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 enum SCSI_Generic_Direction {SG_DXFER_TO_DEV=0, SG_DXFER_FROM_DEV=0x80};
22 void _stlink_usb_close(stlink_t* sl) {
23 struct stlink_libusb * const handle = sl->backend_data;
24 // maybe we couldn't even get the usb device?
26 if (handle->req_trans != NULL)
27 libusb_free_transfer(handle->req_trans);
29 if (handle->rep_trans != NULL)
30 libusb_free_transfer(handle->rep_trans);
32 if (handle->usb_handle != NULL) {
33 libusb_close(handle->usb_handle);
36 libusb_exit(handle->libusb_ctx);
43 #define TRANS_FLAGS_IS_DONE (1 << 0)
44 #define TRANS_FLAGS_HAS_ERROR (1 << 1)
45 volatile unsigned long flags;
48 static void on_trans_done(struct libusb_transfer * trans) {
49 struct trans_ctx * const ctx = trans->user_data;
51 if (trans->status != LIBUSB_TRANSFER_COMPLETED)
52 ctx->flags |= TRANS_FLAGS_HAS_ERROR;
54 ctx->flags |= TRANS_FLAGS_IS_DONE;
57 int submit_wait(struct stlink_libusb *slu, struct libusb_transfer * trans) {
61 struct trans_ctx trans_ctx;
62 enum libusb_error error;
66 /* brief intrusion inside the libusb interface */
67 trans->callback = on_trans_done;
68 trans->user_data = &trans_ctx;
70 if ((error = libusb_submit_transfer(trans))) {
71 printf("libusb_submit_transfer(%d)\n", error);
75 gettimeofday(&start, NULL);
77 while (trans_ctx.flags == 0) {
78 struct timeval timeout;
81 if (libusb_handle_events_timeout(slu->libusb_ctx, &timeout)) {
82 printf("libusb_handle_events()\n");
86 gettimeofday(&now, NULL);
87 timersub(&now, &start, &diff);
88 if (diff.tv_sec >= 3) {
89 printf("libusb_handle_events() timeout\n");
94 if (trans_ctx.flags & TRANS_FLAGS_HAS_ERROR) {
95 printf("libusb_handle_events() | has_error\n");
102 ssize_t send_recv(struct stlink_libusb* handle, int terminate,
103 unsigned char* txbuf, size_t txsize,
104 unsigned char* rxbuf, size_t rxsize) {
105 /* note: txbuf and rxbuf can point to the same area */
108 libusb_fill_bulk_transfer(handle->req_trans, handle->usb_handle,
115 if (submit_wait(handle, handle->req_trans)) return -1;
120 /* read the response */
122 libusb_fill_bulk_transfer(handle->rep_trans, handle->usb_handle,
123 handle->ep_rep, rxbuf, rxsize, NULL, NULL, 0);
125 if (submit_wait(handle, handle->rep_trans)) return -1;
126 res = handle->rep_trans->actual_length;
129 if ((handle->protocoll == 1) && terminate) {
130 /* Read the SG reply */
131 unsigned char sg_buf[13];
132 libusb_fill_bulk_transfer
133 (handle->rep_trans, handle->usb_handle,
134 handle->ep_rep, sg_buf, 13, NULL, NULL, 0);
135 res = submit_wait(handle, handle->rep_trans);
136 /* The STLink doesn't seem to evaluate the sequence number */
137 handle->sg_transfer_idx++;
141 return handle->rep_trans->actual_length;
144 static inline int send_only
145 (struct stlink_libusb* handle, int terminate,
146 unsigned char* txbuf, size_t txsize) {
147 return send_recv(handle, terminate, txbuf, txsize, NULL, 0);
151 static int fill_command
152 (stlink_t * sl, enum SCSI_Generic_Direction dir, uint32_t len) {
153 struct stlink_libusb * const slu = sl->backend_data;
154 unsigned char* const cmd = sl->c_buf;
156 memset(cmd, 0, sizeof (sl->c_buf));
157 if(slu->protocoll == 1) {
162 write_uint32(&cmd[i], slu->sg_transfer_idx);
163 write_uint32(&cmd[i + 4], len);
165 cmd[i++] = (dir == SG_DXFER_FROM_DEV)?0x80:0;
166 cmd[i++] = 0; /* Logical unit */
167 cmd[i++] = 0xa; /* Command length */
172 void _stlink_usb_version(stlink_t *sl) {
173 struct stlink_libusb * const slu = sl->backend_data;
174 unsigned char* const data = sl->q_buf;
175 unsigned char* const cmd = sl->c_buf;
177 uint32_t rep_len = 6;
178 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
180 cmd[i++] = STLINK_GET_VERSION;
182 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
184 printf("[!] send_recv\n");
189 uint32_t _stlink_usb_read_debug32(stlink_t *sl, uint32_t addr) {
190 struct stlink_libusb * const slu = sl->backend_data;
191 unsigned char* const rdata = sl->q_buf;
192 unsigned char* const cmd = sl->c_buf;
194 const int rep_len = 8;
196 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
197 cmd[i++] = STLINK_DEBUG_COMMAND;
198 cmd[i++] = STLINK_JTAG_READDEBUG_32BIT;
199 write_uint32(&cmd[i], addr);
200 size = send_recv(slu, 1, cmd, slu->cmd_len, rdata, rep_len);
202 printf("[!] send_recv\n");
205 return read_uint32(rdata, 4);
208 void _stlink_usb_write_debug32(stlink_t *sl, uint32_t addr, uint32_t data) {
209 struct stlink_libusb * const slu = sl->backend_data;
210 unsigned char* const rdata = sl->q_buf;
211 unsigned char* const cmd = sl->c_buf;
213 const int rep_len = 2;
215 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
216 cmd[i++] = STLINK_DEBUG_COMMAND;
217 cmd[i++] = STLINK_JTAG_WRITEDEBUG_32BIT;
218 write_uint32(&cmd[i], addr);
219 write_uint32(&cmd[i + 4], data);
220 size = send_recv(slu, 1, cmd, slu->cmd_len, rdata, rep_len);
222 printf("[!] send_recv\n");
227 void _stlink_usb_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
228 struct stlink_libusb * const slu = sl->backend_data;
229 unsigned char* const data = sl->q_buf;
230 unsigned char* const cmd = sl->c_buf;
232 int i = fill_command(sl, SG_DXFER_TO_DEV, len);
233 cmd[i++] = STLINK_DEBUG_COMMAND;
234 cmd[i++] = STLINK_DEBUG_WRITEMEM_32BIT;
235 write_uint32(&cmd[i], addr);
236 write_uint16(&cmd[i + 4], len);
237 send_only(slu, 0, cmd, slu->cmd_len);
239 send_only(slu, 1, data, len);
242 void _stlink_usb_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
243 struct stlink_libusb * const slu = sl->backend_data;
244 unsigned char* const data = sl->q_buf;
245 unsigned char* const cmd = sl->c_buf;
247 int i = fill_command(sl, SG_DXFER_TO_DEV, 0);
248 cmd[i++] = STLINK_DEBUG_COMMAND;
249 cmd[i++] = STLINK_DEBUG_WRITEMEM_8BIT;
250 write_uint32(&cmd[i], addr);
251 write_uint16(&cmd[i + 4], len);
252 send_only(slu, 0, cmd, slu->cmd_len);
253 send_only(slu, 1, data, len);
257 int _stlink_usb_current_mode(stlink_t * sl) {
258 struct stlink_libusb * const slu = sl->backend_data;
259 unsigned char* const cmd = sl->c_buf;
260 unsigned char* const data = sl->q_buf;
263 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
265 cmd[i++] = STLINK_GET_CURRENT_MODE;
266 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
268 printf("[!] send_recv\n");
274 void _stlink_usb_core_id(stlink_t * sl) {
275 struct stlink_libusb * const slu = sl->backend_data;
276 unsigned char* const cmd = sl->c_buf;
277 unsigned char* const data = sl->q_buf;
280 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
282 cmd[i++] = STLINK_DEBUG_COMMAND;
283 cmd[i++] = STLINK_DEBUG_READCOREID;
285 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
287 printf("[!] send_recv\n");
291 sl->core_id = read_uint32(data, 0);
294 void _stlink_usb_status(stlink_t * sl) {
295 struct stlink_libusb * const slu = sl->backend_data;
296 unsigned char* const data = sl->q_buf;
297 unsigned char* const cmd = sl->c_buf;
300 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
302 cmd[i++] = STLINK_DEBUG_COMMAND;
303 cmd[i++] = STLINK_DEBUG_GETSTATUS;
305 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
307 printf("[!] send_recv\n");
312 void _stlink_usb_force_debug(stlink_t *sl) {
313 struct stlink_libusb *slu = sl->backend_data;
314 unsigned char* const data = sl->q_buf;
315 unsigned char* const cmd = sl->c_buf;
318 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
320 cmd[i++] = STLINK_DEBUG_COMMAND;
321 cmd[i++] = STLINK_DEBUG_FORCEDEBUG;
322 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
324 printf("[!] send_recv\n");
329 void _stlink_usb_enter_swd_mode(stlink_t * sl) {
330 struct stlink_libusb * const slu = sl->backend_data;
331 unsigned char* const cmd = sl->c_buf;
333 const int rep_len = 0;
334 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
336 cmd[i++] = STLINK_DEBUG_COMMAND;
337 cmd[i++] = STLINK_DEBUG_ENTER;
338 cmd[i++] = STLINK_DEBUG_ENTER_SWD;
340 size = send_only(slu, 1, cmd, slu->cmd_len);
342 printf("[!] send_recv\n");
347 void _stlink_usb_exit_dfu_mode(stlink_t* sl) {
348 struct stlink_libusb * const slu = sl->backend_data;
349 unsigned char* const cmd = sl->c_buf;
351 int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
353 cmd[i++] = STLINK_DFU_COMMAND;
354 cmd[i++] = STLINK_DFU_EXIT;
356 size = send_only(slu, 1, cmd, slu->cmd_len);
358 printf("[!] send_recv\n");
364 * TODO - not convinced this does anything...
367 void _stlink_usb_reset(stlink_t * sl) {
368 struct stlink_libusb * const slu = sl->backend_data;
369 unsigned char* const data = sl->q_buf;
370 unsigned char* const cmd = sl->c_buf;
373 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
375 cmd[i++] = STLINK_DEBUG_COMMAND;
376 cmd[i++] = STLINK_DEBUG_RESETSYS;
378 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
380 printf("[!] send_recv\n");
386 void _stlink_usb_jtag_reset(stlink_t * sl, int value) {
387 struct stlink_libusb * const slu = sl->backend_data;
388 unsigned char* const data = sl->q_buf;
389 unsigned char* const cmd = sl->c_buf;
392 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
394 cmd[i++] = STLINK_DEBUG_COMMAND;
395 cmd[i++] = STLINK_JTAG_DRIVE_NRST;
396 cmd[i++] = (value)?0:1;
398 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
400 printf("[!] send_recv\n");
406 void _stlink_usb_step(stlink_t* sl) {
407 struct stlink_libusb * const slu = sl->backend_data;
408 unsigned char* const data = sl->q_buf;
409 unsigned char* const cmd = sl->c_buf;
412 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
414 cmd[i++] = STLINK_DEBUG_COMMAND;
415 cmd[i++] = STLINK_DEBUG_STEPCORE;
417 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
419 printf("[!] send_recv\n");
425 * This seems to do a good job of restarting things from the beginning?
428 void _stlink_usb_run(stlink_t* sl) {
429 struct stlink_libusb * const slu = sl->backend_data;
430 unsigned char* const data = sl->q_buf;
431 unsigned char* const cmd = sl->c_buf;
434 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
436 cmd[i++] = STLINK_DEBUG_COMMAND;
437 cmd[i++] = STLINK_DEBUG_RUNCORE;
439 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
441 printf("[!] send_recv\n");
446 void _stlink_usb_exit_debug_mode(stlink_t *sl) {
447 struct stlink_libusb * const slu = sl->backend_data;
448 unsigned char* const cmd = sl->c_buf;
450 int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
452 cmd[i++] = STLINK_DEBUG_COMMAND;
453 cmd[i++] = STLINK_DEBUG_EXIT;
455 size = send_only(slu, 1, cmd, slu->cmd_len);
457 printf("[!] send_only\n");
462 void _stlink_usb_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
463 struct stlink_libusb * const slu = sl->backend_data;
464 unsigned char* const data = sl->q_buf;
465 unsigned char* const cmd = sl->c_buf;
467 int i = fill_command(sl, SG_DXFER_FROM_DEV, len);
469 cmd[i++] = STLINK_DEBUG_COMMAND;
470 cmd[i++] = STLINK_DEBUG_READMEM_32BIT;
471 write_uint32(&cmd[i], addr);
472 write_uint16(&cmd[i + 4], len);
474 size = send_recv(slu, 1, cmd, slu->cmd_len, data, len);
476 printf("[!] send_recv\n");
480 sl->q_len = (size_t) size;
482 stlink_print_data(sl);
485 void _stlink_usb_read_all_regs(stlink_t *sl, reg *regp) {
486 struct stlink_libusb * const slu = sl->backend_data;
487 unsigned char* const cmd = sl->c_buf;
488 unsigned char* const data = sl->q_buf;
490 uint32_t rep_len = 84;
491 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
493 cmd[i++] = STLINK_DEBUG_COMMAND;
494 cmd[i++] = STLINK_DEBUG_READALLREGS;
495 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
497 printf("[!] send_recv\n");
500 sl->q_len = (size_t) size;
501 stlink_print_data(sl);
503 regp->r[i]= read_uint32(sl->q_buf, i*4);
504 regp->xpsr = read_uint32(sl->q_buf, 64);
505 regp->main_sp = read_uint32(sl->q_buf, 68);
506 regp->process_sp = read_uint32(sl->q_buf, 72);
507 regp->rw = read_uint32(sl->q_buf, 76);
508 regp->rw2 = read_uint32(sl->q_buf, 80);
512 DLOG("xpsr = 0x%08x\n", read_uint32(sl->q_buf, 64));
513 DLOG("main_sp = 0x%08x\n", read_uint32(sl->q_buf, 68));
514 DLOG("process_sp = 0x%08x\n", read_uint32(sl->q_buf, 72));
515 DLOG("rw = 0x%08x\n", read_uint32(sl->q_buf, 76));
516 DLOG("rw2 = 0x%08x\n", read_uint32(sl->q_buf, 80));
519 void _stlink_usb_read_reg(stlink_t *sl, int r_idx, reg *regp) {
520 struct stlink_libusb * const slu = sl->backend_data;
521 unsigned char* const data = sl->q_buf;
522 unsigned char* const cmd = sl->c_buf;
525 uint32_t rep_len = 4;
526 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
528 cmd[i++] = STLINK_DEBUG_COMMAND;
529 cmd[i++] = STLINK_DEBUG_READREG;
530 cmd[i++] = (uint8_t) r_idx;
531 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
533 printf("[!] send_recv\n");
536 sl->q_len = (size_t) size;
537 stlink_print_data(sl);
538 r = read_uint32(sl->q_buf, 0);
539 DLOG("r_idx (%2d) = 0x%08x\n", r_idx, r);
549 regp->process_sp = r;
552 regp->rw = r; /* XXX ?(primask, basemask etc.) */
555 regp->rw2 = r; /* XXX ?(primask, basemask etc.) */
562 void _stlink_usb_write_reg(stlink_t *sl, uint32_t reg, int idx) {
563 struct stlink_libusb * const slu = sl->backend_data;
564 unsigned char* const data = sl->q_buf;
565 unsigned char* const cmd = sl->c_buf;
567 uint32_t rep_len = 2;
568 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
570 cmd[i++] = STLINK_DEBUG_COMMAND;
571 cmd[i++] = STLINK_DEBUG_WRITEREG;
573 write_uint32(&cmd[i], reg);
574 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
576 printf("[!] send_recv\n");
579 sl->q_len = (size_t) size;
580 stlink_print_data(sl);
583 stlink_backend_t _stlink_usb_backend = {
585 _stlink_usb_exit_debug_mode,
586 _stlink_usb_enter_swd_mode,
587 NULL, // no enter_jtag_mode here...
588 _stlink_usb_exit_dfu_mode,
591 _stlink_usb_jtag_reset,
595 _stlink_usb_read_debug32,
596 _stlink_usb_read_mem32,
597 _stlink_usb_write_debug32,
598 _stlink_usb_write_mem32,
599 _stlink_usb_write_mem8,
600 _stlink_usb_read_all_regs,
601 _stlink_usb_read_reg,
602 _stlink_usb_write_reg,
604 _stlink_usb_current_mode,
605 _stlink_usb_force_debug
609 stlink_t* stlink_open_usb(const int verbose) {
611 struct stlink_libusb* slu = NULL;
613 libusb_device** devs = NULL;
616 sl = malloc(sizeof (stlink_t));
617 slu = malloc(sizeof (struct stlink_libusb));
618 if (sl == NULL) goto on_error;
619 if (slu == NULL) goto on_error;
620 memset(sl, 0, sizeof (stlink_t));
621 memset(slu, 0, sizeof (struct stlink_libusb));
624 sl->backend = &_stlink_usb_backend;
625 sl->backend_data = slu;
627 sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
629 if (libusb_init(&(slu->libusb_ctx))) {
630 WLOG("failed to init libusb context, wrong version of libraries?\n");
634 slu->usb_handle = libusb_open_device_with_vid_pid(slu->libusb_ctx, USB_ST_VID, USB_STLINK_32L_PID);
635 if (slu->usb_handle == NULL) {
636 slu->usb_handle = libusb_open_device_with_vid_pid(slu->libusb_ctx, USB_ST_VID, USB_STLINK_PID);
637 if (slu->usb_handle == NULL) {
638 WLOG("Couldn't find any ST-Link/V2 devices");
644 if (libusb_kernel_driver_active(slu->usb_handle, 0) == 1) {
647 r = libusb_detach_kernel_driver(slu->usb_handle, 0);
649 WLOG("libusb_detach_kernel_driver(() error %s\n", strerror(-r));
650 goto on_libusb_error;
654 if (libusb_get_configuration(slu->usb_handle, &config)) {
655 /* this may fail for a previous configured device */
656 WLOG("libusb_get_configuration()\n");
657 goto on_libusb_error;
661 printf("setting new configuration (%d -> 1)\n", config);
662 if (libusb_set_configuration(slu->usb_handle, 1)) {
663 /* this may fail for a previous configured device */
664 WLOG("libusb_set_configuration() failed\n");
665 goto on_libusb_error;
669 if (libusb_claim_interface(slu->usb_handle, 0)) {
670 WLOG("libusb_claim_interface() failed\n");
671 goto on_libusb_error;
674 slu->req_trans = libusb_alloc_transfer(0);
675 if (slu->req_trans == NULL) {
676 WLOG("libusb_alloc_transfer failed\n");
677 goto on_libusb_error;
680 slu->rep_trans = libusb_alloc_transfer(0);
681 if (slu->rep_trans == NULL) {
682 WLOG("libusb_alloc_transfer failed\n");
683 goto on_libusb_error;
685 // TODO - could use the scanning techniq from stm8 code here...
686 slu->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN;
687 slu->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT;
689 slu->sg_transfer_idx = 0;
690 // TODO - never used at the moment, always CMD_SIZE
691 slu->cmd_len = (slu->protocoll == 1)? STLINK_SG_SIZE: STLINK_CMD_SIZE;
695 if (stlink_current_mode(sl) == STLINK_DEV_DFU_MODE) {
696 ILOG("-- exit_dfu_mode\n");
697 stlink_exit_dfu_mode(sl);
700 if (stlink_current_mode(sl) != STLINK_DEV_DEBUG_MODE) {
701 stlink_enter_swd_mode(sl);
705 stlink_load_device_params(sl);
712 libusb_free_device_list(devs, 1);
725 libusb_exit(slu->libusb_ctx);
726 if (sl != NULL) free(sl);
727 if (slu != NULL) free(slu);