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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h>
#include <time.h>
#include <sys/types.h>
#include <libusb.h>
#include "stlink-common.h"
#include "stlink-usb.h"
#include "uglylogging.h"
#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)
enum SCSI_Generic_Direction {SG_DXFER_TO_DEV=0, SG_DXFER_FROM_DEV=0x80};
void _stlink_usb_close(stlink_t* sl) {
struct stlink_libusb * const handle = sl->backend_data;
// maybe we couldn't even get the usb device?
if (handle != NULL) {
if (handle->req_trans != NULL)
libusb_free_transfer(handle->req_trans);
if (handle->rep_trans != NULL)
libusb_free_transfer(handle->rep_trans);
if (handle->usb_handle != NULL) {
libusb_close(handle->usb_handle);
}
libusb_exit(handle->libusb_ctx);
free(handle);
}
}
struct trans_ctx {
#define TRANS_FLAGS_IS_DONE (1 << 0)
#define TRANS_FLAGS_HAS_ERROR (1 << 1)
volatile unsigned long flags;
};
static void on_trans_done(struct libusb_transfer * trans) {
struct trans_ctx * const ctx = trans->user_data;
if (trans->status != LIBUSB_TRANSFER_COMPLETED)
ctx->flags |= TRANS_FLAGS_HAS_ERROR;
ctx->flags |= TRANS_FLAGS_IS_DONE;
}
int submit_wait(struct stlink_libusb *slu, struct libusb_transfer * trans) {
struct timeval start;
struct timeval now;
struct timeval diff;
struct trans_ctx trans_ctx;
enum libusb_error error;
trans_ctx.flags = 0;
/* brief intrusion inside the libusb interface */
trans->callback = on_trans_done;
trans->user_data = &trans_ctx;
if ((error = libusb_submit_transfer(trans))) {
printf("libusb_submit_transfer(%d)\n", error);
return -1;
}
gettimeofday(&start, NULL);
while (trans_ctx.flags == 0) {
struct timeval timeout;
timeout.tv_sec = 3;
timeout.tv_usec = 0;
if (libusb_handle_events_timeout(slu->libusb_ctx, &timeout)) {
printf("libusb_handle_events()\n");
return -1;
}
gettimeofday(&now, NULL);
timersub(&now, &start, &diff);
if (diff.tv_sec >= 3) {
printf("libusb_handle_events() timeout\n");
return -1;
}
}
if (trans_ctx.flags & TRANS_FLAGS_HAS_ERROR) {
printf("libusb_handle_events() | has_error\n");
return -1;
}
return 0;
}
ssize_t send_recv(struct stlink_libusb* handle, int terminate,
unsigned char* txbuf, size_t txsize,
unsigned char* rxbuf, size_t rxsize) {
/* note: txbuf and rxbuf can point to the same area */
int res = 0;
libusb_fill_bulk_transfer(handle->req_trans, handle->usb_handle,
handle->ep_req,
txbuf, txsize,
NULL, NULL,
0
);
if (submit_wait(handle, handle->req_trans)) return -1;
/* send_only */
if (rxsize != 0) {
/* read the response */
libusb_fill_bulk_transfer(handle->rep_trans, handle->usb_handle,
handle->ep_rep, rxbuf, rxsize, NULL, NULL, 0);
if (submit_wait(handle, handle->rep_trans)) return -1;
res = handle->rep_trans->actual_length;
}
if ((handle->protocoll == 1) && terminate) {
fprintf(stderr, "This is never used....\n");
exit(EXIT_FAILURE);
/* Read the SG reply */
unsigned char sg_buf[13];
libusb_fill_bulk_transfer
(handle->rep_trans, handle->usb_handle,
handle->ep_rep, sg_buf, 13, NULL, NULL, 0);
res = submit_wait(handle, handle->rep_trans);
/* The STLink doesn't seem to evaluate the sequence number */
handle->sg_transfer_idx++;
if (res ) return -1;
}
return handle->rep_trans->actual_length;
}
static inline int send_only
(struct stlink_libusb* handle, int terminate,
unsigned char* txbuf, size_t txsize) {
return send_recv(handle, terminate, txbuf, txsize, NULL, 0);
}
static int fill_command
(stlink_t * sl, enum SCSI_Generic_Direction dir, uint32_t len) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const cmd = sl->c_buf;
int i = 0;
memset(cmd, 0, sizeof (sl->c_buf));
if(slu->protocoll == 1) {
fprintf(stderr, "This is never used....\n");
cmd[i++] = 'U';
cmd[i++] = 'S';
cmd[i++] = 'B';
cmd[i++] = 'C';
write_uint32(&cmd[i], slu->sg_transfer_idx);
write_uint32(&cmd[i + 4], len);
i += 8;
cmd[i++] = (dir == SG_DXFER_FROM_DEV)?0x80:0;
cmd[i++] = 0; /* Logical unit */
cmd[i++] = 0xa; /* Command length */
}
return i;
}
void _stlink_usb_version(stlink_t *sl) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const data = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
uint32_t rep_len = 6;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_GET_VERSION;
size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
}
uint32_t _stlink_usb_read_debug32(stlink_t *sl, uint32_t addr) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const rdata = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
const int rep_len = 8;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_JTAG_READDEBUG_32BIT;
write_uint32(&cmd[i], addr);
size = send_recv(slu, 1, cmd, slu->cmd_len, rdata, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return 0;
}
return read_uint32(rdata, 4);
}
void _stlink_usb_write_debug32(stlink_t *sl, uint32_t addr, uint32_t data) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const rdata = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
const int rep_len = 2;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_JTAG_WRITEDEBUG_32BIT;
write_uint32(&cmd[i], addr);
write_uint32(&cmd[i + 4], data);
size = send_recv(slu, 1, cmd, slu->cmd_len, rdata, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
}
void _stlink_usb_write_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const data = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
int i = fill_command(sl, SG_DXFER_TO_DEV, len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_WRITEMEM_32BIT;
write_uint32(&cmd[i], addr);
write_uint16(&cmd[i + 4], len);
send_only(slu, 0, cmd, slu->cmd_len);
send_only(slu, 1, data, len);
}
void _stlink_usb_write_mem8(stlink_t *sl, uint32_t addr, uint16_t len) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const data = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
int i = fill_command(sl, SG_DXFER_TO_DEV, 0);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_WRITEMEM_8BIT;
write_uint32(&cmd[i], addr);
write_uint16(&cmd[i + 4], len);
send_only(slu, 0, cmd, slu->cmd_len);
send_only(slu, 1, data, len);
}
int _stlink_usb_current_mode(stlink_t * sl) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const cmd = sl->c_buf;
unsigned char* const data = sl->q_buf;
ssize_t size;
int rep_len = 2;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_GET_CURRENT_MODE;
size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return -1;
}
return sl->q_buf[0];
}
void _stlink_usb_core_id(stlink_t * sl) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const cmd = sl->c_buf;
unsigned char* const data = sl->q_buf;
ssize_t size;
int rep_len = 4;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_READCOREID;
size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
sl->core_id = read_uint32(data, 0);
}
void _stlink_usb_status(stlink_t * sl) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const data = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
int rep_len = 2;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_GETSTATUS;
size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
}
void _stlink_usb_force_debug(stlink_t *sl) {
struct stlink_libusb *slu = sl->backend_data;
unsigned char* const data = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
int rep_len = 2;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_FORCEDEBUG;
size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
}
void _stlink_usb_enter_swd_mode(stlink_t * sl) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
const int rep_len = 0;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_ENTER;
cmd[i++] = STLINK_DEBUG_ENTER_SWD;
size = send_only(slu, 1, cmd, slu->cmd_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
}
void _stlink_usb_exit_dfu_mode(stlink_t* sl) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
cmd[i++] = STLINK_DFU_COMMAND;
cmd[i++] = STLINK_DFU_EXIT;
size = send_only(slu, 1, cmd, slu->cmd_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
}
/**
* TODO - not convinced this does anything...
* @param sl
*/
void _stlink_usb_reset(stlink_t * sl) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const data = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
int rep_len = 2;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_RESETSYS;
size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
}
void _stlink_usb_jtag_reset(stlink_t * sl, int value) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const data = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
int rep_len = 2;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_JTAG_DRIVE_NRST;
cmd[i++] = (value)?0:1;
size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
}
void _stlink_usb_step(stlink_t* sl) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const data = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
int rep_len = 2;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_STEPCORE;
size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
}
/**
* This seems to do a good job of restarting things from the beginning?
* @param sl
*/
void _stlink_usb_run(stlink_t* sl) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const data = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
int rep_len = 2;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_RUNCORE;
size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
}
void _stlink_usb_exit_debug_mode(stlink_t *sl) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
int i = fill_command(sl, SG_DXFER_FROM_DEV, 0);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_EXIT;
size = send_only(slu, 1, cmd, slu->cmd_len);
if (size == -1) {
printf("[!] send_only\n");
return;
}
}
void _stlink_usb_read_mem32(stlink_t *sl, uint32_t addr, uint16_t len) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const data = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
int i = fill_command(sl, SG_DXFER_FROM_DEV, len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_READMEM_32BIT;
write_uint32(&cmd[i], addr);
write_uint16(&cmd[i + 4], len);
size = send_recv(slu, 1, cmd, slu->cmd_len, data, len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
sl->q_len = (size_t) size;
stlink_print_data(sl);
}
void _stlink_usb_read_all_regs(stlink_t *sl, reg *regp) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const cmd = sl->c_buf;
unsigned char* const data = sl->q_buf;
ssize_t size;
uint32_t rep_len = 84;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_READALLREGS;
size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
sl->q_len = (size_t) size;
stlink_print_data(sl);
for(i=0; i<16; i++)
regp->r[i]= read_uint32(sl->q_buf, i*4);
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;
DLOG("xpsr = 0x%08x\n", read_uint32(sl->q_buf, 64));
DLOG("main_sp = 0x%08x\n", read_uint32(sl->q_buf, 68));
DLOG("process_sp = 0x%08x\n", read_uint32(sl->q_buf, 72));
DLOG("rw = 0x%08x\n", read_uint32(sl->q_buf, 76));
DLOG("rw2 = 0x%08x\n", read_uint32(sl->q_buf, 80));
}
void _stlink_usb_read_reg(stlink_t *sl, int r_idx, reg *regp) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const data = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
uint32_t r;
uint32_t rep_len = 4;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_READREG;
cmd[i++] = (uint8_t) r_idx;
size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
sl->q_len = (size_t) size;
stlink_print_data(sl);
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;
}
}
void _stlink_usb_write_reg(stlink_t *sl, uint32_t reg, int idx) {
struct stlink_libusb * const slu = sl->backend_data;
unsigned char* const data = sl->q_buf;
unsigned char* const cmd = sl->c_buf;
ssize_t size;
uint32_t rep_len = 2;
int i = fill_command(sl, SG_DXFER_FROM_DEV, rep_len);
cmd[i++] = STLINK_DEBUG_COMMAND;
cmd[i++] = STLINK_DEBUG_WRITEREG;
cmd[i++] = idx;
write_uint32(&cmd[i], reg);
size = send_recv(slu, 1, cmd, slu->cmd_len, data, rep_len);
if (size == -1) {
printf("[!] send_recv\n");
return;
}
sl->q_len = (size_t) size;
stlink_print_data(sl);
}
stlink_backend_t _stlink_usb_backend = {
_stlink_usb_close,
_stlink_usb_exit_debug_mode,
_stlink_usb_enter_swd_mode,
NULL, // no enter_jtag_mode here...
_stlink_usb_exit_dfu_mode,
_stlink_usb_core_id,
_stlink_usb_reset,
_stlink_usb_jtag_reset,
_stlink_usb_run,
_stlink_usb_status,
_stlink_usb_version,
_stlink_usb_read_debug32,
_stlink_usb_read_mem32,
_stlink_usb_write_debug32,
_stlink_usb_write_mem32,
_stlink_usb_write_mem8,
_stlink_usb_read_all_regs,
_stlink_usb_read_reg,
_stlink_usb_write_reg,
_stlink_usb_step,
_stlink_usb_current_mode,
_stlink_usb_force_debug
};
stlink_t* stlink_open_usb(const int verbose) {
stlink_t* sl = NULL;
struct stlink_libusb* slu = NULL;
int error = -1;
libusb_device** devs = NULL;
int config;
sl = malloc(sizeof (stlink_t));
slu = malloc(sizeof (struct stlink_libusb));
if (sl == NULL) goto on_error;
if (slu == NULL) goto on_error;
memset(sl, 0, sizeof (stlink_t));
memset(slu, 0, sizeof (struct stlink_libusb));
ugly_init(verbose);
sl->backend = &_stlink_usb_backend;
sl->backend_data = slu;
sl->core_stat = STLINK_CORE_STAT_UNKNOWN;
if (libusb_init(&(slu->libusb_ctx))) {
WLOG("failed to init libusb context, wrong version of libraries?\n");
goto on_error;
}
slu->usb_handle = libusb_open_device_with_vid_pid(slu->libusb_ctx, USB_ST_VID, USB_STLINK_32L_PID);
if (slu->usb_handle == NULL) {
// TODO - free usb context too...
WLOG("Couldn't find any ST-Link/V2 devices");
goto on_error;
}
if (libusb_kernel_driver_active(slu->usb_handle, 0) == 1) {
int r;
r = libusb_detach_kernel_driver(slu->usb_handle, 0);
if (r<0) {
WLOG("libusb_detach_kernel_driver(() error %s\n", strerror(-r));
goto on_libusb_error;
}
}
if (libusb_get_configuration(slu->usb_handle, &config)) {
/* this may fail for a previous configured device */
WLOG("libusb_get_configuration()\n");
goto on_libusb_error;
}
if (config != 1) {
printf("setting new configuration (%d -> 1)\n", config);
if (libusb_set_configuration(slu->usb_handle, 1)) {
/* this may fail for a previous configured device */
WLOG("libusb_set_configuration() failed\n");
goto on_libusb_error;
}
}
if (libusb_claim_interface(slu->usb_handle, 0)) {
WLOG("libusb_claim_interface() failed\n");
goto on_libusb_error;
}
slu->req_trans = libusb_alloc_transfer(0);
if (slu->req_trans == NULL) {
WLOG("libusb_alloc_transfer failed\n");
goto on_libusb_error;
}
slu->rep_trans = libusb_alloc_transfer(0);
if (slu->rep_trans == NULL) {
WLOG("libusb_alloc_transfer failed\n");
goto on_libusb_error;
}
// TODO - could use the scanning techniq from stm8 code here...
slu->ep_rep = 1 /* ep rep */ | LIBUSB_ENDPOINT_IN;
slu->ep_req = 2 /* ep req */ | LIBUSB_ENDPOINT_OUT;
slu->sg_transfer_idx = 0;
// TODO - never used at the moment, always CMD_SIZE
slu->cmd_len = (slu->protocoll == 1)? STLINK_SG_SIZE: STLINK_CMD_SIZE;
/* success */
if (stlink_current_mode(sl) == STLINK_DEV_DFU_MODE) {
ILOG("-- exit_dfu_mode\n");
stlink_exit_dfu_mode(sl);
}
if (stlink_current_mode(sl) != STLINK_DEV_DEBUG_MODE) {
stlink_enter_swd_mode(sl);
}
stlink_reset(sl);
stlink_load_device_params(sl);
stlink_version(sl);
error = 0;
on_libusb_error:
if (devs != NULL) {
libusb_free_device_list(devs, 1);
}
if (error == -1) {
stlink_close(sl);
return NULL;
}
/* success */
return sl;
on_error:
if( slu->libusb_ctx)
libusb_exit(slu->libusb_ctx);
if (sl != NULL) free(sl);
if (slu != NULL) free(slu);
return 0;
}
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