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stlink/src/stlink-lib/sg.c

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/* == nightwalker-87: TODO: CONTENT AND USE OF THIS SOURCE FILE IS TO BE VERIFIED (07.06.2023) == */
/*
* Copyright (c) 2010 "Capt'ns Missing Link" Authors. All rights reserved.
* Use of this source code is governed by a BSD-style
* license that can be found in the LICENSE file.
*
* A linux stlink access demo. The purpose of this file is to mitigate the usual
* "reinventing the wheel" force by incompatible licenses and give you an idea,
* how to access the stlink device. That doesn't mean you should be a free-loader
* and not contribute your improvements to this code.
*
* Author: Martin Capitanio <m@capitanio.org>
* The stlink related constants kindly provided by Oliver Spencer (OpenOCD)
* for use in a GPL compatible license.
*
* Tested compatibility: linux, gcc >= 4.3.3
*
* The communication is based on standard USB mass storage device
* BOT (Bulk Only Transfer)
* - Endpoint 1: BULK_IN, 64 bytes max
* - Endpoint 2: BULK_OUT, 64 bytes max
*
* All CBW transfers are ordered with the LSB (byte 0) first (little endian).
* Any command must be answered before sending the next command.
* Each USB transfer must complete in less than 1s.
*
* SB Device Class Definition for Mass Storage Devices:
* www.usb.org/developers/devclass_docs/usbmassbulk_10.pdf
*
* dt - Data Transfer (IN/OUT)
* CBW - Command Block Wrapper
* CSW - Command Status Wrapper
* RFU - Reserved for Future Use
*
* 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
* to a common usb-storage quirk flag as follows:
*
* a = SANE_SENSE (collect more than 18 bytes of sense data);
* b = BAD_SENSE (don't collect more than 18 bytes of sense data);
* c = FIX_CAPACITY (decrease the reported device capacity by one sector);
* h = CAPACITY_HEURISTICS (decrease the reported device capacity by one sector if the number is odd);
* i = IGNORE_DEVICE (don't bind to this device);
* l = NOT_LOCKABLE (don't try to lock and unlock ejectable media);
* m = MAX_SECTORS_64 (don't transfer more than 64 sectors = 32 KB at a time);
* o = CAPACITY_OK (accept the capacity reported by the device);
* r = IGNORE_RESIDUE (the device reports bogus residue values);
* s = SINGLE_LUN (the device has only one Logical Unit);
* w = NO_WP_DETECT (don't test whether the medium is write-protected).
*
* 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:i
*
* Equivalently, you can add a line saying
*
* 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).
*/
/*
* File: sg.c
*
*
*/
#define __USE_GNU
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
// #include <sys/types.h> // TODO: Check use
#include "sg.h"
#include "commands.h"
#include "logging.h"
#include "read_write.h"
#include "register.h"
#include "usb.h"
// #include <stlink.h> // TODO: Check use
#define STLINK_OK 0x80
#define STLINK_FALSE 0x81
static void clear_cdb(struct stlink_libsg *sl) {
for (uint32_t i = 0; i < sizeof(sl->cdb_cmd_blk); i++) { sl->cdb_cmd_blk[i] = 0; }
// set default
sl->cdb_cmd_blk[0] = STLINK_DEBUG_COMMAND;
sl->q_data_dir = Q_DATA_IN;
}
/**
* 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;
libusb_close(slsg->usb_handle);
libusb_exit(slsg->libusb_ctx);
free(slsg);
}
}
static int32_t get_usb_mass_storage_status(libusb_device_handle *handle, uint8_t endpoint, uint32_t *tag) {
unsigned char csw[13];
memset(csw, 0, sizeof(csw));
int32_t transferred;
int32_t ret;
int32_t 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);
}
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 int32_t 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", (uint32_t)cdb[i]);
}
sprintf(dbugp, "]\n");
DLOG("%s",dbugblah);
return (0);
}
/**
* 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
*/
int32_t 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; }
int32_t try = 0;
int32_t ret = 0;
int32_t real_transferred;
int32_t 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);
int32_t 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);
}
/**
* 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];
int32_t transferred;
int32_t ret;
int32_t 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 != %u\n", transferred, (uint32_t)sizeof(sense));
}
uint32_t received_tag;
int32_t 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]);
}
}
/**
* 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.
*/
int32_t send_usb_data_only(libusb_device_handle *handle, unsigned char endpoint_out,
unsigned char endpoint_in, unsigned char *cbuf, uint32_t length) {
int32_t ret;
int32_t real_transferred;
int32_t 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
int32_t 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);
}
int32_t 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...
int32_t rx_length = sl->q_len;
int32_t try = 0;
int32_t real_transferred;
int32_t 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));
if (ret != LIBUSB_SUCCESS) {
WLOG("Receiving failed: %d\n", ret);
return (-1);
}
if (real_transferred != rx_length) {
WLOG("received unexpected amount: %d != %d\n", real_transferred, rx_length);
}
}
uint32_t received_tag;
// -ve is for my errors, 0 is good, +ve is libusb sense status bytes
int32_t 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
void stlink_stat(stlink_t *stl, char *txt) {
if (stl->q_len <= 0) { return; }
stlink_print_data(stl);
switch (stl->q_buf[0]) {
case STLINK_OK:
DLOG(" %s: ok\n", txt);
return;
case STLINK_FALSE:
DLOG(" %s: false\n", txt);
return;
default:
DLOG(" %s: unknown\n", txt);
}
}
int32_t _stlink_sg_version(stlink_t *stl) {
struct stlink_libsg *sl = stl->backend_data;
clear_cdb(sl);
sl->cdb_cmd_blk[0] = STLINK_GET_VERSION;
stl->q_len = 6;
sl->q_addr = 0;
return (stlink_q(stl));
}
// Get stlink mode:
// STLINK_DEV_DFU_MODE || STLINK_DEV_MASS_MODE || STLINK_DEV_DEBUG_MODE
// usb dfu || usb mass || jtag or swd
int32_t _stlink_sg_current_mode(stlink_t *stl) {
struct stlink_libsg *sl = stl->backend_data;
clear_cdb(sl);
sl->cdb_cmd_blk[0] = STLINK_GET_CURRENT_MODE;
stl->q_len = 2;
sl->q_addr = 0;
if (stlink_q(stl)) { return (-1); }
return (stl->q_buf[0]);
}
// exit the mass mode and enter the swd debug mode.
int32_t _stlink_sg_enter_swd_mode(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_APIV1_ENTER;
sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_SWD;
sl->q_len = 0; // >0 -> aboard
return (stlink_q(sl));
}
// exit the mass mode and enter the jtag debug mode.
// (jtag is disabled in the discovery's stlink firmware)
int32_t _stlink_sg_enter_jtag_mode(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
DLOG("\n*** stlink_enter_jtag_mode ***\n");
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_APIV1_ENTER;
sg->cdb_cmd_blk[2] = STLINK_DEBUG_ENTER_JTAG_RESET;
sl->q_len = 0;
return (stlink_q(sl));
}
// XXX kernel driver performs reset, the device temporally disappears
// Suspect this is no longer the case when we have ignore on? RECHECK
int32_t _stlink_sg_exit_dfu_mode(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
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;
sl->q_len = 0; // ??
return (stlink_q(sl));
/*
[135121.844564] sd 19:0:0:0: [sdb] Unhandled error code
[135121.844569] sd 19:0:0:0: [sdb] Result: hostbyte=DID_ERROR driverbyte=DRIVER_OK
[135121.844574] sd 19:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 10 00 00 00 08 00
[135121.844584] end_request: I/O error, dev sdb, sector 4096
[135121.844590] Buffer I/O error on device sdb, logical block 512
[135130.122567] usb 6-1: reset full speed USB device using uhci_hcd and address 7
[135130.274551] usb 6-1: device firmware changed
[135130.274618] usb 6-1: USB disconnect, address 7
[135130.275186] VFS: busy inodes on changed media or resized disk sdb
[135130.275424] VFS: busy inodes on changed media or resized disk sdb
[135130.286758] VFS: busy inodes on changed media or resized disk sdb
[135130.292796] VFS: busy inodes on changed media or resized disk sdb
[135130.301481] VFS: busy inodes on changed media or resized disk sdb
[135130.304316] VFS: busy inodes on changed media or resized disk sdb
[135130.431113] usb 6-1: new full speed USB device using uhci_hcd and address 8
[135130.629444] usb-storage 6-1:1.0: Quirks match for vid 0483 pid 3744: 102a1
[135130.629492] scsi20 : usb-storage 6-1:1.0
[135131.625600] scsi 20:0:0:0: Direct-Access STM32 PQ: 0 ANSI: 0
[135131.627010] sd 20:0:0:0: Attached scsi generic sg2 type 0
[135131.633603] sd 20:0:0:0: [sdb] 64000 512-byte logical blocks: (32.7 MB/31.2 MiB)
[135131.633613] sd 20:0:0:0: [sdb] Assuming Write Enabled
[135131.633620] sd 20:0:0:0: [sdb] Assuming drive cache: write through
[135131.640584] sd 20:0:0:0: [sdb] Assuming Write Enabled
[135131.640592] sd 20:0:0:0: [sdb] Assuming drive cache: write through
[135131.640609] sdb:
[135131.652634] sd 20:0:0:0: [sdb] Assuming Write Enabled
[135131.652639] sd 20:0:0:0: [sdb] Assuming drive cache: write through
[135131.652645] sd 20:0:0:0: [sdb] Attached SCSI removable disk
[135131.671536] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
[135131.671548] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
[135131.671553] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
[135131.671560] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
[135131.671570] end_request: I/O error, dev sdb, sector 63872
[135131.671575] Buffer I/O error on device sdb, logical block 7984
[135131.678527] sd 20:0:0:0: [sdb] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
[135131.678532] sd 20:0:0:0: [sdb] Sense Key : Illegal Request [current]
[135131.678537] sd 20:0:0:0: [sdb] Add. Sense: Logical block address out of range
[135131.678542] sd 20:0:0:0: [sdb] CDB: Read(10): 28 00 00 00 f9 80 00 00 08 00
[135131.678551] end_request: I/O error, dev sdb, sector 63872
...
[135131.853565] end_request: I/O error, dev sdb, sector 4096
*/
}
int32_t _stlink_sg_core_id(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
int32_t ret;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_READCOREID;
sl->q_len = 4;
sg->q_addr = 0;
ret = stlink_q(sl);
if (ret) { return (ret); }
sl->core_id = read_uint32(sl->q_buf, 0);
return (0);
}
// arm-core reset -> halted state.
int32_t _stlink_sg_reset(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_APIV1_RESETSYS;
sl->q_len = 2;
sg->q_addr = 0;
if (stlink_q(sl)) { return (-1); }
// Reset through AIRCR so NRST does not need to be connected
if (stlink_write_debug32(sl, STLINK_REG_AIRCR,
STLINK_REG_AIRCR_VECTKEY | \
STLINK_REG_AIRCR_SYSRESETREQ)) {
return (-1);
}
stlink_stat(sl, "core reset");
return (0);
}
// arm-core reset -> halted state.
int32_t _stlink_sg_jtag_reset(stlink_t *sl, int32_t value) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_APIV2_DRIVE_NRST;
sg->cdb_cmd_blk[2] = (value) ? 0 : 1;
sl->q_len = 3;
sg->q_addr = 2;
if (stlink_q(sl)) { return (-1); }
stlink_stat(sl, "core reset");
return (0);
}
// arm-core status: halted or running.
int32_t _stlink_sg_status(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_GETSTATUS;
sl->q_len = 2;
sg->q_addr = 0;
return (stlink_q(sl));
}
// force the core into the debug mode -> halted state.
int32_t _stlink_sg_force_debug(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_FORCEDEBUG;
sl->q_len = 2;
sg->q_addr = 0;
if (stlink_q(sl)) { return (-1); }
stlink_stat(sl, "force debug");
return (0);
}
// read all arm-core registers.
int32_t _stlink_sg_read_all_regs(stlink_t *sl, struct stlink_reg *regp) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_APIV1_READALLREGS;
sl->q_len = 84;
sg->q_addr = 0;
if (stlink_q(sl)) { return (-1); }
stlink_print_data(sl);
// TODO: most of this should be re-extracted up....
// 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 (int32_t i = 0; i < 16; i++) {
regp->r[i] = read_uint32(sl->q_buf, 4 * i);
if (sl->verbose > 1) { DLOG("r%2d = 0x%08x\n", i, regp->r[i]); }
}
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 (0); }
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);
return (0);
}
// read an arm-core register, the index must be in the range 0..20.
// 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
// r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
int32_t _stlink_sg_read_reg(stlink_t *sl, int32_t r_idx, struct stlink_reg *regp) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_APIV1_READREG;
sg->cdb_cmd_blk[2] = r_idx;
sl->q_len = 4;
sg->q_addr = 0;
if (stlink_q(sl)) { return (-1); }
// 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
// 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
stlink_print_data(sl);
uint32_t r = read_uint32(sl->q_buf, 0);
DLOG("r_idx (%2d) = 0x%08x\n", r_idx, r);
switch (r_idx) {
case 16:
regp->xpsr = r;
break;
case 17:
regp->main_sp = r;
break;
case 18:
regp->process_sp = r;
break;
case 19:
regp->rw = r; // XXX ?(primask, basemask etc.)
break;
case 20:
regp->rw2 = r; // XXX ?(primask, basemask etc.)
break;
default:
regp->r[r_idx] = r;
}
return (0);
}
// write an arm-core register. Index:
// 0 | 1 | ... | 15 | 16 | 17 | 18 | 19 | 20
// r0 | r1 | ... | r15 | xpsr | main_sp | process_sp | rw | rw2
int32_t _stlink_sg_write_reg(stlink_t *sl, uint32_t reg, int32_t idx) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_APIV1_WRITEREG;
// 2: reg index
// 3-6: reg content
sg->cdb_cmd_blk[2] = idx;
write_uint32(sg->cdb_cmd_blk + 3, reg);
sl->q_len = 2;
sg->q_addr = 0;
if (stlink_q(sl)) { return (-1); }
stlink_stat(sl, "write reg");
return (0);
}
// write a register of the debug module of the core.
// XXX ?(atomic writes)
// TODO: test
void stlink_write_dreg(stlink_t *sl, uint32_t reg, uint32_t addr) {
struct stlink_libsg *sg = sl->backend_data;
DLOG("\n*** stlink_write_dreg ***\n");
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_APIV1_WRITEDEBUGREG;
// 2-5: address of reg of the debug module
// 6-9: reg content
write_uint32(sg->cdb_cmd_blk + 2, addr);
write_uint32(sg->cdb_cmd_blk + 6, reg);
sl->q_len = 2;
sg->q_addr = addr;
stlink_q(sl);
stlink_stat(sl, "write debug reg");
}
// force the core exit the debug mode.
int32_t _stlink_sg_run(stlink_t *sl, enum run_type type) {
struct stlink_libsg *sg = sl->backend_data;
(void)(type); //unused
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_RUNCORE;
sl->q_len = 2;
sg->q_addr = 0;
if (stlink_q(sl)) { return (-1); }
stlink_stat(sl, "run core");
return (0);
}
// step the arm-core.
int32_t _stlink_sg_step(stlink_t *sl) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_STEPCORE;
sl->q_len = 2;
sg->q_addr = 0;
if (stlink_q(sl)) { return (-1); }
stlink_stat(sl, "step core");
return (0);
}
// TODO: test and make delegate!
// see Cortex-M3 Technical Reference Manual
void stlink_set_hw_bp(stlink_t *sl, int32_t fp_nr, uint32_t addr, int32_t fp) {
DLOG("\n*** stlink_set_hw_bp ***\n");
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_APIV1_SETFP;
// 2:The number of the flash patch used to set the breakpoint
// 3-6: Address of the breakpoint (LSB)
// 7: FP_ALL (0x02) / FP_UPPER (0x01) / FP_LOWER (0x00)
sl->q_buf[2] = fp_nr;
write_uint32(sl->q_buf, addr);
sl->q_buf[7] = fp;
sl->q_len = 2;
stlink_q(sl);
stlink_stat(sl, "set flash breakpoint");
}
// TODO: test and make delegate!
void stlink_clr_hw_bp(stlink_t *sl, int32_t fp_nr) {
struct stlink_libsg *sg = sl->backend_data;
DLOG("\n*** stlink_clr_hw_bp ***\n");
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_APIV1_CLEARFP;
sg->cdb_cmd_blk[2] = fp_nr;
sl->q_len = 2;
stlink_q(sl);
stlink_stat(sl, "clear flash breakpoint");
}
// read a "len" bytes to the sl->q_buf from the memory, max 6kB (6144 bytes)
int32_t _stlink_sg_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
struct stlink_libsg *sg = sl->backend_data;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_READMEM_32BIT;
// 2-5: addr
// 6-7: len
write_uint32(sg->cdb_cmd_blk + 2, addr);
write_uint16(sg->cdb_cmd_blk + 6, len);
// data_in 0-0x40-len
// !!! len _and_ q_len must be max 6k,
// i.e. >1024 * 6 = 6144 -> aboard)
// !!! if len < q_len: 64*k, 1024*n, n=1..5 -> aboard
// (broken residue issue)
sl->q_len = len;
sg->q_addr = addr;
if (stlink_q(sl)) { return (-1); }
stlink_print_data(sl);
return (0);
}
// write a "len" bytes from the sl->q_buf to the memory, max 64 Bytes.
int32_t _stlink_sg_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
struct stlink_libsg *sg = sl->backend_data;
int32_t ret;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_8BIT;
// 2-5: addr
// 6-7: len (>0x40 (64) -> aboard)
write_uint32(sg->cdb_cmd_blk + 2, addr);
write_uint16(sg->cdb_cmd_blk + 6, len);
// this sends the command...
ret = send_usb_mass_storage_command(sg->usb_handle,
sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0);
if (ret == -1) { return (ret); }
// This sends the data...
ret = send_usb_data_only(sg->usb_handle,
sg->ep_req, sg->ep_rep, sl->q_buf, len);
if (ret == -1) { return (ret); }
stlink_print_data(sl);
return (0);
}
// write a "len" bytes from the sl->q_buf to the memory, max Q_BUF_LEN bytes.
int32_t _stlink_sg_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
struct stlink_libsg *sg = sl->backend_data;
int32_t ret;
clear_cdb(sg);
sg->cdb_cmd_blk[1] = STLINK_DEBUG_WRITEMEM_32BIT;
// 2-5: addr
// 6-7: len "unlimited"
write_uint32(sg->cdb_cmd_blk + 2, addr);
write_uint16(sg->cdb_cmd_blk + 6, len);
// this sends the command...
ret = send_usb_mass_storage_command(sg->usb_handle,
sg->ep_req, sg->cdb_cmd_blk, CDB_SL, 0, 0, 0);
if (ret == -1) { return (ret); }
// This sends the data...
ret = send_usb_data_only(sg->usb_handle,
sg->ep_req, sg->ep_rep, sl->q_buf, len);
if (ret == -1) { return (ret); }
stlink_print_data(sl);
return (0);
}
// write one DWORD data to memory
int32_t _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_DEBUG_APIV2_WRITEDEBUGREG;
// 2-5: addr
write_uint32(sg->cdb_cmd_blk + 2, addr);
write_uint32(sg->cdb_cmd_blk + 6, data);
sl->q_len = 2;
return (stlink_q(sl));
}
// read one DWORD data from memory
int32_t _stlink_sg_read_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_DEBUG_APIV2_READDEBUGREG;
// 2-5: addr
write_uint32(sg->cdb_cmd_blk + 2, addr);
sl->q_len = 8;
if (stlink_q(sl)) { return (-1); }
*data = read_uint32(sl->q_buf, 4);
return (0);
}
// exit the jtag or swd mode and enter the mass mode.
int32_t _stlink_sg_exit_debug_mode(stlink_t *stl) {
if (stl) {
struct stlink_libsg* sl = stl->backend_data;
clear_cdb(sl);
sl->cdb_cmd_blk[1] = STLINK_DEBUG_EXIT;
stl->q_len = 0; // >0 -> aboard
return (stlink_q(stl));
}
return (0);
}
// 1) open a sg device, switch the stlink from dfu to mass mode
// 2) wait 5s until the kernel driver stops reseting the broken device
// 3) reopen the device
// 4) the device driver is now ready for a switch to jtag/swd mode
// TODO thinking, better error handling, wait until the kernel driver stops reseting the plugged-in device
static stlink_backend_t _stlink_sg_backend = {
_stlink_sg_close,
_stlink_sg_exit_debug_mode,
_stlink_sg_enter_swd_mode,
_stlink_sg_enter_jtag_mode,
_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,
_stlink_sg_read_reg,
NULL, // read_all_unsupported_regs
NULL, // read_unsupported_regs
NULL, // write_unsupported_regs
_stlink_sg_write_reg,
_stlink_sg_step,
_stlink_sg_current_mode,
_stlink_sg_force_debug,
NULL, // target_voltage
NULL, // set_swdclk
NULL, // trace_enable
NULL, // trace_disable
NULL, // trace_read
};
static stlink_t* stlink_open(const int32_t verbose) {
stlink_t *sl = malloc(sizeof(stlink_t));
struct stlink_libsg *slsg = malloc(sizeof(struct stlink_libsg));
if (sl == NULL || slsg == NULL) {
WLOG("Couldn't malloc stlink and stlink_sg structures out of memory!\n");
if (sl != NULL) { free(sl); }
if (slsg != NULL) { free(slsg); }
return (NULL);
}
memset(sl, 0, sizeof(stlink_t));
if (libusb_init(&(slsg->libusb_ctx))) {
WLOG("failed to init libusb context, wrong version of libraries?\n");
free(sl);
free(slsg);
return (NULL);
}
#if LIBUSB_API_VERSION < 0x01000106
libusb_set_debug(slsg->libusb_ctx, ugly_libusb_log_level(verbose));
#else
libusb_set_option(slsg->libusb_ctx, LIBUSB_OPTION_LOG_LEVEL, ugly_libusb_log_level(verbose));
#endif
slsg->usb_handle = libusb_open_device_with_vid_pid(slsg->libusb_ctx, STLINK_USB_VID_ST, STLINK_USB_PID_STLINK);
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) {
int32_t 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");
}
int32_t 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;
sl->core_stat = TARGET_UNKNOWN;
slsg->q_addr = 0;
return (sl);
}
stlink_t* stlink_v1_open_inner(const int32_t verbose) {
ugly_init(verbose);
stlink_t *sl = stlink_open(verbose);
if (sl == NULL) {
ELOG("Could not open stlink device\n");
return (NULL);
}
stlink_version(sl);
if ((sl->version.st_vid != STLINK_USB_VID_ST) || (sl->version.stlink_pid != STLINK_USB_PID_STLINK)) {
ELOG("WTF? successfully opened, but unable to read version details. BROKEN!\n");
return (NULL);
}
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?
return (sl);
default:
ILOG("Current mode unusable, trying to get back to a useful state...\n");
break;
}
DLOG("Attempting to exit DFU mode\n");
_stlink_sg_exit_dfu_mode(sl);
// re-query device info (and retest)
stlink_version(sl);
if ((sl->version.st_vid != STLINK_USB_VID_ST) || (sl->version.stlink_pid != STLINK_USB_PID_STLINK)) {
ELOG("WTF? successfully opened, but unable to read version details. BROKEN!\n");
return (NULL);
}
return (sl);
}
stlink_t* stlink_v1_open(const int32_t verbose, int32_t reset) {
stlink_t *sl = stlink_v1_open_inner(verbose);
if (sl == NULL) { return (NULL); }
// by now, it _must_ be fully open and in a useful mode....
stlink_enter_swd_mode(sl);
// now we are ready to read the parameters
if (reset) { stlink_reset(sl, RESET_AUTO); }
stlink_load_device_params(sl);
ILOG("Successfully opened a stlink v1 debugger\n");
return (sl);
}
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