| # Copyright (c) 2017 Linaro Limited. |
| # |
| # SPDX-License-Identifier: Apache-2.0 |
| |
| '''Runner for openocd.''' |
| |
| import subprocess |
| import re |
| |
| from os import path |
| from pathlib import Path |
| |
| try: |
| from elftools.elf.elffile import ELFFile |
| except ImportError: |
| ELFFile = None |
| |
| from runners.core import ZephyrBinaryRunner |
| |
| DEFAULT_OPENOCD_TCL_PORT = 6333 |
| DEFAULT_OPENOCD_TELNET_PORT = 4444 |
| DEFAULT_OPENOCD_GDB_PORT = 3333 |
| DEFAULT_OPENOCD_RESET_HALT_CMD = 'reset halt' |
| DEFAULT_OPENOCD_TARGET_HANDLE = "_TARGETNAME" |
| |
| 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, load_cmd=None, verify_cmd=None, post_verify=None, |
| do_verify=False, do_verify_only=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_init=None, no_load=False, |
| target_handle=DEFAULT_OPENOCD_TARGET_HANDLE): |
| super().__init__(cfg) |
| |
| 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() |
| self.pre_init = pre_init or [] |
| self.reset_halt_cmd = reset_halt_cmd |
| self.pre_load = pre_load or [] |
| 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.tcl_port = tcl_port |
| self.telnet_port = telnet_port |
| self.gdb_port = gdb_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 |
| |
| @classmethod |
| def name(cls): |
| return 'openocd' |
| |
| @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-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-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}". |
| ''') |
| |
| |
| @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, 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, |
| 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_init=args.gdb_init, no_load=args.no_load, |
| target_handle=args.target_handle) |
| |
| 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}') |
| |
| # pylint: disable=R0201 |
| def to_num(self, number): |
| dev_match = re.search(r"^\d*\+dev", number) |
| dev_version = not dev_match is None |
| |
| num_match = re.search(r"^\d*", number) |
| num = int(num_match.group(0)) |
| |
| if dev_version: |
| num += 1 |
| |
| return num |
| |
| 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() |
| |
| return out.split('\n')[0] |
| |
| def supports_thread_info(self): |
| # Zephyr rtos was introduced after 0.11.0 |
| version_str = self.read_version().split(' ')[3] |
| version = version_str.split('.') |
| (major, minor, rev) = [self.to_num(i) for i in version] |
| return (major, minor, rev) > (0, 11, 0) |
| |
| def do_run(self, command, **kwargs): |
| self.require(self.openocd_cmd[0]) |
| if 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'): |
| self.do_attach_debug(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('Flashing file: {}'.format(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) |
| |
| 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, |
| '-c', self.load_cmd + ' ' + hex_name, |
| '-c', self.reset_halt_cmd] + |
| ['-c', self.verify_cmd + ' ' + hex_name] + |
| 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(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 = '${} configure -rtos Zephyr'.format(self.target_handle) |
| pre_init_cmd.append(rtos_command) |
| |
| server_cmd = (self.openocd_cmd + self.serial + self.cfg_cmd + |
| ['-c', 'tcl_port {}'.format(self.tcl_port), |
| '-c', 'telnet_port {}'.format(self.telnet_port), |
| '-c', 'gdb_port {}'.format(self.gdb_port)] + |
| pre_init_cmd + self.init_arg + self.targets_arg + |
| self.halt_arg) |
| gdb_cmd = (self.gdb_cmd + self.tui_arg + |
| ['-ex', 'target extended-remote :{}'.format(self.gdb_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) |
| |
| self.require(gdb_cmd[0]) |
| self.print_gdbserver_message() |
| self.run_server_and_client(server_cmd, gdb_cmd) |
| |
| def do_debugserver(self, **kwargs): |
| pre_init_cmd = [] |
| for i in self.pre_init: |
| pre_init_cmd.append("-c") |
| pre_init_cmd.append(i) |
| |
| cmd = (self.openocd_cmd + self.cfg_cmd + |
| ['-c', 'tcl_port {}'.format(self.tcl_port), |
| '-c', 'telnet_port {}'.format(self.telnet_port), |
| '-c', 'gdb_port {}'.format(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) |
