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).
67 https://wiki.kubuntu.org/Kernel/Debugging/USB explains the protocoll and
68 would allow to replace the sg access to pure libusb access
79 #include <sys/types.h>
83 #include "stlink-common.h"
84 #include "stlink-sg.h"
85 #include "uglylogging.h"
87 #define LOG_TAG __FILE__
88 #define DLOG(format, args...) ugly_log(UDEBUG, LOG_TAG, format, ## args)
89 #define ILOG(format, args...) ugly_log(UINFO, LOG_TAG, format, ## args)
90 #define WLOG(format, args...) ugly_log(UWARN, LOG_TAG, format, ## args)
91 #define fatal(format, args...) ugly_log(UFATAL, LOG_TAG, format, ## args)
93 // Suspends execution of the calling process for
94 // (at least) ms milliseconds.
96 static void delay(int ms) {
97 //fprintf(stderr, "*** wait %d ms\n", ms);
101 static void clear_cdb(struct stlink_libsg *sl) {
102 for (size_t i = 0; i < sizeof (sl->cdb_cmd_blk); i++)
103 sl->cdb_cmd_blk[i] = 0;
105 sl->cdb_cmd_blk[0] = STLINK_DEBUG_COMMAND;
106 sl->q_data_dir = Q_DATA_IN;
109 // E.g. make the valgrind happy.
111 static void clear_buf(stlink_t *sl) {
112 DLOG("*** clear_buf ***\n");
113 for (size_t i = 0; i < sizeof (sl->q_buf); i++)
118 // close the device, free the allocated memory
120 void _stlink_sg_close(stlink_t *sl) {
123 struct stlink_libsg *slsg = sl->backend_data;
124 scsi_pt_close_device(slsg->sg_fd);
131 //TODO rewrite/cleanup, save the error in sl
134 static void stlink_confirm_inq(stlink_t *stl, struct sg_pt_base *ptvp) {
135 struct stlink_libsg *sl = stl->backend_data;
136 const int e = sl->do_scsi_pt_err;
138 fprintf(stderr, "scsi_pt error: pass through os error: %s\n",
141 } else if (e == SCSI_PT_DO_BAD_PARAMS) {
142 fprintf(stderr, "scsi_pt error: bad pass through setup\n");
144 } else if (e == SCSI_PT_DO_TIMEOUT) {
145 fprintf(stderr, " pass through timeout\n");
148 const int duration = get_scsi_pt_duration_ms(ptvp);
149 if ((stl->verbose > 1) && (duration >= 0))
150 DLOG(" duration=%d ms\n", duration);
152 // XXX stlink fw sends broken residue, so ignore it and use the known q_len
153 // "usb-storage quirks=483:3744:r"
154 // forces residue to be ignored and calculated, but this causes aboard if
155 // data_len = 0 and by some other data_len values.
157 const int resid = get_scsi_pt_resid(ptvp);
158 const int dsize = stl->q_len - resid;
160 const int cat = get_scsi_pt_result_category(ptvp);
165 case SCSI_PT_RESULT_GOOD:
166 if (stl->verbose && (resid > 0))
167 DLOG(" notice: requested %d bytes but "
168 "got %d bytes, ignore [broken] residue = %d\n",
169 stl->q_len, dsize, resid);
171 case SCSI_PT_RESULT_STATUS:
173 sg_get_scsi_status_str(
174 get_scsi_pt_status_response(ptvp), sizeof (buf),
176 DLOG(" scsi status: %s\n", buf);
179 case SCSI_PT_RESULT_SENSE:
180 slen = get_scsi_pt_sense_len(ptvp);
182 sg_get_sense_str("", sl->sense_buf, slen, (stl->verbose
183 > 1), sizeof (buf), buf);
186 if (stl->verbose && (resid > 0)) {
187 if ((stl->verbose) || (stl->q_len > 0))
188 DLOG(" requested %d bytes but "
189 "got %d bytes\n", stl->q_len, dsize);
192 case SCSI_PT_RESULT_TRANSPORT_ERR:
194 get_scsi_pt_transport_err_str(ptvp, sizeof (buf), buf);
195 // http://tldp.org/HOWTO/SCSI-Generic-HOWTO/x291.html
196 // These codes potentially come from the firmware on a host adapter
197 // or from one of several hosts that an adapter driver controls.
198 // The 'host_status' field has the following values:
199 // [0x07] Internal error detected in the host adapter.
200 // This may not be fatal (and the command may have succeeded).
201 DLOG(" transport: %s", buf);
204 case SCSI_PT_RESULT_OS_ERR:
206 get_scsi_pt_os_err_str(ptvp, sizeof (buf), buf);
207 DLOG(" os: %s", buf);
211 fprintf(stderr, " unknown pass through result "
212 "category (%d)\n", cat);
217 void stlink_q(stlink_t *sl) {
219 struct stlink_libsg* sg = sl->backend_data;
221 for (int i = 0; i < CDB_SL; i++)
222 DLOG(" 0x%02x", (unsigned int) sg->cdb_cmd_blk[i]);
225 // Get control command descriptor of scsi structure,
226 // (one object per command!!)
227 struct sg_pt_base *ptvp = construct_scsi_pt_obj();
229 fprintf(stderr, "construct_scsi_pt_obj: out of memory\n");
233 set_scsi_pt_cdb(ptvp, sg->cdb_cmd_blk, sizeof (sg->cdb_cmd_blk));
235 // set buffer for sense (error information) data
236 set_scsi_pt_sense(ptvp, sg->sense_buf, sizeof (sg->sense_buf));
238 // Set a buffer to be used for data transferred from device
239 if (sg->q_data_dir == Q_DATA_IN) {
241 set_scsi_pt_data_in(ptvp, sl->q_buf, sl->q_len);
243 set_scsi_pt_data_out(ptvp, sl->q_buf, sl->q_len);
245 // Executes SCSI command (or at least forwards it to lower layers).
246 sg->do_scsi_pt_err = do_scsi_pt(ptvp, sg->sg_fd, SG_TIMEOUT_SEC,
249 // check for scsi errors
250 stlink_confirm_inq(sl, ptvp);
251 // TODO recycle: clear_scsi_pt_obj(struct sg_pt_base * objp);
252 destruct_scsi_pt_obj(ptvp);
256 // TODO thinking, cleanup
258 void stlink_stat(stlink_t *stl, char *txt) {
262 stlink_print_data(stl);
264 switch (stl->q_buf[0]) {
266 DLOG(" %s: ok\n", txt);
269 DLOG(" %s: false\n", txt);
272 DLOG(" %s: unknown\n", txt);
277 static void parse_version(stlink_t *stl) {
278 struct stlink_libsg *sl = stl->backend_data;
283 if (stl->q_len <= 0) {
284 fprintf(stderr, "Error: could not parse the stlink version");
288 uint32_t b0 = stl->q_buf[0]; //lsb
289 uint32_t b1 = stl->q_buf[1];
290 uint32_t b2 = stl->q_buf[2];
291 uint32_t b3 = stl->q_buf[3];
292 uint32_t b4 = stl->q_buf[4];
293 uint32_t b5 = stl->q_buf[5]; //msb
295 // b0 b1 || b2 b3 | b4 b5
296 // 4b | 6b | 6b || 2B | 2B
297 // stlink_v | jtag_v | swim_v || st_vid | stlink_pid
299 sl->stlink_v = (b0 & 0xf0) >> 4;
300 sl->jtag_v = ((b0 & 0x0f) << 2) | ((b1 & 0xc0) >> 6);
301 sl->swim_v = b1 & 0x3f;
302 sl->st_vid = (b3 << 8) | b2;
303 sl->stlink_pid = (b5 << 8) | b4;
306 void _stlink_sg_version(stlink_t *stl) {
307 struct stlink_libsg *sl = stl->backend_data;
308 DLOG("\n*** stlink_version ***\n");
310 sl->cdb_cmd_blk[0] = STLINK_GET_VERSION;
318 // STLINK_DEV_DFU_MODE || STLINK_DEV_MASS_MODE || STLINK_DEV_DEBUG_MODE
319 // usb dfu || usb mass || jtag or swd
321 int _stlink_sg_current_mode(stlink_t *stl) {
322 struct stlink_libsg *sl = stl->backend_data;
324 sl->cdb_cmd_blk[0] = STLINK_GET_CURRENT_MODE;
328 return stl->q_buf[0];
331 // Exit the mass mode and enter the swd debug mode.
333 void _stlink_sg_enter_swd_mode(stlink_t *sl) {
334 struct stlink_libsg *sg = sl->backend_data;
336 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
337 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_SWD;
338 sl->q_len = 0; // >0 -> aboard
342 // Exit the mass mode and enter the jtag debug mode.
343 // (jtag is disabled in the discovery's stlink firmware)
345 void _stlink_sg_enter_jtag_mode(stlink_t *sl) {
346 struct stlink_libsg *sg = sl->backend_data;
347 DLOG("\n*** stlink_enter_jtag_mode ***\n");
349 sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER;
350 sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_JTAG;
355 // XXX kernel driver performs reset, the device temporally disappears
357 void _stlink_sg_exit_dfu_mode(stlink_t *sl) {
358 struct stlink_libsg *sg = sl->backend_data;
359 DLOG("\n*** stlink_exit_dfu_mode ***\n");
361 sg->cdb_cmd_blk[0] = STLINK_DFU_COMMAND;
362 sg->cdb_cmd_blk[1] = STLINK_DFU_EXIT;
366 [135121.844564] sd 19:0:0:0: [sdb] Unhandled error code
367 [135121.844569] sd 19:0:0:0: [sdb] Result: hostbyte=DID_ERROR driverbyte=DRIVER_OK
368 [135121.844574] sd 19:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 10 00 00 00 08 00
369 [135121.844584] end_request: I/O error, dev sdb, sector 4096
370 [135121.844590] Buffer I/O error on device sdb, logical block 512
371 [135130.122567] usb 6-1: reset full speed USB device using uhci_hcd and address 7
372 [135130.274551] usb 6-1: device firmware changed
373 [135130.274618] usb 6-1: USB disconnect, address 7
374 [135130.275186] VFS: busy inodes on changed media or resized disk sdb
375 [135130.275424] VFS: busy inodes on changed media or resized disk sdb
376 [135130.286758] VFS: busy inodes on changed media or resized disk sdb
377 [135130.292796] VFS: busy inodes on changed media or resized disk sdb
378 [135130.301481] VFS: busy inodes on changed media or resized disk sdb
379 [135130.304316] VFS: busy inodes on changed media or resized disk sdb
380 [135130.431113] usb 6-1: new full speed USB device using uhci_hcd and address 8
381 [135130.629444] usb-storage 6-1:1.0: Quirks match for vid 0483 pid 3744: 102a1
382 [135130.629492] scsi20 : usb-storage 6-1:1.0
383 [135131.625600] scsi 20:0:0:0: Direct-Access STM32 PQ: 0 ANSI: 0
384 [135131.627010] sd 20:0:0:0: Attached scsi generic sg2 type 0
385 [135131.633603] sd 20:0:0:0: [sdb] 64000 512-byte logical blocks: (32.7 MB/31.2 MiB)
386 [135131.633613] sd 20:0:0:0: [sdb] Assuming Write Enabled
387 [135131.633620] sd 20:0:0:0: [sdb] Assuming drive cache: write through
388 [135131.640584] sd 20:0:0:0: [sdb] Assuming Write Enabled
389 [135131.640592] sd 20:0:0:0: [sdb] Assuming drive cache: write through
391 [135131.652634] sd 20:0:0:0: [sdb] Assuming Write Enabled
392 [135131.652639] sd 20:0:0:0: [sdb] Assuming drive cache: write through
393 [135131.652645] sd 20:0:0:0: [sdb] Attached SCSI removable disk
394 [135131.671536] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
395 [135131.671548] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
396 [135131.671553] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
397 [135131.671560] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
398 [135131.671570] end_request: I/O error, dev sdb, sector 63872
399 [135131.671575] Buffer I/O error on device sdb, logical block 7984
400 [135131.678527] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
401 [135131.678532] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
402 [135131.678537] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
403 [135131.678542] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
404 [135131.678551] end_request: I/O error, dev sdb, sector 63872
406 [135131.853565] end_request: I/O error, dev sdb, sector 4096
410 void _stlink_sg_core_id(stlink_t *sl) {
411 struct stlink_libsg *sg = sl->backend_data;
413 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READCOREID;
417 sl->core_id = read_uint32(sl->q_buf, 0);
420 // Arm-core reset -> halted state.
422 void _stlink_sg_reset(stlink_t *sl) {
423 struct stlink_libsg *sg = sl->backend_data;
425 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RESETSYS;
429 stlink_stat(sl, "core reset");
432 // Arm-core status: halted or running.
434 void _stlink_sg_status(stlink_t *sl) {
435 struct stlink_libsg *sg = sl->backend_data;
436 DLOG("\n*** stlink_status ***\n");
438 sg->cdb_cmd_blk[1] = STLINK_DEBUG_GETSTATUS;
444 // Force the core into the debug mode -> halted state.
446 void _stlink_sg_force_debug(stlink_t *sl) {
447 struct stlink_libsg *sg = sl->backend_data;
448 DLOG("\n*** stlink_force_debug ***\n");
450 sg->cdb_cmd_blk[1] = STLINK_DEBUG_FORCEDEBUG;
454 stlink_stat(sl, "force debug");
457 // Read all arm-core registers.
459 void _stlink_sg_read_all_regs(stlink_t *sl, reg *regp) {
460 struct stlink_libsg *sg = sl->backend_data;
466 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READALLREGS;
470 stlink_print_data(sl);
472 // TODO - most of this should be re-extracted up....
474 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
475 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
476 for (int i = 0; i < 16; i++) {
477 sg->reg.r[i] = read_uint32(sl->q_buf, 4 * i);
479 DLOG("r%2d = 0x%08x\n", i, sg->reg.r[i]);
481 sg->reg.xpsr = read_uint32(sl->q_buf, 64);
482 sg->reg.main_sp = read_uint32(sl->q_buf, 68);
483 sg->reg.process_sp = read_uint32(sl->q_buf, 72);
484 sg->reg.rw = read_uint32(sl->q_buf, 76);
485 sg->reg.rw2 = read_uint32(sl->q_buf, 80);
489 DLOG("xpsr = 0x%08x\n", sg->reg.xpsr);
490 DLOG("main_sp = 0x%08x\n", sg->reg.main_sp);
491 DLOG("process_sp = 0x%08x\n", sg->reg.process_sp);
492 DLOG("rw = 0x%08x\n", sg->reg.rw);
493 DLOG("rw2 = 0x%08x\n", sg->reg.rw2);
496 // Read an arm-core register, the index must be in the range 0..20.
497 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
498 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
500 void _stlink_sg_read_reg(stlink_t *sl, int r_idx, reg *regp) {
501 struct stlink_libsg *sg = sl->backend_data;
503 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READREG;
504 sg->cdb_cmd_blk[2] = r_idx;
508 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
509 // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83
510 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
511 stlink_print_data(sl);
513 uint32_t r = read_uint32(sl->q_buf, 0);
514 DLOG("r_idx (%2d) = 0x%08x\n", r_idx, r);
524 regp->process_sp = r;
527 regp->rw = r; //XXX ?(primask, basemask etc.)
530 regp->rw2 = r; //XXX ?(primask, basemask etc.)
537 // Write an arm-core register. Index:
538 // 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
539 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
541 void _stlink_sg_write_reg(stlink_t *sl, uint32_t reg, int idx) {
542 struct stlink_libsg *sg = sl->backend_data;
544 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEREG;
547 sg->cdb_cmd_blk[2] = idx;
548 write_uint32(sg->cdb_cmd_blk + 3, reg);
552 stlink_stat(sl, "write reg");
555 // Write a register of the debug module of the core.
556 // XXX ?(atomic writes)
559 void stlink_write_dreg(stlink_t *sl, uint32_t reg, uint32_t addr) {
560 struct stlink_libsg *sg = sl->backend_data;
561 DLOG("\n*** stlink_write_dreg ***\n");
563 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEDEBUGREG;
564 // 2-5: address of reg of the debug module
566 write_uint32(sg->cdb_cmd_blk + 2, addr);
567 write_uint32(sg->cdb_cmd_blk + 6, reg);
571 stlink_stat(sl, "write debug reg");
574 // Force the core exit the debug mode.
576 void _stlink_sg_run(stlink_t *sl) {
577 struct stlink_libsg *sg = sl->backend_data;
578 DLOG("\n*** stlink_run ***\n");
580 sg->cdb_cmd_blk[1] = STLINK_DEBUG_RUNCORE;
584 stlink_stat(sl, "run core");
587 // Step the arm-core.
589 void _stlink_sg_step(stlink_t *sl) {
590 struct stlink_libsg *sg = sl->backend_data;
592 sg->cdb_cmd_blk[1] = STLINK_DEBUG_STEPCORE;
596 stlink_stat(sl, "step core");
600 // see Cortex-M3 Technical Reference Manual
601 // TODO make delegate!
602 void stlink_set_hw_bp(stlink_t *sl, int fp_nr, uint32_t addr, int fp) {
603 DLOG("\n*** stlink_set_hw_bp ***\n");
604 struct stlink_libsg *sg = sl->backend_data;
606 sg->cdb_cmd_blk[1] = STLINK_DEBUG_SETFP;
607 // 2:The number of the flash patch used to set the breakpoint
608 // 3-6: Address of the breakpoint (LSB)
609 // 7: FP_ALL (0x02) / FP_UPPER (0x01) / FP_LOWER (0x00)
610 sl->q_buf[2] = fp_nr;
611 write_uint32(sl->q_buf, addr);
616 stlink_stat(sl, "set flash breakpoint");
621 // TODO make delegate!
622 void stlink_clr_hw_bp(stlink_t *sl, int fp_nr) {
623 struct stlink_libsg *sg = sl->backend_data;
624 DLOG("\n*** stlink_clr_hw_bp ***\n");
626 sg->cdb_cmd_blk[1] = STLINK_DEBUG_CLEARFP;
627 sg->cdb_cmd_blk[2] = fp_nr;
631 stlink_stat(sl, "clear flash breakpoint");
634 // Read a "len" bytes to the sl->q_buf from the memory, max 6kB (6144 bytes)
636 void _stlink_sg_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
637 struct stlink_libsg *sg = sl->backend_data;
639 sg->cdb_cmd_blk[1] = STLINK_DEBUG_READMEM_32BIT;
642 write_uint32(sg->cdb_cmd_blk + 2, addr);
643 write_uint16(sg->cdb_cmd_blk + 6, len);
645 // data_in 0-0x40-len
646 // !!! len _and_ q_len must be max 6k,
647 // i.e. >1024 * 6 = 6144 -> aboard)
648 // !!! if len < q_len: 64*k, 1024*n, n=1..5 -> aboard
649 // (broken residue issue)
653 stlink_print_data(sl);
656 // Write a "len" bytes from the sl->q_buf to the memory, max 64 Bytes.
658 void _stlink_sg_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
659 struct stlink_libsg *sg = sl->backend_data;
661 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_8BIT;
663 // 6-7: len (>0x40 (64) -> aboard)
664 write_uint32(sg->cdb_cmd_blk + 2, addr);
665 write_uint16(sg->cdb_cmd_blk + 6, len);
670 sg->q_data_dir = Q_DATA_OUT;
672 stlink_print_data(sl);
675 // Write a "len" bytes from the sl->q_buf to the memory, max Q_BUF_LEN bytes.
677 void _stlink_sg_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
678 struct stlink_libsg *sg = sl->backend_data;
680 sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_32BIT;
682 // 6-7: len "unlimited"
683 write_uint32(sg->cdb_cmd_blk + 2, addr);
684 write_uint16(sg->cdb_cmd_blk + 6, len);
686 // data_out 0-0x40-...-len
689 sg->q_data_dir = Q_DATA_OUT;
691 stlink_print_data(sl);
694 #if 0 /* not working */
696 static int write_flash_mem16
697 (struct stlink* sl, uint32_t addr, uint16_t val) {
698 /* half word writes */
699 if (addr % 2) return -1;
701 /* unlock if locked */
704 /* set flash programming chosen bit */
707 write_uint16(sl->q_buf, val);
708 stlink_write_mem16(sl, addr, 2);
710 /* wait for non business */
715 /* check the programmed value back */
716 stlink_read_mem16(sl, addr, 2);
717 if (*(const uint16_t*) sl->q_buf != val) {
718 /* values differ at i * sizeof(uint16_t) */
725 #endif /* not working */
727 // Exit the jtag or swd mode and enter the mass mode.
729 void _stlink_sg_exit_debug_mode(stlink_t *stl) {
732 struct stlink_libsg* sl = stl->backend_data;
734 sl->cdb_cmd_blk[1] = STLINK_DEBUG_EXIT;
735 stl->q_len = 0; // >0 -> aboard
741 // 1) open a sg device, switch the stlink from dfu to mass mode
742 // 2) wait 5s until the kernel driver stops reseting the broken device
743 // 3) reopen the device
744 // 4) the device driver is now ready for a switch to jtag/swd mode
745 // TODO thinking, better error handling, wait until the kernel driver stops reseting the plugged-in device
747 stlink_backend_t _stlink_sg_backend = {
749 _stlink_sg_exit_debug_mode,
750 _stlink_sg_enter_swd_mode,
751 _stlink_sg_enter_jtag_mode,
752 _stlink_sg_exit_dfu_mode,
758 _stlink_sg_read_mem32,
759 _stlink_sg_write_mem32,
760 _stlink_sg_write_mem8,
761 _stlink_sg_read_all_regs,
763 _stlink_sg_write_reg,
765 _stlink_sg_current_mode,
766 _stlink_sg_force_debug
769 stlink_t* stlink_open(const char *dev_name, const int verbose) {
770 fprintf(stderr, "\n*** stlink_open [%s] ***\n", dev_name);
771 int sg_fd = scsi_pt_open_device(dev_name, RDWR, verbose);
773 fprintf(stderr, "error opening device: %s: %s\n", dev_name,
774 safe_strerror(-sg_fd));
778 stlink_t *sl = malloc(sizeof (stlink_t));
779 struct stlink_libsg *slsg = malloc(sizeof (struct stlink_libsg));
780 if (sl == NULL || slsg == NULL) {
781 fprintf(stderr, "Couldn't malloc stlink and stlink_sg structures out of memory!\n");
784 sl->verbose = verbose;
785 sl->backend_data = slsg;
786 sl->backend = &_stlink_sg_backend;
789 sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
794 /* flash memory settings */
795 sl->flash_base = STM32_FLASH_BASE;
796 sl->flash_size = STM32_FLASH_SIZE;
797 sl->flash_pgsz = STM32_FLASH_PGSZ;
800 sl->sys_base = STM32_SYSTEM_BASE;
801 sl->sys_size = STM32_SYSTEM_SIZE;
803 /* sram memory settings */
804 sl->sram_base = STM32_SRAM_BASE;
805 sl->sram_size = STM32_SRAM_SIZE;
812 stlink_t* stlink_v1_open(const char *dev_name, const int verbose) {
814 stlink_t *sl = stlink_open(dev_name, verbose);
816 fputs("Error: could not open stlink device\n", stderr);
821 struct stlink_libsg *sg = sl->backend_data;
823 if ((sg->st_vid != USB_ST_VID) || (sg->stlink_pid != USB_STLINK_PID)) {
824 fprintf(stderr, "Error: the device %s is not a stlink\n",
826 fprintf(stderr, " VID: got %04x expect %04x \n",
827 sg->st_vid, USB_ST_VID);
828 fprintf(stderr, " PID: got %04x expect %04x \n",
829 sg->stlink_pid, USB_STLINK_PID);
833 DLOG("\n*** stlink_force_open ***\n");
834 switch (stlink_current_mode(sl)) {
835 case STLINK_DEV_MASS_MODE:
837 case STLINK_DEV_DEBUG_MODE:
841 DLOG("\n*** switch the stlink to mass mode ***\n");
842 _stlink_sg_exit_dfu_mode(sl);
843 // exit the dfu mode -> the device is gone
844 DLOG("\n*** reopen the stlink device ***\n");
849 sl = stlink_open(dev_name, verbose);
851 fputs("Error: could not open stlink device\n", stderr);
854 // re-query device info
859 static void __attribute__((unused)) mark_buf(stlink_t *sl) {
866 sl->q_buf[15] = 0x42;
867 sl->q_buf[16] = 0x43;
868 sl->q_buf[63] = 0x42;
869 sl->q_buf[64] = 0x43;
870 sl->q_buf[1024 * 6 - 1] = 0x42; //6kB
871 sl->q_buf[1024 * 8 - 1] = 0x42; //8kB