| # Copyright (c) 2017 Linaro Limited. |
| # Copyright (c) 2024 Tenstorrent AI ULC |
| # |
| # SPDX-License-Identifier: Apache-2.0 |
| # |
| # pylint: disable=duplicate-code |
| |
| '''Runner for openocd.''' |
| |
| import re |
| import subprocess |
| from os import name as os_name |
| from os import path |
| from pathlib import Path |
| |
| from zephyr_ext_common import ZEPHYR_BASE |
| |
| if os_name != "nt": |
| import sys |
| import termios |
| |
| try: # noqa SIM105 |
| from elftools.elf.elffile import ELFFile |
| except ImportError: |
| pass |
| |
| from runners.core import RunnerCaps, ZephyrBinaryRunner |
| |
| DEFAULT_OPENOCD_TCL_PORT = 6333 |
| DEFAULT_OPENOCD_TELNET_PORT = 4444 |
| DEFAULT_OPENOCD_GDB_PORT = 3333 |
| DEFAULT_OPENOCD_RTT_PORT = 5555 |
| DEFAULT_OPENOCD_RESET_HALT_CMD = 'reset init' |
| DEFAULT_OPENOCD_TARGET_HANDLE = "_TARGETNAME" |
| |
| def to_num(number): |
| dev_match = re.search(r"^\d*\+dev", number) |
| dev_version = dev_match is not None |
| |
| num_match = re.search(r"^\d*", number) |
| num = int(num_match.group(0)) |
| |
| if dev_version: |
| num += 1 |
| |
| return num |
| |
| class OpenOcdBinaryRunner(ZephyrBinaryRunner): |
| '''Runner front-end for openocd.''' |
| |
| def __init__(self, cfg, pre_init=None, reset_halt_cmd=DEFAULT_OPENOCD_RESET_HALT_CMD, |
| pre_load=None, erase_cmd=None, load_cmd=None, verify_cmd=None, |
| post_verify=None, do_verify=False, do_verify_only=False, do_erase=False, |
| tui=None, config=None, serial=None, use_elf=None, |
| no_halt=False, no_init=False, no_targets=False, |
| tcl_port=DEFAULT_OPENOCD_TCL_PORT, |
| telnet_port=DEFAULT_OPENOCD_TELNET_PORT, |
| gdb_port=DEFAULT_OPENOCD_GDB_PORT, |
| gdb_client_port=DEFAULT_OPENOCD_GDB_PORT, |
| gdb_init=None, no_load=False, |
| target_handle=DEFAULT_OPENOCD_TARGET_HANDLE, |
| rtt_port=DEFAULT_OPENOCD_RTT_PORT): |
| super().__init__(cfg) |
| |
| if not path.exists(cfg.board_dir): |
| # try to find the board support in-tree |
| cfg_board_path = path.normpath(cfg.board_dir) |
| _temp_path = cfg_board_path.split("boards/")[1] |
| support = path.join(ZEPHYR_BASE, "boards", _temp_path, 'support') |
| else: |
| support = path.join(cfg.board_dir, 'support') |
| |
| |
| if not config: |
| default = path.join(support, 'openocd.cfg') |
| if path.exists(default): |
| config = [default] |
| self.openocd_config = config |
| |
| search_args = [] |
| if path.exists(support): |
| search_args.append('-s') |
| search_args.append(support) |
| |
| if self.openocd_config is not None: |
| for i in self.openocd_config: |
| if path.exists(i) and not path.samefile(path.dirname(i), support): |
| search_args.append('-s') |
| search_args.append(path.dirname(i)) |
| |
| if cfg.openocd_search is not None: |
| for p in cfg.openocd_search: |
| search_args.extend(['-s', p]) |
| self.openocd_cmd = [cfg.openocd or 'openocd'] + search_args |
| # openocd doesn't cope with Windows path names, so convert |
| # them to POSIX style just to be sure. |
| self.elf_name = Path(cfg.elf_file).as_posix() if cfg.elf_file else None |
| self.pre_init = pre_init or [] |
| self.reset_halt_cmd = reset_halt_cmd |
| self.pre_load = pre_load or [] |
| self.erase_cmd = erase_cmd |
| self.load_cmd = load_cmd |
| self.verify_cmd = verify_cmd |
| self.post_verify = post_verify or [] |
| self.do_verify = do_verify or False |
| self.do_verify_only = do_verify_only or False |
| self.do_erase = do_erase or False |
| self.tcl_port = tcl_port |
| self.telnet_port = telnet_port |
| self.gdb_port = gdb_port |
| self.gdb_client_port = gdb_client_port |
| self.gdb_cmd = [cfg.gdb] if cfg.gdb else None |
| self.tui_arg = ['-tui'] if tui else [] |
| self.halt_arg = [] if no_halt else ['-c halt'] |
| self.init_arg = [] if no_init else ['-c init'] |
| self.targets_arg = [] if no_targets else ['-c targets'] |
| self.serial = ['-c set _ZEPHYR_BOARD_SERIAL ' + serial] if serial else [] |
| self.use_elf = use_elf |
| self.gdb_init = gdb_init |
| self.load_arg = [] if no_load else ['-ex', 'load'] |
| self.target_handle = target_handle |
| self.rtt_port = rtt_port |
| |
| @classmethod |
| def name(cls): |
| return 'openocd' |
| |
| @classmethod |
| def capabilities(cls): |
| return RunnerCaps(commands={'flash', 'debug', 'debugserver', 'attach', 'rtt'}, |
| rtt=True, erase=True) |
| |
| @classmethod |
| def do_add_parser(cls, parser): |
| parser.add_argument('--config', action='append', |
| help='''if given, override default config file; |
| may be given multiple times''') |
| parser.add_argument('--serial', default="", |
| help='''if given, selects FTDI instance by its serial number, |
| defaults to empty''') |
| parser.add_argument('--use-elf', default=False, action='store_true', |
| help='if given, Elf file will be used for loading instead of HEX image') |
| # Options for flashing: |
| parser.add_argument('--cmd-pre-init', action='append', |
| help='''Command to run before calling init; |
| may be given multiple times''') |
| parser.add_argument('--cmd-reset-halt', default=DEFAULT_OPENOCD_RESET_HALT_CMD, |
| help=f'''Command to run for resetting and halting the target, |
| defaults to "{DEFAULT_OPENOCD_RESET_HALT_CMD}"''') |
| parser.add_argument('--cmd-pre-load', action='append', |
| help='''Command to run before flashing; |
| may be given multiple times''') |
| parser.add_argument('--cmd-erase', action='append', |
| help='''Command to erase device; may be given multiple times''') |
| parser.add_argument('--cmd-load', |
| help='''Command to load/flash binary |
| (required when flashing)''') |
| parser.add_argument('--cmd-verify', |
| help='''Command to verify flashed binary''') |
| parser.add_argument('--cmd-post-verify', action='append', |
| help='''Command to run after verification; |
| may be given multiple times''') |
| parser.add_argument('--verify', action='store_true', |
| help='if given, verify after flash') |
| parser.add_argument('--verify-only', action='store_true', |
| help='if given, do verify and verify only. No flashing') |
| |
| # Options for debugging: |
| parser.add_argument('--tui', default=False, action='store_true', |
| help='if given, GDB uses -tui') |
| parser.add_argument('--tcl-port', default=DEFAULT_OPENOCD_TCL_PORT, |
| help='openocd TCL port, defaults to 6333') |
| parser.add_argument('--telnet-port', |
| default=DEFAULT_OPENOCD_TELNET_PORT, |
| help='openocd telnet port, defaults to 4444') |
| parser.add_argument('--gdb-port', default=DEFAULT_OPENOCD_GDB_PORT, |
| help='openocd gdb port, defaults to 3333') |
| parser.add_argument('--gdb-client-port', default=DEFAULT_OPENOCD_GDB_PORT, |
| help='''openocd gdb client port if multiple ports come |
| up, defaults to 3333''') |
| parser.add_argument('--gdb-init', action='append', |
| help='if given, add GDB init commands') |
| parser.add_argument('--no-halt', action='store_true', |
| help='if given, no halt issued in gdb server cmd') |
| parser.add_argument('--no-init', action='store_true', |
| help='if given, no init issued in gdb server cmd') |
| parser.add_argument('--no-targets', action='store_true', |
| help='if given, no target issued in gdb server cmd') |
| parser.add_argument('--no-load', action='store_true', |
| help='if given, no load issued in gdb server cmd') |
| parser.add_argument('--target-handle', default=DEFAULT_OPENOCD_TARGET_HANDLE, |
| help=f'''Internal handle used in openocd targets cfg |
| files, defaults to "{DEFAULT_OPENOCD_TARGET_HANDLE}". |
| ''') |
| parser.add_argument('--rtt-port', default=DEFAULT_OPENOCD_RTT_PORT, |
| help='openocd rtt port, defaults to 5555') |
| |
| |
| @classmethod |
| def do_create(cls, cfg, args): |
| return OpenOcdBinaryRunner( |
| cfg, |
| pre_init=args.cmd_pre_init, reset_halt_cmd=args.cmd_reset_halt, |
| pre_load=args.cmd_pre_load, erase_cmd=args.cmd_erase, load_cmd=args.cmd_load, |
| verify_cmd=args.cmd_verify, post_verify=args.cmd_post_verify, |
| do_verify=args.verify, do_verify_only=args.verify_only, do_erase=args.erase, |
| tui=args.tui, config=args.config, serial=args.serial, |
| use_elf=args.use_elf, no_halt=args.no_halt, no_init=args.no_init, |
| no_targets=args.no_targets, tcl_port=args.tcl_port, |
| telnet_port=args.telnet_port, gdb_port=args.gdb_port, |
| gdb_client_port=args.gdb_client_port, gdb_init=args.gdb_init, |
| no_load=args.no_load, target_handle=args.target_handle, |
| rtt_port=args.rtt_port) |
| |
| def print_gdbserver_message(self): |
| if not self.thread_info_enabled: |
| thread_msg = '; no thread info available' |
| elif self.supports_thread_info(): |
| thread_msg = '; thread info enabled' |
| else: |
| thread_msg = '; update OpenOCD software for thread info' |
| self.logger.info('OpenOCD GDB server running on port ' |
| f'{self.gdb_port}{thread_msg}') |
| |
| def print_rttserver_message(self): |
| self.logger.info(f'OpenOCD RTT server running on port {self.rtt_port}') |
| |
| def read_version(self): |
| self.require(self.openocd_cmd[0]) |
| |
| # OpenOCD prints in stderr, need redirect to get output |
| out = self.check_output([self.openocd_cmd[0], '--version'], |
| stderr=subprocess.STDOUT).decode() |
| |
| version_match = re.search(r"Open On-Chip Debugger v?(\d+.\d+.\d+)", out) |
| version = version_match.group(1).split('.') |
| |
| return [to_num(i) for i in version] |
| |
| def supports_thread_info(self): |
| # Zephyr rtos was introduced after 0.11.0 |
| (major, minor, rev) = self.read_version() |
| return (major, minor, rev) > (0, 11, 0) |
| |
| def do_run(self, command, **kwargs): |
| self.require(self.openocd_cmd[0]) |
| if globals().get('ELFFile') is None: |
| raise RuntimeError( |
| 'elftools missing; please "pip3 install elftools"') |
| |
| self.cfg_cmd = [] |
| if self.openocd_config is not None: |
| for i in self.openocd_config: |
| self.cfg_cmd.append('-f') |
| self.cfg_cmd.append(i) |
| |
| if command == 'flash' and self.use_elf: |
| self.do_flash_elf(**kwargs) |
| elif command == 'flash': |
| self.do_flash(**kwargs) |
| elif command in ('attach', 'debug', 'rtt'): |
| self.do_attach_debug_rtt(command, **kwargs) |
| elif command == 'load': |
| self.do_load(**kwargs) |
| else: |
| self.do_debugserver(**kwargs) |
| |
| def do_flash(self, **kwargs): |
| self.ensure_output('hex') |
| if self.load_cmd is None: |
| raise ValueError('Cannot flash; load command is missing') |
| if self.verify_cmd is None: |
| raise ValueError('Cannot flash; verify command is missing') |
| |
| # openocd doesn't cope with Windows path names, so convert |
| # them to POSIX style just to be sure. |
| hex_name = Path(self.cfg.hex_file).as_posix() |
| |
| self.logger.info(f'Flashing file: {hex_name}') |
| |
| pre_init_cmd = [] |
| pre_load_cmd = [] |
| post_verify_cmd = [] |
| for i in self.pre_init: |
| pre_init_cmd.append("-c") |
| pre_init_cmd.append(i) |
| |
| for i in self.pre_load: |
| pre_load_cmd.append("-c") |
| pre_load_cmd.append(i) |
| |
| for i in self.post_verify: |
| post_verify_cmd.append("-c") |
| post_verify_cmd.append(i) |
| |
| load_image = [] |
| if not self.do_verify_only: |
| # Halt target |
| load_image = ['-c', self.reset_halt_cmd] |
| # Perform any erase operations |
| if self.do_erase: |
| if self.erase_cmd is None: |
| self.logger.error('--erase not supported for target without --cmd-erase') |
| return |
| for erase_cmd in self.erase_cmd: |
| load_image += ["-c", erase_cmd] |
| # Trim the "erase" from "flash write_image erase" since a mass erase is already done |
| if self.load_cmd.endswith(' erase'): |
| self.load_cmd = self.load_cmd[:-6] |
| # Load image |
| load_image +=['-c', self.load_cmd + ' ' + hex_name] |
| |
| verify_image = [] |
| if self.do_verify or self.do_verify_only: |
| verify_image = ['-c', self.reset_halt_cmd, |
| '-c', self.verify_cmd + ' ' + hex_name] |
| |
| cmd = (self.openocd_cmd + self.serial + self.cfg_cmd + |
| pre_init_cmd + self.init_arg + self.targets_arg + |
| pre_load_cmd + load_image + |
| verify_image + |
| post_verify_cmd + |
| ['-c', 'reset run', |
| '-c', 'shutdown']) |
| self.check_call(cmd) |
| |
| def do_flash_elf(self, **kwargs): |
| if self.elf_name is None: |
| raise ValueError('Cannot debug; no .elf specified') |
| |
| # Extract entry point address from Elf to use it later with |
| # "resume" command of OpenOCD. |
| with open(self.elf_name, 'rb') as f: |
| ep_addr = f"0x{ELFFile(f).header['e_entry']:016x}" |
| |
| pre_init_cmd = [] |
| for i in self.pre_init: |
| pre_init_cmd.append("-c") |
| pre_init_cmd.append(i) |
| |
| pre_load_cmd = [] |
| load_image = [] |
| if not self.do_verify_only: |
| for i in self.pre_load: |
| pre_load_cmd.append("-c") |
| pre_load_cmd.append(i) |
| load_image = ['-c', 'load_image ' + self.elf_name] |
| |
| verify_image = [] |
| post_verify_cmd = [] |
| if self.do_verify or self.do_verify_only: |
| verify_image = ['-c', 'verify_image ' + self.elf_name] |
| for i in self.post_verify: |
| post_verify_cmd.append("-c") |
| post_verify_cmd.append(i) |
| |
| prologue = ['-c', 'resume ' + ep_addr, |
| '-c', 'shutdown'] |
| |
| cmd = (self.openocd_cmd + self.serial + self.cfg_cmd + |
| pre_init_cmd + self.init_arg + self.targets_arg + |
| pre_load_cmd + ['-c', self.reset_halt_cmd] + |
| load_image + |
| verify_image + post_verify_cmd + |
| prologue) |
| |
| self.check_call(cmd) |
| |
| def do_attach_debug_rtt(self, command, **kwargs): |
| if self.gdb_cmd is None: |
| raise ValueError('Cannot debug; no gdb specified') |
| if self.elf_name is None: |
| raise ValueError('Cannot debug; no .elf specified') |
| |
| pre_init_cmd = [] |
| for i in self.pre_init: |
| pre_init_cmd.append("-c") |
| pre_init_cmd.append(i) |
| |
| if self.thread_info_enabled and self.supports_thread_info(): |
| pre_init_cmd.append("-c") |
| rtos_command = f'${self.target_handle} configure -rtos Zephyr' |
| pre_init_cmd.append(rtos_command) |
| |
| server_cmd = (self.openocd_cmd + self.serial + self.cfg_cmd + |
| ['-c', f'tcl_port {self.tcl_port}', |
| '-c', f'telnet_port {self.telnet_port}', |
| '-c', f'gdb_port {self.gdb_port}'] + |
| pre_init_cmd + self.init_arg + self.targets_arg + |
| self.halt_arg) |
| gdb_cmd = (self.gdb_cmd + self.tui_arg + |
| ['-ex', f'target extended-remote :{self.gdb_client_port}', |
| self.elf_name]) |
| if command == 'debug': |
| gdb_cmd.extend(self.load_arg) |
| if self.gdb_init is not None: |
| for i in self.gdb_init: |
| gdb_cmd.append("-ex") |
| gdb_cmd.append(i) |
| if command == 'rtt': |
| rtt_address = self.get_rtt_address() |
| if rtt_address is None: |
| raise ValueError("RTT Control block not be found") |
| |
| # cannot prompt the user to press return for automation purposes |
| gdb_cmd.extend(['-ex', 'set pagination off']) |
| # start the internal openocd rtt service via gdb monitor commands |
| gdb_cmd.extend( |
| ['-ex', f'monitor rtt setup 0x{rtt_address:x} 0x10 "SEGGER RTT"']) |
| gdb_cmd.extend(['-ex', 'monitor reset run']) |
| gdb_cmd.extend(['-ex', 'monitor rtt start']) |
| gdb_cmd.extend( |
| ['-ex', f'monitor rtt server start {self.rtt_port} 0']) |
| # detach from the target and quit the gdb client session |
| gdb_cmd.extend(['-ex', 'detach', '-ex', 'quit']) |
| |
| self.require(gdb_cmd[0]) |
| self.print_gdbserver_message() |
| |
| if command in ('attach', 'debug'): |
| server_proc = self.popen_ignore_int(server_cmd, stderr=subprocess.DEVNULL) |
| try: |
| self.run_client(gdb_cmd) |
| finally: |
| server_proc.terminate() |
| server_proc.wait() |
| elif command == 'rtt': |
| self.print_rttserver_message() |
| server_proc = self.popen_ignore_int(server_cmd) |
| |
| if os_name != 'nt': |
| # Save the terminal settings |
| fd = sys.stdin.fileno() |
| new_term = termios.tcgetattr(fd) |
| old_term = termios.tcgetattr(fd) |
| |
| # New terminal setting unbuffered |
| new_term[3] = new_term[3] & ~termios.ICANON & ~termios.ECHO |
| termios.tcsetattr(fd, termios.TCSAFLUSH, new_term) |
| else: |
| fd = None |
| old_term = None |
| |
| try: |
| # run the binary with gdb, set up the rtt server (runs to completion) |
| subprocess.run(gdb_cmd) |
| # run the rtt client in the foreground |
| self.run_telnet_client('localhost', self.rtt_port) |
| finally: |
| if old_term is not None and fd is not None: |
| termios.tcsetattr(fd, termios.TCSAFLUSH, old_term) |
| |
| server_proc.terminate() |
| server_proc.wait() |
| |
| def do_debugserver(self, **kwargs): |
| pre_init_cmd = [] |
| for i in self.pre_init: |
| pre_init_cmd.append("-c") |
| pre_init_cmd.append(i) |
| |
| if self.thread_info_enabled and self.supports_thread_info(): |
| pre_init_cmd.append("-c") |
| rtos_command = f'${self.target_handle} configure -rtos Zephyr' |
| pre_init_cmd.append(rtos_command) |
| |
| cmd = (self.openocd_cmd + self.cfg_cmd + |
| ['-c', f'tcl_port {self.tcl_port}', |
| '-c', f'telnet_port {self.telnet_port}', |
| '-c', f'gdb_port {self.gdb_port}'] + |
| pre_init_cmd + self.init_arg + self.targets_arg + |
| ['-c', self.reset_halt_cmd]) |
| self.print_gdbserver_message() |
| self.check_call(cmd) |