7 #include <libusb-1.0/libusb.h>
8 #include "stlink-common.h"
9 #include "stlink-usb.h"
11 enum SCSI_Generic_Direction {SG_DXFER_TO_DEV=0, SG_DXFER_FROM_DEV=0x80};
13 void _stlink_usb_close(stlink_t* sl) {
14 struct stlink_libusb * const handle = sl->backend_data;
15 // maybe we couldn't even get the usb device?
17 if (handle->req_trans != NULL)
18 libusb_free_transfer(handle->req_trans);
20 if (handle->rep_trans != NULL)
21 libusb_free_transfer(handle->rep_trans);
23 if (handle->usb_handle != NULL) {
24 libusb_close(handle->usb_handle);
27 libusb_exit(handle->libusb_ctx);
34 #define TRANS_FLAGS_IS_DONE (1 << 0)
35 #define TRANS_FLAGS_HAS_ERROR (1 << 1)
36 volatile unsigned long flags;
39 static void on_trans_done(struct libusb_transfer * trans) {
40 struct trans_ctx * const ctx = trans->user_data;
42 if (trans->status != LIBUSB_TRANSFER_COMPLETED)
43 ctx->flags |= TRANS_FLAGS_HAS_ERROR;
45 ctx->flags |= TRANS_FLAGS_IS_DONE;
48 int submit_wait(struct stlink_libusb *slu, struct libusb_transfer * trans) {
52 struct trans_ctx trans_ctx;
53 enum libusb_error error;
57 /* brief intrusion inside the libusb interface */
58 trans->callback = on_trans_done;
59 trans->user_data = &trans_ctx;
61 if ((error = libusb_submit_transfer(trans))) {
62 printf("libusb_submit_transfer(%d)\n", error);
66 gettimeofday(&start, NULL);
68 while (trans_ctx.flags == 0) {
69 struct timeval timeout;
72 if (libusb_handle_events_timeout(slu->libusb_ctx, &timeout)) {
73 printf("libusb_handle_events()\n");
77 gettimeofday(&now, NULL);
78 timersub(&now, &start, &diff);
79 if (diff.tv_sec >= 3) {
80 printf("libusb_handle_events() timeout\n");
85 if (trans_ctx.flags & TRANS_FLAGS_HAS_ERROR) {
86 printf("libusb_handle_events() | has_error\n");
93 ssize_t send_recv(struct stlink_libusb* handle, int terminate,
94 unsigned char* txbuf, size_t txsize,
95 unsigned char* rxbuf, size_t rxsize) {
96 /* note: txbuf and rxbuf can point to the same area */
99 libusb_fill_bulk_transfer(handle->req_trans, handle->usb_handle,
106 if (submit_wait(handle, handle->req_trans)) return -1;
111 /* read the response */
113 libusb_fill_bulk_transfer(handle->rep_trans, handle->usb_handle,
114 handle->ep_rep, rxbuf, rxsize, NULL, NULL, 0);
116 if (submit_wait(handle, handle->rep_trans)) return -1;
117 res = handle->rep_trans->actual_length;
120 if ((handle->protocoll == 1) && terminate) {
121 fprintf(stderr, "This is never used....\n");
123 /* Read the SG reply */
124 unsigned char sg_buf[13];
125 libusb_fill_bulk_transfer
126 (handle->rep_trans, handle->usb_handle,
127 handle->ep_rep, sg_buf, 13, NULL, NULL, 0);
128 res = submit_wait(handle, handle->rep_trans);
129 /* The STLink doesn't seem to evaluate the sequence number */
130 handle->sg_transfer_idx++;
134 return handle->rep_trans->actual_length;
137 static inline int send_only
138 (struct stlink_libusb* handle, int terminate,
139 unsigned char* txbuf, size_t txsize) {
140 return send_recv(handle, terminate, txbuf, txsize, NULL, 0);
144 /* Search for a STLINK device, either any or teh one with the given PID
145 * Return the protocoll version
147 static int is_stlink_device(libusb_device * dev, uint16_t pid) {
148 struct libusb_device_descriptor desc;
151 if (libusb_get_device_descriptor(dev, &desc))
154 if (desc.idVendor != USB_ST_VID)
157 if ((desc.idProduct != USB_STLINK_32L_PID) &&
158 (desc.idProduct != USB_STLINK_PID ))
161 if(pid && (pid != desc.idProduct))
163 if (desc.idProduct == USB_STLINK_PID )
171 static int fill_command
172 (stlink_t * sl, enum SCSI_Generic_Direction dir, uint32_t len) {
173 struct stlink_libusb * const slu = sl->backend_data;
174 unsigned char* const cmd = sl->c_buf;
176 memset(cmd, 0, sizeof (sl->c_buf));
177 if(slu->protocoll == 1) {
178 fprintf(stderr, "This is never used....\n");
183 write_uint32(&cmd[i], slu->sg_transfer_idx);
184 write_uint32(&cmd[i + 4], len);
186 cmd[i++] = (dir == SG_DXFER_FROM_DEV)?0x80:0;
187 cmd[i++] = 0; /* Logical unit */
188 cmd[i++] = 0xa; /* Command length */
193 void _stlink_usb_version(stlink_t *sl) {
194 struct stlink_libusb * const slu = sl->backend_data;
195 unsigned char* const data = sl->q_buf;
196 unsigned char* const cmd = sl->c_buf;
198 uint32_t rep_len = 6;
199 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
201 cmd[i++] = STLINK_GET_VERSION;
203 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
205 printf("[!] send_recv\n");
210 void _stlink_usb_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
211 struct stlink_libusb * const slu = sl->backend_data;
212 unsigned char* const data = sl->q_buf;
213 unsigned char* const cmd = sl->c_buf;
215 int i = fill_command(sl, SG_DXFER_TO_DEV, len);
216 cmd[i++] = STLINK_DEBUG_COMMAND;
217 cmd[i++] = STLINK_DEBUG_WRITEMEM_32BIT;
218 write_uint32(&cmd[i], addr);
219 write_uint16(&cmd[i + 4], len);
220 send_only(slu, 0, cmd, slu->cmd_len);
222 send_only(slu, 1, data, len);
225 void _stlink_usb_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
226 struct stlink_libusb * const slu = sl->backend_data;
227 unsigned char* const data = sl->q_buf;
228 unsigned char* const cmd = sl->c_buf;
230 int i = fill_command(sl, SG_DXFER_TO_DEV, 0);
231 cmd[i++] = STLINK_DEBUG_COMMAND;
232 cmd[i++] = STLINK_DEBUG_WRITEMEM_8BIT;
233 write_uint32(&cmd[i], addr);
234 write_uint16(&cmd[i + 4], len);
235 send_only(slu, 0, cmd, slu->cmd_len);
236 send_only(slu, 1, data, len);
240 int _stlink_usb_current_mode(stlink_t * sl) {
241 struct stlink_libusb * const slu = sl->backend_data;
242 unsigned char* const cmd = sl->c_buf;
243 unsigned char* const data = sl->q_buf;
246 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
248 cmd[i++] = STLINK_GET_CURRENT_MODE;
249 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
251 printf("[!] send_recv\n");
257 void _stlink_usb_core_id(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_DEBUG_COMMAND;
266 cmd[i++] = STLINK_DEBUG_READCOREID;
268 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
270 printf("[!] send_recv\n");
274 sl->core_id = read_uint32(data, 0);
277 void _stlink_usb_status(stlink_t * sl) {
278 struct stlink_libusb * const slu = sl->backend_data;
279 unsigned char* const data = sl->q_buf;
280 unsigned char* const cmd = sl->c_buf;
283 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
285 cmd[i++] = STLINK_DEBUG_COMMAND;
286 cmd[i++] = STLINK_DEBUG_GETSTATUS;
288 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
290 printf("[!] send_recv\n");
295 void _stlink_usb_force_debug(stlink_t *sl) {
296 struct stlink_libusb *slu = sl->backend_data;
297 unsigned char* const data = sl->q_buf;
298 unsigned char* const cmd = sl->c_buf;
301 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
303 cmd[i++] = STLINK_DEBUG_COMMAND;
304 cmd[i++] = STLINK_DEBUG_FORCEDEBUG;
305 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
307 printf("[!] send_recv\n");
312 void _stlink_usb_enter_swd_mode(stlink_t * sl) {
313 struct stlink_libusb * const slu = sl->backend_data;
314 unsigned char* const cmd = sl->c_buf;
316 const int rep_len = 0;
317 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
319 cmd[i++] = STLINK_DEBUG_COMMAND;
320 cmd[i++] = STLINK_DEBUG_ENTER;
321 cmd[i++] = STLINK_DEBUG_ENTER_SWD;
323 size = send_only(slu, 1, cmd, slu->cmd_len);
325 printf("[!] send_recv\n");
330 void _stlink_usb_exit_dfu_mode(stlink_t* sl) {
331 struct stlink_libusb * const slu = sl->backend_data;
332 unsigned char* const cmd = sl->c_buf;
334 int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
336 cmd[i++] = STLINK_DFU_COMMAND;
337 cmd[i++] = STLINK_DFU_EXIT;
339 size = send_only(slu, 1, cmd, slu->cmd_len);
341 printf("[!] send_recv\n");
347 * TODO - not convinced this does anything...
350 void _stlink_usb_reset(stlink_t * sl) {
351 struct stlink_libusb * const slu = sl->backend_data;
352 unsigned char* const data = sl->q_buf;
353 unsigned char* const cmd = sl->c_buf;
356 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
358 cmd[i++] = STLINK_DEBUG_COMMAND;
359 cmd[i++] = STLINK_DEBUG_RESETSYS;
361 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
363 printf("[!] send_recv\n");
369 void _stlink_usb_step(stlink_t* sl) {
370 struct stlink_libusb * const slu = sl->backend_data;
371 unsigned char* const data = sl->q_buf;
372 unsigned char* const cmd = sl->c_buf;
375 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
377 cmd[i++] = STLINK_DEBUG_COMMAND;
378 cmd[i++] = STLINK_DEBUG_STEPCORE;
380 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
382 printf("[!] send_recv\n");
388 * This seems to do a good job of restarting things from the beginning?
391 void _stlink_usb_run(stlink_t* sl) {
392 struct stlink_libusb * const slu = sl->backend_data;
393 unsigned char* const data = sl->q_buf;
394 unsigned char* const cmd = sl->c_buf;
397 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
399 cmd[i++] = STLINK_DEBUG_COMMAND;
400 cmd[i++] = STLINK_DEBUG_RUNCORE;
402 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
404 printf("[!] send_recv\n");
409 void _stlink_usb_exit_debug_mode(stlink_t *sl) {
410 struct stlink_libusb * const slu = sl->backend_data;
411 unsigned char* const cmd = sl->c_buf;
413 int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
415 cmd[i++] = STLINK_DEBUG_COMMAND;
416 cmd[i++] = STLINK_DEBUG_EXIT;
418 size = send_only(slu, 1, cmd, slu->cmd_len);
420 printf("[!] send_only\n");
425 void _stlink_usb_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
426 struct stlink_libusb * const slu = sl->backend_data;
427 unsigned char* const data = sl->q_buf;
428 unsigned char* const cmd = sl->c_buf;
430 int i = fill_command(sl, SG_DXFER_FROM_DEV, len);
432 cmd[i++] = STLINK_DEBUG_COMMAND;
433 cmd[i++] = STLINK_DEBUG_READMEM_32BIT;
434 write_uint32(&cmd[i], addr);
435 write_uint16(&cmd[i + 4], len);
437 size = send_recv(slu, 1, cmd, slu->cmd_len, data, len);
439 printf("[!] send_recv\n");
443 sl->q_len = (size_t) size;
445 stlink_print_data(sl);
448 void _stlink_usb_read_all_regs(stlink_t *sl, reg *regp) {
449 struct stlink_libusb * const slu = sl->backend_data;
450 unsigned char* const cmd = sl->c_buf;
451 unsigned char* const data = sl->q_buf;
453 uint32_t rep_len = 84;
454 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
456 cmd[i++] = STLINK_DEBUG_COMMAND;
457 cmd[i++] = STLINK_DEBUG_READALLREGS;
458 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
460 printf("[!] send_recv\n");
463 sl->q_len = (size_t) size;
464 stlink_print_data(sl);
466 regp->r[i]= read_uint32(sl->q_buf, i*4);
467 regp->xpsr = read_uint32(sl->q_buf, 64);
468 regp->main_sp = read_uint32(sl->q_buf, 68);
469 regp->process_sp = read_uint32(sl->q_buf, 72);
470 regp->rw = read_uint32(sl->q_buf, 76);
471 regp->rw2 = read_uint32(sl->q_buf, 80);
475 DD(sl, "xpsr = 0x%08x\n", read_uint32(sl->q_buf, 64));
476 DD(sl, "main_sp = 0x%08x\n", read_uint32(sl->q_buf, 68));
477 DD(sl, "process_sp = 0x%08x\n", read_uint32(sl->q_buf, 72));
478 DD(sl, "rw = 0x%08x\n", read_uint32(sl->q_buf, 76));
479 DD(sl, "rw2 = 0x%08x\n", read_uint32(sl->q_buf, 80));
482 void _stlink_usb_read_reg(stlink_t *sl, int r_idx, reg *regp) {
483 struct stlink_libusb * const slu = sl->backend_data;
484 unsigned char* const data = sl->q_buf;
485 unsigned char* const cmd = sl->c_buf;
488 uint32_t rep_len = 4;
489 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
491 cmd[i++] = STLINK_DEBUG_COMMAND;
492 cmd[i++] = STLINK_DEBUG_READREG;
493 cmd[i++] = (uint8_t) r_idx;
494 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
496 printf("[!] send_recv\n");
499 sl->q_len = (size_t) size;
500 stlink_print_data(sl);
501 r = read_uint32(sl->q_buf, 0);
502 DD(sl, "r_idx (%2d) = 0x%08x\n", r_idx, r);
512 regp->process_sp = r;
515 regp->rw = r; /* XXX ?(primask, basemask etc.) */
518 regp->rw2 = r; /* XXX ?(primask, basemask etc.) */
525 void _stlink_usb_write_reg(stlink_t *sl, uint32_t reg, int idx) {
526 struct stlink_libusb * const slu = sl->backend_data;
527 unsigned char* const data = sl->q_buf;
528 unsigned char* const cmd = sl->c_buf;
530 uint32_t rep_len = 2;
531 int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
533 cmd[i++] = STLINK_DEBUG_COMMAND;
534 cmd[i++] = STLINK_DEBUG_WRITEREG;
536 write_uint32(&cmd[i], reg);
537 size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
539 printf("[!] send_recv\n");
542 sl->q_len = (size_t) size;
543 stlink_print_data(sl);
546 stlink_backend_t _stlink_usb_backend = {
548 _stlink_usb_exit_debug_mode,
549 _stlink_usb_enter_swd_mode,
550 NULL, // no enter_jtag_mode here...
551 _stlink_usb_exit_dfu_mode,
557 _stlink_usb_read_mem32,
558 _stlink_usb_write_mem32,
559 _stlink_usb_write_mem8,
560 _stlink_usb_read_all_regs,
561 _stlink_usb_read_reg,
562 _stlink_usb_write_reg,
564 _stlink_usb_current_mode,
565 _stlink_usb_force_debug
569 stlink_t* stlink_open_usb(const int verbose) {
571 struct stlink_libusb* slu = NULL;
573 libusb_device** devs = NULL;
578 char *iSerial = NULL;
580 sl = malloc(sizeof (stlink_t));
581 slu = malloc(sizeof (struct stlink_libusb));
582 if (sl == NULL) goto on_error;
583 if (slu == NULL) goto on_error;
584 memset(sl, 0, sizeof (stlink_t));
585 memset(slu, 0, sizeof (struct stlink_libusb));
587 sl->verbose = verbose;
588 sl->backend = &_stlink_usb_backend;
589 sl->backend_data = slu;
591 sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
593 /* flash memory settings */
594 sl->flash_base = STM32_FLASH_BASE;
595 sl->flash_size = STM32_FLASH_SIZE;
596 sl->flash_pgsz = STM32_FLASH_PGSZ;
599 sl->sys_base = STM32_SYSTEM_BASE;
600 sl->sys_size = STM32_SYSTEM_SIZE;
602 /* sram memory settings */
603 sl->sram_base = STM32_SRAM_BASE;
604 sl->sram_size = STM32L_SRAM_SIZE;
606 if (libusb_init(&(slu->libusb_ctx))) {
607 fprintf(stderr, "failed to init libusb context, wrong version of libraries?\n");
611 slu->usb_handle = libusb_open_device_with_vid_pid(slu->libusb_ctx, USB_ST_VID, USB_STLINK_32L_PID);
612 if (slu->usb_handle == NULL) {
613 // TODO - free usb context too...
615 fprintf(stderr, "Couldn't find any ST-Link/V2 devices");
619 if (libusb_kernel_driver_active(slu->usb_handle, 0) == 1) {
622 r = libusb_detach_kernel_driver(slu->usb_handle, 0);
624 printf("libusb_detach_kernel_driver(() error %s\n", strerror(-r));
625 goto on_libusb_error;
628 if (libusb_get_configuration(slu->usb_handle, &config)) {
629 /* this may fail for a previous configured device */
630 printf("libusb_get_configuration()\n");
631 goto on_libusb_error;
635 printf("setting new configuration (%d -> 1)\n", config);
636 if (libusb_set_configuration(slu->usb_handle, 1)) {
637 /* this may fail for a previous configured device */
638 printf("libusb_set_configuration()\n");
639 goto on_libusb_error;
643 if (libusb_claim_interface(slu->usb_handle, 0)) {
644 printf("libusb_claim_interface()\n");
645 goto on_libusb_error;
648 slu->req_trans = libusb_alloc_transfer(0);
649 if (slu->req_trans == NULL) {
650 printf("libusb_alloc_transfer\n");
651 goto on_libusb_error;
654 slu->rep_trans = libusb_alloc_transfer(0);
655 if (slu->rep_trans == NULL) {
656 printf("libusb_alloc_transfer\n");
657 goto on_libusb_error;
659 // TODO - could use the scanning techniq from stm8 code here...
660 slu->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN;
661 slu->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT;
663 slu->sg_transfer_idx = 0;
664 // TODO - never used at the moment, always CMD_SIZE
665 slu->cmd_len = (slu->protocoll == 1)? STLINK_SG_SIZE: STLINK_CMD_SIZE;
668 if (stlink_current_mode(sl) == STLINK_DEV_DFU_MODE) {
669 printf("-- exit_dfu_mode\n");
670 stlink_exit_dfu_mode(sl);
677 libusb_free_device_list(devs, 1);
689 if (sl != NULL) free(sl);
690 if (slu != NULL) free(slu);