# 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' 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, tui=None, config=None, serial=None, use_elf=None, no_halt=False, tcl_port=DEFAULT_OPENOCD_TCL_PORT, telnet_port=DEFAULT_OPENOCD_TELNET_PORT, gdb_port=DEFAULT_OPENOCD_GDB_PORT): super().__init__(cfg) if not config: default = path.join(cfg.board_dir, 'support', 'openocd.cfg') if path.exists(default): config = [default] self.openocd_config = config search_args = [] if self.openocd_config is not None: for i in self.openocd_config: if path.exists(i): 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] + 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.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.serial = ['-c set _ZEPHYR_BOARD_SERIAL ' + serial] if serial else [] self.use_elf = use_elf @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''') # 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('--no-halt', action='store_true', help='if given, no halt issued in gdb server cmd') @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, tui=args.tui, config=args.config, serial=args.serial, use_elf=args.use_elf, no_halt=args.no_halt, tcl_port=args.tcl_port, telnet_port=args.telnet_port, gdb_port=args.gdb_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}') # 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 + ['-c', 'init', '-c', 'targets'] + 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) cmd = (self.openocd_cmd + self.serial + self.cfg_cmd + pre_init_cmd + ['-c', 'init', '-c', 'targets', '-c', self.reset_halt_cmd, '-c', 'load_image ' + self.elf_name, '-c', 'resume ' + ep_addr, '-c', 'shutdown']) 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") pre_init_cmd.append("$_TARGETNAME configure -rtos Zephyr") 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 + ['-c', 'init', '-c', 'targets'] + self.halt_arg) gdb_cmd = (self.gdb_cmd + self.tui_arg + ['-ex', 'target remote :{}'.format(self.gdb_port), self.elf_name]) if command == 'debug': gdb_cmd.extend(['-ex', 'load']) 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 + ['-c', 'init', '-c', 'targets', '-c', self.reset_halt_cmd]) self.print_gdbserver_message() self.check_call(cmd)