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 send_only(slu, buf, len);
193 void _stlink_usb_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
194 struct stlink_libusb * const slu = sl->backend_data;
195 unsigned char* const buf = sl->q_buf;
196 unsigned char *cmd_buf = sl->c_buf;
198 memset(cmd_buf, 0, STLINK_CMD_SIZE);
199 cmd_buf[0] = STLINK_DEBUG_COMMAND;
200 cmd_buf[1] = STLINK_DEBUG_WRITEMEM_8BIT;
201 write_uint32(cmd_buf + 2, addr);
202 write_uint16(cmd_buf + 6, len);
203 send_only(slu, cmd_buf, STLINK_CMD_SIZE);
205 #if Q_BUF_LEN < UINT16_MAX
206 assert(len < sizeof(sl->q_buf)); // makes a compiler warning? always true?
208 send_only(slu, buf, len);
212 int _stlink_usb_current_mode(stlink_t * sl) {
213 struct stlink_libusb * const slu = sl->backend_data;
214 unsigned char* const buf = sl->q_buf;
216 memset(buf, 0, sizeof (sl->q_buf));
217 buf[0] = STLINK_GET_CURRENT_MODE;
218 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 2);
220 printf("[!] send_recv\n");
226 void _stlink_usb_core_id(stlink_t * sl) {
227 struct stlink_libusb * const slu = sl->backend_data;
228 unsigned char* const buf = sl->q_buf;
231 memset(buf, 0, sizeof (sl->q_buf));
232 buf[0] = STLINK_DEBUG_COMMAND;
233 buf[1] = STLINK_DEBUG_READCOREID;
235 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 4);
237 printf("[!] send_recv\n");
241 sl->core_id = read_uint32(buf, 0);
244 void _stlink_usb_status(stlink_t * sl) {
245 struct stlink_libusb * const slu = sl->backend_data;
246 unsigned char* const buf = sl->q_buf;
249 memset(buf, 0, sizeof (sl->q_buf));
251 buf[0] = STLINK_DEBUG_COMMAND;
252 buf[1] = STLINK_DEBUG_GETSTATUS;
254 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 2);
256 printf("[!] send_recv\n");
260 /* todo: stlink_core_stat */
262 // FIXME - decode into sl->core_stat
264 printf("status == 0x%x\n", buf[0]);
269 void _stlink_usb_force_debug(stlink_t *sl) {
270 struct stlink_libusb *slu = sl->backend_data;
271 unsigned char* const buf = sl->q_buf;
274 memset(buf, 0, sizeof (sl->q_buf));
276 buf[0] = STLINK_DEBUG_COMMAND;
277 buf[1] = STLINK_DEBUG_FORCEDEBUG;
278 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 2);
280 printf("[!] send_recv\n");
286 void _stlink_usb_enter_swd_mode(stlink_t * sl) {
287 struct stlink_libusb * const slu = sl->backend_data;
288 unsigned char* const buf = sl->q_buf;
291 memset(buf, 0, sizeof (sl->q_buf));
293 buf[0] = STLINK_DEBUG_COMMAND;
294 buf[1] = STLINK_SWD_ENTER;
295 buf[2] = STLINK_DEBUG_ENTER_SWD;
297 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 2);
299 printf("[!] send_recv\n");
304 void _stlink_usb_exit_dfu_mode(stlink_t* sl) {
305 struct stlink_libusb * const slu = sl->backend_data;
306 unsigned char* const buf = sl->q_buf;
309 memset(buf, 0, sizeof (sl->q_buf));
310 buf[0] = STLINK_DFU_COMMAND;
311 buf[1] = STLINK_DFU_EXIT;
313 size = send_only(slu, buf, 16);
315 printf("[!] send_recv\n");
321 * TODO - not convinced this does anything...
324 void _stlink_usb_reset(stlink_t * sl) {
325 struct stlink_libusb * const slu = sl->backend_data;
326 unsigned char* const buf = sl->q_buf;
329 memset(buf, 0, sizeof (sl->q_buf));
330 buf[0] = STLINK_DEBUG_COMMAND;
331 buf[1] = STLINK_DEBUG_RESETSYS;
333 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, sizeof (sl->q_buf));
335 printf("[!] send_recv\n");
341 void _stlink_usb_step(stlink_t* sl) {
342 struct stlink_libusb * const slu = sl->backend_data;
343 unsigned char* const buf = sl->q_buf;
346 memset(buf, 0, sizeof (sl->q_buf));
347 buf[0] = STLINK_DEBUG_COMMAND;
348 buf[1] = STLINK_DEBUG_STEPCORE;
350 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 2);
352 printf("[!] send_recv\n");
358 * This seems to do a good job of restarting things from the beginning?
361 void _stlink_usb_run(stlink_t* sl) {
362 struct stlink_libusb * const slu = sl->backend_data;
363 unsigned char* const buf = sl->q_buf;
366 memset(buf, 0, sizeof (sl->q_buf));
367 buf[0] = STLINK_DEBUG_COMMAND;
368 buf[1] = STLINK_DEBUG_RUNCORE;
370 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, 2);
372 printf("[!] send_recv\n");
378 void _stlink_usb_exit_debug_mode(stlink_t *sl) {
379 struct stlink_libusb * const slu = sl->backend_data;
380 unsigned char* const buf = sl->q_buf;
383 memset(buf, 0, sizeof (sl->q_buf));
384 buf[0] = STLINK_DEBUG_COMMAND;
385 buf[1] = STLINK_DEBUG_EXIT;
387 size = send_only(slu, buf, 16);
389 printf("[!] send_only\n");
394 void _stlink_usb_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
395 struct stlink_libusb * const slu = sl->backend_data;
396 unsigned char* const buf = sl->q_buf;
399 /* assume len < sizeof(sl->q_buf) */
401 memset(buf, 0, sizeof (sl->q_buf));
402 buf[0] = STLINK_DEBUG_COMMAND;
403 buf[1] = STLINK_DEBUG_READMEM_32BIT;
404 write_uint32(buf + 2, addr);
405 /* windows usb logs show only one byte is used for length ... */
406 // Presumably, this is because usb transfers can't be 16 bits worth of bytes long...
408 buf[6] = (uint8_t) len;
410 size = send_recv(slu, buf, STLINK_CMD_SIZE, buf, len);
412 printf("[!] send_recv\n");
416 sl->q_len = (size_t) size;
418 stlink_print_data(sl);
424 void _stlink_usb_read_all_regs(stlink_t *sl, reg *regp) {
425 struct stlink_libusb * const slu = sl->backend_data;
426 unsigned char* const buf = sl->q_buf;
427 unsigned char* const cmd_buf = sl->c_buf;
431 memset(cmd_buf, 0, STLINK_CMD_SIZE);
432 cmd_buf[0] = STLINK_DEBUG_COMMAND;
433 cmd_buf[1] = STLINK_DEBUG_READALLREGS;
434 size = send_recv(slu, cmd_buf, STLINK_CMD_SIZE, buf, 84);
436 printf("[!] send_recv\n");
439 sl->q_len = (size_t) size;
440 stlink_print_data(sl);
442 regp->r[i]= read_uint32(sl->q_buf, i*4);
443 regp->xpsr = read_uint32(sl->q_buf, 64);
444 regp->main_sp = read_uint32(sl->q_buf, 68);
445 regp->process_sp = read_uint32(sl->q_buf, 72);
446 regp->rw = read_uint32(sl->q_buf, 76);
447 regp->rw2 = read_uint32(sl->q_buf, 80);
451 DD(sl, "xpsr = 0x%08x\n", read_uint32(sl->q_buf, 64));
452 DD(sl, "main_sp = 0x%08x\n", read_uint32(sl->q_buf, 68));
453 DD(sl, "process_sp = 0x%08x\n", read_uint32(sl->q_buf, 72));
454 DD(sl, "rw = 0x%08x\n", read_uint32(sl->q_buf, 76));
455 DD(sl, "rw2 = 0x%08x\n", read_uint32(sl->q_buf, 80));
460 static void _stlink_usb_read_all_regs(stlink_t *sl, reg *regp) {
461 struct stlink_libusb * const slu = sl->backend_data;
462 unsigned char* const buf = sl->q_buf;
463 unsigned char* const cmd_buf = sl->c_buf;
467 #define STLINK_JTAG_COMMAND 0xf2
468 #define STLINK_JTAG_READALLREGS2 0x3a
469 memset(cmd_buf, 0, STLINK_CMD_SIZE);
470 cmd_buf[0] = STLINK_JTAG_COMMAND;
471 cmd_buf[1] = STLINK_JTAG_READALLREGS2;
472 size = send_recv(slu, cmd_buf, STLINK_CMD_SIZE, buf, 84);
475 printf("[!] send_recv\n");
479 sl->q_len = (size_t) size;
482 regp->r[i]= read_uint32(sl->q_buf, i*4);
484 regp->xpsr = read_uint32(sl->q_buf, 64);
485 regp->main_sp = read_uint32(sl->q_buf, 68);
486 regp->process_sp = read_uint32(sl->q_buf, 72);
487 regp->rw = read_uint32(sl->q_buf, 76);
488 regp->rw2 = read_uint32(sl->q_buf, 80);
491 #endif /* stlinkv1 */
493 void _stlink_usb_read_reg(stlink_t *sl, int r_idx, reg *regp) {
494 struct stlink_libusb * const slu = sl->backend_data;
495 unsigned char* const buf = sl->q_buf;
496 unsigned char* const cmd_buf = sl->c_buf;
500 memset(cmd_buf, 0, STLINK_CMD_SIZE);
501 cmd_buf[0] = STLINK_DEBUG_COMMAND;
502 cmd_buf[1] = STLINK_DEBUG_READREG;
503 cmd_buf[2] = (uint8_t) r_idx;
504 size = send_recv(slu, cmd_buf, STLINK_CMD_SIZE, buf, 4);
506 printf("[!] send_recv\n");
509 sl->q_len = (size_t) size;
510 stlink_print_data(sl);
511 r = read_uint32(sl->q_buf, 0);
512 DD(sl, "r_idx (%2d) = 0x%08x\n", r_idx, r);
522 regp->process_sp = r;
525 regp->rw = r; //XXX ?(primask, basemask etc.)
528 regp->rw2 = r; //XXX ?(primask, basemask etc.)
538 void _stlink_usb_write_reg(stlink_t *sl, uint32_t reg, int idx) {
539 struct stlink_libusb * const slu = sl->backend_data;
540 unsigned char* const buf = sl->q_buf;
541 unsigned char *cmd_buf = sl->c_buf;
544 memset(cmd_buf, 0, STLINK_CMD_SIZE);
545 cmd_buf[0] = STLINK_DEBUG_COMMAND;
546 cmd_buf[1] = STLINK_DEBUG_WRITEREG;
548 write_uint32(cmd_buf + 3, reg);
549 size = send_recv(slu, cmd_buf, STLINK_CMD_SIZE, buf, 2);
551 printf("[!] send_recv\n");
554 sl->q_len = (size_t) size;
555 stlink_print_data(sl);
560 void _stlink_usb_write_reg(stlink_t *sl, uint32_t reg, int idx) {
561 struct stlink_libusb * const slu = sl->backend_data;
562 unsigned char* const buf = sl->q_buf;
563 unsigned char *cmd_buf = sl->c_buf;
566 #define STLINK_JTAG_WRITEREG2 0x34
567 memset(cmd_buf, 0, STLINK_CMD_SIZE);
568 cmd_buf[0] = STLINK_JTAG_COMMAND;
569 cmd_buf[1] = STLINK_JTAG_WRITEREG2;
571 write_uint32(cmd_buf + 3, reg);
572 size = send_recv(slu, cmd_buf, STLINK_CMD_SIZE, buf, 2);
574 printf("[!] send_recv\n");
577 sl->q_len = (size_t) size;
578 stlink_print_data(sl);
581 #endif /* stlinkv1 */
584 stlink_backend_t _stlink_usb_backend = {
586 _stlink_usb_exit_debug_mode,
587 _stlink_usb_enter_swd_mode,
588 NULL, // no enter_jtag_mode here...
589 _stlink_usb_exit_dfu_mode,
595 _stlink_usb_read_mem32,
596 _stlink_usb_write_mem32,
597 _stlink_usb_write_mem8,
598 _stlink_usb_read_all_regs,
599 _stlink_usb_read_reg,
600 _stlink_usb_write_reg,
602 _stlink_usb_current_mode,
603 _stlink_usb_force_debug
607 stlink_t* stlink_open_usb(const char *dev_name, const int verbose) {
609 struct stlink_libusb* slu = NULL;
614 sl = malloc(sizeof (stlink_t));
615 slu = malloc(sizeof (struct stlink_libusb));
616 if (sl == NULL) goto on_error;
617 if (slu == NULL) goto on_error;
619 sl->verbose = verbose;
621 if (slu->libusb_ctx != NULL) {
622 fprintf(stderr, "reopening with an existing context? undefined behaviour!\n");
625 if (libusb_init(&(slu->libusb_ctx))) {
626 fprintf(stderr, "failed to init libusb context, wrong version of libraries?\n");
633 libusb_device** devs = NULL;
639 count = libusb_get_device_list(slu->libusb_ctx, &devs);
641 printf("libusb_get_device_list\n");
642 goto on_libusb_error;
645 for (i = 0; i < count; ++i) {
647 if (is_stlink_device(dev)) break;
649 if (i == count) return NULL;
651 if (libusb_open(dev, &(slu->usb_handle))) {
652 printf("libusb_open()\n");
653 goto on_libusb_error;
656 if (libusb_get_configuration(slu->usb_handle, &config)) {
657 /* this may fail for a previous configured device */
658 printf("libusb_get_configuration()\n");
659 goto on_libusb_error;
663 printf("setting new configuration (%d -> 1)\n", config);
664 if (libusb_set_configuration(slu->usb_handle, 1)) {
665 /* this may fail for a previous configured device */
666 printf("libusb_set_configuration()\n");
667 goto on_libusb_error;
671 if (libusb_claim_interface(slu->usb_handle, 0)) {
672 printf("libusb_claim_interface()\n");
673 goto on_libusb_error;
676 slu->req_trans = libusb_alloc_transfer(0);
677 if (slu->req_trans == NULL) {
678 printf("libusb_alloc_transfer\n");
679 goto on_libusb_error;
682 slu->rep_trans = libusb_alloc_transfer(0);
683 if (slu->rep_trans == NULL) {
684 printf("libusb_alloc_transfer\n");
685 goto on_libusb_error;
688 slu->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN;
689 slu->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT;
691 /* libusb_reset_device(slu->usb_handle); */
698 libusb_free_device_list(devs, 1);
699 fprintf(stderr, "freed libusb device list\n");
707 sl->backend = &_stlink_usb_backend;
708 sl->backend_data = slu;
713 if (sl != NULL) free(sl);
714 if (slu != NULL) free(slu);