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// SPDX-License-Identifier: GPL-2.0-or-later
/***************************************************************************
* Espressif chips common algorithm API for OpenOCD *
* Copyright (C) 2022 Espressif Systems Ltd. *
***************************************************************************/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <helper/align.h>
#include <target/algorithm.h>
#include <target/target.h>
#include "esp_algorithm.h"
#define DEFAULT_ALGORITHM_TIMEOUT_MS 40000 /* ms */
static int esp_algorithm_read_stub_logs(struct target *target, struct esp_algorithm_stub *stub)
{
if (!stub || stub->log_buff_addr == 0 || stub->log_buff_size == 0)
return ERROR_FAIL;
uint32_t len = 0;
int retval = target_read_u32(target, stub->log_buff_addr, &len);
if (retval != ERROR_OK)
return retval;
/* sanity check. log_buff_size = sizeof(len) + sizeof(log_buff) */
if (len == 0 || len > stub->log_buff_size - 4)
return ERROR_FAIL;
uint8_t *log_buff = calloc(1, len);
if (!log_buff) {
LOG_ERROR("Failed to allocate memory for the stub log!");
return ERROR_FAIL;
}
retval = target_read_memory(target, stub->log_buff_addr + 4, 1, len, log_buff);
if (retval == ERROR_OK)
LOG_OUTPUT("%*.*s", len, len, log_buff);
free(log_buff);
return retval;
}
static int esp_algorithm_run_image(struct target *target,
struct esp_algorithm_run_data *run,
uint32_t num_args,
va_list ap)
{
struct working_area **mem_handles = NULL;
if (!run || !run->hw)
return ERROR_FAIL;
int retval = run->hw->algo_init(target, run, num_args, ap);
if (retval != ERROR_OK)
return retval;
/* allocate memory arguments and fill respective reg params */
if (run->mem_args.count > 0) {
mem_handles = calloc(run->mem_args.count, sizeof(*mem_handles));
if (!mem_handles) {
LOG_ERROR("Failed to alloc target mem handles!");
retval = ERROR_FAIL;
goto _cleanup;
}
/* alloc memory args target buffers */
for (uint32_t i = 0; i < run->mem_args.count; i++) {
/* small hack: if we need to update some reg param this field holds
* appropriate user argument number, */
/* otherwise should hold UINT_MAX */
uint32_t usr_param_num = run->mem_args.params[i].address;
static struct working_area *area;
retval = target_alloc_working_area(target, run->mem_args.params[i].size, &area);
if (retval != ERROR_OK) {
LOG_ERROR("Failed to alloc target buffer!");
retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
goto _cleanup;
}
mem_handles[i] = area;
run->mem_args.params[i].address = area->address;
if (usr_param_num != UINT_MAX) /* if we need update some register param with mem param value */
esp_algorithm_user_arg_set_uint(run, usr_param_num, run->mem_args.params[i].address);
}
}
if (run->usr_func_init) {
retval = run->usr_func_init(target, run, run->usr_func_arg);
if (retval != ERROR_OK) {
LOG_ERROR("Failed to prepare algorithm host side args stub (%d)!", retval);
goto _cleanup;
}
}
LOG_DEBUG("Algorithm start @ " TARGET_ADDR_FMT ", stack %d bytes @ " TARGET_ADDR_FMT,
run->stub.tramp_mapped_addr, run->stack_size, run->stub.stack_addr);
retval = target_start_algorithm(target,
run->mem_args.count, run->mem_args.params,
run->reg_args.count, run->reg_args.params,
run->stub.tramp_mapped_addr, 0,
run->stub.ainfo);
if (retval != ERROR_OK) {
LOG_ERROR("Failed to start algorithm (%d)!", retval);
goto _cleanup;
}
if (run->usr_func) {
/* give target algorithm stub time to init itself, then user func can communicate to it safely */
alive_sleep(100);
retval = run->usr_func(target, run->usr_func_arg);
if (retval != ERROR_OK)
LOG_ERROR("Failed to exec algorithm user func (%d)!", retval);
}
uint32_t timeout_ms = 0; /* do not wait if 'usr_func' returned error */
if (retval == ERROR_OK)
timeout_ms = run->timeout_ms ? run->timeout_ms : DEFAULT_ALGORITHM_TIMEOUT_MS;
LOG_DEBUG("Wait algorithm completion");
retval = target_wait_algorithm(target,
run->mem_args.count, run->mem_args.params,
run->reg_args.count, run->reg_args.params,
0, timeout_ms,
run->stub.ainfo);
if (retval != ERROR_OK) {
LOG_ERROR("Failed to wait algorithm (%d)!", retval);
/* target has been forced to stop in target_wait_algorithm() */
}
esp_algorithm_read_stub_logs(target, &run->stub);
if (run->usr_func_done)
run->usr_func_done(target, run, run->usr_func_arg);
if (retval != ERROR_OK) {
LOG_ERROR("Algorithm run failed (%d)!", retval);
} else {
run->ret_code = esp_algorithm_user_arg_get_uint(run, 0);
LOG_DEBUG("Got algorithm RC 0x%" PRIx32, run->ret_code);
}
_cleanup:
/* free memory arguments */
if (mem_handles) {
for (uint32_t i = 0; i < run->mem_args.count; i++) {
if (mem_handles[i])
target_free_working_area(target, mem_handles[i]);
}
free(mem_handles);
}
run->hw->algo_cleanup(target, run);
return retval;
}
static int esp_algorithm_run_debug_stub(struct target *target,
struct esp_algorithm_run_data *run,
uint32_t num_args,
va_list ap)
{
if (!run || !run->hw)
return ERROR_FAIL;
int retval = run->hw->algo_init(target, run, num_args, ap);
if (retval != ERROR_OK)
return retval;
LOG_DEBUG("Algorithm start @ " TARGET_ADDR_FMT ", stack %d bytes @ " TARGET_ADDR_FMT,
run->stub.tramp_mapped_addr, run->stack_size, run->stub.stack_addr);
retval = target_start_algorithm(target,
run->mem_args.count, run->mem_args.params,
run->reg_args.count, run->reg_args.params,
run->stub.tramp_mapped_addr, 0,
run->stub.ainfo);
if (retval != ERROR_OK) {
LOG_ERROR("Failed to start algorithm (%d)!", retval);
goto _cleanup;
}
uint32_t timeout_ms = 0; /* do not wait if 'usr_func' returned error */
if (retval == ERROR_OK)
timeout_ms = run->timeout_ms ? run->timeout_ms : DEFAULT_ALGORITHM_TIMEOUT_MS;
LOG_DEBUG("Wait algorithm completion");
retval = target_wait_algorithm(target,
run->mem_args.count, run->mem_args.params,
run->reg_args.count, run->reg_args.params,
0, timeout_ms,
run->stub.ainfo);
if (retval != ERROR_OK) {
LOG_ERROR("Failed to wait algorithm (%d)!", retval);
/* target has been forced to stop in target_wait_algorithm() */
}
if (retval != ERROR_OK) {
LOG_ERROR("Algorithm run failed (%d)!", retval);
} else {
run->ret_code = esp_algorithm_user_arg_get_uint(run, 0);
LOG_DEBUG("Got algorithm RC 0x%" PRIx32, run->ret_code);
}
_cleanup:
run->hw->algo_cleanup(target, run);
return retval;
}
static void reverse_binary(const uint8_t *src, uint8_t *dest, size_t length)
{
size_t remaining = length % 4;
size_t offset = 0;
size_t aligned_len = ALIGN_UP(length, 4);
if (remaining > 0) {
/* Put extra bytes to the beginning with padding */
memset(dest + remaining, 0xFF, 4 - remaining);
for (size_t i = 0; i < remaining; i++)
dest[i] = src[length - remaining + i];
length -= remaining; /* reverse the others */
offset = 4;
}
for (size_t i = offset; i < aligned_len; i += 4) {
dest[i + 0] = src[length - i + offset - 4];
dest[i + 1] = src[length - i + offset - 3];
dest[i + 2] = src[length - i + offset - 2];
dest[i + 3] = src[length - i + offset - 1];
}
}
static int load_section_from_image(struct target *target,
struct esp_algorithm_run_data *run,
int section_num,
bool reverse)
{
if (!run)
return ERROR_FAIL;
struct imagesection *section = &run->image.image.sections[section_num];
uint32_t sec_wr = 0;
uint8_t buf[1024];
assert(sizeof(buf) % 4 == 0);
while (sec_wr < section->size) {
uint32_t nb = section->size - sec_wr > sizeof(buf) ? sizeof(buf) : section->size - sec_wr;
size_t size_read = 0;
int retval = image_read_section(&run->image.image, section_num, sec_wr, nb, buf, &size_read);
if (retval != ERROR_OK) {
LOG_ERROR("Failed to read stub section (%d)!", retval);
return retval;
}
if (reverse) {
size_t aligned_len = ALIGN_UP(size_read, 4);
uint8_t reversed_buf[aligned_len];
/* Send original size to allow padding */
reverse_binary(buf, reversed_buf, size_read);
/*
The address range accessed via the instruction bus is in reverse order (word-wise) compared to access
via the data bus. That is to say, address
0x3FFE_0000 and 0x400B_FFFC access the same word
0x3FFE_0004 and 0x400B_FFF8 access the same word
0x3FFE_0008 and 0x400B_FFF4 access the same word
...
The data bus and instruction bus of the CPU are still both little-endian,
so the byte order of individual words is not reversed between address spaces.
For example, address
0x3FFE_0000 accesses the least significant byte in the word accessed by 0x400B_FFFC.
0x3FFE_0001 accesses the second least significant byte in the word accessed by 0x400B_FFFC.
0x3FFE_0002 accesses the second most significant byte in the word accessed by 0x400B_FFFC.
For more details, please refer to ESP32 TRM, Internal SRAM1 section.
*/
retval = target_write_buffer(target, run->image.dram_org - sec_wr - aligned_len, aligned_len, reversed_buf);
if (retval != ERROR_OK) {
LOG_ERROR("Failed to write stub section!");
return retval;
}
} else {
retval = target_write_buffer(target, section->base_address + sec_wr, size_read, buf);
if (retval != ERROR_OK) {
LOG_ERROR("Failed to write stub section!");
return retval;
}
}
sec_wr += size_read;
}
return ERROR_OK;
}
/*
* Configuration:
* ----------------------------
* The linker scripts defines the memory layout for the stub code.
* The OpenOCD script specifies the workarea address and it's size
* Sections defined in the linker are organized to share the same addresses with the workarea.
* code and data sections are located in Internal SRAM1 and OpenOCD fills these sections using the data bus.
*/
int esp_algorithm_load_func_image(struct target *target, struct esp_algorithm_run_data *run)
{
int retval;
size_t tramp_sz = 0;
const uint8_t *tramp = NULL;
struct duration algo_time;
bool alloc_code_working_area = true;
if (!run || !run->hw)
return ERROR_FAIL;
if (duration_start(&algo_time) != 0) {
LOG_ERROR("Failed to start algo time measurement!");
return ERROR_FAIL;
}
if (run->hw->stub_tramp_get) {
tramp = run->hw->stub_tramp_get(target, &tramp_sz);
if (!tramp)
return ERROR_FAIL;
}
LOG_DEBUG("stub: base 0x%x, start 0x%" PRIx32 ", %d sections",
run->image.image.base_address_set ? (unsigned int)run->image.image.base_address : 0,
run->image.image.start_address,
run->image.image.num_sections);
run->stub.entry = run->image.image.start_address;
/* [code + trampoline] + <padding> + [data] */
/* ESP32 has reversed memory region. It will use the last part of DRAM, the others will use the first part.
* To avoid complexity for the backup/restore process, we will allocate a workarea for all IRAM region from
* the beginning. In that case no need to have a padding area.
*/
if (run->image.reverse) {
if (target_alloc_working_area(target, run->image.iram_len, &run->stub.code) != ERROR_OK) {
LOG_ERROR("no working area available, can't alloc space for stub code!");
retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
goto _on_error;
}
alloc_code_working_area = false;
}
uint32_t code_size = 0;
/* Load code section */
for (unsigned int i = 0; i < run->image.image.num_sections; i++) {
struct imagesection *section = &run->image.image.sections[i];
if (section->size == 0)
continue;
if (section->flags & ESP_IMAGE_ELF_PHF_EXEC) {
LOG_DEBUG("addr " TARGET_ADDR_FMT ", sz %d, flags %" PRIx64,
section->base_address, section->size, section->flags);
if (alloc_code_working_area) {
retval = target_alloc_working_area(target, section->size, &run->stub.code);
if (retval != ERROR_OK) {
LOG_ERROR("no working area available, can't alloc space for stub code!");
retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
goto _on_error;
}
}
if (section->base_address == 0) {
section->base_address = run->stub.code->address;
/* sanity check, stub is compiled to be run from working area */
} else if (run->stub.code->address != section->base_address) {
LOG_ERROR("working area " TARGET_ADDR_FMT " and stub code section " TARGET_ADDR_FMT
" address mismatch!",
section->base_address,
run->stub.code->address);
retval = ERROR_FAIL;
goto _on_error;
}
retval = load_section_from_image(target, run, i, run->image.reverse);
if (retval != ERROR_OK)
goto _on_error;
code_size += ALIGN_UP(section->size, 4);
break; /* Stub has one executable text section */
}
}
/* If exists, load trampoline to the code area */
if (tramp) {
if (run->stub.tramp_addr == 0) {
if (alloc_code_working_area) {
/* alloc trampoline in code working area */
if (target_alloc_working_area(target, tramp_sz, &run->stub.tramp) != ERROR_OK) {
LOG_ERROR("no working area available, can't alloc space for stub jumper!");
retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
goto _on_error;
}
run->stub.tramp_addr = run->stub.tramp->address;
}
}
size_t al_tramp_size = ALIGN_UP(tramp_sz, 4);
if (run->image.reverse) {
target_addr_t reversed_tramp_addr = run->image.dram_org - code_size;
uint8_t reversed_tramp[al_tramp_size];
/* Send original size to allow padding */
reverse_binary(tramp, reversed_tramp, tramp_sz);
run->stub.tramp_addr = reversed_tramp_addr - al_tramp_size;
LOG_DEBUG("Write reversed tramp to addr " TARGET_ADDR_FMT ", sz %zu", run->stub.tramp_addr, al_tramp_size);
retval = target_write_buffer(target, run->stub.tramp_addr, al_tramp_size, reversed_tramp);
} else {
LOG_DEBUG("Write tramp to addr " TARGET_ADDR_FMT ", sz %zu", run->stub.tramp_addr, tramp_sz);
retval = target_write_buffer(target, run->stub.tramp_addr, tramp_sz, tramp);
}
if (retval != ERROR_OK) {
LOG_ERROR("Failed to write stub jumper!");
goto _on_error;
}
run->stub.tramp_mapped_addr = run->image.iram_org + code_size;
code_size += al_tramp_size;
LOG_DEBUG("Tramp mapped to addr " TARGET_ADDR_FMT, run->stub.tramp_mapped_addr);
}
/* allocate dummy space until the data address */
if (alloc_code_working_area) {
/* we dont need to restore padding area. */
uint32_t backup_working_area_prev = target->backup_working_area;
target->backup_working_area = 0;
if (target_alloc_working_area(target, run->image.iram_len - code_size, &run->stub.padding) != ERROR_OK) {
LOG_ERROR("no working area available, can't alloc space for stub code!");
retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
goto _on_error;
}
target->backup_working_area = backup_working_area_prev;
}
/* Load the data section */
for (unsigned int i = 0; i < run->image.image.num_sections; i++) {
struct imagesection *section = &run->image.image.sections[i];
if (section->size == 0)
continue;
if (!(section->flags & ESP_IMAGE_ELF_PHF_EXEC)) {
LOG_DEBUG("addr " TARGET_ADDR_FMT ", sz %d, flags %" PRIx64, section->base_address, section->size,
section->flags);
/* target_alloc_working_area() aligns the whole working area size to 4-byte boundary.
We alloc one area for both DATA and BSS, so align each of them ourselves. */
uint32_t data_sec_sz = ALIGN_UP(section->size, 4);
LOG_DEBUG("DATA sec size %" PRIu32 " -> %" PRIu32, section->size, data_sec_sz);
uint32_t bss_sec_sz = ALIGN_UP(run->image.bss_size, 4);
LOG_DEBUG("BSS sec size %" PRIu32 " -> %" PRIu32, run->image.bss_size, bss_sec_sz);
if (target_alloc_working_area(target, data_sec_sz + bss_sec_sz, &run->stub.data) != ERROR_OK) {
LOG_ERROR("no working area available, can't alloc space for stub data!");
retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
goto _on_error;
}
if (section->base_address == 0) {
section->base_address = run->stub.data->address;
/* sanity check, stub is compiled to be run from working area */
} else if (run->stub.data->address != section->base_address) {
LOG_ERROR("working area " TARGET_ADDR_FMT
" and stub data section " TARGET_ADDR_FMT
" address mismatch!",
section->base_address,
run->stub.data->address);
retval = ERROR_FAIL;
goto _on_error;
}
retval = load_section_from_image(target, run, i, false);
if (retval != ERROR_OK)
goto _on_error;
}
}
/* stack */
if (run->stub.stack_addr == 0 && run->stack_size > 0) {
/* allocate stack in data working area */
if (target_alloc_working_area(target, run->stack_size, &run->stub.stack) != ERROR_OK) {
LOG_ERROR("no working area available, can't alloc stub stack!");
retval = ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
goto _on_error;
}
run->stub.stack_addr = run->stub.stack->address + run->stack_size;
}
if (duration_measure(&algo_time) != 0) {
LOG_ERROR("Failed to stop algo run measurement!");
retval = ERROR_FAIL;
goto _on_error;
}
LOG_DEBUG("Stub loaded in %g ms", duration_elapsed(&algo_time) * 1000);
return ERROR_OK;
_on_error:
esp_algorithm_unload_func_image(target, run);
return retval;
}
int esp_algorithm_unload_func_image(struct target *target, struct esp_algorithm_run_data *run)
{
if (!run)
return ERROR_FAIL;
target_free_all_working_areas(target);
run->stub.tramp = NULL;
run->stub.stack = NULL;
run->stub.code = NULL;
run->stub.data = NULL;
run->stub.padding = NULL;
return ERROR_OK;
}
int esp_algorithm_exec_func_image_va(struct target *target,
struct esp_algorithm_run_data *run,
uint32_t num_args,
va_list ap)
{
if (!run || !run->image.image.start_address_set || run->image.image.start_address == 0)
return ERROR_FAIL;
return esp_algorithm_run_image(target, run, num_args, ap);
}
int esp_algorithm_load_onboard_func(struct target *target, target_addr_t func_addr, struct esp_algorithm_run_data *run)
{
int res;
const uint8_t *tramp = NULL;
size_t tramp_sz = 0;
struct duration algo_time;
if (!run || !run->hw)
return ERROR_FAIL;
if (duration_start(&algo_time) != 0) {
LOG_ERROR("Failed to start algo time measurement!");
return ERROR_FAIL;
}
if (run->hw->stub_tramp_get) {
tramp = run->hw->stub_tramp_get(target, &tramp_sz);
if (!tramp)
return ERROR_FAIL;
}
if (tramp_sz > run->on_board.code_buf_size) {
LOG_ERROR("Stub tramp size %zu bytes exceeds target buf size %d bytes!",
tramp_sz, run->on_board.code_buf_size);
return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
}
if (run->stack_size > run->on_board.min_stack_size) {
LOG_ERROR("Algorithm stack size not fit into the allocated target stack!");
return ERROR_FAIL;
}
run->stub.stack_addr = run->on_board.min_stack_addr + run->stack_size;
run->stub.tramp_addr = run->on_board.code_buf_addr;
run->stub.tramp_mapped_addr = run->stub.tramp_addr;
run->stub.entry = func_addr;
if (tramp) {
res = target_write_buffer(target, run->stub.tramp_addr, tramp_sz, tramp);
if (res != ERROR_OK) {
LOG_ERROR("Failed to write stub jumper!");
esp_algorithm_unload_onboard_func(target, run);
return res;
}
}
if (duration_measure(&algo_time) != 0) {
LOG_ERROR("Failed to stop algo run measurement!");
return ERROR_FAIL;
}
LOG_DEBUG("Stub loaded in %g ms", duration_elapsed(&algo_time) * 1000);
return ERROR_OK;
}
int esp_algorithm_unload_onboard_func(struct target *target, struct esp_algorithm_run_data *run)
{
return ERROR_OK;
}
int esp_algorithm_exec_onboard_func_va(struct target *target,
struct esp_algorithm_run_data *run,
uint32_t num_args,
va_list ap)
{
return esp_algorithm_run_debug_stub(target, run, num_args, ap);
}
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