1 // SPDX-License-Identifier: GPL-2.0-or-later
3 /***************************************************************************
4 * ESP32 target API for OpenOCD *
5 * Copyright (C) 2016-2019 Espressif Systems Ltd. *
6 ***************************************************************************/
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>
18 #include "esp_xtensa_smp.h"
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
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
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)
63 #define ESP32_TRACEMEM_BLOCK_SZ 0x4000
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)
70 #define ESP32_RTC_CNTL_SW_CPU_STALL_REG (ESP32_RTCCNTL_BASE + 0xac)
71 #define ESP32_RTC_CNTL_SW_CPU_STALL_DEF 0x0
73 /* 0 - don't care, 1 - TMS low, 2 - TMS high */
74 enum esp32_flash_bootstrap
{
81 struct esp_xtensa_smp_common esp_xtensa_smp
;
82 enum esp32_flash_bootstrap flash_bootstrap
;
85 static inline struct esp32_common
*target_to_esp32(struct target
*target
)
87 return container_of(target
->arch_info
, struct esp32_common
, esp_xtensa_smp
);
90 /* Reset ESP32 peripherals.
91 * Postconditions: all peripherals except RTC_CNTL are reset, CPU's PC is undefined, PRO CPU is halted,
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. */
104 static const uint8_t esp32_reset_stub_code
[] = {
105 #include "../../../contrib/loaders/reset/espressif/esp32/cpu_reset_handler_code.inc"
108 static int esp32_soc_reset(struct target
*target
)
111 struct target_list
*head
;
112 struct xtensa
*xtensa
;
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");
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
) {
125 "Couldn't halt target before SoC reset! (xtensa_assert_reset returned %d)",
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
) {
137 "Couldn't halt target before SoC reset! (xtensa_deassert_reset returned %d)",
144 res
= target_wait_state(target
, TARGET_HALTED
, 1000);
145 if (res
!= ERROR_OK
) {
146 LOG_ERROR("Couldn't halt target before SoC reset");
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!");
165 break; /* both cores are unstalled now, so exit the loop */
170 LOG_DEBUG("Loading stub code into RTC RAM");
171 uint8_t slow_mem_save
[sizeof(esp32_reset_stub_code
)];
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
);
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
);
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
);
196 LOG_DEBUG("resume done, waiting for the target to come alive");
198 /* Wait for SoC to reset */
200 int64_t timeout
= timeval_ms() + 100;
201 bool get_timeout
= false;
202 while (target
->state
!= TARGET_RESET
&& target
->state
!= TARGET_RUNNING
) {
205 if (timeval_ms() >= timeout
) {
206 LOG_TARGET_ERROR(target
, "Timed out waiting for CPU to be reset, target state=%d",
213 /* Halt the CPU again */
214 LOG_DEBUG("halting the 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
);
221 LOG_TARGET_ERROR(target
, "Failed to restore contents of RTC_SLOW_MEM (%d)!", res
);
223 LOG_TARGET_ERROR(target
, "Timed out waiting for CPU to be halted after SoC reset");
226 return get_timeout
? ERROR_TARGET_TIMEOUT
: res
;
229 static int esp32_disable_wdts(struct target
*target
)
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
);
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
);
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
);
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
);
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
);
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
);
267 static int esp32_on_halt(struct target
*target
)
269 int ret
= esp32_disable_wdts(target
);
271 ret
= esp_xtensa_smp_on_halt(target
);
275 static int esp32_arch_state(struct target
*target
)
280 static int esp32_virt2phys(struct target
*target
,
281 target_addr_t
virtual, target_addr_t
*physical
)
290 /* 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
291 * 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
292 * esp32 flashbootstrap command to set a level, and this routine will make sure the tdi line will return to
293 * that when the jtag port is idle. */
295 static void esp32_queue_tdi_idle(struct target
*target
)
297 struct esp32_common
*esp32
= target_to_esp32(target
);
298 static uint32_t value
;
299 uint8_t t
[4] = { 0, 0, 0, 0 };
301 if (esp32
->flash_bootstrap
== FBS_TMSLOW
)
302 /* Make sure tdi is 0 at the exit of queue execution */
304 else if (esp32
->flash_bootstrap
== FBS_TMSHIGH
)
305 /* Make sure tdi is 1 at the exit of queue execution */
310 /* Scan out 1 bit, do not move from IRPAUSE after we're done. */
311 buf_set_u32(t
, 0, 1, value
);
312 jtag_add_plain_ir_scan(1, t
, NULL
, TAP_IRPAUSE
);
315 static int esp32_target_init(struct command_context
*cmd_ctx
, struct target
*target
)
317 return esp_xtensa_smp_target_init(cmd_ctx
, target
);
320 static const struct xtensa_debug_ops esp32_dbg_ops
= {
321 .queue_enable
= xtensa_dm_queue_enable
,
322 .queue_reg_read
= xtensa_dm_queue_reg_read
,
323 .queue_reg_write
= xtensa_dm_queue_reg_write
326 static const struct xtensa_power_ops esp32_pwr_ops
= {
327 .queue_reg_read
= xtensa_dm_queue_pwr_reg_read
,
328 .queue_reg_write
= xtensa_dm_queue_pwr_reg_write
331 static const struct esp_xtensa_smp_chip_ops esp32_chip_ops
= {
332 .reset
= esp32_soc_reset
,
333 .on_halt
= esp32_on_halt
336 static const struct esp_semihost_ops esp32_semihost_ops
= {
337 .prepare
= esp32_disable_wdts
340 static int esp32_target_create(struct target
*target
, Jim_Interp
*interp
)
342 struct xtensa_debug_module_config esp32_dm_cfg
= {
343 .dbg_ops
= &esp32_dbg_ops
,
344 .pwr_ops
= &esp32_pwr_ops
,
346 .queue_tdi_idle
= esp32_queue_tdi_idle
,
347 .queue_tdi_idle_arg
= target
350 struct esp32_common
*esp32
= calloc(1, sizeof(struct esp32_common
));
352 LOG_ERROR("Failed to alloc memory for arch info!");
356 int ret
= esp_xtensa_smp_init_arch_info(target
, &esp32
->esp_xtensa_smp
,
357 &esp32_dm_cfg
, &esp32_chip_ops
, &esp32_semihost_ops
);
358 if (ret
!= ERROR_OK
) {
359 LOG_ERROR("Failed to init arch info!");
363 esp32
->flash_bootstrap
= FBS_DONTCARE
;
365 /* Assume running target. If different, the first poll will fix this. */
366 target
->state
= TARGET_RUNNING
;
367 target
->debug_reason
= DBG_REASON_NOTHALTED
;
371 static COMMAND_HELPER(esp32_cmd_flashbootstrap_do
, struct esp32_common
*esp32
)
377 state
= esp32
->flash_bootstrap
;
378 if (state
== FBS_DONTCARE
)
380 else if (state
== FBS_TMSLOW
)
382 else if (state
== FBS_TMSHIGH
)
386 command_print(CMD
, "Current idle tms state: %s", st
);
390 if (!strcasecmp(CMD_ARGV
[0], "none"))
391 state
= FBS_DONTCARE
;
392 else if (!strcasecmp(CMD_ARGV
[0], "1.8"))
394 else if (!strcasecmp(CMD_ARGV
[0], "3.3"))
396 else if (!strcasecmp(CMD_ARGV
[0], "high"))
398 else if (!strcasecmp(CMD_ARGV
[0], "low"))
403 "Argument unknown. Please pick one of none, high, low, 1.8 or 3.3");
406 esp32
->flash_bootstrap
= state
;
410 COMMAND_HANDLER(esp32_cmd_flashbootstrap
)
412 struct target
*target
= get_current_target(CMD_CTX
);
415 struct target_list
*head
;
417 foreach_smp_target(head
, target
->smp_targets
) {
419 int ret
= CALL_COMMAND_HANDLER(esp32_cmd_flashbootstrap_do
,
420 target_to_esp32(curr
));
426 return CALL_COMMAND_HANDLER(esp32_cmd_flashbootstrap_do
,
427 target_to_esp32(target
));
430 static const struct command_registration esp32_any_command_handlers
[] = {
432 .name
= "flashbootstrap",
433 .handler
= esp32_cmd_flashbootstrap
,
436 "Set the idle state of the TMS pin, which at reset also is the voltage selector for the flash chip.",
437 .usage
= "none|1.8|3.3|high|low",
439 COMMAND_REGISTRATION_DONE
442 static const struct command_registration esp32_command_handlers
[] = {
444 .chain
= esp_xtensa_smp_command_handlers
,
449 .chain
= esp32_apptrace_command_handlers
,
454 .chain
= smp_command_handlers
,
459 .chain
= esp32_any_command_handlers
,
464 .help
= "ARM Command Group",
466 .chain
= semihosting_common_handlers
468 COMMAND_REGISTRATION_DONE
471 /** Holds methods for Xtensa targets. */
472 struct target_type esp32_target
= {
475 .poll
= esp_xtensa_smp_poll
,
476 .arch_state
= esp32_arch_state
,
479 .resume
= esp_xtensa_smp_resume
,
480 .step
= esp_xtensa_smp_step
,
482 .assert_reset
= esp_xtensa_smp_assert_reset
,
483 .deassert_reset
= esp_xtensa_smp_deassert_reset
,
484 .soft_reset_halt
= esp_xtensa_smp_soft_reset_halt
,
486 .virt2phys
= esp32_virt2phys
,
487 .mmu
= xtensa_mmu_is_enabled
,
488 .read_memory
= xtensa_read_memory
,
489 .write_memory
= xtensa_write_memory
,
491 .read_buffer
= xtensa_read_buffer
,
492 .write_buffer
= xtensa_write_buffer
,
494 .checksum_memory
= xtensa_checksum_memory
,
496 .get_gdb_arch
= xtensa_get_gdb_arch
,
497 .get_gdb_reg_list
= xtensa_get_gdb_reg_list
,
499 .add_breakpoint
= esp_xtensa_breakpoint_add
,
500 .remove_breakpoint
= esp_xtensa_breakpoint_remove
,
502 .add_watchpoint
= esp_xtensa_smp_watchpoint_add
,
503 .remove_watchpoint
= esp_xtensa_smp_watchpoint_remove
,
505 .target_create
= esp32_target_create
,
506 .init_target
= esp32_target_init
,
507 .examine
= xtensa_examine
,
508 .deinit_target
= esp_xtensa_target_deinit
,
510 .commands
= esp32_command_handlers
,
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