421 lines
16 KiB
C
421 lines
16 KiB
C
/* SPDX-License-Identifier: GPL-2.0-or-later */
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/***************************************************************************
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* Espressif chips common algorithm API for OpenOCD *
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* Copyright (C) 2022 Espressif Systems Ltd. *
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***************************************************************************/
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#ifndef OPENOCD_TARGET_ESP_ALGORITHM_H
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#define OPENOCD_TARGET_ESP_ALGORITHM_H
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#include "helper/log.h"
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#include "helper/binarybuffer.h"
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#include <helper/time_support.h>
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#include <target/algorithm.h>
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#include <target/image.h>
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/**
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* API defined below allows executing pieces of code on target without breaking the execution of the running program.
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* This functionality can be useful for various debugging and maintenance procedures.
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* @note ESP flashing code to load flasher stub on target and write/read/erase flash.
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* Also ESP GCOV command uses some of these functions to run onboard routines to dump coverage info.
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* Stub entry function can take up to 5 arguments and should be of the following form:
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*
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* int stub_entry([uint32_t a1 [, uint32_t a2 [, uint32_t a3 [, uint32_t a4 [, uint32_t a5]]]]]);
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*
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* The general scheme of stub code execution is shown below.
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*
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* ------- ----------- (initial frame) ----
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* | | -------(registers, stub entry, stub args)------> |trampoline | ---(stub args)---> | |
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* | | | | | |
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* |OpenOCD| <----------(stub-specific communications)---------------------------------------> |stub|
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* | | | | | |
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* | | <---------(target halted event, ret code)------- |tramp break| <---(ret code)---- | |
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* ------- ----------- ----
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*
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* Procedure of executing stub on target includes:
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* 1) User prepares struct esp_algorithm_run_data and calls one of algorithm_run_xxx() functions.
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* 2) Routine allocates all necessary stub code and data sections.
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* 3) If a user specifies an initializer func esp_algorithm_usr_func_init_t it is called just before the stub starts.
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* 4) If user specifies stub communication func esp_algorithm_usr_func_t (@see esp_flash_write/read in ESP flash driver)
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* it is called just after the stub starts. When communication with stub is finished this function must return.
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* 5) OpenOCD waits for the stub to finish (hit exit breakpoint).
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* 6) If the user specified arguments cleanup func esp_algorithm_usr_func_done_t,
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* it is called just after the stub finishes.
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*
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* There are two options to run code on target under OpenOCD control:
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* - Run externally compiled stub code.
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* - Run onboard pre-compiled code. @note For ESP chips debug stubs must be enabled in target code @see ESP IDF docs.
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* The main difference between the execution of external stub code and target built-in functions is that
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* in the latter case working areas can not be used to allocate target memory for code and data because they can overlap
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* with code and data involved in onboard function execution. For example, if memory allocated in the working area
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* for the stub stack will overlap with some on-board data used by the stub the stack will get overwritten.
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* The same stands for allocations in target code space.
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*
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* External Code Execution
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* -----------------------
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* To run external code on the target user should use esp_algorithm_run_func_image().
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* In this case all necessary memory (code/data) is allocated in working areas that have fixed configuration
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* defined in target TCL file. Stub code is actually a standalone program, so all its segments must have known
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* addresses due to position-dependent code nature. So stub must be linked in such a way that its code segment
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* starts at the beginning of the working area for code space defined in TCL. The same restriction must be applied
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* to stub's data segment and base addresses of working area for data space. @see ESP stub flasher LD scripts.
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* Also in order to simplify memory allocation BSS section must follow the DATA section in the stub image.
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* The size of the BSS section must be specified in the bss_size field of struct algorithm_image.
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* Sample stub memory map is shown below.
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* ___________________________________________
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* | data space working area start |
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* | |
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* | <stub .data segment> |
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* |___________________________________________|
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* | stub .bss start |
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* | |
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* | <stub .bss segment of size 'bss_size'> |
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* |___________________________________________|
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* | stub stack base |
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* | |
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* | <stub stack> |
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* |___________________________________________|
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* | |
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* | <stub mem arg1> |
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* |___________________________________________|
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* | |
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* | <stub mem arg2> |
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* |___________________________________________|
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* ___________________________________________
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* | code space working area start |
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* | |
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* | <stub .text segment> |
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* |___________________________________________|
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* | |
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* | <stub trampoline with exit breakpoint> |
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* |___________________________________________|
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*
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* For example on how to execute external code with memory arguments @see esp_algo_flash_blank_check in
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* ESP flash driver.
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*
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* On-Board Code Execution
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* -----------------------
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* To run on-board code on the target user should use esp_algorithm_run_onboard_func().
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* On-board code execution process does not need to allocate target memory for stub code and data,
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* Because the stub is pre-compiled to the code running on the target.
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* But it still needs memory for stub trampoline, stack, and memory arguments.
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* Working areas can not be used due to possible memory layout conflicts with on-board stub code and data.
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* Debug stubs functionality provided by ESP IDF allows OpenOCD to overcome the above problem.
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* It provides a special descriptor which provides info necessary to safely allocate memory on target.
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* @see struct esp_dbg_stubs_desc.
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* That info is also used to locate memory for stub trampoline code.
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* User can execute target function at any address, but @see ESP IDF debug stubs also provide a way to pass to the host
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* an entry address of pre-defined registered stub functions.
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* For example of an on-board code execution @see esp32_cmd_gcov() in ESP32 apptrace module.
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*/
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/**
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* Algorithm image data.
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* Helper struct to work with algorithms consisting of code and data segments.
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*/
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struct esp_algorithm_image {
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/** Image. */
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struct image image;
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/** BSS section size. */
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uint32_t bss_size;
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/** IRAM start address in the linker script */
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uint32_t iram_org;
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/** Total reserved IRAM size */
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uint32_t iram_len;
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/** DRAM start address in the linker script */
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uint32_t dram_org;
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/** Total reserved DRAM size */
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uint32_t dram_len;
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/** IRAM DRAM address range reversed or not */
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bool reverse;
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};
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#define ESP_IMAGE_ELF_PHF_EXEC 0x1
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/**
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* Algorithm stub data.
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*/
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struct esp_algorithm_stub {
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/** Entry addr. */
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target_addr_t entry;
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/** Working area for code segment. */
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struct working_area *code;
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/** Working area for data segment. */
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struct working_area *data;
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/** Working area for trampoline. */
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struct working_area *tramp;
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/** Working area for padding between code and data area. */
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struct working_area *padding;
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/** Address of the target buffer for stub trampoline. If zero tramp->address will be used. */
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target_addr_t tramp_addr;
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/** Tramp code area will be filled from dbus.
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* We need to map it to the ibus to be able to initialize PC register to start algorithm execution from.
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*/
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target_addr_t tramp_mapped_addr;
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/** Working area for stack. */
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struct working_area *stack;
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/** Address of the target buffer for stack. If zero tramp->address will be used. */
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target_addr_t stack_addr;
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/** Address of the log buffer */
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target_addr_t log_buff_addr;
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/** Size of the log buffer */
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uint32_t log_buff_size;
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/** Algorithm's arch-specific info. */
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void *ainfo;
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};
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/**
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* Algorithm stub in-memory arguments.
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*/
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struct esp_algorithm_mem_args {
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/** Memory params. */
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struct mem_param *params;
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/** Number of memory params. */
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uint32_t count;
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};
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/**
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* Algorithm stub register arguments.
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*/
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struct esp_algorithm_reg_args {
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/** Algorithm register params. User args start from user_first_reg_param */
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struct reg_param *params;
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/** Number of register params. */
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uint32_t count;
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/** The first several reg_params can be used by stub itself (e.g. for trampoline).
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* This is the index of the first reg_param available for user to pass args to algorithm stub. */
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uint32_t first_user_param;
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};
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struct esp_algorithm_run_data;
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/**
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* @brief Algorithm run function.
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*
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* @param target Pointer to target.
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* @param run Pointer to algo run data.
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* @param arg Function specific argument.
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*
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* @return ERROR_OK on success, otherwise ERROR_XXX.
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*/
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typedef int (*esp_algorithm_func_t)(struct target *target, struct esp_algorithm_run_data *run, void *arg);
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/**
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* @brief Host part of algorithm.
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* This function will be called while stub is running on target.
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* It can be used for communication with stub.
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*
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* @param target Pointer to target.
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* @param usr_arg Function specific argument.
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*
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* @return ERROR_OK on success, otherwise ERROR_XXX.
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*/
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typedef int (*esp_algorithm_usr_func_t)(struct target *target, void *usr_arg);
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/**
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* @brief Algorithm's arguments setup function.
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* This function will be called just before stub start.
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* It must return when all operations with running stub are completed.
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* It can be used to prepare stub memory parameters.
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*
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* @param target Pointer to target.
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* @param run Pointer to algo run data.
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* @param usr_arg Function specific argument. The same as for esp_algorithm_usr_func_t.
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*
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* @return ERROR_OK on success, otherwise ERROR_XXX.
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*/
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typedef int (*esp_algorithm_usr_func_init_t)(struct target *target,
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struct esp_algorithm_run_data *run,
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void *usr_arg);
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/**
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* @brief Algorithm's arguments cleanup function.
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* This function will be called just after stub exit.
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* It can be used to cleanup stub memory parameters.
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*
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* @param target Pointer to target.
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* @param run Pointer to algo run data.
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* @param usr_arg Function specific argument. The same as for esp_algorithm_usr_func_t.
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*
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* @return ERROR_OK on success, otherwise ERROR_XXX.
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*/
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typedef void (*esp_algorithm_usr_func_done_t)(struct target *target,
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struct esp_algorithm_run_data *run,
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void *usr_arg);
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struct esp_algorithm_hw {
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int (*algo_init)(struct target *target, struct esp_algorithm_run_data *run, uint32_t num_args, va_list ap);
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int (*algo_cleanup)(struct target *target, struct esp_algorithm_run_data *run);
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const uint8_t *(*stub_tramp_get)(struct target *target, size_t *size);
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};
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/**
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* Algorithm run data.
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*/
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struct esp_algorithm_run_data {
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/** Algorithm completion timeout in ms. If 0, default value will be used */
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uint32_t timeout_ms;
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/** Algorithm stack size. */
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uint32_t stack_size;
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/** Algorithm register arguments. */
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struct esp_algorithm_reg_args reg_args;
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/** Algorithm memory arguments. */
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struct esp_algorithm_mem_args mem_args;
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/** Algorithm arch-specific info. For Xtensa this should point to struct xtensa_algorithm. */
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void *arch_info;
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/** Algorithm return code. */
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int32_t ret_code;
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/** Stub. */
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struct esp_algorithm_stub stub;
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union {
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struct {
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/** Size of the pre-alocated on-board buffer for stub's code. */
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uint32_t code_buf_size;
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/** Address of pre-compiled target buffer for stub trampoline. */
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target_addr_t code_buf_addr;
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/** Size of the pre-alocated on-board buffer for stub's stack. */
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uint32_t min_stack_size;
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/** Pre-compiled target buffer's addr for stack. */
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target_addr_t min_stack_addr;
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} on_board;
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struct esp_algorithm_image image;
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};
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/** Host side algorithm function argument. */
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void *usr_func_arg;
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/** Host side algorithm function. */
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esp_algorithm_usr_func_t usr_func;
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/** Host side algorithm function setup routine. */
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esp_algorithm_usr_func_init_t usr_func_init;
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/** Host side algorithm function cleanup routine. */
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esp_algorithm_usr_func_done_t usr_func_done;
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/** Algorithm run function: see algorithm_run_xxx for example. */
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esp_algorithm_func_t algo_func;
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/** HW specific API */
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const struct esp_algorithm_hw *hw;
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};
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int esp_algorithm_load_func_image(struct target *target, struct esp_algorithm_run_data *run);
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int esp_algorithm_unload_func_image(struct target *target, struct esp_algorithm_run_data *run);
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int esp_algorithm_exec_func_image_va(struct target *target,
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struct esp_algorithm_run_data *run,
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uint32_t num_args,
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va_list ap);
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/**
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* @brief Loads and runs stub from specified image.
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* This function should be used to run external stub code on target.
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*
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* @param target Pointer to target.
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* @param run Pointer to algo run data.
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* @param num_args Number of stub arguments that follow.
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*
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* @return ERROR_OK on success, otherwise ERROR_XXX. Stub return code is in run->ret_code.
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*/
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static inline int esp_algorithm_run_func_image_va(struct target *target,
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struct esp_algorithm_run_data *run,
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uint32_t num_args,
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va_list ap)
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{
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int ret = esp_algorithm_load_func_image(target, run);
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if (ret != ERROR_OK)
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return ret;
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ret = esp_algorithm_exec_func_image_va(target, run, num_args, ap);
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int rc = esp_algorithm_unload_func_image(target, run);
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return ret != ERROR_OK ? ret : rc;
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}
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static inline int esp_algorithm_run_func_image(struct target *target,
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struct esp_algorithm_run_data *run,
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uint32_t num_args,
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...)
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{
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va_list ap;
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va_start(ap, num_args);
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int retval = esp_algorithm_run_func_image_va(target, run, num_args, ap);
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va_end(ap);
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return retval;
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}
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int esp_algorithm_load_onboard_func(struct target *target,
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target_addr_t func_addr,
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struct esp_algorithm_run_data *run);
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int esp_algorithm_unload_onboard_func(struct target *target, struct esp_algorithm_run_data *run);
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int esp_algorithm_exec_onboard_func_va(struct target *target,
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struct esp_algorithm_run_data *run,
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uint32_t num_args,
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va_list ap);
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/**
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* @brief Runs pre-compiled on-board function.
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* This function should be used to run on-board stub code.
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*
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* @param target Pointer to target.
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* @param run Pointer to algo run data.
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* @param func_entry Address of the function to run.
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* @param num_args Number of function arguments that follow.
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*
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* @return ERROR_OK on success, otherwise ERROR_XXX. Stub return code is in run->ret_code.
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*/
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static inline int esp_algorithm_run_onboard_func_va(struct target *target,
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struct esp_algorithm_run_data *run,
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target_addr_t func_addr,
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uint32_t num_args,
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va_list ap)
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{
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int ret = esp_algorithm_load_onboard_func(target, func_addr, run);
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if (ret != ERROR_OK)
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return ret;
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ret = esp_algorithm_exec_onboard_func_va(target, run, num_args, ap);
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if (ret != ERROR_OK)
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return ret;
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return esp_algorithm_unload_onboard_func(target, run);
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}
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static inline int esp_algorithm_run_onboard_func(struct target *target,
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struct esp_algorithm_run_data *run,
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target_addr_t func_addr,
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uint32_t num_args,
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...)
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{
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va_list ap;
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va_start(ap, num_args);
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int retval = esp_algorithm_run_onboard_func_va(target, run, func_addr, num_args, ap);
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va_end(ap);
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return retval;
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}
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/**
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* @brief Set the value of an argument passed via registers to the stub main function.
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*/
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static inline void esp_algorithm_user_arg_set_uint(struct esp_algorithm_run_data *run,
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int arg_num,
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uint64_t val)
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{
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struct reg_param *param = &run->reg_args.params[run->reg_args.first_user_param + arg_num];
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assert(param->size <= 64);
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if (param->size <= 32)
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buf_set_u32(param->value, 0, param->size, val);
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else
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buf_set_u64(param->value, 0, param->size, val);
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}
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/**
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* @brief Get the value of an argument passed via registers from the stub main function.
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*/
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static inline uint64_t esp_algorithm_user_arg_get_uint(struct esp_algorithm_run_data *run, int arg_num)
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{
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struct reg_param *param = &run->reg_args.params[run->reg_args.first_user_param + arg_num];
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assert(param->size <= 64);
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if (param->size <= 32)
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return buf_get_u32(param->value, 0, param->size);
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return buf_get_u64(param->value, 0, param->size);
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}
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#endif /* OPENOCD_TARGET_ESP_ALGORITHM_H */
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