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 Code format ~ TAB = 8, K&R, linux kernel source, golang oriented
16 Tested compatibility: linux, gcc >= 4.3.3
18 The communication is based on standard USB mass storage device
19 BOT (Bulk Only Transfer)
20 - Endpoint 1: BULK_IN, 64 bytes max
21 - Endpoint 2: BULK_OUT, 64 bytes max
23 All CBW transfers are ordered with the LSB (byte 0) first (little endian).
24 Any command must be answered before sending the next command.
25 Each USB transfer must complete in less than 1s.
27 SB Device Class Definition for Mass Storage Devices:
28 www.usb.org/developers/devclass_docs/usbmassbulk_10.pdf
30 dt - Data Transfer (IN/OUT)
31 CBW - Command Block Wrapper
32 CSW - Command Status Wrapper
33 RFU - Reserved for Future Use
34 scsi_pt - SCSI pass-through
38 http://git.kernel.org/?p=linux/kernel/git/torvalds/linux-2.6.git;a=blob_plain;f=Documentation/kernel-parameters.txt
39 Each entry has the form VID:PID:Flags where VID and PID are Vendor and Product
40 ID values (4-digit hex numbers) and Flags is a set of characters, each corresponding
41 to a common usb-storage quirk flag as follows:
43 a = SANE_SENSE (collect more than 18 bytes of sense data);
44 b = BAD_SENSE (don't collect more than 18 bytes of sense data);
45 c = FIX_CAPACITY (decrease the reported device capacity by one sector);
46 h = CAPACITY_HEURISTICS (decrease the reported device capacity by one sector if the number is odd);
47 i = IGNORE_DEVICE (don't bind to this device);
48 l = NOT_LOCKABLE (don't try to lock and unlock ejectable media);
49 m = MAX_SECTORS_64 (don't transfer more than 64 sectors = 32 KB at a time);
50 o = CAPACITY_OK (accept the capacity reported by the device);
51 r = IGNORE_RESIDUE (the device reports bogus residue values);
52 s = SINGLE_LUN (the device has only one Logical Unit);
53 w = NO_WP_DETECT (don't test whether the medium is write-protected).
55 Example: quirks=0419:aaf5:rl,0421:0433:rc
56 http://permalink.gmane.org/gmane.linux.usb.general/35053
58 modprobe -r usb-storage && modprobe usb-storage quirks=483:3744:l
60 Equivalently, you can add a line saying
62 options usb-storage quirks=483:3744:l
64 to your /etc/modprobe.conf or /etc/modprobe.d/local.conf (or add the "quirks=..."
65 part to an existing options line for usb-storage).
76 #include <sys/types.h>
80 // sgutils2 (apt-get install libsgutils2-dev)
81 #include <scsi/sg_lib.h>
82 #include <scsi/sg_pt.h>
84 #include "stlink-common.h"
85 #include "stlink-sg.h"
88 // Suspends execution of the calling process for
89 // (at least) ms milliseconds.
91 static void delay(int ms) {
92 //fprintf(stderr, "*** wait %d ms\n", ms);
96 static void clear_cdb(struct stlink_libsg *sl) {
97 for (size_t i = 0; i < sizeof (sl->cdb_cmd_blk); i++)
98 sl->cdb_cmd_blk[i] = 0;
100 sl->cdb_cmd_blk[0] = STLINK_DEBUG_COMMAND;
101 sl->q_data_dir = Q_DATA_IN;
104 // E.g. make the valgrind happy.
106 static void clear_buf(stlink_t *sl) {
107 DD(sl, "*** clear_buf ***\n");
108 for (size_t i = 0; i < sizeof (sl->q_buf); i++)
113 // close the device, free the allocated memory
115 void _stlink_sg_close(stlink_t *sl) {
117 struct stlink_libsg *slsg = sl->backend_data;
118 scsi_pt_close_device(slsg->sg_fd);
119 // CAUTION!? s this right?
126 //TODO rewrite/cleanup, save the error in sl
128 static void stlink_confirm_inq(stlink_t *stl, struct sg_pt_base *ptvp) {
129 struct stlink_libsg *sl = stl->backend_data;
130 const int e = sl->do_scsi_pt_err;
132 fprintf(stderr, "scsi_pt error: pass through os error: %s\n",
135 } else if (e == SCSI_PT_DO_BAD_PARAMS) {
136 fprintf(stderr, "scsi_pt error: bad pass through setup\n");
138 } else if (e == SCSI_PT_DO_TIMEOUT) {
139 fprintf(stderr, " pass through timeout\n");
142 const int duration = get_scsi_pt_duration_ms(ptvp);
143 if ((stl->verbose > 1) && (duration >= 0))
144 DD(stl, " duration=%d ms\n", duration);
146 // XXX stlink fw sends broken residue, so ignore it and use the known q_len
147 // "usb-storage quirks=483:3744:r"
148 // forces residue to be ignored and calculated, but this causes aboard if
149 // data_len = 0 and by some other data_len values.
151 const int resid = get_scsi_pt_resid(ptvp);
152 const int dsize = stl->q_len - resid;
154 const int cat = get_scsi_pt_result_category(ptvp);
159 case SCSI_PT_RESULT_GOOD:
160 if (stl->verbose && (resid > 0))
161 DD(stl, " notice: requested %d bytes but "
162 "got %d bytes, ignore [broken] residue = %d\n",
163 stl->q_len, dsize, resid);
165 case SCSI_PT_RESULT_STATUS:
167 sg_get_scsi_status_str(
168 get_scsi_pt_status_response(ptvp), sizeof (buf),
170 DD(stl, " scsi status: %s\n", buf);
173 case SCSI_PT_RESULT_SENSE:
174 slen = get_scsi_pt_sense_len(ptvp);
176 sg_get_sense_str("", sl->sense_buf, slen, (stl->verbose
177 > 1), sizeof (buf), buf);
180 if (stl->verbose && (resid > 0)) {
181 if ((stl->verbose) || (stl->q_len > 0))
182 DD(stl, " requested %d bytes but "
183 "got %d bytes\n", stl->q_len, dsize);
186 case SCSI_PT_RESULT_TRANSPORT_ERR:
188 get_scsi_pt_transport_err_str(ptvp, sizeof (buf), buf);
189 // http://tldp.org/HOWTO/SCSI-Generic-HOWTO/x291.html
190 // These codes potentially come from the firmware on a host adapter
191 // or from one of several hosts that an adapter driver controls.
192 // The 'host_status' field has the following values:
193 // [0x07] Internal error detected in the host adapter.
194 // This may not be fatal (and the command may have succeeded).
195 DD(stl, " transport: %s", buf);
198 case SCSI_PT_RESULT_OS_ERR:
200 get_scsi_pt_os_err_str(ptvp, sizeof (buf), buf);
201 DD(stl, " os: %s", buf);
205 fprintf(stderr, " unknown pass through result "
206 "category (%d)\n", cat);
210 void stlink_q(stlink_t *sl) {
211 struct stlink_libsg* sg = sl->backend_data;
213 for (int i = 0; i < CDB_SL; i++)
214 DD(sl, " 0x%02x", (unsigned int) sg->cdb_cmd_blk[i]);
217 // Get control command descriptor of scsi structure,
218 // (one object per command!!)
219 struct sg_pt_base *ptvp = construct_scsi_pt_obj();
221 fprintf(stderr, "construct_scsi_pt_obj: out of memory\n");
225 set_scsi_pt_cdb(ptvp, sg->cdb_cmd_blk, sizeof (sg->cdb_cmd_blk));
227 // set buffer for sense (error information) data
228 set_scsi_pt_sense(ptvp, sg->sense_buf, sizeof (sg->sense_buf));
230 // Set a buffer to be used for data transferred from device
231 if (sg->q_data_dir == Q_DATA_IN) {
233 set_scsi_pt_data_in(ptvp, sl->q_buf, sl->q_len);
235 set_scsi_pt_data_out(ptvp, sl->q_buf, sl->q_len);
237 // Executes SCSI command (or at least forwards it to lower layers).
238 sg->do_scsi_pt_err = do_scsi_pt(ptvp, sg->sg_fd, SG_TIMEOUT_SEC,
241 // check for scsi errors
242 stlink_confirm_inq(sl, ptvp);
243 // TODO recycle: clear_scsi_pt_obj(struct sg_pt_base * objp);
244 destruct_scsi_pt_obj(ptvp);
247 // TODO thinking, cleanup
249 void stlink_parse_version(stlink_t *stl) {
250 struct stlink_libsg *sl = stl->backend_data;
253 if (stl->q_len <= 0) {
254 fprintf(stderr, "Error: could not parse the stlink version");
257 stlink_print_data(stl);
258 uint32_t b0 = stl->q_buf[0]; //lsb
259 uint32_t b1 = stl->q_buf[1];
260 uint32_t b2 = stl->q_buf[2];
261 uint32_t b3 = stl->q_buf[3];
262 uint32_t b4 = stl->q_buf[4];
263 uint32_t b5 = stl->q_buf[5]; //msb
265 // b0 b1 || b2 b3 | b4 b5
266 // 4b | 6b | 6b || 2B | 2B
267 // stlink_v | jtag_v | swim_v || st_vid | stlink_pid
269 sl->stlink_v = (b0 & 0xf0) >> 4;
270 sl->jtag_v = ((b0 & 0x0f) << 2) | ((b1 & 0xc0) >> 6);
271 sl->swim_v = b1 & 0x3f;
272 sl->st_vid = (b3 << 8) | b2;
273 sl->stlink_pid = (b5 << 8) | b4;
275 if (stl->verbose < 2)
278 DD(stl, "st vid = 0x%04x (expect 0x%04x)\n",
279 sl->st_vid, USB_ST_VID);
280 DD(stl, "stlink pid = 0x%04x (expect 0x%04x)\n",
281 sl->stlink_pid, USB_STLINK_PID);
282 DD(stl, "stlink version = 0x%x\n", sl->stlink_v);
283 DD(stl, "jtag version = 0x%x\n", sl->jtag_v);
284 DD(stl, "swim version = 0x%x\n", sl->swim_v);
287 " notice: the firmware doesn't support a jtag/swd interface\n");
290 " notice: the firmware doesn't support a swim interface\n");
294 void stlink_stat(stlink_t *stl, char *txt) {
298 stlink_print_data(stl);
300 switch (stl->q_buf[0]) {
302 DD(stl, " %s: ok\n", txt);
305 DD(stl, " %s: false\n", txt);
308 DD(stl, " %s: unknown\n", txt);
312 void _stlink_sg_version(stlink_t *stl) {
313 struct stlink_libsg *sl = stl->backend_data;
314 D(stl, "\n*** stlink_version ***\n");
316 sl->cdb_cmd_blk[0] = STLINK_GET_VERSION;
320 stlink_parse_version(stl);
324 // STLINK_DEV_DFU_MODE || STLINK_DEV_MASS_MODE || STLINK_DEV_DEBUG_MODE
325 // usb dfu || usb mass || jtag or swd
327 int _stlink_sg_current_mode(stlink_t *stl) {
328 struct stlink_libsg *sl = stl->backend_data;
330 sl->cdb_cmd_blk[0] = STLINK_GET_CURRENT_MODE;
334 return stl->q_buf[0];
337 // Exit the mass mode and enter the swd debug mode.
339 void _stlink_sg_enter_swd_mode(stlink_t *sl) {
340 struct stlink_libsg *sg = sl->backend_data;
342 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
343 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_SWD;
344 sl->q_len = 0; // >0 -> aboard
348 // Exit the mass mode and enter the jtag debug mode.
349 // (jtag is disabled in the discovery's stlink firmware)
351 void _stlink_sg_enter_jtag_mode(stlink_t *sl) {
352 struct stlink_libsg *sg = sl->backend_data;
353 D(sl, "\n*** stlink_enter_jtag_mode ***\n");
355 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
356 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_JTAG;
361 // XXX kernel driver performs reset, the device temporally disappears
363 void _stlink_sg_exit_dfu_mode(stlink_t *sl) {
364 struct stlink_libsg *sg = sl->backend_data;
365 D(sl, "\n*** stlink_exit_dfu_mode ***\n");
367 sg->cdb_cmd_blk[0] = STLINK_DFU_COMMAND;
368 sg->cdb_cmd_blk[1] = STLINK_DFU_EXIT;
372 [135121.844564] sd 19:0:0:0: [sdb] Unhandled error code
373 [135121.844569] sd 19:0:0:0: [sdb] Result: hostbyte=DID_ERROR driverbyte=DRIVER_OK
374 [135121.844574] sd 19:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 10 00 00 00 08 00
375 [135121.844584] end_request: I/O error, dev sdb, sector 4096
376 [135121.844590] Buffer I/O error on device sdb, logical block 512
377 [135130.122567] usb 6-1: reset full speed USB device using uhci_hcd and address 7
378 [135130.274551] usb 6-1: device firmware changed
379 [135130.274618] usb 6-1: USB disconnect, address 7
380 [135130.275186] VFS: busy inodes on changed media or resized disk sdb
381 [135130.275424] VFS: busy inodes on changed media or resized disk sdb
382 [135130.286758] VFS: busy inodes on changed media or resized disk sdb
383 [135130.292796] VFS: busy inodes on changed media or resized disk sdb
384 [135130.301481] VFS: busy inodes on changed media or resized disk sdb
385 [135130.304316] VFS: busy inodes on changed media or resized disk sdb
386 [135130.431113] usb 6-1: new full speed USB device using uhci_hcd and address 8
387 [135130.629444] usb-storage 6-1:1.0: Quirks match for vid 0483 pid 3744: 102a1
388 [135130.629492] scsi20 : usb-storage 6-1:1.0
389 [135131.625600] scsi 20:0:0:0: Direct-Access STM32 PQ: 0 ANSI: 0
390 [135131.627010] sd 20:0:0:0: Attached scsi generic sg2 type 0
391 [135131.633603] sd 20:0:0:0: [sdb] 64000 512-byte logical blocks: (32.7 MB/31.2 MiB)
392 [135131.633613] sd 20:0:0:0: [sdb] Assuming Write Enabled
393 [135131.633620] sd 20:0:0:0: [sdb] Assuming drive cache: write through
394 [135131.640584] sd 20:0:0:0: [sdb] Assuming Write Enabled
395 [135131.640592] sd 20:0:0:0: [sdb] Assuming drive cache: write through
397 [135131.652634] sd 20:0:0:0: [sdb] Assuming Write Enabled
398 [135131.652639] sd 20:0:0:0: [sdb] Assuming drive cache: write through
399 [135131.652645] sd 20:0:0:0: [sdb] Attached SCSI removable disk
400 [135131.671536] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
401 [135131.671548] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
402 [135131.671553] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
403 [135131.671560] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
404 [135131.671570] end_request: I/O error, dev sdb, sector 63872
405 [135131.671575] Buffer I/O error on device sdb, logical block 7984
406 [135131.678527] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
407 [135131.678532] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
408 [135131.678537] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
409 [135131.678542] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
410 [135131.678551] end_request: I/O error, dev sdb, sector 63872
412 [135131.853565] end_request: I/O error, dev sdb, sector 4096
416 void _stlink_sg_core_id(stlink_t *sl) {
417 struct stlink_libsg *sg = sl->backend_data;
419 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READCOREID;
423 sl->core_id = read_uint32(sl->q_buf, 0);
426 stlink_print_data(sl);
429 // Arm-core reset -> halted state.
431 void _stlink_sg_reset(stlink_t *sl) {
432 struct stlink_libsg *sg = sl->backend_data;
434 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RESETSYS;
438 stlink_stat(sl, "core reset");
441 // Arm-core status: halted or running.
443 void _stlink_sg_status(stlink_t *sl) {
444 struct stlink_libsg *sg = sl->backend_data;
445 D(sl, "\n*** stlink_status ***\n");
447 sg->cdb_cmd_blk[1] = STLINK_DEBUG_GETSTATUS;
453 // Force the core into the debug mode -> halted state.
455 void stlink_force_debug(stlink_t *sl) {
456 struct stlink_libsg *sg = sl->backend_data;
457 D(sl, "\n*** stlink_force_debug ***\n");
459 sg->cdb_cmd_blk[1] = STLINK_DEBUG_FORCEDEBUG;
463 stlink_stat(sl, "force debug");
466 // Read all arm-core registers.
468 void _stlink_sg_read_all_regs(stlink_t *sl, reg *regp) {
469 struct stlink_libsg *sg = sl->backend_data;
471 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READALLREGS;
475 stlink_print_data(sl);
477 // TODO - most of this should be re-extracted up....
479 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
480 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
481 for (int i = 0; i < 16; i++) {
482 sg->reg.r[i] = read_uint32(sl->q_buf, 4 * i);
484 DD(sl, "r%2d = 0x%08x\n", i, sg->reg.r[i]);
486 sg->reg.xpsr = read_uint32(sl->q_buf, 64);
487 sg->reg.main_sp = read_uint32(sl->q_buf, 68);
488 sg->reg.process_sp = read_uint32(sl->q_buf, 72);
489 sg->reg.rw = read_uint32(sl->q_buf, 76);
490 sg->reg.rw2 = read_uint32(sl->q_buf, 80);
494 DD(sl, "xpsr = 0x%08x\n", sg->reg.xpsr);
495 DD(sl, "main_sp = 0x%08x\n", sg->reg.main_sp);
496 DD(sl, "process_sp = 0x%08x\n", sg->reg.process_sp);
497 DD(sl, "rw = 0x%08x\n", sg->reg.rw);
498 DD(sl, "rw2 = 0x%08x\n", sg->reg.rw2);
501 // Read an arm-core register, the index must be in the range 0..20.
502 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
503 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
505 void _stlink_sg_read_reg(stlink_t *sl, int r_idx, reg *regp) {
506 struct stlink_libsg *sg = sl->backend_data;
508 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READREG;
509 sg->cdb_cmd_blk[2] = r_idx;
513 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
514 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
515 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
516 stlink_print_data(sl);
518 uint32_t r = read_uint32(sl->q_buf, 0);
519 DD(sl, "r_idx (%2d) = 0x%08x\n", r_idx, r);
529 regp->process_sp = r;
532 regp->rw = r; //XXX ?(primask, basemask etc.)
535 regp->rw2 = r; //XXX ?(primask, basemask etc.)
542 // Write an arm-core register. Index:
543 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
544 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
546 void _stlink_sg_write_reg(stlink_t *sl, uint32_t reg, int idx) {
547 struct stlink_libsg *sg = sl->backend_data;
549 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEREG;
552 sg->cdb_cmd_blk[2] = idx;
553 write_uint32(sg->cdb_cmd_blk + 3, reg);
557 stlink_stat(sl, "write reg");
560 // Write a register of the debug module of the core.
561 // XXX ?(atomic writes)
564 void stlink_write_dreg(stlink_t *sl, uint32_t reg, uint32_t addr) {
565 struct stlink_libsg *sg = sl->backend_data;
566 D(sl, "\n*** stlink_write_dreg ***\n");
568 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEDEBUGREG;
569 // 2-5: address of reg of the debug module
571 write_uint32(sg->cdb_cmd_blk + 2, addr);
572 write_uint32(sg->cdb_cmd_blk + 6, reg);
576 stlink_stat(sl, "write debug reg");
579 // Force the core exit the debug mode.
581 void _stlink_sg_run(stlink_t *sl) {
582 struct stlink_libsg *sg = sl->backend_data;
583 D(sl, "\n*** stlink_run ***\n");
585 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RUNCORE;
589 stlink_stat(sl, "run core");
592 // Step the arm-core.
594 void _stlink_sg_step(stlink_t *sl) {
595 struct stlink_libsg *sg = sl->backend_data;
597 sg->cdb_cmd_blk[1] = STLINK_DEBUG_STEPCORE;
601 stlink_stat(sl, "step core");
605 // see Cortex-M3 Technical Reference Manual
606 // TODO make delegate!
607 void stlink_set_hw_bp(stlink_t *sl, int fp_nr, uint32_t addr, int fp) {
608 D(sl, "\n*** stlink_set_hw_bp ***\n");
609 struct stlink_libsg *sg = sl->backend_data;
611 sg->cdb_cmd_blk[1] = STLINK_DEBUG_SETFP;
612 // 2:The number of the flash patch used to set the breakpoint
613 // 3-6: Address of the breakpoint (LSB)
614 // 7: FP_ALL (0x02) / FP_UPPER (0x01) / FP_LOWER (0x00)
615 sl->q_buf[2] = fp_nr;
616 write_uint32(sl->q_buf, addr);
621 stlink_stat(sl, "set flash breakpoint");
626 // TODO make delegate!
627 void stlink_clr_hw_bp(stlink_t *sl, int fp_nr) {
628 struct stlink_libsg *sg = sl->backend_data;
629 D(sl, "\n*** stlink_clr_hw_bp ***\n");
631 sg->cdb_cmd_blk[1] = STLINK_DEBUG_CLEARFP;
632 sg->cdb_cmd_blk[2] = fp_nr;
636 stlink_stat(sl, "clear flash breakpoint");
639 // Read a "len" bytes to the sl->q_buf from the memory, max 6kB (6144 bytes)
641 void _stlink_sg_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
642 struct stlink_libsg *sg = sl->backend_data;
644 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READMEM_32BIT;
647 write_uint32(sg->cdb_cmd_blk + 2, addr);
648 write_uint16(sg->cdb_cmd_blk + 6, len);
650 // data_in 0-0x40-len
651 // !!! len _and_ q_len must be max 6k,
652 // i.e. >1024 * 6 = 6144 -> aboard)
653 // !!! if len < q_len: 64*k, 1024*n, n=1..5 -> aboard
654 // (broken residue issue)
658 stlink_print_data(sl);
661 // Write a "len" bytes from the sl->q_buf to the memory, max 64 Bytes.
663 void _stlink_sg_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
664 struct stlink_libsg *sg = sl->backend_data;
666 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_8BIT;
668 // 6-7: len (>0x40 (64) -> aboard)
669 write_uint32(sg->cdb_cmd_blk + 2, addr);
670 write_uint16(sg->cdb_cmd_blk + 6, len);
675 sg->q_data_dir = Q_DATA_OUT;
677 stlink_print_data(sl);
680 // Write a "len" bytes from the sl->q_buf to the memory, max Q_BUF_LEN bytes.
682 void _stlink_sg_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
683 struct stlink_libsg *sg = sl->backend_data;
685 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_32BIT;
687 // 6-7: len "unlimited"
688 write_uint32(sg->cdb_cmd_blk + 2, addr);
689 write_uint16(sg->cdb_cmd_blk + 6, len);
691 // data_out 0-0x40-...-len
694 sg->q_data_dir = Q_DATA_OUT;
696 stlink_print_data(sl);
699 #if 0 /* not working */
701 static int write_flash_mem16
702 (struct stlink* sl, uint32_t addr, uint16_t val) {
703 /* half word writes */
704 if (addr % 2) return -1;
706 /* unlock if locked */
709 /* set flash programming chosen bit */
712 write_uint16(sl->q_buf, val);
713 stlink_write_mem16(sl, addr, 2);
715 /* wait for non business */
720 /* check the programmed value back */
721 stlink_read_mem16(sl, addr, 2);
722 if (*(const uint16_t*) sl->q_buf != val) {
723 /* values differ at i * sizeof(uint16_t) */
730 #endif /* not working */
732 // Exit the jtag or swd mode and enter the mass mode.
734 void _stlink_sg_exit_debug_mode(stlink_t *stl) {
737 struct stlink_libsg* sl = stl->backend_data;
739 sl->cdb_cmd_blk[1] = STLINK_DEBUG_EXIT;
740 stl->q_len = 0; // >0 -> aboard
746 // 1) open a sg device, switch the stlink from dfu to mass mode
747 // 2) wait 5s until the kernel driver stops reseting the broken device
748 // 3) reopen the device
749 // 4) the device driver is now ready for a switch to jtag/swd mode
750 // TODO thinking, better error handling, wait until the kernel driver stops reseting the plugged-in device
752 stlink_backend_t _stlink_sg_backend = {
754 _stlink_sg_exit_debug_mode,
755 _stlink_sg_enter_swd_mode,
756 _stlink_sg_enter_jtag_mode,
757 _stlink_sg_exit_dfu_mode,
763 _stlink_sg_read_mem32,
764 _stlink_sg_write_mem32,
765 _stlink_sg_write_mem8,
766 _stlink_sg_read_all_regs,
768 _stlink_sg_write_reg,
770 _stlink_sg_current_mode
773 stlink_t* stlink_open(const char *dev_name, const int verbose) {
774 fprintf(stderr, "\n*** stlink_open [%s] ***\n", dev_name);
775 int sg_fd = scsi_pt_open_device(dev_name, RDWR, verbose);
777 fprintf(stderr, "error opening device: %s: %s\n", dev_name,
778 safe_strerror(-sg_fd));
782 stlink_t *sl = malloc(sizeof (stlink_t));
783 struct stlink_libsg *slsg = malloc(sizeof (struct stlink_libsg));
784 if (sl == NULL || slsg == NULL) {
785 fprintf(stderr, "Couldn't malloc stlink and stlink_sg structures out of memory!\n");
788 sl->verbose = verbose;
789 sl->backend_data = slsg;
790 sl->backend = &_stlink_sg_backend;
793 sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
798 /* flash memory settings */
799 sl->flash_base = STM32_FLASH_BASE;
800 sl->flash_size = STM32_FLASH_SIZE;
801 sl->flash_pgsz = STM32_FLASH_PGSZ;
804 sl->sys_base = STM32_SYSTEM_BASE;
805 sl->sys_size = STM32_SYSTEM_SIZE;
807 /* sram memory settings */
808 sl->sram_base = STM32_SRAM_BASE;
809 sl->sram_size = STM32_SRAM_SIZE;
816 stlink_t* stlink_quirk_open(const char *dev_name, const int verbose) {
818 stlink_t *sl = stlink_open(dev_name, verbose);
820 fputs("Error: could not open stlink device\n", stderr);
825 struct stlink_libsg *sg = sl->backend_data;
827 if (sg->st_vid != USB_ST_VID || sg->stlink_pid != USB_STLINK_PID) {
828 fprintf(stderr, "Error: the device %s is not a stlink\n",
830 fprintf(stderr, " VID: got %04x expect %04x \n",
831 sg->st_vid, USB_ST_VID);
832 fprintf(stderr, " PID: got %04x expect %04x \n",
833 sg->stlink_pid, USB_STLINK_PID);
837 D(sl, "\n*** stlink_force_open ***\n");
838 switch (stlink_current_mode(sl)) {
839 case STLINK_DEV_MASS_MODE:
841 case STLINK_DEV_DEBUG_MODE:
845 DD(sl, "\n*** switch the stlink to mass mode ***\n");
846 _stlink_sg_exit_dfu_mode(sl);
847 // exit the dfu mode -> the device is gone
848 DD(sl, "\n*** reopen the stlink device ***\n");
853 sl = stlink_open(dev_name, verbose);
855 fputs("Error: could not open stlink device\n", stderr);
858 // re-query device info
863 static void __attribute__((unused)) mark_buf(stlink_t *sl) {
870 sl->q_buf[15] = 0x42;
871 sl->q_buf[16] = 0x43;
872 sl->q_buf[63] = 0x42;
873 sl->q_buf[64] = 0x43;
874 sl->q_buf[1024 * 6 - 1] = 0x42; //6kB
875 sl->q_buf[1024 * 8 - 1] = 0x42; //8kB