->usb_handle, sg->ep_rep, sg->ep_req);
377 if (received_tag != tag) {
378 WLOG("received tag %d but expected %d\n", received_tag, tag);
381 if (rx_length > 0 && real_transferred != rx_length) {
387 // TODO thinking, cleanup
389 void stlink_stat(stlink_t *stl, char *txt) {
393 stlink_print_data(stl);
395 switch (stl->q_buf[0]) {
397 DLOG(" %s: ok\n", txt);
400 DLOG(" %s: false\n", txt);
403 DLOG(" %s: unknown\n", txt);
408 int _stlink_sg_version(stlink_t *stl) {
409 struct stlink_libsg *sl = stl->backend_data;
411 sl->cdb_cmd_blk[0] = STLINK_GET_VERSION;
414 return stlink_q(stl);
418 // STLINK_DEV_DFU_MODE || STLINK_DEV_MASS_MODE || STLINK_DEV_DEBUG_MODE
419 // usb dfu || usb mass || jtag or swd
421 int _stlink_sg_current_mode(stlink_t *stl) {
422 struct stlink_libsg *sl = stl->backend_data;
424 sl->cdb_cmd_blk[0] = STLINK_GET_CURRENT_MODE;
430 return stl->q_buf[0];
433 // Exit the mass mode and enter the swd debug mode.
435 int _stlink_sg_enter_swd_mode(stlink_t *sl) {
436 struct stlink_libsg *sg = sl->backend_data;
438 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
439 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_SWD;
440 sl->q_len = 0; // >0 -> aboard
444 // Exit the mass mode and enter the jtag debug mode.
445 // (jtag is disabled in the discovery's stlink firmware)
447 int _stlink_sg_enter_jtag_mode(stlink_t *sl) {
448 struct stlink_libsg *sg = sl->backend_data;
449 DLOG("\n*** stlink_enter_jtag_mode ***\n");
451 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
452 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_JTAG;
457 // XXX kernel driver performs reset, the device temporally disappears
458 // Suspect this is no longer the case when we have ignore on? RECHECK
459 int _stlink_sg_exit_dfu_mode(stlink_t *sl) {
460 struct stlink_libsg *sg = sl->backend_data;
461 DLOG("\n*** stlink_exit_dfu_mode ***\n");
463 sg->cdb_cmd_blk[0] = STLINK_DFU_COMMAND;
464 sg->cdb_cmd_blk[1] = STLINK_DFU_EXIT;
468 [135121.844564] sd 19:0:0:0: [sdb] Unhandled error code
469 [135121.844569] sd 19:0:0:0: [sdb] Result: hostbyte=DID_ERROR driverbyte=DRIVER_OK
470 [135121.844574] sd 19:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 10 00 00 00 08 00
471 [135121.844584] end_request: I/O error, dev sdb, sector 4096
472 [135121.844590] Buffer I/O error on device sdb, logical block 512
473 [135130.122567] usb 6-1: reset full speed USB device using uhci_hcd and address 7
474 [135130.274551] usb 6-1: device firmware changed
475 [135130.274618] usb 6-1: USB disconnect, address 7
476 [135130.275186] VFS: busy inodes on changed media or resized disk sdb
477 [135130.275424] VFS: busy inodes on changed media or resized disk sdb
478 [135130.286758] VFS: busy inodes on changed media or resized disk sdb
479 [135130.292796] VFS: busy inodes on changed media or resized disk sdb
480 [135130.301481] VFS: busy inodes on changed media or resized disk sdb
481 [135130.304316] VFS: busy inodes on changed media or resized disk sdb
482 [135130.431113] usb 6-1: new full speed USB device using uhci_hcd and address 8
483 [135130.629444] usb-storage 6-1:1.0: Quirks match for vid 0483 pid 3744: 102a1
484 [135130.629492] scsi20 : usb-storage 6-1:1.0
485 [135131.625600] scsi 20:0:0:0: Direct-Access STM32 PQ: 0 ANSI: 0
486 [135131.627010] sd 20:0:0:0: Attached scsi generic sg2 type 0
487 [135131.633603] sd 20:0:0:0: [sdb] 64000 512-byte logical blocks: (32.7 MB/31.2 MiB)
488 [135131.633613] sd 20:0:0:0: [sdb] Assuming Write Enabled
489 [135131.633620] sd 20:0:0:0: [sdb] Assuming drive cache: write through
490 [135131.640584] sd 20:0:0:0: [sdb] Assuming Write Enabled
491 [135131.640592] sd 20:0:0:0: [sdb] Assuming drive cache: write through
493 [135131.652634] sd 20:0:0:0: [sdb] Assuming Write Enabled
494 [135131.652639] sd 20:0:0:0: [sdb] Assuming drive cache: write through
495 [135131.652645] sd 20:0:0:0: [sdb] Attached SCSI removable disk
496 [135131.671536] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
497 [135131.671548] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
498 [135131.671553] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
499 [135131.671560] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
500 [135131.671570] end_request: I/O error, dev sdb, sector 63872
501 [135131.671575] Buffer I/O error on device sdb, logical block 7984
502 [135131.678527] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
503 [135131.678532] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
504 [135131.678537] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
505 [135131.678542] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
506 [135131.678551] end_request: I/O error, dev sdb, sector 63872
508 [135131.853565] end_request: I/O error, dev sdb, sector 4096
512 int _stlink_sg_core_id(stlink_t *sl) {
513 struct stlink_libsg *sg = sl->backend_data;
516 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READCOREID;
523 sl->core_id = read_uint32(sl->q_buf, 0);
527 // Arm-core reset -> halted state.
529 int _stlink_sg_reset(stlink_t *sl) {
530 struct stlink_libsg *sg = sl->backend_data;
532 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RESETSYS;
538 stlink_stat(sl, "core reset");
542 // Arm-core reset -> halted state.
544 int _stlink_sg_jtag_reset(stlink_t *sl, int value) {
545 struct stlink_libsg *sg = sl->backend_data;
547 sg->cdb_cmd_blk[1] = STLINK_JTAG_DRIVE_NRST;
548 sg->cdb_cmd_blk[2] = (value)?0:1;
554 stlink_stat(sl, "core reset");
559 // Arm-core status: halted or running.
561 int _stlink_sg_status(stlink_t *sl) {
562 struct stlink_libsg *sg = sl->backend_data;
564 sg->cdb_cmd_blk[1] = STLINK_DEBUG_GETSTATUS;
570 // Force the core into the debug mode -> halted state.
572 int _stlink_sg_force_debug(stlink_t *sl) {
573 struct stlink_libsg *sg = sl->backend_data;
575 sg->cdb_cmd_blk[1] = STLINK_DEBUG_FORCEDEBUG;
581 stlink_stat(sl, "force debug");
585 // Read all arm-core registers.
587 int _stlink_sg_read_all_regs(stlink_t *sl, reg *regp) {
588 struct stlink_libsg *sg = sl->backend_data;
591 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READALLREGS;
597 stlink_print_data(sl);
599 // TODO - most of this should be re-extracted up....
601 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
602 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
603 for (int i = 0; i < 16; i++) {
604 regp->r[i] = read_uint32(sl->q_buf, 4 * i);
606 DLOG("r%2d = 0x%08x\n", i, regp->r[i]);
608 regp->xpsr = read_uint32(sl->q_buf, 64);
609 regp->main_sp = read_uint32(sl->q_buf, 68);
610 regp->process_sp = read_uint32(sl->q_buf, 72);
611 regp->rw = read_uint32(sl->q_buf, 76);
612 regp->rw2 = read_uint32(sl->q_buf, 80);
616 DLOG("xpsr = 0x%08x\n", regp->xpsr);
617 DLOG("main_sp = 0x%08x\n", regp->main_sp);
618 DLOG("process_sp = 0x%08x\n", regp->process_sp);
619 DLOG("rw = 0x%08x\n", regp->rw);
620 DLOG("rw2 = 0x%08x\n", regp->rw2);
625 // Read an arm-core register, the index must be in the range 0..20.
626 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
627 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
629 int _stlink_sg_read_reg(stlink_t *sl, int r_idx, reg *regp) {
630 struct stlink_libsg *sg = sl->backend_data;
632 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READREG;
633 sg->cdb_cmd_blk[2] = r_idx;
639 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
640 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
641 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
642 stlink_print_data(sl);
644 uint32_t r = read_uint32(sl->q_buf, 0);
645 DLOG("r_idx (%2d) = 0x%08x\n", r_idx, r);
655 regp->process_sp = r;
658 regp->rw = r; //XXX ?(primask, basemask etc.)
661 regp->rw2 = r; //XXX ?(primask, basemask etc.)
670 // Write an arm-core register. Index:
671 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
672 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
674 int _stlink_sg_write_reg(stlink_t *sl, uint32_t reg, int idx) {
675 struct stlink_libsg *sg = sl->backend_data;
677 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEREG;
680 sg->cdb_cmd_blk[2] = idx;
681 write_uint32(sg->cdb_cmd_blk + 3, reg);
687 stlink_stat(sl, "write reg");
691 // Write a register of the debug module of the core.
692 // XXX ?(atomic writes)
695 void stlink_write_dreg(stlink_t *sl, uint32_t reg, uint32_t addr) {
696 struct stlink_libsg *sg = sl->backend_data;
697 DLOG("\n*** stlink_write_dreg ***\n");
699 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEDEBUGREG;
700 // 2-5: address of reg of the debug module
702 write_uint32(sg->cdb_cmd_blk + 2, addr);
703 write_uint32(sg->cdb_cmd_blk + 6, reg);
707 stlink_stat(sl, "write debug reg");
710 // Force the core exit the debug mode.
712 int _stlink_sg_run(stlink_t *sl) {
713 struct stlink_libsg *sg = sl->backend_data;
715 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RUNCORE;
721 stlink_stat(sl, "run core");
726 // Step the arm-core.
728 int _stlink_sg_step(stlink_t *sl) {
729 struct stlink_libsg *sg = sl->backend_data;
731 sg->cdb_cmd_blk[1] = STLINK_DEBUG_STEPCORE;
737 stlink_stat(sl, "step core");
742 // see Cortex-M3 Technical Reference Manual
743 // TODO make delegate!
744 void stlink_set_hw_bp(stlink_t *sl, int fp_nr, uint32_t addr, int fp) {
745 DLOG("\n*** stlink_set_hw_bp ***\n");
746 struct stlink_libsg *sg = sl->backend_data;
748 sg->cdb_cmd_blk[1] = STLINK_DEBUG_SETFP;
749 // 2:The number of the flash patch used to set the breakpoint
750 // 3-6: Address of the breakpoint (LSB)
751 // 7: FP_ALL (0x02) / FP_UPPER (0x01) / FP_LOWER (0x00)
752 sl->q_buf[2] = fp_nr;
753 write_uint32(sl->q_buf, addr);
758 stlink_stat(sl, "set flash breakpoint");
763 // TODO make delegate!
764 void stlink_clr_hw_bp(stlink_t *sl, int fp_nr) {
765 struct stlink_libsg *sg = sl->backend_data;
766 DLOG("\n*** stlink_clr_hw_bp ***\n");
768 sg->cdb_cmd_blk[1] = STLINK_DEBUG_CLEARFP;
769 sg->cdb_cmd_blk[2] = fp_nr;
773 stlink_stat(sl, "clear flash breakpoint");
776 // Read a "len" bytes to the sl->q_buf from the memory, max 6kB (6144 bytes)
778 int _stlink_sg_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
779 struct stlink_libsg *sg = sl->backend_data;
781 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READMEM_32BIT;
784 write_uint32(sg->cdb_cmd_blk + 2, addr);
785 write_uint16(sg->cdb_cmd_blk + 6, len);
787 // data_in 0-0x40-len
788 // !!! len _and_ q_len must be max 6k,
789 // i.e. >1024 * 6 = 6144 -> aboard)
790 // !!! if len < q_len: 64*k, 1024*n, n=1..5 -> aboard
791 // (broken residue issue)
797 stlink_print_data(sl);
801 // Write a "len" bytes from the sl->q_buf to the memory, max 64 Bytes.
803 int _stlink_sg_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
804 struct stlink_libsg *sg = sl->backend_data;
808 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_8BIT;
810 // 6-7: len (>0x40 (64) -> aboard)
811 write_uint32(sg->cdb_cmd_blk + 2, addr);
812 write_uint16(sg->cdb_cmd_blk + 6, len);
814 // this sends the command...
815 ret = send_usb_mass_storage_command(sg->usb_handle,
816 sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0);
820 // This sends the data...
821 ret = send_usb_data_only(sg->usb_handle,
822 sg->ep_req, sg->ep_rep, sl->q_buf, len);
826 stlink_print_data(sl);
830 // Write a "len" bytes from the sl->q_buf to the memory, max Q_BUF_LEN bytes.
832 int _stlink_sg_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
833 struct stlink_libsg *sg = sl->backend_data;
837 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_32BIT;
839 // 6-7: len "unlimited"
840 write_uint32(sg->cdb_cmd_blk + 2, addr);
841 write_uint16(sg->cdb_cmd_blk + 6, len);
843 // this sends the command...
844 ret = send_usb_mass_storage_command(sg->usb_handle,
845 sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0);
849 // This sends the data...
850 ret = send_usb_data_only(sg->usb_handle,
851 sg->ep_req, sg->ep_rep, sl->q_buf, len);
855 stlink_print_data(sl);
859 // Write one DWORD data to memory
861 int _stlink_sg_write_debug32(stlink_t *sl, uint32_t addr, uint32_t data) {
862 struct stlink_libsg *sg = sl->backend_data;
864 sg->cdb_cmd_blk[1] = STLINK_JTAG_WRITEDEBUG_32BIT;
866 write_uint32(sg->cdb_cmd_blk + 2, addr);
867 write_uint32(sg->cdb_cmd_blk + 6, data);
872 // Read one DWORD data from memory
874 int _stlink_sg_read_debug32(stlink_t *sl, uint32_t addr, uint32_t *data) {
875 struct stlink_libsg *sg = sl->backend_data;
877 sg->cdb_cmd_blk[1] = STLINK_JTAG_READDEBUG_32BIT;
879 write_uint32(sg->cdb_cmd_blk + 2, addr);
884 *data = read_uint32(sl->q_buf, 4);
888 // Exit the jtag or swd mode and enter the mass mode.
890 int _stlink_sg_exit_debug_mode(stlink_t *stl)
893 struct stlink_libsg* sl = stl->backend_data;
895 sl->cdb_cmd_blk[1] = STLINK_DEBUG_EXIT;
896 stl->q_len = 0; // >0 -> aboard
897 return stlink_q(stl);
904 // 1) open a sg device, switch the stlink from dfu to mass mode
905 // 2) wait 5s until the kernel driver stops reseting the broken device
906 // 3) reopen the device
907 // 4) the device driver is now ready for a switch to jtag/swd mode
908 // TODO thinking, better error handling, wait until the kernel driver stops reseting the plugged-in device
910 stlink_backend_t _stlink_sg_backend = {
912 _stlink_sg_exit_debug_mode,
913 _stlink_sg_enter_swd_mode,
914 _stlink_sg_enter_jtag_mode,
915 _stlink_sg_exit_dfu_mode,
918 _stlink_sg_jtag_reset,
922 _stlink_sg_read_debug32,
923 _stlink_sg_read_mem32,
924 _stlink_sg_write_debug32,
925 _stlink_sg_write_mem32,
926 _stlink_sg_write_mem8,
927 _stlink_sg_read_all_regs,
929 NULL, /* read_all_unsupported_regs */
930 NULL, /* read_unsupported_regs */
931 NULL, /* write_unsupported_regs */
932 _stlink_sg_write_reg,
934 _stlink_sg_current_mode,
935 _stlink_sg_force_debug,
939 static stlink_t* stlink_open(const int verbose) {
941 stlink_t *sl = malloc(sizeof (stlink_t));
942 memset(sl, 0, sizeof(stlink_t));
943 struct stlink_libsg *slsg = malloc(sizeof (struct stlink_libsg));
944 if (sl == NULL || slsg == NULL) {
945 WLOG("Couldn't malloc stlink and stlink_sg structures out of memory!\n");
949 if (libusb_init(&(slsg->libusb_ctx))) {
950 WLOG("failed to init libusb context, wrong version of libraries?\n");
956 libusb_set_debug(slsg->libusb_ctx, 3);
958 slsg->usb_handle = libusb_open_device_with_vid_pid(slsg->libusb_ctx, STLINK_USB_VID_ST, STLINK_USB_PID_STLINK);
959 if (slsg->usb_handle == NULL) {
960 WLOG("Failed to find an stlink v1 by VID:PID\n");
961 libusb_close(slsg->usb_handle);
962 libusb_exit(slsg->libusb_ctx);
969 // Could read the interface config descriptor, and assert lots of the assumptions
971 // assumption: numInterfaces is always 1...
972 if (libusb_kernel_driver_active(slsg->usb_handle, 0) == 1) {
973 int r = libusb_detach_kernel_driver(slsg->usb_handle, 0);
975 WLOG("libusb_detach_kernel_driver(() error %s\n", strerror(-r));
976 libusb_close(slsg->usb_handle);
977 libusb_exit(slsg->libusb_ctx);
982 DLOG("Kernel driver was successfully detached\n");
986 if (libusb_get_configuration(slsg->usb_handle, &config)) {
987 /* this may fail for a previous configured device */
988 WLOG("libusb_get_configuration()\n");
989 libusb_close(slsg->usb_handle);
990 libusb_exit(slsg->libusb_ctx);
997 // assumption: bConfigurationValue is always 1
999 WLOG("Your stlink got into a real weird configuration, trying to fix it!\n");
1000 DLOG("setting new configuration (%d -> 1)\n", config);
1001 if (libusb_set_configuration(slsg->usb_handle, 1)) {
1002 /* this may fail for a previous configured device */
1003 WLOG("libusb_set_configuration() failed\n");
1004 libusb_close(slsg->usb_handle);
1005 libusb_exit(slsg->libusb_ctx);
1012 if (libusb_claim_interface(slsg->usb_handle, 0)) {
1013 WLOG("libusb_claim_interface() failed\n");
1014 libusb_close(slsg->usb_handle);
1015 libusb_exit(slsg->libusb_ctx);
1021 // assumption: endpoint config is fixed mang. really.
1022 slsg->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN;
1023 slsg->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT;
1025 DLOG("Successfully opened stlinkv1 by libusb :)\n");
1027 sl->verbose = verbose;
1028 sl->backend_data = slsg;
1029 sl->backend = &_stlink_sg_backend;
1031 sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
1038 stlink_t* stlink_v1_open_inner(const int verbose) {
1040 stlink_t *sl = stlink_open(verbose);
1042 ELOG("Could not open stlink device\n");
1047 if ((sl->version.st_vid != STLINK_USB_VID_ST) || (sl->version.stlink_pid != STLINK_USB_PID_STLINK)) {
1048 ELOG("WTF? successfully opened, but unable to read version details. BROKEN!\n");
1052 DLOG("Reading current mode...\n");
1053 switch (stlink_current_mode(sl)) {
1054 case STLINK_DEV_MASS_MODE:
1056 case STLINK_DEV_DEBUG_MODE:
1060 ILOG("Current mode unusable, trying to get back to a useful state...\n");
1064 DLOG("Attempting to exit DFU mode\n");
1065 _stlink_sg_exit_dfu_mode(sl);
1067 // re-query device info (and retest)
1069 if ((sl->version.st_vid != STLINK_USB_VID_ST) || (sl->version.stlink_pid != STLINK_USB_PID_STLINK)) {
1070 ELOG("WTF? successfully opened, but unable to read version details. BROKEN!\n");
1077 stlink_t* stlink_v1_open(const int verbose, int reset) {
1078 stlink_t *sl = stlink_v1_open_inner(verbose);
1082 // by now, it _must_ be fully open and in a useful mode....
1083 stlink_enter_swd_mode(sl);
1084 /* Now we are ready to read the parameters */
1088 stlink_load_device_params(sl);
1089 ILOG("Successfully opened a stlink v1 debugger\n");