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Primary Git Repository for the Zephyr Project. Zephyr is a new generation, scalable, optimized, secure RTOS for multiple hardware architectures.
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zephyr/scripts/west_commands/runners/openocd.py

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# Copyright (c) 2017 Linaro Limited.
# Copyright (c) 2024 Tenstorrent AI ULC
#
# SPDX-License-Identifier: Apache-2.0
#
# pylint: disable=duplicate-code
'''Runner for openocd.'''
import re
import subprocess
from os import name as os_name
from os import path
from pathlib import Path
from zephyr_ext_common import ZEPHYR_BASE
if os_name != "nt":
import sys
import termios
try: # noqa SIM105
from elftools.elf.elffile import ELFFile
except ImportError:
pass
from runners.core import RunnerCaps, ZephyrBinaryRunner
DEFAULT_OPENOCD_TCL_PORT = 6333
DEFAULT_OPENOCD_TELNET_PORT = 4444
DEFAULT_OPENOCD_GDB_PORT = 3333
DEFAULT_OPENOCD_RTT_PORT = 5555
DEFAULT_OPENOCD_RESET_HALT_CMD = 'reset init'
DEFAULT_OPENOCD_TARGET_HANDLE = "_TARGETNAME"
def to_num(number):
dev_match = re.search(r"^\d*\+dev", number)
dev_version = dev_match is not None
num_match = re.search(r"^\d*", number)
num = int(num_match.group(0))
if dev_version:
num += 1
return num
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, erase_cmd=None, load_cmd=None, verify_cmd=None,
post_verify=None, do_verify=False, do_verify_only=False, do_erase=False,
tui=None, config=None, serial=None, use_elf=None,
no_halt=False, no_init=False, no_targets=False,
tcl_port=DEFAULT_OPENOCD_TCL_PORT,
telnet_port=DEFAULT_OPENOCD_TELNET_PORT,
gdb_port=DEFAULT_OPENOCD_GDB_PORT,
gdb_client_port=DEFAULT_OPENOCD_GDB_PORT,
gdb_init=None, no_load=False,
target_handle=DEFAULT_OPENOCD_TARGET_HANDLE,
rtt_port=DEFAULT_OPENOCD_RTT_PORT, rtt_server=False):
super().__init__(cfg)
if not path.exists(cfg.board_dir):
# try to find the board support in-tree
cfg_board_path = path.normpath(cfg.board_dir)
_temp_path = cfg_board_path.split("boards/")[1]
support = path.join(ZEPHYR_BASE, "boards", _temp_path, 'support')
else:
support = path.join(cfg.board_dir, 'support')
if not config:
default = path.join(support, 'openocd.cfg')
if path.exists(default):
config = [default]
self.openocd_config = config
search_args = []
if path.exists(support):
search_args.append('-s')
search_args.append(support)
if self.openocd_config is not None:
for i in self.openocd_config:
if path.exists(i) and not path.samefile(path.dirname(i), support):
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 or '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() if cfg.elf_file else None
self.pre_init = pre_init or []
self.reset_halt_cmd = reset_halt_cmd
self.pre_load = pre_load or []
self.erase_cmd = erase_cmd
self.load_cmd = load_cmd
self.verify_cmd = verify_cmd
self.post_verify = post_verify or []
self.do_verify = do_verify or False
self.do_verify_only = do_verify_only or False
self.do_erase = do_erase or False
self.tcl_port = tcl_port
self.telnet_port = telnet_port
self.gdb_port = gdb_port
self.gdb_client_port = gdb_client_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.init_arg = [] if no_init else ['-c init']
self.targets_arg = [] if no_targets else ['-c targets']
self.serial = ['-c set _ZEPHYR_BOARD_SERIAL ' + serial] if serial else []
self.use_elf = use_elf
self.gdb_init = gdb_init
self.load_arg = [] if no_load else ['-ex', 'load']
self.target_handle = target_handle
self.rtt_port = rtt_port
self.rtt_server = rtt_server
@classmethod
def name(cls):
return 'openocd'
@classmethod
def capabilities(cls):
return RunnerCaps(commands={'flash', 'debug', 'debugserver', 'attach', 'rtt'},
rtt=True, erase=True)
@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-erase', action='append',
help='''Command to erase device; 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''')
parser.add_argument('--verify', action='store_true',
help='if given, verify after flash')
parser.add_argument('--verify-only', action='store_true',
help='if given, do verify and verify only. No flashing')
# 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('--gdb-client-port', default=DEFAULT_OPENOCD_GDB_PORT,
help='''openocd gdb client port if multiple ports come
up, defaults to 3333''')
parser.add_argument('--gdb-init', action='append',
help='if given, add GDB init commands')
parser.add_argument('--no-halt', action='store_true',
help='if given, no halt issued in gdb server cmd')
parser.add_argument('--no-init', action='store_true',
help='if given, no init issued in gdb server cmd')
parser.add_argument('--no-targets', action='store_true',
help='if given, no target issued in gdb server cmd')
parser.add_argument('--no-load', action='store_true',
help='if given, no load issued in gdb server cmd')
parser.add_argument('--target-handle', default=DEFAULT_OPENOCD_TARGET_HANDLE,
help=f'''Internal handle used in openocd targets cfg
files, defaults to "{DEFAULT_OPENOCD_TARGET_HANDLE}".
''')
parser.add_argument('--rtt-port', default=DEFAULT_OPENOCD_RTT_PORT,
help='openocd rtt port, defaults to 5555')
parser.add_argument('--rtt-server', default=False, action='store_true',
help='''start the RTT server while debugging.
To view the RTT log, connect to the rtt port using
a command like telnet.''')
@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, erase_cmd=args.cmd_erase, load_cmd=args.cmd_load,
verify_cmd=args.cmd_verify, post_verify=args.cmd_post_verify,
do_verify=args.verify, do_verify_only=args.verify_only, do_erase=args.erase,
tui=args.tui, config=args.config, serial=args.serial,
use_elf=args.use_elf, no_halt=args.no_halt, no_init=args.no_init,
no_targets=args.no_targets, tcl_port=args.tcl_port,
telnet_port=args.telnet_port, gdb_port=args.gdb_port,
gdb_client_port=args.gdb_client_port, gdb_init=args.gdb_init,
no_load=args.no_load, target_handle=args.target_handle,
rtt_port=args.rtt_port, rtt_server=args.rtt_server)
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}')
def print_rttserver_message(self):
self.logger.info(f'OpenOCD RTT server running on port {self.rtt_port}')
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()
# Account for version info format of ADI fork of OpenOCD as well
version_match = re.search(r"Open On-Chip Debugger.* v?(\d+.\d+.\d+)", out)
version = version_match.group(1).split('.')
return [to_num(i) for i in version]
def supports_thread_info(self):
# Zephyr rtos was introduced after 0.11.0
(major, minor, rev) = self.read_version()
return (major, minor, rev) > (0, 11, 0)
def do_run(self, command, **kwargs):
self.require(self.openocd_cmd[0])
if globals().get('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', 'rtt'):
self.do_attach_debug_rtt(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(f'Flashing file: {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)
load_image = []
if not self.do_verify_only:
# Halt target
load_image = ['-c', self.reset_halt_cmd]
# Perform any erase operations
if self.do_erase:
if self.erase_cmd is None:
self.logger.error('--erase not supported for target without --cmd-erase')
return
for erase_cmd in self.erase_cmd:
load_image += ["-c", erase_cmd]
# Trim the "erase" from "flash write_image erase" since a mass erase is already done
if self.load_cmd.endswith(' erase'):
self.load_cmd = self.load_cmd[:-6]
# Load image
load_image +=['-c', self.load_cmd + ' ' + hex_name]
verify_image = []
if self.do_verify or self.do_verify_only:
verify_image = ['-c', self.reset_halt_cmd,
'-c', self.verify_cmd + ' ' + hex_name]
cmd = (self.openocd_cmd + self.serial + self.cfg_cmd +
pre_init_cmd + self.init_arg + self.targets_arg +
pre_load_cmd + load_image +
verify_image +
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)
pre_load_cmd = []
load_image = []
if not self.do_verify_only:
for i in self.pre_load:
pre_load_cmd.append("-c")
pre_load_cmd.append(i)
load_image = ['-c', 'load_image ' + self.elf_name]
verify_image = []
post_verify_cmd = []
if self.do_verify or self.do_verify_only:
verify_image = ['-c', 'verify_image ' + self.elf_name]
for i in self.post_verify:
post_verify_cmd.append("-c")
post_verify_cmd.append(i)
prologue = ['-c', 'resume ' + ep_addr,
'-c', 'shutdown']
cmd = (self.openocd_cmd + self.serial + self.cfg_cmd +
pre_init_cmd + self.init_arg + self.targets_arg +
pre_load_cmd + ['-c', self.reset_halt_cmd] +
load_image +
verify_image + post_verify_cmd +
prologue)
self.check_call(cmd)
def do_attach_debug_rtt(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")
rtos_command = f'${self.target_handle} configure -rtos Zephyr'
pre_init_cmd.append(rtos_command)
server_cmd = (self.openocd_cmd + self.serial + self.cfg_cmd +
['-c', f'tcl_port {self.tcl_port}',
'-c', f'telnet_port {self.telnet_port}',
'-c', f'gdb_port {self.gdb_port}'] +
pre_init_cmd + self.init_arg + self.targets_arg +
self.halt_arg)
if self.rtt_server and command != 'rtt':
rtt_address = self.get_rtt_address()
if rtt_address is None:
raise ValueError("RTT Control block not found")
server_cmd = (
server_cmd
+ ['-c', f'rtt setup 0x{rtt_address:x} 0x10 "SEGGER RTT"']
+ ['-c', 'rtt start']
+ ['-c', f'rtt server start {self.rtt_port} 0']
)
gdb_cmd = (self.gdb_cmd + self.tui_arg +
['-ex', f'target extended-remote :{self.gdb_client_port}',
self.elf_name])
if command == 'debug':
gdb_cmd.extend(self.load_arg)
if self.gdb_init is not None:
for i in self.gdb_init:
gdb_cmd.append("-ex")
gdb_cmd.append(i)
if command == 'rtt':
rtt_address = self.get_rtt_address()
if rtt_address is None:
raise ValueError("RTT Control block not found")
# cannot prompt the user to press return for automation purposes
gdb_cmd.extend(['-ex', 'set pagination off'])
# start the internal openocd rtt service via gdb monitor commands
gdb_cmd.extend(
['-ex', f'monitor rtt setup 0x{rtt_address:x} 0x10 "SEGGER RTT"'])
gdb_cmd.extend(['-ex', 'monitor reset run'])
gdb_cmd.extend(['-ex', 'monitor rtt start'])
gdb_cmd.extend(
['-ex', f'monitor rtt server start {self.rtt_port} 0'])
# detach from the target and quit the gdb client session
gdb_cmd.extend(['-ex', 'detach', '-ex', 'quit'])
self.require(gdb_cmd[0])
self.print_gdbserver_message()
if command in ('attach', 'debug'):
server_proc = self.popen_ignore_int(server_cmd, stderr=subprocess.DEVNULL)
try:
self.run_client(gdb_cmd)
finally:
server_proc.terminate()
server_proc.wait()
elif command == 'rtt':
self.print_rttserver_message()
server_proc = self.popen_ignore_int(server_cmd)
if os_name != 'nt':
# Save the terminal settings
fd = sys.stdin.fileno()
new_term = termios.tcgetattr(fd)
old_term = termios.tcgetattr(fd)
# New terminal setting unbuffered
new_term[3] = new_term[3] & ~termios.ICANON & ~termios.ECHO
termios.tcsetattr(fd, termios.TCSAFLUSH, new_term)
else:
fd = None
old_term = None
try:
# run the binary with gdb, set up the rtt server (runs to completion)
subprocess.run(gdb_cmd)
# run the rtt client in the foreground
self.run_telnet_client('localhost', self.rtt_port)
finally:
if old_term is not None and fd is not None:
termios.tcsetattr(fd, termios.TCSAFLUSH, old_term)
server_proc.terminate()
server_proc.wait()
def do_debugserver(self, **kwargs):
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")
rtos_command = f'${self.target_handle} configure -rtos Zephyr'
pre_init_cmd.append(rtos_command)
cmd = (self.openocd_cmd + self.cfg_cmd +
['-c', f'tcl_port {self.tcl_port}',
'-c', f'telnet_port {self.telnet_port}',
'-c', f'gdb_port {self.gdb_port}'] +
pre_init_cmd + self.init_arg + self.targets_arg +
['-c', self.reset_halt_cmd])
if self.rtt_server:
rtt_address = self.get_rtt_address()
if rtt_address is None:
raise ValueError("RTT Control block not found")
cmd = (
cmd
+ ['-c', f'rtt setup 0x{rtt_address:x} 0x10 "SEGGER RTT"']
+ ['-c', 'rtt start']
+ ['-c', f'rtt server start {self.rtt_port} 0']
)
self.print_gdbserver_message()
self.check_call(cmd)