X-Git-Url: https://git.gag.com/?p=fw%2Fstlink;a=blobdiff_plain;f=src%2Fstlink-sg.c;h=991bc878b5bb77ccb82ec8fd28bcb6ee73ed4fb6;hp=b8220de133bf2c26a5f6b92338c87b288bb8e09c;hb=5eda4566d617fedd2a9d3020ddae06b394d08a5f;hpb=105e266a05bdc2ffefacedc7ffe9e23201a417f9 diff --git a/src/stlink-sg.c b/src/stlink-sg.c index b8220de..991bc87 100644 --- a/src/stlink-sg.c +++ b/src/stlink-sg.c @@ -12,7 +12,6 @@ The stlink related constants kindly provided by Oliver Spencer (OpenOCD) for use in a GPL compatible license. - Code format ~ TAB = 8, K&R, linux kernel source, golang oriented Tested compatibility: linux, gcc >= 4.3.3 The communication is based on standard USB mass storage device @@ -31,10 +30,18 @@ CBW - Command Block Wrapper CSW - Command Status Wrapper RFU - Reserved for Future Use - scsi_pt - SCSI pass-through - sg - SCSI generic - * usb-storage.quirks + Originally, this driver used scsi pass through commands, which required the + usb-storage module to be loaded, providing the /dev/sgX links. The USB mass + storage implementation on the STLinkv1 is however terribly broken, and it can + take many minutes for the kernel to give up. + + However, in Nov 2011, the scsi pass through was replaced by raw libusb, so + instead of having to let usb-storage struggle with the device, and also greatly + limiting the portability of the driver, you can now tell usb-storage to simply + ignore this device completely. + + usb-storage.quirks http://git.kernel.org/?p=linux/kernel/git/torvalds/linux-2.6.git;a=blob_plain;f=Documentation/kernel-parameters.txt Each entry has the form VID:PID:Flags where VID and PID are Vendor and Product ID values (4-digit hex numbers) and Flags is a set of characters, each corresponding @@ -54,22 +61,22 @@ Example: quirks=0419:aaf5:rl,0421:0433:rc http://permalink.gmane.org/gmane.linux.usb.general/35053 + + For the stlinkv1, you just want the following - modprobe -r usb-storage && modprobe usb-storage quirks=483:3744:l + modprobe -r usb-storage && modprobe usb-storage quirks=483:3744:i Equivalently, you can add a line saying - options usb-storage quirks=483:3744:l + options usb-storage quirks=483:3744:i to your /etc/modprobe.conf or /etc/modprobe.d/local.conf (or add the "quirks=..." part to an existing options line for usb-storage). - - https://wiki.kubuntu.org/Kernel/Debugging/USB explains the protocoll and - would allow to replace the sg access to pure libusb access */ #define __USE_GNU +#include #include #include #include @@ -81,22 +88,14 @@ #include #include "stlink-common.h" - -#if CONFIG_USE_LIBSG -// sgutils2 (apt-get install libsgutils2-dev) -#include -#include #include "stlink-sg.h" -#endif - +#include "uglylogging.h" -// Suspends execution of the calling process for -// (at least) ms milliseconds. - -static void delay(int ms) { - //fprintf(stderr, "*** wait %d ms\n", ms); - usleep(1000 * ms); -} +#define LOG_TAG __FILE__ +#define DLOG(format, args...) ugly_log(UDEBUG, LOG_TAG, format, ## args) +#define ILOG(format, args...) ugly_log(UINFO, LOG_TAG, format, ## args) +#define WLOG(format, args...) ugly_log(UWARN, LOG_TAG, format, ## args) +#define fatal(format, args...) ugly_log(UFATAL, LOG_TAG, format, ## args) static void clear_cdb(struct stlink_libsg *sl) { for (size_t i = 0; i < sizeof (sl->cdb_cmd_blk); i++) @@ -106,145 +105,291 @@ static void clear_cdb(struct stlink_libsg *sl) { sl->q_data_dir = Q_DATA_IN; } -// E.g. make the valgrind happy. - -static void clear_buf(stlink_t *sl) { - DD(sl, "*** clear_buf ***\n"); - for (size_t i = 0; i < sizeof (sl->q_buf); i++) - sl->q_buf[i] = 0; - -} - -// close the device, free the allocated memory - -void _stlink_sg_close(stlink_t *sl) { +/** + * Close and free any _backend_ related information... + * @param sl + */void _stlink_sg_close(stlink_t *sl) { if (sl) { struct stlink_libsg *slsg = sl->backend_data; - scsi_pt_close_device(slsg->sg_fd); + libusb_close(slsg->usb_handle); + libusb_exit(slsg->libusb_ctx); free(slsg); } } +static int get_usb_mass_storage_status(libusb_device_handle *handle, uint8_t endpoint, uint32_t *tag) +{ + unsigned char csw[13]; + memset(csw, 0, sizeof(csw)); + int transferred; + int ret; + int try = 0; + do { + ret = libusb_bulk_transfer(handle, endpoint, (unsigned char *)&csw, sizeof(csw), + &transferred, SG_TIMEOUT_MSEC); + if (ret == LIBUSB_ERROR_PIPE) { + libusb_clear_halt(handle, endpoint); + } + try++; + } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3)); + if (ret != LIBUSB_SUCCESS) { + WLOG("%s: receiving failed: %d\n", __func__, ret); + return -1; + } + if (transferred != sizeof(csw)) { + WLOG("%s: received unexpected amount: %d\n", __func__, transferred); + return -1; + } -//TODO rewrite/cleanup, save the error in sl + uint32_t rsig = read_uint32(csw, 0); + uint32_t rtag = read_uint32(csw, 4); + /* uint32_t residue = read_uint32(csw, 8); */ +#define USB_CSW_SIGNATURE 0x53425355 // 'U' 'S' 'B' 'S' (reversed) + if (rsig != USB_CSW_SIGNATURE) { + WLOG("status signature was invalid: %#x\n", rsig); + return -1; + } + *tag = rtag; + uint8_t rstatus = csw[12]; + return rstatus; +} -static void stlink_confirm_inq(stlink_t *stl, struct sg_pt_base *ptvp) { - struct stlink_libsg *sl = stl->backend_data; - const int e = sl->do_scsi_pt_err; - if (e < 0) { - fprintf(stderr, "scsi_pt error: pass through os error: %s\n", - safe_strerror(-e)); - return; - } else if (e == SCSI_PT_DO_BAD_PARAMS) { - fprintf(stderr, "scsi_pt error: bad pass through setup\n"); - return; - } else if (e == SCSI_PT_DO_TIMEOUT) { - fprintf(stderr, " pass through timeout\n"); - return; +static int dump_CDB_command(uint8_t *cdb, uint8_t cdb_len) { + char dbugblah[100]; + char *dbugp = dbugblah; + dbugp += sprintf(dbugp, "Sending CDB ["); + for (uint8_t i = 0; i < cdb_len; i++) { + dbugp += sprintf(dbugp, " %#02x", (unsigned int) cdb[i]); } - const int duration = get_scsi_pt_duration_ms(ptvp); - if ((stl->verbose > 1) && (duration >= 0)) - DD(stl, " duration=%d ms\n", duration); + sprintf(dbugp, "]\n"); + DLOG(dbugblah); + return 0; +} - // XXX stlink fw sends broken residue, so ignore it and use the known q_len - // "usb-storage quirks=483:3744:r" - // forces residue to be ignored and calculated, but this causes aboard if - // data_len = 0 and by some other data_len values. +/** + * Wraps a CDB mass storage command in the appropriate gunk to get it down + * @param handle + * @param endpoint + * @param cdb + * @param cdb_length + * @param lun + * @param flags + * @param expected_rx_size + * @return + */ +int send_usb_mass_storage_command(libusb_device_handle *handle, uint8_t endpoint_out, + uint8_t *cdb, uint8_t cdb_length, + uint8_t lun, uint8_t flags, uint32_t expected_rx_size) { + DLOG("Sending usb m-s cmd: cdblen:%d, rxsize=%d\n", cdb_length, expected_rx_size); + dump_CDB_command(cdb, cdb_length); + + static uint32_t tag; + if (tag == 0) { + tag = 1; + } - const int resid = get_scsi_pt_resid(ptvp); - const int dsize = stl->q_len - resid; + int try = 0; + int ret = 0; + int real_transferred; + int i = 0; + + uint8_t c_buf[STLINK_SG_SIZE]; + // tag is allegedly ignored... TODO - verify + c_buf[i++] = 'U'; + c_buf[i++] = 'S'; + c_buf[i++] = 'B'; + c_buf[i++] = 'C'; + write_uint32(&c_buf[i], tag); + uint32_t this_tag = tag++; + write_uint32(&c_buf[i+4], expected_rx_size); + i+= 8; + c_buf[i++] = flags; + c_buf[i++] = lun; + + c_buf[i++] = cdb_length; + + // Now the actual CDB request + assert(cdb_length <= CDB_SL); + memcpy(&(c_buf[i]), cdb, cdb_length); + + int sending_length = STLINK_SG_SIZE; + + // send.... + do { + ret = libusb_bulk_transfer(handle, endpoint_out, c_buf, sending_length, + &real_transferred, SG_TIMEOUT_MSEC); + if (ret == LIBUSB_ERROR_PIPE) { + libusb_clear_halt(handle, endpoint_out); + } + try++; + } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3)); + if (ret != LIBUSB_SUCCESS) { + WLOG("sending failed: %d\n", ret); + return -1; + } + return this_tag; +} - const int cat = get_scsi_pt_result_category(ptvp); - char buf[512]; - unsigned int slen; - switch (cat) { - case SCSI_PT_RESULT_GOOD: - if (stl->verbose && (resid > 0)) - DD(stl, " notice: requested %d bytes but " - "got %d bytes, ignore [broken] residue = %d\n", - stl->q_len, dsize, resid); - break; - case SCSI_PT_RESULT_STATUS: - if (stl->verbose) { - sg_get_scsi_status_str( - get_scsi_pt_status_response(ptvp), sizeof (buf), - buf); - DD(stl, " scsi status: %s\n", buf); - } - return; - case SCSI_PT_RESULT_SENSE: - slen = get_scsi_pt_sense_len(ptvp); - if (stl->verbose) { - sg_get_sense_str("", sl->sense_buf, slen, (stl->verbose - > 1), sizeof (buf), buf); - DD(stl, "%s", buf); - } - if (stl->verbose && (resid > 0)) { - if ((stl->verbose) || (stl->q_len > 0)) - DD(stl, " requested %d bytes but " - "got %d bytes\n", stl->q_len, dsize); - } - return; - case SCSI_PT_RESULT_TRANSPORT_ERR: - if (stl->verbose) { - get_scsi_pt_transport_err_str(ptvp, sizeof (buf), buf); - // http://tldp.org/HOWTO/SCSI-Generic-HOWTO/x291.html - // These codes potentially come from the firmware on a host adapter - // or from one of several hosts that an adapter driver controls. - // The 'host_status' field has the following values: - // [0x07] Internal error detected in the host adapter. - // This may not be fatal (and the command may have succeeded). - DD(stl, " transport: %s", buf); - } - return; - case SCSI_PT_RESULT_OS_ERR: - if (stl->verbose) { - get_scsi_pt_os_err_str(ptvp, sizeof (buf), buf); - DD(stl, " os: %s", buf); - } - return; - default: - fprintf(stderr, " unknown pass through result " - "category (%d)\n", cat); +/** + * Straight from stm8 stlink code... + * @param handle + * @param endpoint_in + * @param endpoint_out + */ +static void +get_sense(libusb_device_handle *handle, uint8_t endpoint_in, uint8_t endpoint_out) +{ + DLOG("Fetching sense...\n"); + uint8_t cdb[16]; + memset(cdb, 0, sizeof(cdb)); +#define REQUEST_SENSE 0x03 +#define REQUEST_SENSE_LENGTH 18 + cdb[0] = REQUEST_SENSE; + cdb[4] = REQUEST_SENSE_LENGTH; + uint32_t tag = send_usb_mass_storage_command(handle, endpoint_out, cdb, sizeof(cdb), 0, + LIBUSB_ENDPOINT_IN, REQUEST_SENSE_LENGTH); + if (tag == 0) { + WLOG("refusing to send request sense with tag 0\n"); + return; + } + unsigned char sense[REQUEST_SENSE_LENGTH]; + int transferred; + int ret; + int try = 0; + do { + ret = libusb_bulk_transfer(handle, endpoint_in, sense, sizeof(sense), + &transferred, SG_TIMEOUT_MSEC); + if (ret == LIBUSB_ERROR_PIPE) { + libusb_clear_halt(handle, endpoint_in); + } + try++; + } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3)); + if (ret != LIBUSB_SUCCESS) { + WLOG("receiving sense failed: %d\n", ret); + return; + } + if (transferred != sizeof(sense)) { + WLOG("received unexpected amount of sense: %d != %d\n", transferred, sizeof(sense)); + } + uint32_t received_tag; + int status = get_usb_mass_storage_status(handle, endpoint_in, &received_tag); + if (status != 0) { + WLOG("receiving sense failed with status: %02x\n", status); + return; + } + if (sense[0] != 0x70 && sense[0] != 0x71) { + WLOG("No sense data\n"); + } else { + WLOG("Sense KCQ: %02X %02X %02X\n", sense[2] & 0x0f, sense[12], sense[13]); } } -void stlink_q(stlink_t *sl) { - struct stlink_libsg* sg = sl->backend_data; - DD(sl, "CDB["); - for (int i = 0; i < CDB_SL; i++) - DD(sl, " 0x%02x", (unsigned int) sg->cdb_cmd_blk[i]); - DD(sl, "]\n"); - - // Get control command descriptor of scsi structure, - // (one object per command!!) - struct sg_pt_base *ptvp = construct_scsi_pt_obj(); - if (NULL == ptvp) { - fprintf(stderr, "construct_scsi_pt_obj: out of memory\n"); - return; +/** + * Just send a buffer on an endpoint, no questions asked. + * Handles repeats, and time outs. Also handles reading status reports and sense + * @param handle libusb device * + * @param endpoint_out sends + * @param endpoint_in used to read status reports back in + * @param cbuf what to send + * @param length how much to send + * @return number of bytes actually sent, or -1 for failures. + */ +int send_usb_data_only(libusb_device_handle *handle, unsigned char endpoint_out, + unsigned char endpoint_in, unsigned char *cbuf, unsigned int length) { + int ret; + int real_transferred; + int try = 0; + do { + ret = libusb_bulk_transfer(handle, endpoint_out, cbuf, length, + &real_transferred, SG_TIMEOUT_MSEC); + if (ret == LIBUSB_ERROR_PIPE) { + libusb_clear_halt(handle, endpoint_out); + } + try++; + } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3)); + if (ret != LIBUSB_SUCCESS) { + WLOG("sending failed: %d\n", ret); + return -1; + } + + // now, swallow up the status, so that things behave nicely... + uint32_t received_tag; + // -ve is for my errors, 0 is good, +ve is libusb sense status bytes + int status = get_usb_mass_storage_status(handle, endpoint_in, &received_tag); + if (status < 0) { + WLOG("receiving status failed: %d\n", status); + return -1; + } + if (status != 0) { + WLOG("receiving status not passed :(: %02x\n", status); } + if (status == 1) { + get_sense(handle, endpoint_in, endpoint_out); + return -1; + } + + return real_transferred; +} + - set_scsi_pt_cdb(ptvp, sg->cdb_cmd_blk, sizeof (sg->cdb_cmd_blk)); +int stlink_q(stlink_t *sl) { + struct stlink_libsg* sg = sl->backend_data; + //uint8_t cdb_len = 6; // FIXME varies!!! + uint8_t cdb_len = 10; // FIXME varies!!! + uint8_t lun = 0; // always zero... + uint32_t tag = send_usb_mass_storage_command(sg->usb_handle, sg->ep_req, + sg->cdb_cmd_blk, cdb_len, lun, LIBUSB_ENDPOINT_IN, sl->q_len); + + + // now wait for our response... + // length copied from stlink-usb... + int rx_length = sl->q_len; + int try = 0; + int real_transferred; + int ret; + if (rx_length > 0) { + do { + ret = libusb_bulk_transfer(sg->usb_handle, sg->ep_rep, sl->q_buf, rx_length, + &real_transferred, SG_TIMEOUT_MSEC); + if (ret == LIBUSB_ERROR_PIPE) { + libusb_clear_halt(sg->usb_handle, sg->ep_req); + } + try++; + } while ((ret == LIBUSB_ERROR_PIPE) && (try < 3)); - // set buffer for sense (error information) data - set_scsi_pt_sense(ptvp, sg->sense_buf, sizeof (sg->sense_buf)); + if (ret != LIBUSB_SUCCESS) { + WLOG("Receiving failed: %d\n", ret); + return -1; + } - // Set a buffer to be used for data transferred from device - if (sg->q_data_dir == Q_DATA_IN) { - //clear_buf(sl); - set_scsi_pt_data_in(ptvp, sl->q_buf, sl->q_len); - } else { - set_scsi_pt_data_out(ptvp, sl->q_buf, sl->q_len); + if (real_transferred != rx_length) { + WLOG("received unexpected amount: %d != %d\n", real_transferred, rx_length); + } } - // Executes SCSI command (or at least forwards it to lower layers). - sg->do_scsi_pt_err = do_scsi_pt(ptvp, sg->sg_fd, SG_TIMEOUT_SEC, - sl->verbose); - // check for scsi errors - stlink_confirm_inq(sl, ptvp); - // TODO recycle: clear_scsi_pt_obj(struct sg_pt_base * objp); - destruct_scsi_pt_obj(ptvp); + uint32_t received_tag; + // -ve is for my errors, 0 is good, +ve is libusb sense status bytes + int status = get_usb_mass_storage_status(sg->usb_handle, sg->ep_rep, &received_tag); + if (status < 0) { + WLOG("receiving status failed: %d\n", status); + return -1; + } + if (status != 0) { + WLOG("receiving status not passed :(: %02x\n", status); + } + if (status == 1) { + get_sense(sg->usb_handle, sg->ep_rep, sg->ep_req); + return -1; + } + if (received_tag != tag) { + WLOG("received tag %d but expected %d\n", received_tag, tag); + //return -1; + } + if (rx_length > 0 && real_transferred != rx_length) { + return -1; + } + return 0; } // TODO thinking, cleanup @@ -257,55 +402,24 @@ void stlink_stat(stlink_t *stl, char *txt) { switch (stl->q_buf[0]) { case STLINK_OK: - DD(stl, " %s: ok\n", txt); + DLOG(" %s: ok\n", txt); return; case STLINK_FALSE: - DD(stl, " %s: false\n", txt); + DLOG(" %s: false\n", txt); return; default: - DD(stl, " %s: unknown\n", txt); + DLOG(" %s: unknown\n", txt); } } -static void parse_version(stlink_t *stl) { - struct stlink_libsg *sl = stl->backend_data; - - sl->st_vid = 0; - sl->stlink_pid = 0; - - if (stl->q_len <= 0) { - fprintf(stderr, "Error: could not parse the stlink version"); - return; - } - - uint32_t b0 = stl->q_buf[0]; //lsb - uint32_t b1 = stl->q_buf[1]; - uint32_t b2 = stl->q_buf[2]; - uint32_t b3 = stl->q_buf[3]; - uint32_t b4 = stl->q_buf[4]; - uint32_t b5 = stl->q_buf[5]; //msb - - // b0 b1 || b2 b3 | b4 b5 - // 4b | 6b | 6b || 2B | 2B - // stlink_v | jtag_v | swim_v || st_vid | stlink_pid - - sl->stlink_v = (b0 & 0xf0) >> 4; - sl->jtag_v = ((b0 & 0x0f) << 2) | ((b1 & 0xc0) >> 6); - sl->swim_v = b1 & 0x3f; - sl->st_vid = (b3 << 8) | b2; - sl->stlink_pid = (b5 << 8) | b4; -} - void _stlink_sg_version(stlink_t *stl) { struct stlink_libsg *sl = stl->backend_data; - D(stl, "\n*** stlink_version ***\n"); clear_cdb(sl); sl->cdb_cmd_blk[0] = STLINK_GET_VERSION; stl->q_len = 6; sl->q_addr = 0; stlink_q(stl); - parse_version(stl); } // Get stlink mode: @@ -338,7 +452,7 @@ void _stlink_sg_enter_swd_mode(stlink_t *sl) { void _stlink_sg_enter_jtag_mode(stlink_t *sl) { struct stlink_libsg *sg = sl->backend_data; - D(sl, "\n*** stlink_enter_jtag_mode ***\n"); + DLOG("\n*** stlink_enter_jtag_mode ***\n"); clear_cdb(sg); sg->cdb_cmd_blk[1] = STLINK_DEBUG_ENTER; sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_JTAG; @@ -347,10 +461,10 @@ void _stlink_sg_enter_jtag_mode(stlink_t *sl) { } // XXX kernel driver performs reset, the device temporally disappears - +// Suspect this is no longer the case when we have ignore on? RECHECK void _stlink_sg_exit_dfu_mode(stlink_t *sl) { struct stlink_libsg *sg = sl->backend_data; - D(sl, "\n*** stlink_exit_dfu_mode ***\n"); + DLOG("\n*** stlink_exit_dfu_mode ***\n"); clear_cdb(sg); sg->cdb_cmd_blk[0] = STLINK_DFU_COMMAND; sg->cdb_cmd_blk[1] = STLINK_DFU_EXIT; @@ -423,11 +537,23 @@ void _stlink_sg_reset(stlink_t *sl) { stlink_stat(sl, "core reset"); } +// Arm-core reset -> halted state. + +void _stlink_sg_jtag_reset(stlink_t *sl, int value) { + struct stlink_libsg *sg = sl->backend_data; + clear_cdb(sg); + sg->cdb_cmd_blk[1] = STLINK_JTAG_DRIVE_NRST; + sg->cdb_cmd_blk[2] = (value)?0:1; + sl->q_len = 3; + sg->q_addr = 2; + stlink_q(sl); + stlink_stat(sl, "core reset"); +} + // Arm-core status: halted or running. void _stlink_sg_status(stlink_t *sl) { struct stlink_libsg *sg = sl->backend_data; - D(sl, "\n*** stlink_status ***\n"); clear_cdb(sg); sg->cdb_cmd_blk[1] = STLINK_DEBUG_GETSTATUS; sl->q_len = 2; @@ -439,7 +565,6 @@ void _stlink_sg_status(stlink_t *sl) { void _stlink_sg_force_debug(stlink_t *sl) { struct stlink_libsg *sg = sl->backend_data; - D(sl, "\n*** stlink_force_debug ***\n"); clear_cdb(sg); sg->cdb_cmd_blk[1] = STLINK_DEBUG_FORCEDEBUG; sl->q_len = 2; @@ -453,9 +578,6 @@ void _stlink_sg_force_debug(stlink_t *sl) { void _stlink_sg_read_all_regs(stlink_t *sl, reg *regp) { struct stlink_libsg *sg = sl->backend_data; - /* unused */ - regp = regp; - clear_cdb(sg); sg->cdb_cmd_blk[1] = STLINK_DEBUG_READALLREGS; sl->q_len = 84; @@ -468,23 +590,23 @@ void _stlink_sg_read_all_regs(stlink_t *sl, reg *regp) { // 0-3 | 4-7 | ... | 60-63 | 64-67 | 68-71 | 72-75 | 76-79 | 80-83 // r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2 for (int i = 0; i < 16; i++) { - sg->reg.r[i] = read_uint32(sl->q_buf, 4 * i); + regp->r[i] = read_uint32(sl->q_buf, 4 * i); if (sl->verbose > 1) - DD(sl, "r%2d = 0x%08x\n", i, sg->reg.r[i]); + DLOG("r%2d = 0x%08x\n", i, regp->r[i]); } - sg->reg.xpsr = read_uint32(sl->q_buf, 64); - sg->reg.main_sp = read_uint32(sl->q_buf, 68); - sg->reg.process_sp = read_uint32(sl->q_buf, 72); - sg->reg.rw = read_uint32(sl->q_buf, 76); - sg->reg.rw2 = read_uint32(sl->q_buf, 80); + regp->xpsr = read_uint32(sl->q_buf, 64); + regp->main_sp = read_uint32(sl->q_buf, 68); + regp->process_sp = read_uint32(sl->q_buf, 72); + regp->rw = read_uint32(sl->q_buf, 76); + regp->rw2 = read_uint32(sl->q_buf, 80); if (sl->verbose < 2) return; - DD(sl, "xpsr = 0x%08x\n", sg->reg.xpsr); - DD(sl, "main_sp = 0x%08x\n", sg->reg.main_sp); - DD(sl, "process_sp = 0x%08x\n", sg->reg.process_sp); - DD(sl, "rw = 0x%08x\n", sg->reg.rw); - DD(sl, "rw2 = 0x%08x\n", sg->reg.rw2); + DLOG("xpsr = 0x%08x\n", regp->xpsr); + DLOG("main_sp = 0x%08x\n", regp->main_sp); + DLOG("process_sp = 0x%08x\n", regp->process_sp); + DLOG("rw = 0x%08x\n", regp->rw); + DLOG("rw2 = 0x%08x\n", regp->rw2); } // Read an arm-core register, the index must be in the range 0..20. @@ -505,7 +627,7 @@ void _stlink_sg_read_reg(stlink_t *sl, int r_idx, reg *regp) { stlink_print_data(sl); uint32_t r = read_uint32(sl->q_buf, 0); - DD(sl, "r_idx (%2d) = 0x%08x\n", r_idx, r); + DLOG("r_idx (%2d) = 0x%08x\n", r_idx, r); switch (r_idx) { case 16: @@ -552,7 +674,7 @@ void _stlink_sg_write_reg(stlink_t *sl, uint32_t reg, int idx) { void stlink_write_dreg(stlink_t *sl, uint32_t reg, uint32_t addr) { struct stlink_libsg *sg = sl->backend_data; - D(sl, "\n*** stlink_write_dreg ***\n"); + DLOG("\n*** stlink_write_dreg ***\n"); clear_cdb(sg); sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEDEBUGREG; // 2-5: address of reg of the debug module @@ -569,7 +691,6 @@ void stlink_write_dreg(stlink_t *sl, uint32_t reg, uint32_t addr) { void _stlink_sg_run(stlink_t *sl) { struct stlink_libsg *sg = sl->backend_data; - D(sl, "\n*** stlink_run ***\n"); clear_cdb(sg); sg->cdb_cmd_blk[1] = STLINK_DEBUG_RUNCORE; sl->q_len = 2; @@ -594,7 +715,7 @@ void _stlink_sg_step(stlink_t *sl) { // see Cortex-M3 Technical Reference Manual // TODO make delegate! void stlink_set_hw_bp(stlink_t *sl, int fp_nr, uint32_t addr, int fp) { - D(sl, "\n*** stlink_set_hw_bp ***\n"); + DLOG("\n*** stlink_set_hw_bp ***\n"); struct stlink_libsg *sg = sl->backend_data; clear_cdb(sg); sg->cdb_cmd_blk[1] = STLINK_DEBUG_SETFP; @@ -615,7 +736,7 @@ void stlink_set_hw_bp(stlink_t *sl, int fp_nr, uint32_t addr, int fp) { // TODO make delegate! void stlink_clr_hw_bp(stlink_t *sl, int fp_nr) { struct stlink_libsg *sg = sl->backend_data; - D(sl, "\n*** stlink_clr_hw_bp ***\n"); + DLOG("\n*** stlink_clr_hw_bp ***\n"); clear_cdb(sg); sg->cdb_cmd_blk[1] = STLINK_DEBUG_CLEARFP; sg->cdb_cmd_blk[2] = fp_nr; @@ -658,11 +779,10 @@ void _stlink_sg_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) { write_uint32(sg->cdb_cmd_blk + 2, addr); write_uint16(sg->cdb_cmd_blk + 6, len); - // data_out 0-len - sl->q_len = len; - sg->q_addr = addr; - sg->q_data_dir = Q_DATA_OUT; - stlink_q(sl); + // this sends the command... + send_usb_mass_storage_command(sg->usb_handle, sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0); + // This sends the data... + send_usb_data_only(sg->usb_handle, sg->ep_req, sg->ep_rep, sl->q_buf, len); stlink_print_data(sl); } @@ -677,46 +797,41 @@ void _stlink_sg_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) { write_uint32(sg->cdb_cmd_blk + 2, addr); write_uint16(sg->cdb_cmd_blk + 6, len); - // data_out 0-0x40-...-len - sl->q_len = len; - sg->q_addr = addr; - sg->q_data_dir = Q_DATA_OUT; - stlink_q(sl); + // this sends the command... + send_usb_mass_storage_command(sg->usb_handle, sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0); + // This sends the data... + send_usb_data_only(sg->usb_handle, sg->ep_req, sg->ep_rep, sl->q_buf, len); + stlink_print_data(sl); } -#if 0 /* not working */ - -static int write_flash_mem16 -(struct stlink* sl, uint32_t addr, uint16_t val) { - /* half word writes */ - if (addr % 2) return -1; - - /* unlock if locked */ - unlock_flash_if(sl); +// Write one DWORD data to memory - /* set flash programming chosen bit */ - set_flash_cr_pg(sl); - - write_uint16(sl->q_buf, val); - stlink_write_mem16(sl, addr, 2); +void _stlink_sg_write_debug32(stlink_t *sl, uint32_t addr, uint32_t data) { + struct stlink_libsg *sg = sl->backend_data; + clear_cdb(sg); + sg->cdb_cmd_blk[1] = STLINK_JTAG_WRITEDEBUG_32BIT; + // 2-5: addr + write_uint32(sg->cdb_cmd_blk + 2, addr); + write_uint32(sg->cdb_cmd_blk + 6, data); + sl->q_len = 2; + stlink_q(sl); - /* wait for non business */ - wait_flash_busy(sl); +} - lock_flash(sl); +// Read one DWORD data from memory - /* check the programmed value back */ - stlink_read_mem16(sl, addr, 2); - if (*(const uint16_t*) sl->q_buf != val) { - /* values differ at i * sizeof(uint16_t) */ - return -1; - } +uint32_t _stlink_sg_read_debug32(stlink_t *sl, uint32_t addr) { + struct stlink_libsg *sg = sl->backend_data; + clear_cdb(sg); + sg->cdb_cmd_blk[1] = STLINK_JTAG_READDEBUG_32BIT; + // 2-5: addr + write_uint32(sg->cdb_cmd_blk + 2, addr); + sl->q_len = 8; + stlink_q(sl); - /* success */ - return 0; + return read_uint32(sl->q_buf, 4); } -#endif /* not working */ // Exit the jtag or swd mode and enter the mass mode. @@ -746,10 +861,13 @@ stlink_backend_t _stlink_sg_backend = { _stlink_sg_exit_dfu_mode, _stlink_sg_core_id, _stlink_sg_reset, + _stlink_sg_jtag_reset, _stlink_sg_run, _stlink_sg_status, _stlink_sg_version, + _stlink_sg_read_debug32, _stlink_sg_read_mem32, + _stlink_sg_write_debug32, _stlink_sg_write_mem32, _stlink_sg_write_mem8, _stlink_sg_read_all_regs, @@ -760,107 +878,153 @@ stlink_backend_t _stlink_sg_backend = { _stlink_sg_force_debug }; -stlink_t* stlink_open(const char *dev_name, const int verbose) { - fprintf(stderr, "\n*** stlink_open [%s] ***\n", dev_name); - int sg_fd = scsi_pt_open_device(dev_name, RDWR, verbose); - if (sg_fd < 0) { - fprintf(stderr, "error opening device: %s: %s\n", dev_name, - safe_strerror(-sg_fd)); - return NULL; - } - +static stlink_t* stlink_open(const int verbose) { + stlink_t *sl = malloc(sizeof (stlink_t)); + memset(sl, 0, sizeof(stlink_t)); struct stlink_libsg *slsg = malloc(sizeof (struct stlink_libsg)); if (sl == NULL || slsg == NULL) { - fprintf(stderr, "Couldn't malloc stlink and stlink_sg structures out of memory!\n"); + WLOG("Couldn't malloc stlink and stlink_sg structures out of memory!\n"); return NULL; } + + if (libusb_init(&(slsg->libusb_ctx))) { + WLOG("failed to init libusb context, wrong version of libraries?\n"); + free(sl); + free(slsg); + return NULL; + } + + libusb_set_debug(slsg->libusb_ctx, 3); + + slsg->usb_handle = libusb_open_device_with_vid_pid(slsg->libusb_ctx, USB_ST_VID, USB_STLINK_PID); + if (slsg->usb_handle == NULL) { + WLOG("Failed to find an stlink v1 by VID:PID\n"); + libusb_close(slsg->usb_handle); + libusb_exit(slsg->libusb_ctx); + free(sl); + free(slsg); + return NULL; + } + + // TODO + // Could read the interface config descriptor, and assert lots of the assumptions + + // assumption: numInterfaces is always 1... + if (libusb_kernel_driver_active(slsg->usb_handle, 0) == 1) { + int r = libusb_detach_kernel_driver(slsg->usb_handle, 0); + if (r < 0) { + WLOG("libusb_detach_kernel_driver(() error %s\n", strerror(-r)); + libusb_close(slsg->usb_handle); + libusb_exit(slsg->libusb_ctx); + free(sl); + free(slsg); + return NULL; + } + DLOG("Kernel driver was successfully detached\n"); + } + + int config; + if (libusb_get_configuration(slsg->usb_handle, &config)) { + /* this may fail for a previous configured device */ + WLOG("libusb_get_configuration()\n"); + libusb_close(slsg->usb_handle); + libusb_exit(slsg->libusb_ctx); + free(sl); + free(slsg); + return NULL; + + } + + // assumption: bConfigurationValue is always 1 + if (config != 1) { + WLOG("Your stlink got into a real weird configuration, trying to fix it!\n"); + DLOG("setting new configuration (%d -> 1)\n", config); + if (libusb_set_configuration(slsg->usb_handle, 1)) { + /* this may fail for a previous configured device */ + WLOG("libusb_set_configuration() failed\n"); + libusb_close(slsg->usb_handle); + libusb_exit(slsg->libusb_ctx); + free(sl); + free(slsg); + return NULL; + } + } + + if (libusb_claim_interface(slsg->usb_handle, 0)) { + WLOG("libusb_claim_interface() failed\n"); + libusb_close(slsg->usb_handle); + libusb_exit(slsg->libusb_ctx); + free(sl); + free(slsg); + return NULL; + } + + // assumption: endpoint config is fixed mang. really. + slsg->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN; + slsg->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT; + + DLOG("Successfully opened stlinkv1 by libusb :)\n"); + sl->verbose = verbose; sl->backend_data = slsg; sl->backend = &_stlink_sg_backend; - slsg->sg_fd = sg_fd; sl->core_stat = STLINK_CORE_STAT_UNKNOWN; - slsg->core_id = 0; slsg->q_addr = 0; - clear_buf(sl); - - /* flash memory settings */ - sl->flash_base = STM32_FLASH_BASE; - sl->flash_size = STM32_FLASH_SIZE; - sl->flash_pgsz = STM32_FLASH_PGSZ; - - /* system memory */ - sl->sys_base = STM32_SYSTEM_BASE; - sl->sys_size = STM32_SYSTEM_SIZE; - - /* sram memory settings */ - sl->sram_base = STM32_SRAM_BASE; - sl->sram_size = STM32_SRAM_SIZE; return sl; } - -stlink_t* stlink_quirk_open(const char *dev_name, const int verbose) { - - stlink_t *sl = stlink_open(dev_name, verbose); +stlink_t* stlink_v1_open_inner(const int verbose) { + ugly_init(verbose); + stlink_t *sl = stlink_open(verbose); if (sl == NULL) { fputs("Error: could not open stlink device\n", stderr); return NULL; } stlink_version(sl); - struct stlink_libsg *sg = sl->backend_data; - - if ((sg->st_vid != USB_ST_VID) || (sg->stlink_pid != USB_STLINK_PID)) { - fprintf(stderr, "Error: the device %s is not a stlink\n", - dev_name); - fprintf(stderr, " VID: got %04x expect %04x \n", - sg->st_vid, USB_ST_VID); - fprintf(stderr, " PID: got %04x expect %04x \n", - sg->stlink_pid, USB_STLINK_PID); + if ((sl->version.st_vid != USB_ST_VID) || (sl->version.stlink_pid != USB_STLINK_PID)) { + ugly_log(UERROR, LOG_TAG, + "WTF? successfully opened, but unable to read version details. BROKEN!\n"); return NULL; } - D(sl, "\n*** stlink_force_open ***\n"); + DLOG("Reading current mode...\n"); switch (stlink_current_mode(sl)) { - case STLINK_DEV_MASS_MODE: - return sl; - case STLINK_DEV_DEBUG_MODE: - // TODO go to mass? + case STLINK_DEV_MASS_MODE: return sl; + case STLINK_DEV_DEBUG_MODE: + // TODO go to mass? + return sl; + default: + ILOG("Current mode unusable, trying to get back to a useful state...\n"); + break; } - DD(sl, "\n*** switch the stlink to mass mode ***\n"); + + DLOG("Attempting to exit DFU mode\n"); _stlink_sg_exit_dfu_mode(sl); - // exit the dfu mode -> the device is gone - DD(sl, "\n*** reopen the stlink device ***\n"); - delay(1000); - stlink_close(sl); - delay(5000); + + // re-query device info (and retest) + stlink_version(sl); + if ((sl->version.st_vid != USB_ST_VID) || (sl->version.stlink_pid != USB_STLINK_PID)) { + ugly_log(UERROR, LOG_TAG, + "WTF? successfully opened, but unable to read version details. BROKEN!\n"); + return NULL; + } + return sl; +} - sl = stlink_open(dev_name, verbose); +stlink_t* stlink_v1_open(const int verbose) { + stlink_t *sl = stlink_v1_open_inner(verbose); if (sl == NULL) { fputs("Error: could not open stlink device\n", stderr); return NULL; } - // re-query device info - stlink_version(sl); + // by now, it _must_ be fully open and in a useful mode.... + stlink_enter_swd_mode(sl); + ILOG("Successfully opened a stlink v1 debugger\n"); return sl; } - -static void __attribute__((unused)) mark_buf(stlink_t *sl) { - clear_buf(sl); - sl->q_buf[0] = 0x12; - sl->q_buf[1] = 0x34; - sl->q_buf[2] = 0x56; - sl->q_buf[3] = 0x78; - sl->q_buf[4] = 0x90; - sl->q_buf[15] = 0x42; - sl->q_buf[16] = 0x43; - sl->q_buf[63] = 0x42; - sl->q_buf[64] = 0x43; - sl->q_buf[1024 * 6 - 1] = 0x42; //6kB - sl->q_buf[1024 * 8 - 1] = 0x42; //8kB -}