src/target/espressif/esp32.c

   1 // SPDX-License-Identifier: GPL-2.0-or-later
   2
   3 /***************************************************************************
   4  *   ESP32 target API for OpenOCD                                          *
   5  *   Copyright (C) 2016-2019 Espressif Systems Ltd.                        *
   6  ***************************************************************************/
   7
   8 #ifdef HAVE_CONFIG_H
   9 #include "config.h"
  10 #endif
  11
  12 #include <helper/time_support.h>
  13 #include <target/target.h>
  14 #include <target/target_type.h>
  15 #include <target/smp.h>
  16 #include <target/semihosting_common.h>
  17 #include "assert.h"
  18 #include "esp_xtensa_smp.h"
  19
  20 /*
  21 This is a JTAG driver for the ESP32, the are two Tensilica cores inside
  22 the ESP32 chip. For more information please have a look into ESP32 target
  23 implementation.
  24 */
  25
  26 /* ESP32 memory map */
  27 #define ESP32_DRAM_LOW            0x3ffae000
  28 #define ESP32_DRAM_HIGH           0x40000000
  29 #define ESP32_IROM_MASK_LOW       0x40000000
  30 #define ESP32_IROM_MASK_HIGH      0x40064f00
  31 #define ESP32_IRAM_LOW            0x40070000
  32 #define ESP32_IRAM_HIGH           0x400a0000
  33 #define ESP32_RTC_IRAM_LOW        0x400c0000
  34 #define ESP32_RTC_IRAM_HIGH       0x400c2000
  35 #define ESP32_RTC_DRAM_LOW        0x3ff80000
  36 #define ESP32_RTC_DRAM_HIGH       0x3ff82000
  37 #define ESP32_RTC_DATA_LOW        0x50000000
  38 #define ESP32_RTC_DATA_HIGH       0x50002000
  39 #define ESP32_EXTRAM_DATA_LOW     0x3f800000
  40 #define ESP32_EXTRAM_DATA_HIGH    0x3fc00000
  41 #define ESP32_DR_REG_LOW          0x3ff00000
  42 #define ESP32_DR_REG_HIGH         0x3ff71000
  43 #define ESP32_SYS_RAM_LOW         0x60000000UL
  44 #define ESP32_SYS_RAM_HIGH        (ESP32_SYS_RAM_LOW + 0x20000000UL)
  45 #define ESP32_RTC_SLOW_MEM_BASE   ESP32_RTC_DATA_LOW
  46
  47 /* ESP32 WDT */
  48 #define ESP32_WDT_WKEY_VALUE       0x50d83aa1
  49 #define ESP32_TIMG0_BASE           0x3ff5f000
  50 #define ESP32_TIMG1_BASE           0x3ff60000
  51 #define ESP32_TIMGWDT_CFG0_OFF     0x48
  52 #define ESP32_TIMGWDT_PROTECT_OFF  0x64
  53 #define ESP32_TIMG0WDT_CFG0        (ESP32_TIMG0_BASE + ESP32_TIMGWDT_CFG0_OFF)
  54 #define ESP32_TIMG1WDT_CFG0        (ESP32_TIMG1_BASE + ESP32_TIMGWDT_CFG0_OFF)
  55 #define ESP32_TIMG0WDT_PROTECT     (ESP32_TIMG0_BASE + ESP32_TIMGWDT_PROTECT_OFF)
  56 #define ESP32_TIMG1WDT_PROTECT     (ESP32_TIMG1_BASE + ESP32_TIMGWDT_PROTECT_OFF)
  57 #define ESP32_RTCCNTL_BASE         0x3ff48000
  58 #define ESP32_RTCWDT_CFG_OFF       0x8C
  59 #define ESP32_RTCWDT_PROTECT_OFF   0xA4
  60 #define ESP32_RTCWDT_CFG           (ESP32_RTCCNTL_BASE + ESP32_RTCWDT_CFG_OFF)
  61 #define ESP32_RTCWDT_PROTECT       (ESP32_RTCCNTL_BASE + ESP32_RTCWDT_PROTECT_OFF)
  62
  63 #define ESP32_TRACEMEM_BLOCK_SZ    0x4000
  64
  65 /* ESP32 dport regs */
  66 #define ESP32_DR_REG_DPORT_BASE         ESP32_DR_REG_LOW
  67 #define ESP32_DPORT_APPCPU_CTRL_B_REG   (ESP32_DR_REG_DPORT_BASE + 0x030)
  68 #define ESP32_DPORT_APPCPU_CLKGATE_EN   BIT(0)
  69 /* ESP32 RTC regs */
  70 #define ESP32_RTC_CNTL_SW_CPU_STALL_REG (ESP32_RTCCNTL_BASE + 0xac)
  71 #define ESP32_RTC_CNTL_SW_CPU_STALL_DEF 0x0
  72
  73 /* 0 - don't care, 1 - TMS low, 2 - TMS high */
  74 enum esp32_flash_bootstrap {
  75         FBS_DONTCARE = 0,
  76         FBS_TMSLOW,
  77         FBS_TMSHIGH,
  78 };
  79
  80 struct esp32_common {
  81         struct esp_xtensa_smp_common esp_xtensa_smp;
  82         enum esp32_flash_bootstrap flash_bootstrap;
  83 };
  84
  85 static inline struct esp32_common *target_to_esp32(struct target *target)
  86 {
  87         return container_of(target->arch_info, struct esp32_common, esp_xtensa_smp);
  88 }
  89
  90 /* Reset ESP32 peripherals.
  91  * Postconditions: all peripherals except RTC_CNTL are reset, CPU's PC is undefined, PRO CPU is halted,
  92  * APP CPU is in reset
  93  * How this works:
  94  * 0. make sure target is halted; if not, try to halt it; if that fails, try to reset it (via OCD) and then halt
  95  * 1. set CPU initial PC to 0x50000000 (ESP32_SMP_RTC_DATA_LOW) by clearing RTC_CNTL_{PRO,APP}CPU_STAT_VECTOR_SEL
  96  * 2. load stub code into ESP32_SMP_RTC_DATA_LOW; once executed, stub code will disable watchdogs and
  97  * make CPU spin in an idle loop.
  98  * 3. trigger SoC reset using RTC_CNTL_SW_SYS_RST bit
  99  * 4. wait for the OCD to be reset
 100  * 5. halt the target and wait for it to be halted (at this point CPU is in the idle loop)
 101  * 6. restore initial PC and the contents of ESP32_SMP_RTC_DATA_LOW
 102  * TODO: some state of RTC_CNTL is not reset during SW_SYS_RST. Need to reset that manually. */
 103
 104 static const uint8_t esp32_reset_stub_code[] = {
 105 #include "../../../contrib/loaders/reset/espressif/esp32/cpu_reset_handler_code.inc"
 106 };
 107
 108 static int esp32_soc_reset(struct target *target)
 109 {
 110         int res;
 111         struct target_list *head;
 112         struct xtensa *xtensa;
 113
 114         LOG_DEBUG("start");
 115         /* In order to write to peripheral registers, target must be halted first */
 116         if (target->state != TARGET_HALTED) {
 117                 LOG_DEBUG("Target not halted before SoC reset, trying to halt it first");
 118                 xtensa_halt(target);
 119                 res = target_wait_state(target, TARGET_HALTED, 1000);
 120                 if (res != ERROR_OK) {
 121                         LOG_DEBUG("Couldn't halt target before SoC reset, trying to do reset-halt");
 122                         res = xtensa_assert_reset(target);
 123                         if (res != ERROR_OK) {
 124                                 LOG_ERROR(
 125                                         "Couldn't halt target before SoC reset! (xtensa_assert_reset returned %d)",
 126                                         res);
 127                                 return res;
 128                         }
 129                         alive_sleep(10);
 130                         xtensa_poll(target);
 131                         bool reset_halt_save = target->reset_halt;
 132                         target->reset_halt = true;
 133                         res = xtensa_deassert_reset(target);
 134                         target->reset_halt = reset_halt_save;
 135                         if (res != ERROR_OK) {
 136                                 LOG_ERROR(
 137                                         "Couldn't halt target before SoC reset! (xtensa_deassert_reset returned %d)",
 138                                         res);
 139                                 return res;
 140                         }
 141                         alive_sleep(10);
 142                         xtensa_poll(target);
 143                         xtensa_halt(target);
 144                         res = target_wait_state(target, TARGET_HALTED, 1000);
 145                         if (res != ERROR_OK) {
 146                                 LOG_ERROR("Couldn't halt target before SoC reset");
 147                                 return res;
 148                         }
 149                 }
 150         }
 151
 152         if (target->smp) {
 153                 foreach_smp_target(head, target->smp_targets) {
 154                         xtensa = target_to_xtensa(head->target);
 155                         /* if any of the cores is stalled unstall them */
 156                         if (xtensa_dm_core_is_stalled(&xtensa->dbg_mod)) {
 157                                 LOG_TARGET_DEBUG(head->target, "Unstall CPUs before SW reset!");
 158                                 res = target_write_u32(target,
 159                                         ESP32_RTC_CNTL_SW_CPU_STALL_REG,
 160                                         ESP32_RTC_CNTL_SW_CPU_STALL_DEF);
 161                                 if (res != ERROR_OK) {
 162                                         LOG_TARGET_ERROR(head->target, "Failed to unstall CPUs before SW reset!");
 163                                         return res;
 164                                 }
 165                                 break;  /* both cores are unstalled now, so exit the loop */
 166                         }
 167                 }
 168         }
 169
 170         LOG_DEBUG("Loading stub code into RTC RAM");
 171         uint8_t slow_mem_save[sizeof(esp32_reset_stub_code)];
 172
 173         /* Save contents of RTC_SLOW_MEM which we are about to overwrite */
 174         res = target_read_buffer(target, ESP32_RTC_SLOW_MEM_BASE, sizeof(slow_mem_save), slow_mem_save);
 175         if (res != ERROR_OK) {
 176                 LOG_ERROR("Failed to save contents of RTC_SLOW_MEM (%d)!", res);
 177                 return res;
 178         }
 179
 180         /* Write stub code into RTC_SLOW_MEM */
 181         res = target_write_buffer(target, ESP32_RTC_SLOW_MEM_BASE, sizeof(esp32_reset_stub_code), esp32_reset_stub_code);
 182         if (res != ERROR_OK) {
 183                 LOG_ERROR("Failed to write stub (%d)!", res);
 184                 return res;
 185         }
 186
 187         LOG_DEBUG("Resuming the target");
 188         xtensa = target_to_xtensa(target);
 189         xtensa->suppress_dsr_errors = true;
 190         res = xtensa_resume(target, 0, ESP32_RTC_SLOW_MEM_BASE + 4, 0, 0);
 191         xtensa->suppress_dsr_errors = false;
 192         if (res != ERROR_OK) {
 193                 LOG_ERROR("Failed to run stub (%d)!", res);
 194                 return res;
 195         }
 196         LOG_DEBUG("resume done, waiting for the target to come alive");
 197
 198         /* Wait for SoC to reset */
 199         alive_sleep(100);
 200         int64_t timeout = timeval_ms() + 100;
 201         bool get_timeout = false;
 202         while (target->state != TARGET_RESET && target->state != TARGET_RUNNING) {
 203                 alive_sleep(10);
 204                 xtensa_poll(target);
 205                 if (timeval_ms() >= timeout) {
 206                         LOG_TARGET_ERROR(target, "Timed out waiting for CPU to be reset, target state=%d",
 207                                 target->state);
 208                         get_timeout = true;
 209                         break;
 210                 }
 211         }
 212
 213         /* Halt the CPU again */
 214         LOG_DEBUG("halting the target");
 215         xtensa_halt(target);
 216         res = target_wait_state(target, TARGET_HALTED, 1000);
 217         if (res == ERROR_OK) {
 218                 LOG_DEBUG("restoring RTC_SLOW_MEM");
 219                 res = target_write_buffer(target, ESP32_RTC_SLOW_MEM_BASE, sizeof(slow_mem_save), slow_mem_save);
 220                 if (res != ERROR_OK)
 221                         LOG_TARGET_ERROR(target, "Failed to restore contents of RTC_SLOW_MEM (%d)!", res);
 222         } else {
 223                 LOG_TARGET_ERROR(target, "Timed out waiting for CPU to be halted after SoC reset");
 224         }
 225
 226         return get_timeout ? ERROR_TARGET_TIMEOUT : res;
 227 }
 228
 229 static int esp32_disable_wdts(struct target *target)
 230 {
 231         /* TIMG1 WDT */
 232         int res = target_write_u32(target, ESP32_TIMG0WDT_PROTECT, ESP32_WDT_WKEY_VALUE);
 233         if (res != ERROR_OK) {
 234                 LOG_ERROR("Failed to write ESP32_TIMG0WDT_PROTECT (%d)!", res);
 235                 return res;
 236         }
 237         res = target_write_u32(target, ESP32_TIMG0WDT_CFG0, 0);
 238         if (res != ERROR_OK) {
 239                 LOG_ERROR("Failed to write ESP32_TIMG0WDT_CFG0 (%d)!", res);
 240                 return res;
 241         }
 242         /* TIMG2 WDT */
 243         res = target_write_u32(target, ESP32_TIMG1WDT_PROTECT, ESP32_WDT_WKEY_VALUE);
 244         if (res != ERROR_OK) {
 245                 LOG_ERROR("Failed to write ESP32_TIMG1WDT_PROTECT (%d)!", res);
 246                 return res;
 247         }
 248         res = target_write_u32(target, ESP32_TIMG1WDT_CFG0, 0);
 249         if (res != ERROR_OK) {
 250                 LOG_ERROR("Failed to write ESP32_TIMG1WDT_CFG0 (%d)!", res);
 251                 return res;
 252         }
 253         /* RTC WDT */
 254         res = target_write_u32(target, ESP32_RTCWDT_PROTECT, ESP32_WDT_WKEY_VALUE);
 255         if (res != ERROR_OK) {
 256                 LOG_ERROR("Failed to write ESP32_RTCWDT_PROTECT (%d)!", res);
 257                 return res;
 258         }
 259         res = target_write_u32(target, ESP32_RTCWDT_CFG, 0);
 260         if (res != ERROR_OK) {
 261                 LOG_ERROR("Failed to write ESP32_RTCWDT_CFG (%d)!", res);
 262                 return res;
 263         }
 264         return ERROR_OK;
 265 }
 266
 267 static int esp32_on_halt(struct target *target)
 268 {
 269         return esp32_disable_wdts(target);
 270 }
 271
 272 static int esp32_arch_state(struct target *target)
 273 {
 274         return ERROR_OK;
 275 }
 276
 277 static int esp32_virt2phys(struct target *target,
 278         target_addr_t virtual, target_addr_t *physical)
 279 {
 280         if (physical) {
 281                 *physical = virtual;
 282                 return ERROR_OK;
 283         }
 284         return ERROR_FAIL;
 285 }
 286
 287 /* 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
 288  * 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
 289  * esp32 flashbootstrap command to set a level, and this routine will make sure the tdi line will return to
 290  * that when the jtag port is idle. */
 291
 292 static void esp32_queue_tdi_idle(struct target *target)
 293 {
 294         struct esp32_common *esp32 = target_to_esp32(target);
 295         static uint32_t value;
 296         uint8_t t[4] = { 0, 0, 0, 0 };
 297
 298         if (esp32->flash_bootstrap == FBS_TMSLOW)
 299                 /* Make sure tdi is 0 at the exit of queue execution */
 300                 value = 0;
 301         else if (esp32->flash_bootstrap == FBS_TMSHIGH)
 302                 /* Make sure tdi is 1 at the exit of queue execution */
 303                 value = 1;
 304         else
 305                 return;
 306
 307         /* Scan out 1 bit, do not move from IRPAUSE after we're done. */
 308         buf_set_u32(t, 0, 1, value);
 309         jtag_add_plain_ir_scan(1, t, NULL, TAP_IRPAUSE);
 310 }
 311
 312 static int esp32_target_init(struct command_context *cmd_ctx, struct target *target)
 313 {
 314         return esp_xtensa_smp_target_init(cmd_ctx, target);
 315 }
 316
 317 static const struct xtensa_debug_ops esp32_dbg_ops = {
 318         .queue_enable = xtensa_dm_queue_enable,
 319         .queue_reg_read = xtensa_dm_queue_reg_read,
 320         .queue_reg_write = xtensa_dm_queue_reg_write
 321 };
 322
 323 static const struct xtensa_power_ops esp32_pwr_ops = {
 324         .queue_reg_read = xtensa_dm_queue_pwr_reg_read,
 325         .queue_reg_write = xtensa_dm_queue_pwr_reg_write
 326 };
 327
 328 static const struct esp_xtensa_smp_chip_ops esp32_chip_ops = {
 329         .reset = esp32_soc_reset,
 330         .on_halt = esp32_on_halt
 331 };
 332
 333 static const struct esp_semihost_ops esp32_semihost_ops = {
 334         .prepare = esp32_disable_wdts
 335 };
 336
 337 static int esp32_target_create(struct target *target, Jim_Interp *interp)
 338 {
 339         struct xtensa_debug_module_config esp32_dm_cfg = {
 340                 .dbg_ops = &esp32_dbg_ops,
 341                 .pwr_ops = &esp32_pwr_ops,
 342                 .tap = target->tap,
 343                 .queue_tdi_idle = esp32_queue_tdi_idle,
 344                 .queue_tdi_idle_arg = target
 345         };
 346
 347         struct esp32_common *esp32 = calloc(1, sizeof(struct esp32_common));
 348         if (!esp32) {
 349                 LOG_ERROR("Failed to alloc memory for arch info!");
 350                 return ERROR_FAIL;
 351         }
 352
 353         int ret = esp_xtensa_smp_init_arch_info(target, &esp32->esp_xtensa_smp,
 354                 &esp32_dm_cfg, &esp32_chip_ops, &esp32_semihost_ops);
 355         if (ret != ERROR_OK) {
 356                 LOG_ERROR("Failed to init arch info!");
 357                 free(esp32);
 358                 return ret;
 359         }
 360         esp32->flash_bootstrap = FBS_DONTCARE;
 361
 362         /* Assume running target. If different, the first poll will fix this. */
 363         target->state = TARGET_RUNNING;
 364         target->debug_reason = DBG_REASON_NOTHALTED;
 365         return ERROR_OK;
 366 }
 367
 368 static COMMAND_HELPER(esp32_cmd_flashbootstrap_do, struct esp32_common *esp32)
 369 {
 370         int state = -1;
 371
 372         if (CMD_ARGC < 1) {
 373                 const char *st;
 374                 state = esp32->flash_bootstrap;
 375                 if (state == FBS_DONTCARE)
 376                         st = "Don't care";
 377                 else if (state == FBS_TMSLOW)
 378                         st = "Low (3.3V)";
 379                 else if (state == FBS_TMSHIGH)
 380                         st = "High (1.8V)";
 381                 else
 382                         st = "None";
 383                 command_print(CMD, "Current idle tms state: %s", st);
 384                 return ERROR_OK;
 385         }
 386
 387         if (!strcasecmp(CMD_ARGV[0], "none"))
 388                 state = FBS_DONTCARE;
 389         else if (!strcasecmp(CMD_ARGV[0], "1.8"))
 390                 state = FBS_TMSHIGH;
 391         else if (!strcasecmp(CMD_ARGV[0], "3.3"))
 392                 state = FBS_TMSLOW;
 393         else if (!strcasecmp(CMD_ARGV[0], "high"))
 394                 state = FBS_TMSHIGH;
 395         else if (!strcasecmp(CMD_ARGV[0], "low"))
 396                 state = FBS_TMSLOW;
 397
 398         if (state == -1) {
 399                 command_print(CMD,
 400                         "Argument unknown. Please pick one of none, high, low, 1.8 or 3.3");
 401                 return ERROR_FAIL;
 402         }
 403         esp32->flash_bootstrap = state;
 404         return ERROR_OK;
 405 }
 406
 407 COMMAND_HANDLER(esp32_cmd_flashbootstrap)
 408 {
 409         struct target *target = get_current_target(CMD_CTX);
 410
 411         if (target->smp) {
 412                 struct target_list *head;
 413                 struct target *curr;
 414                 foreach_smp_target(head, target->smp_targets) {
 415                         curr = head->target;
 416                         int ret = CALL_COMMAND_HANDLER(esp32_cmd_flashbootstrap_do,
 417                                 target_to_esp32(curr));
 418                         if (ret != ERROR_OK)
 419                                 return ret;
 420                 }
 421                 return ERROR_OK;
 422         }
 423         return CALL_COMMAND_HANDLER(esp32_cmd_flashbootstrap_do,
 424                 target_to_esp32(target));
 425 }
 426
 427 static const struct command_registration esp32_any_command_handlers[] = {
 428         {
 429                 .name = "flashbootstrap",
 430                 .handler = esp32_cmd_flashbootstrap,
 431                 .mode = COMMAND_ANY,
 432                 .help =
 433                         "Set the idle state of the TMS pin, which at reset also is the voltage selector for the flash chip.",
 434                 .usage = "none|1.8|3.3|high|low",
 435         },
 436         COMMAND_REGISTRATION_DONE
 437 };
 438
 439 static const struct command_registration esp32_command_handlers[] = {
 440         {
 441                 .chain = esp_xtensa_smp_command_handlers,
 442         },
 443         {
 444                 .name = "esp",
 445                 .usage = "",
 446                 .chain = esp32_apptrace_command_handlers,
 447         },
 448         {
 449                 .name = "esp32",
 450                 .usage = "",
 451                 .chain = smp_command_handlers,
 452         },
 453         {
 454                 .name = "esp32",
 455                 .usage = "",
 456                 .chain = esp32_any_command_handlers,
 457         },
 458         {
 459                 .name = "arm",
 460                 .mode = COMMAND_ANY,
 461                 .help = "ARM Command Group",
 462                 .usage = "",
 463                 .chain = semihosting_common_handlers
 464         },
 465         COMMAND_REGISTRATION_DONE
 466 };
 467
 468 /** Holds methods for Xtensa targets. */
 469 struct target_type esp32_target = {
 470         .name = "esp32",
 471
 472         .poll = esp_xtensa_smp_poll,
 473         .arch_state = esp32_arch_state,
 474
 475         .halt = xtensa_halt,
 476         .resume = esp_xtensa_smp_resume,
 477         .step = esp_xtensa_smp_step,
 478
 479         .assert_reset = esp_xtensa_smp_assert_reset,
 480         .deassert_reset = esp_xtensa_smp_deassert_reset,
 481         .soft_reset_halt = esp_xtensa_smp_soft_reset_halt,
 482
 483         .virt2phys = esp32_virt2phys,
 484         .mmu = xtensa_mmu_is_enabled,
 485         .read_memory = xtensa_read_memory,
 486         .write_memory = xtensa_write_memory,
 487
 488         .read_buffer = xtensa_read_buffer,
 489         .write_buffer = xtensa_write_buffer,
 490
 491         .checksum_memory = xtensa_checksum_memory,
 492
 493         .get_gdb_arch = xtensa_get_gdb_arch,
 494         .get_gdb_reg_list = xtensa_get_gdb_reg_list,
 495
 496         .add_breakpoint = esp_xtensa_breakpoint_add,
 497         .remove_breakpoint = esp_xtensa_breakpoint_remove,
 498
 499         .add_watchpoint = esp_xtensa_smp_watchpoint_add,
 500         .remove_watchpoint = esp_xtensa_smp_watchpoint_remove,
 501
 502         .target_create = esp32_target_create,
 503         .init_target = esp32_target_init,
 504         .examine = xtensa_examine,
 505         .deinit_target = esp_xtensa_target_deinit,
 506
 507         .commands = esp32_command_handlers,
 508 };