mirror of
https://github.com/RIOT-OS/RIOT.git
synced 2024-12-29 04:50:03 +01:00
62a6d3c128
JLink presumably has information about the device's RAM available internally. Not passing the precise symbol area (which would be available in the ELF file) because a) that'd make the terminal break when the flashed firmware does not equal the built one, and b) that would introduce a dependency from `term` to the ELF file that other terminals don't have.
539 lines
18 KiB
Bash
Executable File
539 lines
18 KiB
Bash
Executable File
#!/usr/bin/env bash
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#
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# Unified OpenOCD script for RIOT
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#
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# This script is supposed to be called from RIOTs make system,
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# as it depends on certain environment variables. An OpenOCD
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# configuration file must be present in a the boards dist folder
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# or be given as "board/[...].cfg" to use an OpenOCD shipped configuration.
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#
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# Any extra command line arguments after the command name are passed on the
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# openocd command line after the configuration file name but before any other
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# initialization commands.
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#
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# Global environment variables used:
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# OPENOCD: OpenOCD command name, default: "openocd"
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# Care must be taken when specifying an OpenOCD version in
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# its build directory, as it does not look up its own
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# configuration files relative to the executable -- the
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# scripts directory needs to be passed in like this:
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# `OPENOCD="~/openocd/src/openocd -s ~/openocd/tcl"`.
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# OPENOCD_CONFIG: OpenOCD configuration file name,
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# default: "${BOARDSDIR}/${BOARD}/dist/openocd.cfg"
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#
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# The script supports the following actions:
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#
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# flash: flash <image_file>
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# flash given file to the target.
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#
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# options:
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# <image_file>: Filename of the file that will be flashed
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# OPENOCD_PRE_FLASH_CHECK_SCRIPT: a command to run before flashing to
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# verify the integrity of the image to be flashed. <image_file> is
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# passed as a command line argument to this command.
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#
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# Flashing works with any file format recognized by OpenOCD
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# (elf, ihex, s19, bin).
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#
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# debug: debug <elfile>
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# starts OpenOCD as GDB server in the background and
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# connects to the server with the GDB client specified by
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# the board
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#
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# options:
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# <elffile>: path to the file to debug, must be in a format
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# recognized by GDB (preferably ELF, it will not
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# work with .bin, .hex or .s19 because they lack
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# symbol information)
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# GDB_PORT: port opened for GDB connections
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# TCL_PORT: port opened for TCL connections
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# TELNET_PORT: port opened for telnet connections
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# DBG: debugger client command, default: 'gdb -q'
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# TUI: if TUI!=null, the -tui option will be used
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#
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# debugr: debug <elfile>
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# debug given file on the target but flash it first directly
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# in RAM.
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#
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# flashr: flash <image_file>
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# flash given file to the target but directly in RAM.
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#
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# See 'flash' command above for options
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#
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# debug-server: starts OpenOCD as GDB server, but does not connect to
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# to it with any frontend. This might be useful when using
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# IDEs.
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#
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# options:
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# GDB_PORT: port opened for GDB connections
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# TCL_PORT: port opened for TCL connections
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# TELNET_PORT: port opened for telnet connections
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#
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# reset: triggers a hardware reset of the target board
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#
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# term-rtt: opens a serial terminal using RTT (Real-Time Transfer)
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#
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# @author Hauke Peteresen <hauke.petersen@fu-berlin.de>
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# @author Joakim Nohlgård <joakim.nohlgard@eistec.se>
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# Default GDB port, set to 0 to disable, required != 0 for debug and debug-server targets
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: ${GDB_PORT:=3333}
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# Default GDB port core offset
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: ${GDB_PORT_CORE_OFFSET:=0}
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# Default telnet port, set to 0 to disable
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: ${TELNET_PORT:=4444}
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# Default TCL port, set to 0 to disable
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: ${TCL_PORT:=6333}
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# Default OpenOCD command
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: ${OPENOCD:=openocd}
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# Extra board initialization commands to pass to OpenOCD
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: ${OPENOCD_EXTRA_INIT:=}
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# Debugger interface initialization commands to pass to OpenOCD
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: ${OPENOCD_ADAPTER_INIT:=}
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# If set to 1 'reset_config' will use 'connect_assert_srst' before 'flash' or 'reset.
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: ${OPENOCD_RESET_USE_CONNECT_ASSERT_SRST:=}
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# The setsid command is needed so that Ctrl+C in GDB doesn't kill OpenOCD
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: ${SETSID:=setsid}
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# GDB command, usually a separate command for each platform (e.g. arm-none-eabi-gdb)
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: ${GDB:=gdb}
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# Debugger client command, can be used to wrap GDB in a front-end
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: ${DBG:=${GDB}}
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# Default debugger flags,
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: ${DBG_DEFAULT_FLAGS:=-q -ex \"tar ext :$(( GDB_PORT + GDB_PORT_CORE_OFFSET ))\"}
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# Extra debugger flags, added by the user
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: ${DBG_EXTRA_FLAGS:=}
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# Debugger flags, will be passed to sh -c, remember to escape any quotation signs.
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# Use ${DBG_DEFAULT_FLAGS} to insert the default flags anywhere in the string
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: ${DBG_FLAGS:=${DBG_DEFAULT_FLAGS} ${DBG_EXTRA_FLAGS}}
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# Initial target state when using debug, by default a 'halt' request is sent to
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# the target when starting a debug session. 'reset halt' can also be used
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# depending on the type of target.
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: ${OPENOCD_DBG_START_CMD:=-c 'halt'}
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# Extra commands to add when using debug
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: ${OPENOCD_DBG_EXTRA_CMD:=}
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# command used to reset the board
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: ${OPENOCD_CMD_RESET_RUN:="-c 'reset run'"}
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# Select core on multi-core processors.
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: ${OPENOCD_CORE:=}
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# Set to any value to skip verifying after flashing.
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: ${OPENOCD_SKIP_VERIFY:=}
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# This is an optional offset to the base address that can be used to flash an
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# image in a different location than it is linked at. This feature can be useful
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# when flashing images for firmware swapping/remapping boot loaders.
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# Default offset is 0, meaning the image will be flashed at the address that it
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# was linked at.
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: ${IMAGE_OFFSET:=0}
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# Type of image, leave empty to let OpenOCD automatically detect the type from
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# the file (default).
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# Valid values: elf, hex, s19, bin (see OpenOCD manual for more information)
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: ${IMAGE_TYPE:=}
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# default terminal frontend
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_OPENOCD_TERMPROG=${RIOTTOOLS}/pyterm/pyterm
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_OPENOCD_TERMFLAGS="-ts 9999 ${PYTERMFLAGS}"
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#
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# Examples of alternative debugger configurations
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#
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# Using the GDB text UI:
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# DBG_EXTRA_FLAGS=-tui make debug
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# or to always use TUI, put in your .profile:
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# export DBG_EXTRA_FLAGS=-tui
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# Wrapping GDB inside DDD (https://www.gnu.org/software/ddd/)
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# DBG=ddd DBG_FLAGS='--debugger "${GDB} ${DBG_DEFAULT_FLAGS}"' make debug
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# Alternatively, to always use DDD, put the following in your .profile or similar:
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# export DBG=ddd
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# export DBG_FLAGS='--debugger "${GDB} ${DBG_DEFAULT_FLAGS}"'
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# The single quotes are important on the line above, or it will not work.
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# Handle OPENOCD_RESET_USE_CONNECT_ASSERT_SRST
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if [ "${OPENOCD_RESET_USE_CONNECT_ASSERT_SRST}" = "1" ]; then
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OPENOCD_EXTRA_RESET_INIT+="-c 'reset_config connect_assert_srst'"
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fi
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#
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# a couple of tests for certain configuration options
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#
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test_config() {
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if [ ! -f "${OPENOCD_CONFIG}" ] && [[ ! "${OPENOCD_CONFIG}" == board/* ]] ; then
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echo "Error: Unable to locate OpenOCD configuration file"
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echo " (${OPENOCD_CONFIG})"
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exit 1
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fi
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}
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test_elffile() {
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if [ ! -f "${ELFFILE}" ]; then
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echo "Error: Unable to locate ELFFILE"
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echo " (${ELFFILE})"
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exit 1
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fi
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}
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test_imagefile() {
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if [ ! -f "${IMAGE_FILE}" ]; then
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echo "Error: Unable to locate IMAGE_FILE"
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echo " (${IMAGE_FILE})"
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exit 1
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fi
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}
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_has_bin_extension() {
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# The regex need to be without quotes
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local firmware=$1
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[[ "${firmware}" =~ ^.*\.bin$ ]]
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}
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# Return 0 if given file should be considered a binary
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_is_binfile() {
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local firmware="$1"
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local firmware_type="$2"
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[[ "${firmware_type}" = "bin" ]] || { \
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[[ -z "${firmware_type}" ]] && _has_bin_extension "${firmware}"; }
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}
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# Split bank info on different lines without the '{}'
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_split_banks() {
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# Input:
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# ...
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# {name nrf51 base 0 size 0 bus_width 1 chip_width 1} {name nrf51 base 268439552 size 0 bus_width 1 chip_width 1}
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# ...
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#
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# Output:
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# name nrf51 base 0 size 0 bus_width 1 chip_width 1
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# name nrf51 base 268439552 size 0 bus_width 1 chip_width 1
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# The following command needs specific osx handling (non gnu):
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# * Same commands for a pattern should be on different lines
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# * Cannot use '\n' in the replacement string
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local sed_escaped_newline=\\$'\n'
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sed -n '
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/^{.*}$/ {
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s/\} /\}'"${sed_escaped_newline}"'/g
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s/[{}]//g
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p
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}'
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}
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_flash_list_raw() {
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# Openocd output for 'flash list' is
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# ....
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# {name nrf51 base 0 size 0 bus_width 1 chip_width 1} {name nrf51 base 268439552 size 0 bus_width 1 chip_width 1}
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# ....
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#
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# Before printing the flash list, try to init and probe the board
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# to get the actual address.
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# Some openocd configuration put an address of 0 and rely on probing to
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# find the real flash address like 0x08000000
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#
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# If it does not work, fallback to only query the configured value
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#
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# Probing can fail when the board is in a non flashable state or
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# maybe probing would need a different init procedure.
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# At least, currently fallback to returning the configured value
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# Probe the real value
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sh -c "${OPENOCD} \
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${OPENOCD_ADAPTER_INIT} \
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-f '${OPENOCD_CONFIG}' \
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${OPENOCD_EXTRA_RESET_INIT} \
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-c 'init' \
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-c 'targets' \
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-c 'reset halt' \
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-c 'flash probe 0' \
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-c 'flash list' \
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-c 'shutdown'" 2>&1 && return
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# Fallback to return the value stored in openocd
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echo "WARN: Failed to probe board flash." >&2
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echo "WARN: Falling back to using the openocd configuration value." >&2
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sh -c "${OPENOCD} \
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${OPENOCD_ADAPTER_INIT} \
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-f '${OPENOCD_CONFIG}' \
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-c 'flash list' \
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-c 'shutdown'" 2>&1
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}
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# Outputs bank info on different lines without the '{}'
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_flash_list() {
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# ....
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# name nrf51 base 0 size 0 bus_width 1 chip_width 1
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# name nrf51 base 268439552 size 0 bus_width 1 chip_width 1
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# ....
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_flash_list_raw | _split_banks
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}
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# Print flash address for 'bank_num' num defaults to 1
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# _flash_address [bank_num:1]
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_flash_address() {
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bank_num=${1:-1}
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# extract 'base' value and print as hexadecimal
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# name nrf51 base 268439552 size 0 bus_width 1 chip_width 1
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_flash_list | awk "NR==${bank_num}"'{printf "0x%08x\n", $4}'
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}
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do_flashr() {
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IMAGE_FILE=$1
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test_config
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test_imagefile
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if [ -n "${OPENOCD_PRE_FLASH_CHECK_SCRIPT}" ]; then
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sh -c "${OPENOCD_PRE_FLASH_CHECK_SCRIPT} '${IMAGE_FILE}'"
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RETVAL=$?
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if [ $RETVAL -ne 0 ]; then
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echo "pre-flash checks failed, status=$RETVAL"
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exit $RETVAL
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fi
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fi
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# In case of binary file, IMAGE_OFFSET should include the flash base address
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# This allows flashing normal binary files without env configuration
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if _is_binfile "${IMAGE_FILE}" "${IMAGE_TYPE}"; then
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# hardwritten to use the first bank
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FLASH_ADDR=$(_flash_address 1)
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echo "Binfile detected, adding ROM base address: ${FLASH_ADDR}"
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IMAGE_TYPE=bin
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IMAGE_OFFSET=$(printf "0x%08x\n" "$((${IMAGE_OFFSET} + ${FLASH_ADDR}))")
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fi
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if [ "${IMAGE_OFFSET}" != "0" ]; then
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echo "Flashing with IMAGE_OFFSET: ${IMAGE_OFFSET}"
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fi
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# flash device
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sh -c "${OPENOCD} \
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${OPENOCD_ADAPTER_INIT} \
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-f '${OPENOCD_CONFIG}' \
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${OPENOCD_EXTRA_INIT} \
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${OPENOCD_EXTRA_RESET_INIT} \
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-c 'tcl_port 0' \
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-c 'telnet_port 0' \
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-c 'gdb_port 0' \
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-c 'init' \
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-c 'targets ${OPENOCD_CORE}' \
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-c 'reset' \
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-c 'halt' \
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-c 'load_image \"${IMAGE_FILE}\" ' \
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-c 'resume ${START_ADDR}' \
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-c 'shutdown'" &&
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echo "'Done flashing"
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}
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#
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# now comes the actual actions
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#
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do_flash() {
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IMAGE_FILE=$1
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test_config
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test_imagefile
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if [ -n "${OPENOCD_PRE_FLASH_CHECK_SCRIPT}" ]; then
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sh -c "${OPENOCD_PRE_FLASH_CHECK_SCRIPT} '${IMAGE_FILE}'"
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RETVAL=$?
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if [ $RETVAL -ne 0 ]; then
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echo "pre-flash checks failed, status=$RETVAL"
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exit $RETVAL
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fi
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fi
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# In case of binary file, IMAGE_OFFSET should include the flash base address
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# This allows flashing normal binary files without env configuration
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if _is_binfile "${IMAGE_FILE}" "${IMAGE_TYPE}"; then
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# hardwritten to use the first bank
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FLASH_ADDR=$(_flash_address 1)
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echo "Binfile detected, adding ROM base address: ${FLASH_ADDR}"
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IMAGE_TYPE=bin
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IMAGE_OFFSET=$(printf "0x%08x\n" "$((${IMAGE_OFFSET} + ${FLASH_ADDR}))")
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fi
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if [ -z "${OPENOCD_SKIP_VERIFY}" ]; then
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OPENOCD_VERIFY="-c 'verify_image \"${IMAGE_FILE}\" ${IMAGE_OFFSET}'"
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fi
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if [ "${IMAGE_OFFSET}" != "0" ]; then
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echo "Flashing with IMAGE_OFFSET: ${IMAGE_OFFSET}"
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fi
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# flash device
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sh -c "${OPENOCD} \
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${OPENOCD_ADAPTER_INIT} \
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-f '${OPENOCD_CONFIG}' \
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${OPENOCD_EXTRA_INIT} \
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${OPENOCD_EXTRA_RESET_INIT} \
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-c 'tcl_port 0' \
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-c 'telnet_port 0' \
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-c 'gdb_port 0' \
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-c 'init' \
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-c 'targets' \
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-c 'reset halt' \
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${OPENOCD_PRE_FLASH_CMDS} \
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-c 'flash write_image erase \"${IMAGE_FILE}\" ${IMAGE_OFFSET} ${IMAGE_TYPE}' \
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${OPENOCD_PRE_VERIFY_CMDS} \
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${OPENOCD_VERIFY} \
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-c 'reset run' \
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-c 'shutdown'" &&
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echo 'Done flashing'
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}
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do_debug() {
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ELFFILE=$1
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test_config
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test_elffile
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# temporary file that saves OpenOCD pid
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OCD_PIDFILE=$(mktemp -t "openocd_pid.XXXXXXXXXX")
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# will be called by trap
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cleanup() {
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OCD_PID="$(cat $OCD_PIDFILE)"
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kill ${OCD_PID}
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rm -f "$OCD_PIDFILE"
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exit 0
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}
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# cleanup after script terminates
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trap "cleanup ${OCD_PIDFILE}" EXIT
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# don't trap on Ctrl+C, because GDB keeps running
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trap '' INT
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# start OpenOCD as GDB server
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${SETSID} sh -c "${OPENOCD} \
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${OPENOCD_ADAPTER_INIT} \
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-f '${OPENOCD_CONFIG}' \
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${OPENOCD_EXTRA_INIT} \
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-c 'tcl_port ${TCL_PORT}' \
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-c 'telnet_port ${TELNET_PORT}' \
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-c 'gdb_port ${GDB_PORT}' \
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-c 'init' \
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${OPENOCD_DBG_EXTRA_CMD} \
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-c 'targets ${OPENOCD_CORE}' \
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${OPENOCD_DBG_START_CMD} \
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-l /dev/null & \
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echo \$! > $OCD_PIDFILE" &
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# Export to be able to access these from the sh -c command lines, may be
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# useful when using a frontend for GDB
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export ELFFILE
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export GDB
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export GDB_PORT
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export DBG_FLAGS
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export DBG_DEFAULT_FLAGS
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export DBG_EXTRA_FLAGS
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# Start the debugger and connect to the GDB server
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sh -c "${DBG} ${DBG_FLAGS} ${ELFFILE}"
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}
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do_debugserver() {
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test_config
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# start OpenOCD as GDB server
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sh -c "${OPENOCD} \
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${OPENOCD_ADAPTER_INIT} \
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-f '${OPENOCD_CONFIG}' \
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${OPENOCD_EXTRA_INIT} \
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-c 'tcl_port ${TCL_PORT}' \
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-c 'telnet_port ${TELNET_PORT}' \
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-c 'gdb_port ${GDB_PORT}' \
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-c 'init' \
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${OPENOCD_DBG_EXTRA_CMD} \
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-c 'targets' \
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-c 'halt'"
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}
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do_reset() {
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test_config
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# start OpenOCD and invoke board reset
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sh -c "${OPENOCD} \
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${OPENOCD_ADAPTER_INIT} \
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-f '${OPENOCD_CONFIG}' \
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${OPENOCD_EXTRA_INIT} \
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${OPENOCD_EXTRA_RESET_INIT} \
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-c 'tcl_port 0' \
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-c 'telnet_port 0' \
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-c 'gdb_port 0' \
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-c 'init' \
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${OPENOCD_CMD_RESET_RUN} \
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-c 'shutdown'"
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}
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do_term() {
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test_config
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# temporary file that save the OpenOCD pid
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OPENOCD_PIDFILE=$(mktemp -t "openocd_pid.XXXXXXXXXX")
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# will be called by trap
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cleanup() {
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if [ -f $OPENOCD_PIDFILE ]; then
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OPENOCD_PID="$(cat ${OPENOCD_PIDFILE})"
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kill ${OPENOCD_PID}
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rm -r "${OPENOCD_PIDFILE}"
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fi
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exit 0
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}
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# cleanup after script terminates
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|
trap "cleanup ${OPENOCD_PIDFILE}" EXIT INT
|
|
|
|
set -x
|
|
echo test
|
|
# start OpenOCD as RTT server for channel 0
|
|
sh -x -c "${OPENOCD} \
|
|
${OPENOCD_ADAPTER_INIT} \
|
|
-f '${OPENOCD_CONFIG}' \
|
|
${OPENOCD_EXTRA_INIT} \
|
|
-c 'tcl_port 0' \
|
|
-c 'telnet_port 0' \
|
|
-c 'gdb_port 0' \
|
|
-c init \
|
|
-c 'rtt setup '${RAM_START_ADDR}' '${RAM_LEN}' \"SEGGER RTT\"' \
|
|
-c 'rtt start' \
|
|
-c 'rtt server start 9999 0' \
|
|
>/dev/null & \
|
|
echo \$! > $OPENOCD_PIDFILE" &
|
|
sleep 1
|
|
|
|
${OPENOCD_TERMPROG:-${_OPENOCD_TERMPROG}} ${OPENOCD_TERMFLAGS:-${_OPENOCD_TERMFLAGS}}
|
|
}
|
|
|
|
#
|
|
# parameter dispatching
|
|
#
|
|
ACTION="$1"
|
|
shift # pop $1 from $@
|
|
|
|
case "${ACTION}" in
|
|
flash)
|
|
echo "### Flashing Target ###"
|
|
do_flash "$@"
|
|
;;
|
|
flashr)
|
|
START_ADDR=$(objdump -f $1 | sed '/^$/d' | tail -1 | grep -o "0x[0-9a-fA-F].*")
|
|
echo "### Flashing target RAM ###"
|
|
do_flashr "$@"
|
|
;;
|
|
debugr)
|
|
START_ADDR=$(objdump -f $1 | sed '/^$/d' | tail -1 | grep -o "0x[0-9a-fA-F].*")
|
|
echo "Start address: $START_ADDR"
|
|
DBG_FLAGS="$DBG_FLAGS \
|
|
-ex 'load $1' \
|
|
"
|
|
do_debug "$@"
|
|
;;
|
|
debug)
|
|
echo "### Starting Debugging ###"
|
|
do_debug "$@"
|
|
;;
|
|
debug-server)
|
|
echo "### Starting GDB Server ###"
|
|
do_debugserver
|
|
;;
|
|
reset)
|
|
echo "### Resetting Target ###"
|
|
do_reset
|
|
;;
|
|
term-rtt)
|
|
echo "### Starting RTT terminal ###"
|
|
do_term
|
|
;;
|
|
*)
|
|
echo "Usage: $0 {flash|debug|debug-server|reset}"
|
|
echo " flash <flashfile>"
|
|
echo " debug <elffile>"
|
|
exit 2
|
|
;;
|
|
esac
|