8 #include <libusb-1.0/libusb.h>
9 #include "stlink-common.h"
10 #include "stlink-usb.h"
12 void _stlink_usb_close(stlink_t* sl) {
13 struct stlink_libusb * const handle = sl->backend_data;
14 // maybe we couldn't even get the usb device?
16 if (handle->req_trans != NULL)
17 libusb_free_transfer(handle->req_trans);
19 if (handle->rep_trans != NULL)
20 libusb_free_transfer(handle->rep_trans);
22 if (handle->usb_handle != NULL)
23 libusb_close(handle->usb_handle);
25 libusb_exit(handle->libusb_ctx);
32 #define TRANS_FLAGS_IS_DONE (1 << 0)
33 #define TRANS_FLAGS_HAS_ERROR (1 << 1)
34 volatile unsigned long flags;
37 static void on_trans_done(struct libusb_transfer * trans) {
38 struct trans_ctx * const ctx = trans->user_data;
40 if (trans->status != LIBUSB_TRANSFER_COMPLETED)
41 ctx->flags |= TRANS_FLAGS_HAS_ERROR;
43 ctx->flags |= TRANS_FLAGS_IS_DONE;
46 int submit_wait(struct stlink_libusb *slu, struct libusb_transfer * trans) {
50 struct trans_ctx trans_ctx;
51 enum libusb_error error;
55 /* brief intrusion inside the libusb interface */
56 trans->callback = on_trans_done;
57 trans->user_data = &trans_ctx;
59 if ((error = libusb_submit_transfer(trans))) {
60 printf("libusb_submit_transfer(%d)\n", error);
64 gettimeofday(&start, NULL);
66 while (trans_ctx.flags == 0) {
67 struct timeval timeout;
70 if (libusb_handle_events_timeout(slu->libusb_ctx, &timeout)) {
71 printf("libusb_handle_events()\n");
75 gettimeofday(&now, NULL);
76 timersub(&now, &start, &diff);
77 if (diff.tv_sec >= 3) {
78 printf("libusb_handle_events() timeout\n");
83 if (trans_ctx.flags & TRANS_FLAGS_HAS_ERROR) {
84 printf("libusb_handle_events() | has_error\n");
91 ssize_t send_recv(struct stlink_libusb* handle,
92 unsigned char* txbuf, size_t txsize,
93 unsigned char* rxbuf, size_t rxsize) {
94 /* note: txbuf and rxbuf can point to the same area */
96 libusb_fill_bulk_transfer(handle->req_trans, handle->usb_handle,
103 printf("submit_wait(req)\n");
105 if (submit_wait(handle, handle->req_trans)) return -1;
108 if (rxsize == 0) return 0;
110 /* read the response */
112 libusb_fill_bulk_transfer(handle->rep_trans, handle->usb_handle,
113 handle->ep_rep, rxbuf, rxsize, NULL, NULL, 0);
115 printf("submit_wait(rep)\n");
117 if (submit_wait(handle, handle->rep_trans)) return -1;
119 return handle->rep_trans->actual_length;
122 static inline int send_only
123 (struct stlink_libusb* handle, unsigned char* txbuf, size_t txsize) {
124 return send_recv(handle, txbuf, txsize, NULL, 0);
128 // KARL - fixme, common code! (or, one per backend)
129 // candidate for common code...
132 static int is_stlink_device(libusb_device * dev) {
133 struct libusb_device_descriptor desc;
135 if (libusb_get_device_descriptor(dev, &desc))
138 printf("device: 0x%04x, 0x%04x\n", desc.idVendor, desc.idProduct);
140 if (desc.idVendor != USB_ST_VID)
143 if (desc.idProduct != USB_STLINK_32L_PID)
149 void _stlink_usb_version(stlink_t *sl) {
150 struct stlink_libusb * const slu = sl->backend_data;
151 unsigned char* const buf = sl->q_buf;
154 memset(buf, 0, sizeof (sl->q_buf));
155 buf[0] = STLINK_GET_VERSION;
158 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 6);
160 printf("[!] send_recv\n");
167 for (i = 0; i < size; ++i) printf("%02x", buf[i]);
173 void _stlink_usb_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
174 struct stlink_libusb * const slu = sl->backend_data;
175 unsigned char* const buf = sl->q_buf;
176 unsigned char *cmd_buf = sl->c_buf;
178 memset(cmd_buf, 0, STLINK_CMD_SIZE);
179 cmd_buf[0] = STLINK_DEBUG_COMMAND;
180 cmd_buf[1] = STLINK_DEBUG_WRITEMEM_32BIT;
181 write_uint32(cmd_buf + 2, addr);
182 write_uint16(cmd_buf + 6, len);
183 send_only(slu, cmd_buf, STLINK_CMD_SIZE);
185 #if Q_BUF_LEN < UINT16_MAX
186 assert(len < sizeof(sl->q_buf)); // makes a compiler warning? always true?
188 assert((len & 3) == 0);
189 stlink_print_data(sl);
190 send_only(slu, buf, len);
194 void _stlink_usb_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
195 struct stlink_libusb * const slu = sl->backend_data;
196 unsigned char* const buf = sl->q_buf;
197 unsigned char *cmd_buf = sl->c_buf;
199 memset(cmd_buf, 0, STLINK_CMD_SIZE);
200 cmd_buf[0] = STLINK_DEBUG_COMMAND;
201 cmd_buf[1] = STLINK_DEBUG_WRITEMEM_8BIT;
202 write_uint32(cmd_buf + 2, addr);
203 write_uint16(cmd_buf + 6, len);
204 send_only(slu, cmd_buf, STLINK_CMD_SIZE);
206 #if Q_BUF_LEN < UINT16_MAX
207 assert(len < sizeof(sl->q_buf)); // makes a compiler warning? always true?
209 stlink_print_data(sl);
210 send_only(slu, buf, len);
214 int _stlink_usb_current_mode(stlink_t * sl) {
215 struct stlink_libusb * const slu = sl->backend_data;
216 unsigned char* const buf = sl->q_buf;
218 memset(buf, 0, sizeof (sl->q_buf));
219 buf[0] = STLINK_GET_CURRENT_MODE;
220 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 2);
222 printf("[!] send_recv\n");
228 void _stlink_usb_core_id(stlink_t * sl) {
229 struct stlink_libusb * const slu = sl->backend_data;
230 unsigned char* const buf = sl->q_buf;
233 memset(buf, 0, sizeof (sl->q_buf));
234 buf[0] = STLINK_DEBUG_COMMAND;
235 buf[1] = STLINK_DEBUG_READCOREID;
237 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 4);
239 printf("[!] send_recv\n");
243 sl->core_id = read_uint32(buf, 0);
246 void _stlink_usb_status(stlink_t * sl) {
247 struct stlink_libusb * const slu = sl->backend_data;
248 unsigned char* const buf = sl->q_buf;
251 memset(buf, 0, sizeof (sl->q_buf));
253 buf[0] = STLINK_DEBUG_COMMAND;
254 buf[1] = STLINK_DEBUG_GETSTATUS;
256 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 2);
258 printf("[!] send_recv\n");
262 /* todo: stlink_core_stat */
264 // FIXME - decode into sl->core_stat
266 printf("status == 0x%x\n", buf[0]);
271 void _stlink_usb_force_debug(stlink_t *sl) {
272 struct stlink_libusb *slu = sl->backend_data;
273 unsigned char* const buf = sl->q_buf;
276 memset(buf, 0, sizeof (sl->q_buf));
278 buf[0] = STLINK_DEBUG_COMMAND;
279 buf[1] = STLINK_DEBUG_FORCEDEBUG;
280 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 2);
282 printf("[!] send_recv\n");
288 void _stlink_usb_enter_swd_mode(stlink_t * sl) {
289 struct stlink_libusb * const slu = sl->backend_data;
290 unsigned char* const buf = sl->q_buf;
293 memset(buf, 0, sizeof (sl->q_buf));
295 buf[0] = STLINK_DEBUG_COMMAND;
296 buf[1] = STLINK_SWD_ENTER;
297 buf[2] = STLINK_DEBUG_ENTER_SWD;
299 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 2);
301 printf("[!] send_recv\n");
306 void _stlink_usb_exit_dfu_mode(stlink_t* sl) {
307 struct stlink_libusb * const slu = sl->backend_data;
308 unsigned char* const buf = sl->q_buf;
311 memset(buf, 0, sizeof (sl->q_buf));
312 buf[0] = STLINK_DFU_COMMAND;
313 buf[1] = STLINK_DFU_EXIT;
315 size = send_only(slu, buf, 16);
317 printf("[!] send_recv\n");
323 * TODO - not convinced this does anything...
326 void _stlink_usb_reset(stlink_t * sl) {
327 struct stlink_libusb * const slu = sl->backend_data;
328 unsigned char* const buf = sl->q_buf;
331 memset(buf, 0, sizeof (sl->q_buf));
332 buf[0] = STLINK_DEBUG_COMMAND;
333 buf[1] = STLINK_DEBUG_RESETSYS;
335 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, sizeof (sl->q_buf));
337 printf("[!] send_recv\n");
343 void _stlink_usb_step(stlink_t* sl) {
344 struct stlink_libusb * const slu = sl->backend_data;
345 unsigned char* const buf = sl->q_buf;
348 memset(buf, 0, sizeof (sl->q_buf));
349 buf[0] = STLINK_DEBUG_COMMAND;
350 buf[1] = STLINK_DEBUG_STEPCORE;
352 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 2);
354 printf("[!] send_recv\n");
360 * This seems to do a good job of restarting things from the beginning?
363 void _stlink_usb_run(stlink_t* sl) {
364 struct stlink_libusb * const slu = sl->backend_data;
365 unsigned char* const buf = sl->q_buf;
368 memset(buf, 0, sizeof (sl->q_buf));
369 buf[0] = STLINK_DEBUG_COMMAND;
370 buf[1] = STLINK_DEBUG_RUNCORE;
372 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 2);
374 printf("[!] send_recv\n");
380 void _stlink_usb_exit_debug_mode(stlink_t *sl) {
381 struct stlink_libusb * const slu = sl->backend_data;
382 unsigned char* const buf = sl->q_buf;
385 memset(buf, 0, sizeof (sl->q_buf));
386 buf[0] = STLINK_DEBUG_COMMAND;
387 buf[1] = STLINK_DEBUG_EXIT;
389 size = send_only(slu, buf, 16);
391 printf("[!] send_only\n");
396 void _stlink_usb_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
397 struct stlink_libusb * const slu = sl->backend_data;
398 unsigned char* const buf = sl->q_buf;
401 #if Q_BUF_LEN < UINT16_MAX
402 assert(len < sizeof(sl->q_buf));
405 memset(buf, 0, sizeof (sl->q_buf));
406 buf[0] = STLINK_DEBUG_COMMAND;
407 buf[1] = STLINK_DEBUG_READMEM_32BIT;
408 write_uint32(buf + 2, addr);
409 /* windows usb logs show only one byte is used for length ... */
410 // Presumably, this is because usb transfers can't be 16 bits worth of bytes long...
412 buf[6] = (uint8_t) len;
414 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, len);
416 printf("[!] send_recv\n");
420 sl->q_len = (size_t) size;
422 stlink_print_data(sl);
425 void _stlink_usb_read_all_regs(stlink_t *sl, reg *regp) {
426 struct stlink_libusb * const slu = sl->backend_data;
427 unsigned char* const buf = sl->q_buf;
428 unsigned char* const cmd_buf = sl->c_buf;
432 memset(cmd_buf, 0, STLINK_CMD_SIZE);
433 cmd_buf[0] = STLINK_DEBUG_COMMAND;
434 cmd_buf[1] = STLINK_DEBUG_READALLREGS;
435 size = send_recv(slu, cmd_buf, STLINK_CMD_SIZE, buf, 84);
437 printf("[!] send_recv\n");
440 sl->q_len = (size_t) size;
441 stlink_print_data(sl);
443 regp->r[i]= read_uint32(sl->q_buf, i*4);
444 regp->xpsr = read_uint32(sl->q_buf, 64);
445 regp->main_sp = read_uint32(sl->q_buf, 68);
446 regp->process_sp = read_uint32(sl->q_buf, 72);
447 regp->rw = read_uint32(sl->q_buf, 76);
448 regp->rw2 = read_uint32(sl->q_buf, 80);
452 DD(sl, "xpsr = 0x%08x\n", read_uint32(sl->q_buf, 64));
453 DD(sl, "main_sp = 0x%08x\n", read_uint32(sl->q_buf, 68));
454 DD(sl, "process_sp = 0x%08x\n", read_uint32(sl->q_buf, 72));
455 DD(sl, "rw = 0x%08x\n", read_uint32(sl->q_buf, 76));
456 DD(sl, "rw2 = 0x%08x\n", read_uint32(sl->q_buf, 80));
459 void _stlink_usb_read_reg(stlink_t *sl, int r_idx, reg *regp) {
460 struct stlink_libusb * const slu = sl->backend_data;
461 unsigned char* const buf = sl->q_buf;
462 unsigned char* const cmd_buf = sl->c_buf;
466 memset(cmd_buf, 0, STLINK_CMD_SIZE);
467 cmd_buf[0] = STLINK_DEBUG_COMMAND;
468 cmd_buf[1] = STLINK_DEBUG_READREG;
469 cmd_buf[2] = (uint8_t) r_idx;
470 size = send_recv(slu, cmd_buf, STLINK_CMD_SIZE, buf, 4);
472 printf("[!] send_recv\n");
475 sl->q_len = (size_t) size;
476 stlink_print_data(sl);
477 r = read_uint32(sl->q_buf, 0);
478 DD(sl, "r_idx (%2d) = 0x%08x\n", r_idx, r);
488 regp->process_sp = r;
491 regp->rw = r; //XXX ?(primask, basemask etc.)
494 regp->rw2 = r; //XXX ?(primask, basemask etc.)
501 void _stlink_usb_write_reg(stlink_t *sl, uint32_t reg, int idx) {
502 struct stlink_libusb * const slu = sl->backend_data;
503 unsigned char* const buf = sl->q_buf;
504 unsigned char *cmd_buf = sl->c_buf;
507 memset(cmd_buf, 0, STLINK_CMD_SIZE);
508 cmd_buf[0] = STLINK_DEBUG_COMMAND;
509 cmd_buf[1] = STLINK_DEBUG_WRITEREG;
511 write_uint32(cmd_buf + 3, reg);
512 size = send_recv(slu, cmd_buf, STLINK_CMD_SIZE, buf, 2);
514 printf("[!] send_recv\n");
517 sl->q_len = (size_t) size;
518 stlink_print_data(sl);
521 stlink_backend_t _stlink_usb_backend = {
523 _stlink_usb_exit_debug_mode,
524 _stlink_usb_enter_swd_mode,
525 NULL, // no enter_jtag_mode here...
526 _stlink_usb_exit_dfu_mode,
532 _stlink_usb_read_mem32,
533 _stlink_usb_write_mem32,
534 _stlink_usb_write_mem8,
535 _stlink_usb_read_all_regs,
536 _stlink_usb_read_reg,
537 _stlink_usb_write_reg,
539 _stlink_usb_current_mode,
540 _stlink_usb_force_debug
544 stlink_t* stlink_open_usb(const char *dev_name, const int verbose) {
546 struct stlink_libusb* slu = NULL;
548 sl = malloc(sizeof (stlink_t));
549 slu = malloc(sizeof (struct stlink_libusb));
550 if (sl == NULL) goto on_error;
551 if (slu == NULL) goto on_error;
553 sl->verbose = verbose;
555 if (slu->libusb_ctx != NULL) {
556 fprintf(stderr, "reopening with an existing context? undefined behaviour!\n");
559 if (libusb_init(&(slu->libusb_ctx))) {
560 fprintf(stderr, "failed to init libusb context, wrong version of libraries?\n");
567 libusb_device** devs = NULL;
573 count = libusb_get_device_list(slu->libusb_ctx, &devs);
575 printf("libusb_get_device_list\n");
576 goto on_libusb_error;
579 for (i = 0; i < count; ++i) {
581 if (is_stlink_device(dev)) break;
583 if (i == count) return NULL;
585 if (libusb_open(dev, &(slu->usb_handle))) {
586 printf("libusb_open()\n");
587 goto on_libusb_error;
590 if (libusb_get_configuration(slu->usb_handle, &config)) {
591 /* this may fail for a previous configured device */
592 printf("libusb_get_configuration()\n");
593 goto on_libusb_error;
597 printf("setting new configuration (%d -> 1)\n", config);
598 if (libusb_set_configuration(slu->usb_handle, 1)) {
599 /* this may fail for a previous configured device */
600 printf("libusb_set_configuration()\n");
601 goto on_libusb_error;
605 if (libusb_claim_interface(slu->usb_handle, 0)) {
606 printf("libusb_claim_interface()\n");
607 goto on_libusb_error;
610 slu->req_trans = libusb_alloc_transfer(0);
611 if (slu->req_trans == NULL) {
612 printf("libusb_alloc_transfer\n");
613 goto on_libusb_error;
616 slu->rep_trans = libusb_alloc_transfer(0);
617 if (slu->rep_trans == NULL) {
618 printf("libusb_alloc_transfer\n");
619 goto on_libusb_error;
622 slu->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN;
623 slu->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT;
625 /* libusb_reset_device(slu->usb_handle); */
632 libusb_free_device_list(devs, 1);
633 fprintf(stderr, "freed libusb device list\n");
641 sl->backend = &_stlink_usb_backend;
642 sl->backend_data = slu;
647 if (sl != NULL) free(sl);
648 if (slu != NULL) free(slu);