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openocd/src/target/espressif/esp32.c

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/* SPDX-License-Identifier: GPL-2.0-or-later */
/***************************************************************************
* ESP32 target API for OpenOCD *
* Copyright (C) 2016-2019 Espressif Systems Ltd. *
***************************************************************************/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <helper/time_support.h>
#include <target/target.h>
#include <target/target_type.h>
#include <target/smp.h>
#include "assert.h"
#include "esp_xtensa_smp.h"
/*
This is a JTAG driver for the ESP32, the are two Tensilica cores inside
the ESP32 chip. For more information please have a look into ESP32 target
implementation.
*/
/* ESP32 memory map */
#define ESP32_DRAM_LOW 0x3ffae000
#define ESP32_DRAM_HIGH 0x40000000
#define ESP32_IROM_MASK_LOW 0x40000000
#define ESP32_IROM_MASK_HIGH 0x40064f00
#define ESP32_IRAM_LOW 0x40070000
#define ESP32_IRAM_HIGH 0x400a0000
#define ESP32_RTC_IRAM_LOW 0x400c0000
#define ESP32_RTC_IRAM_HIGH 0x400c2000
#define ESP32_RTC_DRAM_LOW 0x3ff80000
#define ESP32_RTC_DRAM_HIGH 0x3ff82000
#define ESP32_RTC_DATA_LOW 0x50000000
#define ESP32_RTC_DATA_HIGH 0x50002000
#define ESP32_EXTRAM_DATA_LOW 0x3f800000
#define ESP32_EXTRAM_DATA_HIGH 0x3fc00000
#define ESP32_DR_REG_LOW 0x3ff00000
#define ESP32_DR_REG_HIGH 0x3ff71000
#define ESP32_SYS_RAM_LOW 0x60000000UL
#define ESP32_SYS_RAM_HIGH (ESP32_SYS_RAM_LOW + 0x20000000UL)
#define ESP32_RTC_SLOW_MEM_BASE ESP32_RTC_DATA_LOW
/* ESP32 WDT */
#define ESP32_WDT_WKEY_VALUE 0x50d83aa1
#define ESP32_TIMG0_BASE 0x3ff5f000
#define ESP32_TIMG1_BASE 0x3ff60000
#define ESP32_TIMGWDT_CFG0_OFF 0x48
#define ESP32_TIMGWDT_PROTECT_OFF 0x64
#define ESP32_TIMG0WDT_CFG0 (ESP32_TIMG0_BASE + ESP32_TIMGWDT_CFG0_OFF)
#define ESP32_TIMG1WDT_CFG0 (ESP32_TIMG1_BASE + ESP32_TIMGWDT_CFG0_OFF)
#define ESP32_TIMG0WDT_PROTECT (ESP32_TIMG0_BASE + ESP32_TIMGWDT_PROTECT_OFF)
#define ESP32_TIMG1WDT_PROTECT (ESP32_TIMG1_BASE + ESP32_TIMGWDT_PROTECT_OFF)
#define ESP32_RTCCNTL_BASE 0x3ff48000
#define ESP32_RTCWDT_CFG_OFF 0x8C
#define ESP32_RTCWDT_PROTECT_OFF 0xA4
#define ESP32_RTCWDT_CFG (ESP32_RTCCNTL_BASE + ESP32_RTCWDT_CFG_OFF)
#define ESP32_RTCWDT_PROTECT (ESP32_RTCCNTL_BASE + ESP32_RTCWDT_PROTECT_OFF)
#define ESP32_TRACEMEM_BLOCK_SZ 0x4000
/* ESP32 dport regs */
#define ESP32_DR_REG_DPORT_BASE ESP32_DR_REG_LOW
#define ESP32_DPORT_APPCPU_CTRL_B_REG (ESP32_DR_REG_DPORT_BASE + 0x030)
#define ESP32_DPORT_APPCPU_CLKGATE_EN BIT(0)
/* ESP32 RTC regs */
#define ESP32_RTC_CNTL_SW_CPU_STALL_REG (ESP32_RTCCNTL_BASE + 0xac)
#define ESP32_RTC_CNTL_SW_CPU_STALL_DEF 0x0
/* 0 - don't care, 1 - TMS low, 2 - TMS high */
enum esp32_flash_bootstrap {
FBS_DONTCARE = 0,
FBS_TMSLOW,
FBS_TMSHIGH,
};
struct esp32_common {
struct esp_xtensa_smp_common esp_xtensa_smp;
enum esp32_flash_bootstrap flash_bootstrap;
};
static inline struct esp32_common *target_to_esp32(struct target *target)
{
return container_of(target->arch_info, struct esp32_common, esp_xtensa_smp);
}
/* Reset ESP32 peripherals.
* Postconditions: all peripherals except RTC_CNTL are reset, CPU's PC is undefined, PRO CPU is halted,
* APP CPU is in reset
* How this works:
* 0. make sure target is halted; if not, try to halt it; if that fails, try to reset it (via OCD) and then halt
* 1. set CPU initial PC to 0x50000000 (ESP32_SMP_RTC_DATA_LOW) by clearing RTC_CNTL_{PRO,APP}CPU_STAT_VECTOR_SEL
* 2. load stub code into ESP32_SMP_RTC_DATA_LOW; once executed, stub code will disable watchdogs and
* make CPU spin in an idle loop.
* 3. trigger SoC reset using RTC_CNTL_SW_SYS_RST bit
* 4. wait for the OCD to be reset
* 5. halt the target and wait for it to be halted (at this point CPU is in the idle loop)
* 6. restore initial PC and the contents of ESP32_SMP_RTC_DATA_LOW
* TODO: some state of RTC_CNTL is not reset during SW_SYS_RST. Need to reset that manually. */
const uint8_t esp32_reset_stub_code[] = {
#include "../../../contrib/loaders/reset/espressif/esp32/cpu_reset_handler_code.inc"
};
static int esp32_soc_reset(struct target *target)
{
int res;
struct target_list *head;
struct xtensa *xtensa;
LOG_DEBUG("start");
/* In order to write to peripheral registers, target must be halted first */
if (target->state != TARGET_HALTED) {
LOG_DEBUG("Target not halted before SoC reset, trying to halt it first");
xtensa_halt(target);
res = target_wait_state(target, TARGET_HALTED, 1000);
if (res != ERROR_OK) {
LOG_DEBUG("Couldn't halt target before SoC reset, trying to do reset-halt");
res = xtensa_assert_reset(target);
if (res != ERROR_OK) {
LOG_ERROR(
"Couldn't halt target before SoC reset! (xtensa_assert_reset returned %d)",
res);
return res;
}
alive_sleep(10);
xtensa_poll(target);
bool reset_halt_save = target->reset_halt;
target->reset_halt = true;
res = xtensa_deassert_reset(target);
target->reset_halt = reset_halt_save;
if (res != ERROR_OK) {
LOG_ERROR(
"Couldn't halt target before SoC reset! (xtensa_deassert_reset returned %d)",
res);
return res;
}
alive_sleep(10);
xtensa_poll(target);
xtensa_halt(target);
res = target_wait_state(target, TARGET_HALTED, 1000);
if (res != ERROR_OK) {
LOG_ERROR("Couldn't halt target before SoC reset");
return res;
}
}
}
if (target->smp) {
foreach_smp_target(head, target->smp_targets) {
xtensa = target_to_xtensa(head->target);
/* if any of the cores is stalled unstall them */
if (xtensa_dm_core_is_stalled(&xtensa->dbg_mod)) {
LOG_TARGET_DEBUG(head->target, "Unstall CPUs before SW reset!");
res = target_write_u32(target,
ESP32_RTC_CNTL_SW_CPU_STALL_REG,
ESP32_RTC_CNTL_SW_CPU_STALL_DEF);
if (res != ERROR_OK) {
LOG_TARGET_ERROR(head->target, "Failed to unstall CPUs before SW reset!");
return res;
}
break; /* both cores are unstalled now, so exit the loop */
}
}
}
LOG_DEBUG("Loading stub code into RTC RAM");
uint8_t slow_mem_save[sizeof(esp32_reset_stub_code)];
/* Save contents of RTC_SLOW_MEM which we are about to overwrite */
res = target_read_buffer(target, ESP32_RTC_SLOW_MEM_BASE, sizeof(slow_mem_save), slow_mem_save);
if (res != ERROR_OK) {
LOG_ERROR("Failed to save contents of RTC_SLOW_MEM (%d)!", res);
return res;
}
/* Write stub code into RTC_SLOW_MEM */
res = target_write_buffer(target, ESP32_RTC_SLOW_MEM_BASE, sizeof(esp32_reset_stub_code), esp32_reset_stub_code);
if (res != ERROR_OK) {
LOG_ERROR("Failed to write stub (%d)!", res);
return res;
}
LOG_DEBUG("Resuming the target");
xtensa = target_to_xtensa(target);
xtensa->suppress_dsr_errors = true;
res = xtensa_resume(target, 0, ESP32_RTC_SLOW_MEM_BASE + 4, 0, 0);
xtensa->suppress_dsr_errors = false;
if (res != ERROR_OK) {
LOG_ERROR("Failed to run stub (%d)!", res);
return res;
}
LOG_DEBUG("resume done, waiting for the target to come alive");
/* Wait for SoC to reset */
alive_sleep(100);
int64_t timeout = timeval_ms() + 100;
bool get_timeout = false;
while (target->state != TARGET_RESET && target->state != TARGET_RUNNING) {
alive_sleep(10);
xtensa_poll(target);
if (timeval_ms() >= timeout) {
LOG_TARGET_ERROR(target, "Timed out waiting for CPU to be reset, target state=%d",
target->state);
get_timeout = true;
break;
}
}
/* Halt the CPU again */
LOG_DEBUG("halting the target");
xtensa_halt(target);
res = target_wait_state(target, TARGET_HALTED, 1000);
if (res == ERROR_OK) {
LOG_DEBUG("restoring RTC_SLOW_MEM");
res = target_write_buffer(target, ESP32_RTC_SLOW_MEM_BASE, sizeof(slow_mem_save), slow_mem_save);
if (res != ERROR_OK)
LOG_TARGET_ERROR(target, "Failed to restore contents of RTC_SLOW_MEM (%d)!", res);
} else {
LOG_TARGET_ERROR(target, "Timed out waiting for CPU to be halted after SoC reset");
}
return get_timeout ? ERROR_TARGET_TIMEOUT : res;
}
static int esp32_disable_wdts(struct target *target)
{
/* TIMG1 WDT */
int res = target_write_u32(target, ESP32_TIMG0WDT_PROTECT, ESP32_WDT_WKEY_VALUE);
if (res != ERROR_OK) {
LOG_ERROR("Failed to write ESP32_TIMG0WDT_PROTECT (%d)!", res);
return res;
}
res = target_write_u32(target, ESP32_TIMG0WDT_CFG0, 0);
if (res != ERROR_OK) {
LOG_ERROR("Failed to write ESP32_TIMG0WDT_CFG0 (%d)!", res);
return res;
}
/* TIMG2 WDT */
res = target_write_u32(target, ESP32_TIMG1WDT_PROTECT, ESP32_WDT_WKEY_VALUE);
if (res != ERROR_OK) {
LOG_ERROR("Failed to write ESP32_TIMG1WDT_PROTECT (%d)!", res);
return res;
}
res = target_write_u32(target, ESP32_TIMG1WDT_CFG0, 0);
if (res != ERROR_OK) {
LOG_ERROR("Failed to write ESP32_TIMG1WDT_CFG0 (%d)!", res);
return res;
}
/* RTC WDT */
res = target_write_u32(target, ESP32_RTCWDT_PROTECT, ESP32_WDT_WKEY_VALUE);
if (res != ERROR_OK) {
LOG_ERROR("Failed to write ESP32_RTCWDT_PROTECT (%d)!", res);
return res;
}
res = target_write_u32(target, ESP32_RTCWDT_CFG, 0);
if (res != ERROR_OK) {
LOG_ERROR("Failed to write ESP32_RTCWDT_CFG (%d)!", res);
return res;
}
return ERROR_OK;
}
static int esp32_on_halt(struct target *target)
{
return esp32_disable_wdts(target);
}
static int esp32_arch_state(struct target *target)
{
return ERROR_OK;
}
static int esp32_virt2phys(struct target *target,
target_addr_t virtual, target_addr_t *physical)
{
if (physical) {
*physical = virtual;
return ERROR_OK;
}
return ERROR_FAIL;
}
/* The TDI pin is also used as a flash Vcc bootstrap pin. If we reset the CPU externally, the last state of the TDI pin
* can allow the power to an 1.8V flash chip to be raised to 3.3V, or the other way around. Users can use the
* esp32 flashbootstrap command to set a level, and this routine will make sure the tdi line will return to
* that when the jtag port is idle. */
static void esp32_queue_tdi_idle(struct target *target)
{
struct esp32_common *esp32 = target_to_esp32(target);
static uint32_t value;
uint8_t t[4] = { 0, 0, 0, 0 };
if (esp32->flash_bootstrap == FBS_TMSLOW)
/* Make sure tdi is 0 at the exit of queue execution */
value = 0;
else if (esp32->flash_bootstrap == FBS_TMSHIGH)
/* Make sure tdi is 1 at the exit of queue execution */
value = 1;
else
return;
/* Scan out 1 bit, do not move from IRPAUSE after we're done. */
buf_set_u32(t, 0, 1, value);
jtag_add_plain_ir_scan(1, t, NULL, TAP_IRPAUSE);
}
static int esp32_target_init(struct command_context *cmd_ctx, struct target *target)
{
return esp_xtensa_smp_target_init(cmd_ctx, target);
}
static const struct xtensa_debug_ops esp32_dbg_ops = {
.queue_enable = xtensa_dm_queue_enable,
.queue_reg_read = xtensa_dm_queue_reg_read,
.queue_reg_write = xtensa_dm_queue_reg_write
};
static const struct xtensa_power_ops esp32_pwr_ops = {
.queue_reg_read = xtensa_dm_queue_pwr_reg_read,
.queue_reg_write = xtensa_dm_queue_pwr_reg_write
};
static const struct esp_xtensa_smp_chip_ops esp32_chip_ops = {
.reset = esp32_soc_reset,
.on_halt = esp32_on_halt
};
static int esp32_target_create(struct target *target, Jim_Interp *interp)
{
struct xtensa_debug_module_config esp32_dm_cfg = {
.dbg_ops = &esp32_dbg_ops,
.pwr_ops = &esp32_pwr_ops,
.tap = target->tap,
.queue_tdi_idle = esp32_queue_tdi_idle,
.queue_tdi_idle_arg = target
};
struct esp32_common *esp32 = calloc(1, sizeof(struct esp32_common));
if (!esp32) {
LOG_ERROR("Failed to alloc memory for arch info!");
return ERROR_FAIL;
}
int ret = esp_xtensa_smp_init_arch_info(target, &esp32->esp_xtensa_smp,
&esp32_dm_cfg, &esp32_chip_ops);
if (ret != ERROR_OK) {
LOG_ERROR("Failed to init arch info!");
free(esp32);
return ret;
}
esp32->flash_bootstrap = FBS_DONTCARE;
/* Assume running target. If different, the first poll will fix this. */
target->state = TARGET_RUNNING;
target->debug_reason = DBG_REASON_NOTHALTED;
return ERROR_OK;
}
COMMAND_HELPER(esp32_cmd_flashbootstrap_do, struct esp32_common *esp32)
{
int state = -1;
if (CMD_ARGC < 1) {
const char *st;
state = esp32->flash_bootstrap;
if (state == FBS_DONTCARE)
st = "Don't care";
else if (state == FBS_TMSLOW)
st = "Low (3.3V)";
else if (state == FBS_TMSHIGH)
st = "High (1.8V)";
else
st = "None";
command_print(CMD, "Current idle tms state: %s", st);
return ERROR_OK;
}
if (!strcasecmp(CMD_ARGV[0], "none"))
state = FBS_DONTCARE;
else if (!strcasecmp(CMD_ARGV[0], "1.8"))
state = FBS_TMSHIGH;
else if (!strcasecmp(CMD_ARGV[0], "3.3"))
state = FBS_TMSLOW;
else if (!strcasecmp(CMD_ARGV[0], "high"))
state = FBS_TMSHIGH;
else if (!strcasecmp(CMD_ARGV[0], "low"))
state = FBS_TMSLOW;
if (state == -1) {
command_print(CMD,
"Argument unknown. Please pick one of none, high, low, 1.8 or 3.3");
return ERROR_FAIL;
}
esp32->flash_bootstrap = state;
return ERROR_OK;
}
COMMAND_HANDLER(esp32_cmd_flashbootstrap)
{
struct target *target = get_current_target(CMD_CTX);
if (target->smp) {
struct target_list *head;
struct target *curr;
foreach_smp_target(head, target->smp_targets) {
curr = head->target;
int ret = CALL_COMMAND_HANDLER(esp32_cmd_flashbootstrap_do,
target_to_esp32(curr));
if (ret != ERROR_OK)
return ret;
}
return ERROR_OK;
}
return CALL_COMMAND_HANDLER(esp32_cmd_flashbootstrap_do,
target_to_esp32(target));
}
static const struct command_registration esp32_any_command_handlers[] = {
{
.name = "flashbootstrap",
.handler = esp32_cmd_flashbootstrap,
.mode = COMMAND_ANY,
.help =
"Set the idle state of the TMS pin, which at reset also is the voltage selector for the flash chip.",
.usage = "none|1.8|3.3|high|low",
},
COMMAND_REGISTRATION_DONE
};
static const struct command_registration esp32_command_handlers[] = {
{
.chain = esp_xtensa_smp_command_handlers,
},
{
.name = "esp32",
.usage = "",
.chain = smp_command_handlers,
},
{
.name = "esp32",
.usage = "",
.chain = esp32_any_command_handlers,
},
COMMAND_REGISTRATION_DONE
};
/** Holds methods for Xtensa targets. */
struct target_type esp32_target = {
.name = "esp32",
.poll = esp_xtensa_smp_poll,
.arch_state = esp32_arch_state,
.halt = xtensa_halt,
.resume = esp_xtensa_smp_resume,
.step = esp_xtensa_smp_step,
.assert_reset = esp_xtensa_smp_assert_reset,
.deassert_reset = esp_xtensa_smp_deassert_reset,
.soft_reset_halt = esp_xtensa_smp_soft_reset_halt,
.virt2phys = esp32_virt2phys,
.mmu = xtensa_mmu_is_enabled,
.read_memory = xtensa_read_memory,
.write_memory = xtensa_write_memory,
.read_buffer = xtensa_read_buffer,
.write_buffer = xtensa_write_buffer,
.checksum_memory = xtensa_checksum_memory,
.get_gdb_arch = xtensa_get_gdb_arch,
.get_gdb_reg_list = xtensa_get_gdb_reg_list,
.add_breakpoint = esp_xtensa_breakpoint_add,
.remove_breakpoint = esp_xtensa_breakpoint_remove,
.add_watchpoint = esp_xtensa_smp_watchpoint_add,
.remove_watchpoint = esp_xtensa_smp_watchpoint_remove,
.target_create = esp32_target_create,
.init_target = esp32_target_init,
.examine = xtensa_examine,
.deinit_target = esp_xtensa_target_deinit,
.commands = esp32_command_handlers,
};
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