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114
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1 import struct, time
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113
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2 from usb import UsbContext
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3
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4 class STLinkException(Exception):
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5 pass
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6
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115
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7 ST_VID, STLINK2_PID = 0x0483, 0x3748
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8
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113
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9 def checkDevice(device):
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10 return device.VendorId == ST_VID and device.ProductId == STLINK2_PID
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11
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115
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12 DFU_MODE, MASS_MODE, DEBUG_MODE = 0, 1, 2
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114
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13 # Commands:
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14 GET_VERSION = 0xf1
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15 DEBUG_COMMAND = 0xf2
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16 DFU_COMMAND = 0xf3
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17 GET_CURRENT_MODE = 0xf5
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18
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19 # dfu commands:
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20 DFU_EXIT = 0x7
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113
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21
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114
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22 # debug commands:
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23 DEBUG_ENTER = 0x20
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24 DEBUG_EXIT = 0x21
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25 DEBUG_ENTER_SWD = 0xa3
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26 DEBUG_GETSTATUS = 0x01
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115
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27 DEBUG_READREG = 0x5
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28 DEBUG_WRITEREG = 0x6
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29 DEBUG_READMEM_32BIT = 0x7
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30 DEBUG_WRITEMEM_32BIT = 0x8
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114
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31
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115
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32 JTAG_WRITEDEBUG_32BIT = 0x35
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33 JTAG_READDEBUG_32BIT = 0x36
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34
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35 # cortex M3
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36 CM3_REG_CPUID = 0xE000ED00
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37
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115
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38 # F4 specifics:
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39 STM32_FLASH_BASE = 0x08000000
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40 STM32_SRAM_BASE = 0x20000000
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41
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42 # flash registers:
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43 FLASH_F4_REGS_ADDR = 0x400223c0
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44
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45 FLASH_F4_SR = FLASH_F4_REGS_ADDR + 0x0c
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46 FLASH_F4_CR = FLASH_F4_REGS_ADDR + 0x10
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47
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48 FLASH_F4_CR_START = 16
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49 FLASH_F4_CR_LOCK = 31
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50 FLASH_F4_CR_SER = 1
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51 FLASH_F4_CR_SNB = 3
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52 FLASH_F4_CR_SNB_MASK = 0x38
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53 FLASH_F4_SR_BSY = 16
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54
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55 def calculate_F4_sector(address):
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56 """
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57 from 0x8000000 to 0x80FFFFF
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58 4 sectors of 0x4000 (16 kB)
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59 1 sector of 0x10000 (64 kB)
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60 7 of 0x20000 (128 kB)
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61 """
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62 sectorsizes = [0x4000] * 4 + [0x10000] + [0x20000] * 7
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63 sectorstarts = []
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64 a = STM32_FLASH_BASE
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65 for sectorsize in sectorsizes:
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66 sectorstarts.append(a)
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67 a += sectorsize
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68 # linear search:
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69 sec = 0
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70 while sec < len(sectorsizes) and address >= sectorstarts[sec]:
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71 sec += 1
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72 sec -= 1 # one back.
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73 return sec, sectorsizes[sec]
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74
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75 def calcSectors(address, size):
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76 off = 0
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77 sectors = []
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78 while off < size:
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79 sectornum, sectorsize = calculate_F4_sector(address + off)
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80 #print('num: {0} size: {1:X} offset: {2}'.format(sectornum, sectorsize, off))
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81 sectors.append((sectornum, sectorsize))
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82 off += sectorsize
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83 return sectors
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84
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114
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85 class STLink:
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113
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86 def __init__(self):
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87 self.context = UsbContext()
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88 def open(self):
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89 context = UsbContext()
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90 stlink2s = list(filter(checkDevice, context.DeviceList))
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91 if not stlink2s:
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92 raise STLinkException('Could not find an ST link')
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93 if len(stlink2s) > 1:
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94 print('More then one stlink2 found, picking first one')
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95 stlink2 = stlink2s[0]
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96 self.devHandle = stlink2.open()
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97 if self.devHandle.Configuration != 1:
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98 self.devHandle.Configuration = 1
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99 self.devHandle.claimInterface(0)
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100 def close(self):
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101 pass
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115
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102
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103 # modes:
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104 def getCurrentMode(self):
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105 cmd = bytearray(16)
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106 cmd[0] = GET_CURRENT_MODE
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107 reply = self.send_recv(cmd, 2) # Expect 2 bytes back
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108 return reply[0]
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113
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109 CurrentMode = property(getCurrentMode)
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114
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110 @property
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111 def CurrentModeString(self):
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112 modes = {DFU_MODE: 'dfu', MASS_MODE: 'massmode', DEBUG_MODE:'debug'}
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113 return modes[self.CurrentMode]
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114 def exitDfuMode(self):
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115 cmd = bytearray(16)
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115
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116 cmd[0:2] = DFU_COMMAND, DFU_EXIT
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114
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117 self.send_recv(cmd)
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118 def enterSwdMode(self):
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119 cmd = bytearray(16)
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120 cmd[0:3] = DEBUG_COMMAND, DEBUG_ENTER, DEBUG_ENTER_SWD
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121 self.send_recv(cmd)
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122 def exitDebugMode(self):
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123 cmd = bytearray(16)
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124 cmd[0:2] = DEBUG_COMMAND, DEBUG_EXIT
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125 self.send_recv(cmd)
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126
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127 def getVersion(self):
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128 cmd = bytearray(16)
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129 cmd[0] = GET_VERSION
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130 data = self.send_recv(cmd, 6) # Expect 6 bytes back
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131 # Parse 6 bytes into various versions:
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132 b0, b1, b2, b3, b4, b5 = data
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133 stlink_v = b0 >> 4
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134 jtag_v = ((b0 & 0xf) << 2) | (b1 >> 6)
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135 swim_v = b1 & 0x3f
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136 vid = (b3 << 8) | b2
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137 pid = (b5 << 8) | b4
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138
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139 return 'stlink={0} jtag={1} swim={2} vid:pid={3:04X}:{4:04X}'.format(\
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140 stlink_v, jtag_v, swim_v, vid, pid)
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141 Version = property(getVersion)
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142
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143 @property
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144 def ChipId(self):
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145 return self.read_debug32(0xE0042000)
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146 @property
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147 def CpuId(self):
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148 u32 = self.read_debug32(CM3_REG_CPUID)
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149 implementer_id = (u32 >> 24) & 0x7f
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150 variant = (u32 >> 20) & 0xf
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151 part = (u32 >> 4) & 0xfff
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152 revision = u32 & 0xf
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153 return implementer_id, variant, part, revision
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154
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155 def status(self):
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156 cmd = bytearray(16)
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157 cmd[0:2] = DEBUG_COMMAND, DEBUG_GETSTATUS
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158 reply = self.send_recv(cmd, 2)
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159 return reply[0]
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160
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115
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161 # debug commands:
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162 def step(self):
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163 cmd = bytearray(16)
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164 cmd[0:2] = DEBUG_COMMAND, DEBUG_STEPCORE
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165 self.send_recv(cmd, 2)
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166 def run(self):
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167 cmd = bytearray(16)
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168 cmd[0:2] = DEBUG_COMMAND, DEBUG_RUNCORE
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169 self.send_recv(cmd, 2)
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170
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171 # flashing commands:
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172 def writeFlash(self, address, content):
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173 # TODO:
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174 flashsize = 0x100000 # fixed 1 MB for now..
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175 print('WARNING: using 1 MB as flash size')
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176 pagesize = 0x4000 # fixed for now!
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177
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178 # Check address range:
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179 if address < STM32_FLASH_BASE:
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180 raise STLinkException('Flashing below flash start')
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181 if address + len(content) > STM32_FLASH_BASE + flashsize:
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182 raise STLinkException('Flashing above flash size')
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183 if address & 1 == 1:
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184 raise STLinkException('Unaligned flash')
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185 if len(content) & 1 == 1:
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186 print('unaligned length, padding with zero')
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187 content += bytes([0])
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188 if address & (pagesize - 1) != 0:
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189 raise STLinkException('Address not aligned with pagesize')
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190
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191 # erase required space
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192 sectors = calcSectors(address, len(content))
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193 print('erasing {0} sectors'.format(len(sectors)))
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194 for sector, secsize in sectors:
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195 print('erasing sector {0} of size {1}'.format(sector, secsize))
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196 self.eraseFlashSector(sector)
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197
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198 # program pages:
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199 # TODO
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200
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201 # verfify program:
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202 self.verifyFlash(address, content)
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203 def eraseFlashSector(self, sector):
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204 self.waitFlashBusy()
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205 self.unlockFlashIf()
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206 self.writeFlashCrSnb(sector)
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207 self.setFlashCrStart()
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208 self.waitFlashBusy()
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209 self.lockFlash()
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210 def verifyFlash(self, address, content):
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211 print('verifying', address, len(content))
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212 offset = 0
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213 cmp_size = 0x1800
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214 t1 = time.time()
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215 while offset < len(content):
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216 # Correct for last page:
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217 if offset + cmp_size > len(content):
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218 cmp_size = len(content) - offset
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219
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220 # align size to 4 bytes:
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221 aligned_size = cmp_size
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222 while aligned_size % 4 != 0:
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223 aligned_size += 1
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224
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225 mem = self.read_mem32(address + offset, aligned_size)
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226 ok = mem[:cmp_size] == content[offset:offset+cmp_size]
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227
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228 # indicate progress:
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229 okc = '.' if ok else 'x'
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230 print(okc, end='', flush=True)
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231
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232 # increase for next piece:
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233 offset += cmp_size
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234 t2 = time.time()
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235 print('done! {0} bytes/second'.format(len(content)/(t2-t1)))
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236 return content == mem
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237 def readFlashSr(self):
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238 return self.read_debug32(FLASH_F4_SR)
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239 def readFlashCr(self):
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240 return self.read_debug32(FLASH_F4_CR)
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241 def writeFlashCrSnb(self, sector):
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242 x = self.readFlashCr()
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243 x &= ~FLASH_F4_CR_SNB_MASK
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244 x |= sector << FLASH_F4_CR_SNB
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245 x |= 1 << FLASH_F4_CR_SER
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246 self.write_debug32(FLASH_F4_CR, x)
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247 def setFlashCrStart(self):
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248 x = self.readFlashCr()
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249 x |= 1 << FLASH_F4_CR_START
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250 self.write_debug32(FLASH_F4_CR, x)
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251 def isFlashBusy(self):
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252 mask = 1 << FLASH_F4_SR_BSY
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253 sr = self.readFlashSr()
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254 return sr & mask == mask
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255 def waitFlashBusy(self):
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256 """ block until flash operation completes. """
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257 while self.isFlashBusy():
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258 pass
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259 def isFlashLocked(self):
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260 cr = self.readFlashCr()
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261 mask = 1 << FLASH_F4_CR_LOCK
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262 return cr & mask == mask
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263 def unlockFlashIf(self):
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264 if self.isFlashLocked():
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265 self.write_debug32(FLASH_F4_KEYR, FLASH_KEY1)
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266 self.write_debug32(FLASH_F4_KEYR, FLASH_KEY2)
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267 if self.isFlashLocked():
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268 raise STLinkException('Failed to unlock')
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269
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270 def lockFlash(self):
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271 # TODO
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272 pass
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273
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114
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274 # Helper 1 functions:
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115
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275 def write_debug32(self, address, value):
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276 cmd = bytearray(16)
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277 cmd[0:2] = DEBUG_COMMAND, JTAG_WRITEDEBUG_32BIT
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278 cmd[2:6] = struct.pack('<I', address)
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279 cmd[6:10] = struct.pack('<I', value)
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280 self.send_recv(cmd, 2)
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114
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281 def read_debug32(self, address):
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282 cmd = bytearray(16)
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115
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283 cmd[0:2] = DEBUG_COMMAND, JTAG_READDEBUG_32BIT
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114
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284 cmd[2:6] = struct.pack('<I', address) # pack into u32 little endian
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285 reply = self.send_recv(cmd, 8)
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286 return struct.unpack('<I', reply[4:8])[0]
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115
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287 def write_reg(self, reg, value):
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288 cmd = bytearray(16)
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289 cmd[0:3] = DEBUG_COMMAND, DEBUG_WRITEREG, reg
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290 cmd[3:7] = struct.pack('<I', value)
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291 r = self.send_recv(cmd, 2)
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292 def read_reg(self, reg):
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293 cmd = bytearray(16)
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294 cmd[0:3] = DEBUG_COMMAND, DEBUG_READREG, reg
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295 reply = self.send_recv(cmd, 4)
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296 return struct.unpack('<I', reply)[0]
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297 def read_mem32(self, address, length):
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298 assert length % 4 == 0
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299 cmd = bytearray(16)
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300 cmd[0:2] = DEBUG_COMMAND, DEBUG_READMEM_32BIT
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301 cmd[2:6] = struct.pack('<I', address)
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302 cmd[6:8] = struct.pack('<H', length) # uint16
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303 reply = self.send_recv(cmd, length) # expect memory back!
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304 return reply
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114
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305
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306 # Helper 2 functions:
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307 def send_recv(self, tx, rxsize=0):
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115
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308 """ Helper function that transmits and receives data in bulk mode. """
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114
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309 # TODO: we could use here the non-blocking libusb api.
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310 tx = bytes(tx)
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115
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311 assert len(tx) == 16
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114
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312 self.devHandle.bulkWrite(2, tx) # write to endpoint 2
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313 if rxsize > 0:
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314 return self.devHandle.bulkRead(1, rxsize) # read from endpoint 1
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315
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316 knownChipIds = {0x1: 'x'}
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317
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318 if __name__ == '__main__':
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319 # Test program
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320 sl = STLink()
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321 sl.open()
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322 print('version:', sl.Version)
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323 print('mode before doing anything:', sl.CurrentModeString)
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324 if sl.CurrentMode == DFU_MODE:
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325 sl.exitDfuMode()
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326 sl.enterSwdMode()
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327 print('mode after entering swd mode:', sl.CurrentModeString)
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328
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329 i = sl.ChipId
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330 if i in knownChipIds:
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331 print('chip id: 0x{0:X} -> {1}'.format(i, knownChipIds[i]))
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332 else:
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333 print('chip id: 0x{0:X}'.format(i))
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334 print('cpu: {0}'.format(sl.CpuId))
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335
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336 print('status: {0}'.format(sl.status()))
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337
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115
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338 #time.sleep(2.2)
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339
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340 # test registers:
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341 sl.write_reg(3, 0x1337)
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342 sl.write_reg(1, 0x1332)
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343 assert sl.read_reg(3) == 0x1337
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344 assert sl.read_reg(1) == 0x1332
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114
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345
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346 sl.exitDebugMode()
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347 print('mode at end:', sl.CurrentModeString)
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348
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349 sl.close()
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350
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