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   1 /***************************************************************************
   2  *   ESP32 target API for OpenOCD                                          *
   3  *   Copyright (C) 2016-2019 Espressif Systems Ltd.                        *
   4  *   Author: Dmitry Yakovlev <dmitry@espressif.com>                        *
   5  *   Author: Alexey Gerenkov <alexey@espressif.com>                        *
   6  *                                                                         *
   7  *   This program is free software; you can redistribute it and/or modify  *
   8  *   it under the terms of the GNU General Public License as published by  *
   9  *   the Free Software Foundation; either version 2 of the License, or     *
  10  *   (at your option) any later version.                                   *
  11  *                                                                         *
  12  *   This program is distributed in the hope that it will be useful,       *
  13  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  14  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  15  *   GNU General Public License for more details.                          *
  16  *                                                                         *
  17  *   You should have received a copy of the GNU General Public License     *
  18  *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  19  ***************************************************************************/
  20
  21 #ifdef HAVE_CONFIG_H
  22 #include "config.h"
  23 #endif
  24
  25 #include <helper/time_support.h>
  26 #include <target/target.h>
  27 #include <target/target_type.h>
  28 #include <target/smp.h>
  29 #include "assert.h"
  30 #include "esp32.h"
  31 #include "esp_xtensa_smp.h"
  32
  33 /*
  34 This is a JTAG driver for the ESP32, the are two Tensilica cores inside
  35 the ESP32 chip. For more information please have a look into ESP32 target
  36 implementation.
  37 */
  38
  39 /* ESP32 memory map */
  40 #define ESP32_DRAM_LOW            0x3ffae000
  41 #define ESP32_DRAM_HIGH           0x40000000
  42 #define ESP32_IROM_MASK_LOW       0x40000000
  43 #define ESP32_IROM_MASK_HIGH      0x40064f00
  44 #define ESP32_IRAM_LOW            0x40070000
  45 #define ESP32_IRAM_HIGH           0x400a0000
  46 #define ESP32_RTC_IRAM_LOW        0x400c0000
  47 #define ESP32_RTC_IRAM_HIGH       0x400c2000
  48 #define ESP32_RTC_DRAM_LOW        0x3ff80000
  49 #define ESP32_RTC_DRAM_HIGH       0x3ff82000
  50 #define ESP32_RTC_DATA_LOW        0x50000000
  51 #define ESP32_RTC_DATA_HIGH       0x50002000
  52 #define ESP32_EXTRAM_DATA_LOW     0x3f800000
  53 #define ESP32_EXTRAM_DATA_HIGH    0x3fc00000
  54 #define ESP32_DR_REG_LOW          0x3ff00000
  55 #define ESP32_DR_REG_HIGH         0x3ff71000
  56 #define ESP32_SYS_RAM_LOW         0x60000000UL
  57 #define ESP32_SYS_RAM_HIGH        (ESP32_SYS_RAM_LOW + 0x20000000UL)
  58 #define ESP32_RTC_SLOW_MEM_BASE   ESP32_RTC_DATA_LOW
  59
  60 /* ESP32 WDT */
  61 #define ESP32_WDT_WKEY_VALUE       0x50d83aa1
  62 #define ESP32_TIMG0_BASE           0x3ff5f000
  63 #define ESP32_TIMG1_BASE           0x3ff60000
  64 #define ESP32_TIMGWDT_CFG0_OFF     0x48
  65 #define ESP32_TIMGWDT_PROTECT_OFF  0x64
  66 #define ESP32_TIMG0WDT_CFG0        (ESP32_TIMG0_BASE + ESP32_TIMGWDT_CFG0_OFF)
  67 #define ESP32_TIMG1WDT_CFG0        (ESP32_TIMG1_BASE + ESP32_TIMGWDT_CFG0_OFF)
  68 #define ESP32_TIMG0WDT_PROTECT     (ESP32_TIMG0_BASE + ESP32_TIMGWDT_PROTECT_OFF)
  69 #define ESP32_TIMG1WDT_PROTECT     (ESP32_TIMG1_BASE + ESP32_TIMGWDT_PROTECT_OFF)
  70 #define ESP32_RTCCNTL_BASE         0x3ff48000
  71 #define ESP32_RTCWDT_CFG_OFF       0x8C
  72 #define ESP32_RTCWDT_PROTECT_OFF   0xA4
  73 #define ESP32_RTCWDT_CFG           (ESP32_RTCCNTL_BASE + ESP32_RTCWDT_CFG_OFF)
  74 #define ESP32_RTCWDT_PROTECT       (ESP32_RTCCNTL_BASE + ESP32_RTCWDT_PROTECT_OFF)
  75
  76 #define ESP32_TRACEMEM_BLOCK_SZ    0x4000
  77
  78 /* ESP32 dport regs */
  79 #define ESP32_DR_REG_DPORT_BASE         ESP32_DR_REG_LOW
  80 #define ESP32_DPORT_APPCPU_CTRL_B_REG   (ESP32_DR_REG_DPORT_BASE + 0x030)
  81 #define ESP32_DPORT_APPCPU_CLKGATE_EN   BIT(0)
  82 /* ESP32 RTC regs */
  83 #define ESP32_RTC_CNTL_SW_CPU_STALL_REG (ESP32_RTCCNTL_BASE + 0xac)
  84 #define ESP32_RTC_CNTL_SW_CPU_STALL_DEF 0x0
  85
  86
  87 /* this should map local reg IDs to GDB reg mapping as defined in xtensa-config.c 'rmap' in
  88  *xtensa-overlay */
  89 static const unsigned int esp32_gdb_regs_mapping[ESP32_NUM_REGS] = {
  90         XT_REG_IDX_PC,
  91         XT_REG_IDX_AR0, XT_REG_IDX_AR1, XT_REG_IDX_AR2, XT_REG_IDX_AR3,
  92         XT_REG_IDX_AR4, XT_REG_IDX_AR5, XT_REG_IDX_AR6, XT_REG_IDX_AR7,
  93         XT_REG_IDX_AR8, XT_REG_IDX_AR9, XT_REG_IDX_AR10, XT_REG_IDX_AR11,
  94         XT_REG_IDX_AR12, XT_REG_IDX_AR13, XT_REG_IDX_AR14, XT_REG_IDX_AR15,
  95         XT_REG_IDX_AR16, XT_REG_IDX_AR17, XT_REG_IDX_AR18, XT_REG_IDX_AR19,
  96         XT_REG_IDX_AR20, XT_REG_IDX_AR21, XT_REG_IDX_AR22, XT_REG_IDX_AR23,
  97         XT_REG_IDX_AR24, XT_REG_IDX_AR25, XT_REG_IDX_AR26, XT_REG_IDX_AR27,
  98         XT_REG_IDX_AR28, XT_REG_IDX_AR29, XT_REG_IDX_AR30, XT_REG_IDX_AR31,
  99         XT_REG_IDX_AR32, XT_REG_IDX_AR33, XT_REG_IDX_AR34, XT_REG_IDX_AR35,
 100         XT_REG_IDX_AR36, XT_REG_IDX_AR37, XT_REG_IDX_AR38, XT_REG_IDX_AR39,
 101         XT_REG_IDX_AR40, XT_REG_IDX_AR41, XT_REG_IDX_AR42, XT_REG_IDX_AR43,
 102         XT_REG_IDX_AR44, XT_REG_IDX_AR45, XT_REG_IDX_AR46, XT_REG_IDX_AR47,
 103         XT_REG_IDX_AR48, XT_REG_IDX_AR49, XT_REG_IDX_AR50, XT_REG_IDX_AR51,
 104         XT_REG_IDX_AR52, XT_REG_IDX_AR53, XT_REG_IDX_AR54, XT_REG_IDX_AR55,
 105         XT_REG_IDX_AR56, XT_REG_IDX_AR57, XT_REG_IDX_AR58, XT_REG_IDX_AR59,
 106         XT_REG_IDX_AR60, XT_REG_IDX_AR61, XT_REG_IDX_AR62, XT_REG_IDX_AR63,
 107         XT_REG_IDX_LBEG, XT_REG_IDX_LEND, XT_REG_IDX_LCOUNT, XT_REG_IDX_SAR,
 108         XT_REG_IDX_WINDOWBASE, XT_REG_IDX_WINDOWSTART, XT_REG_IDX_CONFIGID0, XT_REG_IDX_CONFIGID1,
 109         XT_REG_IDX_PS, XT_REG_IDX_THREADPTR, XT_REG_IDX_BR, XT_REG_IDX_SCOMPARE1,
 110         XT_REG_IDX_ACCLO, XT_REG_IDX_ACCHI,
 111         XT_REG_IDX_M0, XT_REG_IDX_M1, XT_REG_IDX_M2, XT_REG_IDX_M3,
 112         ESP32_REG_IDX_EXPSTATE,
 113         ESP32_REG_IDX_F64R_LO,
 114         ESP32_REG_IDX_F64R_HI,
 115         ESP32_REG_IDX_F64S,
 116         XT_REG_IDX_F0, XT_REG_IDX_F1, XT_REG_IDX_F2, XT_REG_IDX_F3,
 117         XT_REG_IDX_F4, XT_REG_IDX_F5, XT_REG_IDX_F6, XT_REG_IDX_F7,
 118         XT_REG_IDX_F8, XT_REG_IDX_F9, XT_REG_IDX_F10, XT_REG_IDX_F11,
 119         XT_REG_IDX_F12, XT_REG_IDX_F13, XT_REG_IDX_F14, XT_REG_IDX_F15,
 120         XT_REG_IDX_FCR, XT_REG_IDX_FSR, XT_REG_IDX_MMID, XT_REG_IDX_IBREAKENABLE,
 121         XT_REG_IDX_MEMCTL, XT_REG_IDX_ATOMCTL, XT_REG_IDX_OCD_DDR,
 122         XT_REG_IDX_IBREAKA0, XT_REG_IDX_IBREAKA1, XT_REG_IDX_DBREAKA0, XT_REG_IDX_DBREAKA1,
 123         XT_REG_IDX_DBREAKC0, XT_REG_IDX_DBREAKC1,
 124         XT_REG_IDX_EPC1, XT_REG_IDX_EPC2, XT_REG_IDX_EPC3, XT_REG_IDX_EPC4,
 125         XT_REG_IDX_EPC5, XT_REG_IDX_EPC6, XT_REG_IDX_EPC7, XT_REG_IDX_DEPC,
 126         XT_REG_IDX_EPS2, XT_REG_IDX_EPS3, XT_REG_IDX_EPS4, XT_REG_IDX_EPS5,
 127         XT_REG_IDX_EPS6, XT_REG_IDX_EPS7,
 128         XT_REG_IDX_EXCSAVE1, XT_REG_IDX_EXCSAVE2, XT_REG_IDX_EXCSAVE3, XT_REG_IDX_EXCSAVE4,
 129         XT_REG_IDX_EXCSAVE5, XT_REG_IDX_EXCSAVE6, XT_REG_IDX_EXCSAVE7, XT_REG_IDX_CPENABLE,
 130         XT_REG_IDX_INTERRUPT, XT_REG_IDX_INTSET, XT_REG_IDX_INTCLEAR, XT_REG_IDX_INTENABLE,
 131         XT_REG_IDX_VECBASE, XT_REG_IDX_EXCCAUSE, XT_REG_IDX_DEBUGCAUSE, XT_REG_IDX_CCOUNT,
 132         XT_REG_IDX_PRID, XT_REG_IDX_ICOUNT, XT_REG_IDX_ICOUNTLEVEL, XT_REG_IDX_EXCVADDR,
 133         XT_REG_IDX_CCOMPARE0, XT_REG_IDX_CCOMPARE1, XT_REG_IDX_CCOMPARE2,
 134         XT_REG_IDX_MISC0, XT_REG_IDX_MISC1, XT_REG_IDX_MISC2, XT_REG_IDX_MISC3,
 135         XT_REG_IDX_A0, XT_REG_IDX_A1, XT_REG_IDX_A2, XT_REG_IDX_A3,
 136         XT_REG_IDX_A4, XT_REG_IDX_A5, XT_REG_IDX_A6, XT_REG_IDX_A7,
 137         XT_REG_IDX_A8, XT_REG_IDX_A9, XT_REG_IDX_A10, XT_REG_IDX_A11,
 138         XT_REG_IDX_A12, XT_REG_IDX_A13, XT_REG_IDX_A14, XT_REG_IDX_A15,
 139         XT_REG_IDX_PWRCTL, XT_REG_IDX_PWRSTAT, XT_REG_IDX_ERISTAT,
 140         XT_REG_IDX_CS_ITCTRL, XT_REG_IDX_CS_CLAIMSET, XT_REG_IDX_CS_CLAIMCLR,
 141         XT_REG_IDX_CS_LOCKACCESS, XT_REG_IDX_CS_LOCKSTATUS, XT_REG_IDX_CS_AUTHSTATUS,
 142         XT_REG_IDX_FAULT_INFO,
 143         XT_REG_IDX_TRAX_ID, XT_REG_IDX_TRAX_CTRL, XT_REG_IDX_TRAX_STAT,
 144         XT_REG_IDX_TRAX_DATA, XT_REG_IDX_TRAX_ADDR, XT_REG_IDX_TRAX_PCTRIGGER,
 145         XT_REG_IDX_TRAX_PCMATCH, XT_REG_IDX_TRAX_DELAY, XT_REG_IDX_TRAX_MEMSTART,
 146         XT_REG_IDX_TRAX_MEMEND,
 147         XT_REG_IDX_PMG, XT_REG_IDX_PMPC, XT_REG_IDX_PM0, XT_REG_IDX_PM1,
 148         XT_REG_IDX_PMCTRL0, XT_REG_IDX_PMCTRL1, XT_REG_IDX_PMSTAT0, XT_REG_IDX_PMSTAT1,
 149         XT_REG_IDX_OCD_ID, XT_REG_IDX_OCD_DCRCLR, XT_REG_IDX_OCD_DCRSET, XT_REG_IDX_OCD_DSR,
 150 };
 151
 152 static const struct xtensa_user_reg_desc esp32_user_regs[ESP32_NUM_REGS - XT_NUM_REGS] = {
 153         { "expstate", 0xE6, 0, 32, &xtensa_user_reg_u32_type },
 154         { "f64r_lo", 0xEA, 0, 32, &xtensa_user_reg_u32_type },
 155         { "f64r_hi", 0xEB, 0, 32, &xtensa_user_reg_u32_type },
 156         { "f64s", 0xEC, 0, 32, &xtensa_user_reg_u32_type },
 157 };
 158
 159 static const struct xtensa_config esp32_xtensa_cfg = {
 160         .density = true,
 161         .aregs_num = XT_AREGS_NUM_MAX,
 162         .windowed = true,
 163         .coproc = true,
 164         .fp_coproc = true,
 165         .loop = true,
 166         .miscregs_num = 4,
 167         .threadptr = true,
 168         .boolean = true,
 169         .reloc_vec = true,
 170         .proc_id = true,
 171         .cond_store = true,
 172         .mac16 = true,
 173         .user_regs_num = ARRAY_SIZE(esp32_user_regs),
 174         .user_regs = esp32_user_regs,
 175         .fetch_user_regs = xtensa_fetch_user_regs_u32,
 176         .queue_write_dirty_user_regs = xtensa_queue_write_dirty_user_regs_u32,
 177         .gdb_general_regs_num = ESP32_NUM_REGS_G_COMMAND,
 178         .gdb_regs_mapping = esp32_gdb_regs_mapping,
 179         .irom = {
 180                 .count = 2,
 181                 .regions = {
 182                         {
 183                                 .base = ESP32_IROM_LOW,
 184                                 .size = ESP32_IROM_HIGH - ESP32_IROM_LOW,
 185                                 .access = XT_MEM_ACCESS_READ,
 186                         },
 187                         {
 188                                 .base = ESP32_IROM_MASK_LOW,
 189                                 .size = ESP32_IROM_MASK_HIGH - ESP32_IROM_MASK_LOW,
 190                                 .access = XT_MEM_ACCESS_READ,
 191                         },
 192                 }
 193         },
 194         .iram = {
 195                 .count = 2,
 196                 .regions = {
 197                         {
 198                                 .base = ESP32_IRAM_LOW,
 199                                 .size = ESP32_IRAM_HIGH - ESP32_IRAM_LOW,
 200                                 .access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
 201                         },
 202                         {
 203                                 .base = ESP32_RTC_IRAM_LOW,
 204                                 .size = ESP32_RTC_IRAM_HIGH - ESP32_RTC_IRAM_LOW,
 205                                 .access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
 206                         },
 207                 }
 208         },
 209         .drom = {
 210                 .count = 1,
 211                 .regions = {
 212                         {
 213                                 .base = ESP32_DROM_LOW,
 214                                 .size = ESP32_DROM_HIGH - ESP32_DROM_LOW,
 215                                 .access = XT_MEM_ACCESS_READ,
 216                         },
 217                 }
 218         },
 219         .dram = {
 220                 .count = 6,
 221                 .regions = {
 222                         {
 223                                 .base = ESP32_DRAM_LOW,
 224                                 .size = ESP32_DRAM_HIGH - ESP32_DRAM_LOW,
 225                                 .access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
 226                         },
 227                         {
 228                                 .base = ESP32_RTC_DRAM_LOW,
 229                                 .size = ESP32_RTC_DRAM_HIGH - ESP32_RTC_DRAM_LOW,
 230                                 .access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
 231                         },
 232                         {
 233                                 .base = ESP32_RTC_DATA_LOW,
 234                                 .size = ESP32_RTC_DATA_HIGH - ESP32_RTC_DATA_LOW,
 235                                 .access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
 236                         },
 237                         {
 238                                 .base = ESP32_EXTRAM_DATA_LOW,
 239                                 .size = ESP32_EXTRAM_DATA_HIGH - ESP32_EXTRAM_DATA_LOW,
 240                                 .access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
 241                         },
 242                         {
 243                                 .base = ESP32_DR_REG_LOW,
 244                                 .size = ESP32_DR_REG_HIGH - ESP32_DR_REG_LOW,
 245                                 .access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
 246                         },
 247                         {
 248                                 .base = ESP32_SYS_RAM_LOW,
 249                                 .size = ESP32_SYS_RAM_HIGH - ESP32_SYS_RAM_LOW,
 250                                 .access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
 251                         },
 252                 }
 253         },
 254         .exc = {
 255                 .enabled = true,
 256         },
 257         .irq = {
 258                 .enabled = true,
 259                 .irq_num = 32,
 260         },
 261         .high_irq = {
 262                 .enabled = true,
 263                 .excm_level = 3,
 264                 .nmi_num = 1,
 265         },
 266         .tim_irq = {
 267                 .enabled = true,
 268                 .comp_num = 3,
 269         },
 270         .debug = {
 271                 .enabled = true,
 272                 .irq_level = 6,
 273                 .ibreaks_num = 2,
 274                 .dbreaks_num = 2,
 275                 .icount_sz = 32,
 276         },
 277         .trace = {
 278                 .enabled = true,
 279                 .mem_sz = ESP32_TRACEMEM_BLOCK_SZ,
 280                 .reversed_mem_access = true,
 281         },
 282 };
 283
 284 /* 0 - don't care, 1 - TMS low, 2 - TMS high */
 285 enum esp32_flash_bootstrap {
 286         FBS_DONTCARE = 0,
 287         FBS_TMSLOW,
 288         FBS_TMSHIGH,
 289 };
 290
 291 struct esp32_common {
 292         struct esp_xtensa_smp_common esp_xtensa_smp;
 293         enum esp32_flash_bootstrap flash_bootstrap;
 294 };
 295
 296 static inline struct esp32_common *target_to_esp32(struct target *target)
 297 {
 298         return container_of(target->arch_info, struct esp32_common, esp_xtensa_smp);
 299 }
 300
 301 /* Reset ESP32 peripherals.
 302  * Postconditions: all peripherals except RTC_CNTL are reset, CPU's PC is undefined, PRO CPU is halted,
 303  * APP CPU is in reset
 304  * How this works:
 305  * 0. make sure target is halted; if not, try to halt it; if that fails, try to reset it (via OCD) and then halt
 306  * 1. set CPU initial PC to 0x50000000 (ESP32_SMP_RTC_DATA_LOW) by clearing RTC_CNTL_{PRO,APP}CPU_STAT_VECTOR_SEL
 307  * 2. load stub code into ESP32_SMP_RTC_DATA_LOW; once executed, stub code will disable watchdogs and
 308  * make CPU spin in an idle loop.
 309  * 3. trigger SoC reset using RTC_CNTL_SW_SYS_RST bit
 310  * 4. wait for the OCD to be reset
 311  * 5. halt the target and wait for it to be halted (at this point CPU is in the idle loop)
 312  * 6. restore initial PC and the contents of ESP32_SMP_RTC_DATA_LOW
 313  * TODO: some state of RTC_CNTL is not reset during SW_SYS_RST. Need to reset that manually. */
 314
 315 const uint8_t esp32_reset_stub_code[] = {
 316 #include "../../../contrib/loaders/reset/espressif/esp32/cpu_reset_handler_code.inc"
 317 };
 318
 319 static int esp32_soc_reset(struct target *target)
 320 {
 321         int res;
 322         struct target_list *head;
 323         struct xtensa *xtensa;
 324
 325         LOG_DEBUG("start");
 326         /* In order to write to peripheral registers, target must be halted first */
 327         if (target->state != TARGET_HALTED) {
 328                 LOG_DEBUG("Target not halted before SoC reset, trying to halt it first");
 329                 xtensa_halt(target);
 330                 res = target_wait_state(target, TARGET_HALTED, 1000);
 331                 if (res != ERROR_OK) {
 332                         LOG_DEBUG("Couldn't halt target before SoC reset, trying to do reset-halt");
 333                         res = xtensa_assert_reset(target);
 334                         if (res != ERROR_OK) {
 335                                 LOG_ERROR(
 336                                         "Couldn't halt target before SoC reset! (xtensa_assert_reset returned %d)",
 337                                         res);
 338                                 return res;
 339                         }
 340                         alive_sleep(10);
 341                         xtensa_poll(target);
 342                         bool reset_halt_save = target->reset_halt;
 343                         target->reset_halt = true;
 344                         res = xtensa_deassert_reset(target);
 345                         target->reset_halt = reset_halt_save;
 346                         if (res != ERROR_OK) {
 347                                 LOG_ERROR(
 348                                         "Couldn't halt target before SoC reset! (xtensa_deassert_reset returned %d)",
 349                                         res);
 350                                 return res;
 351                         }
 352                         alive_sleep(10);
 353                         xtensa_poll(target);
 354                         xtensa_halt(target);
 355                         res = target_wait_state(target, TARGET_HALTED, 1000);
 356                         if (res != ERROR_OK) {
 357                                 LOG_ERROR("Couldn't halt target before SoC reset");
 358                                 return res;
 359                         }
 360                 }
 361         }
 362
 363         if (target->smp) {
 364                 foreach_smp_target(head, target->smp_targets) {
 365                         xtensa = target_to_xtensa(head->target);
 366                         /* if any of the cores is stalled unstall them */
 367                         if (xtensa_dm_core_is_stalled(&xtensa->dbg_mod)) {
 368                                 LOG_TARGET_DEBUG(head->target, "Unstall CPUs before SW reset!");
 369                                 res = target_write_u32(target,
 370                                         ESP32_RTC_CNTL_SW_CPU_STALL_REG,
 371                                         ESP32_RTC_CNTL_SW_CPU_STALL_DEF);
 372                                 if (res != ERROR_OK) {
 373                                         LOG_TARGET_ERROR(head->target, "Failed to unstall CPUs before SW reset!");
 374                                         return res;
 375                                 }
 376                                 break;  /* both cores are unstalled now, so exit the loop */
 377                         }
 378                 }
 379         }
 380
 381         LOG_DEBUG("Loading stub code into RTC RAM");
 382         uint8_t slow_mem_save[sizeof(esp32_reset_stub_code)];
 383
 384         /* Save contents of RTC_SLOW_MEM which we are about to overwrite */
 385         res = target_read_buffer(target, ESP32_RTC_SLOW_MEM_BASE, sizeof(slow_mem_save), slow_mem_save);
 386         if (res != ERROR_OK) {
 387                 LOG_ERROR("Failed to save contents of RTC_SLOW_MEM (%d)!", res);
 388                 return res;
 389         }
 390
 391         /* Write stub code into RTC_SLOW_MEM */
 392         res = target_write_buffer(target, ESP32_RTC_SLOW_MEM_BASE, sizeof(esp32_reset_stub_code), esp32_reset_stub_code);
 393         if (res != ERROR_OK) {
 394                 LOG_ERROR("Failed to write stub (%d)!", res);
 395                 return res;
 396         }
 397
 398         LOG_DEBUG("Resuming the target");
 399         xtensa = target_to_xtensa(target);
 400         xtensa->suppress_dsr_errors = true;
 401         res = xtensa_resume(target, 0, ESP32_RTC_SLOW_MEM_BASE + 4, 0, 0);
 402         xtensa->suppress_dsr_errors = false;
 403         if (res != ERROR_OK) {
 404                 LOG_ERROR("Failed to run stub (%d)!", res);
 405                 return res;
 406         }
 407         LOG_DEBUG("resume done, waiting for the target to come alive");
 408
 409         /* Wait for SoC to reset */
 410         alive_sleep(100);
 411         int64_t timeout = timeval_ms() + 100;
 412         bool get_timeout = false;
 413         while (target->state != TARGET_RESET && target->state != TARGET_RUNNING) {
 414                 alive_sleep(10);
 415                 xtensa_poll(target);
 416                 if (timeval_ms() >= timeout) {
 417                         LOG_TARGET_ERROR(target, "Timed out waiting for CPU to be reset, target state=%d", target->state);
 418                         get_timeout = true;
 419                         break;
 420                 }
 421         }
 422
 423         /* Halt the CPU again */
 424         LOG_DEBUG("halting the target");
 425         xtensa_halt(target);
 426         res = target_wait_state(target, TARGET_HALTED, 1000);
 427         if (res == ERROR_OK) {
 428                 LOG_DEBUG("restoring RTC_SLOW_MEM");
 429                 res = target_write_buffer(target, ESP32_RTC_SLOW_MEM_BASE, sizeof(slow_mem_save), slow_mem_save);
 430                 if (res != ERROR_OK)
 431                         LOG_TARGET_ERROR(target, "Failed to restore contents of RTC_SLOW_MEM (%d)!", res);
 432         } else {
 433                 LOG_TARGET_ERROR(target, "Timed out waiting for CPU to be halted after SoC reset");
 434         }
 435
 436         return get_timeout ? ERROR_TARGET_TIMEOUT : res;
 437 }
 438
 439 static int esp32_disable_wdts(struct target *target)
 440 {
 441         /* TIMG1 WDT */
 442         int res = target_write_u32(target, ESP32_TIMG0WDT_PROTECT, ESP32_WDT_WKEY_VALUE);
 443         if (res != ERROR_OK) {
 444                 LOG_ERROR("Failed to write ESP32_TIMG0WDT_PROTECT (%d)!", res);
 445                 return res;
 446         }
 447         res = target_write_u32(target, ESP32_TIMG0WDT_CFG0, 0);
 448         if (res != ERROR_OK) {
 449                 LOG_ERROR("Failed to write ESP32_TIMG0WDT_CFG0 (%d)!", res);
 450                 return res;
 451         }
 452         /* TIMG2 WDT */
 453         res = target_write_u32(target, ESP32_TIMG1WDT_PROTECT, ESP32_WDT_WKEY_VALUE);
 454         if (res != ERROR_OK) {
 455                 LOG_ERROR("Failed to write ESP32_TIMG1WDT_PROTECT (%d)!", res);
 456                 return res;
 457         }
 458         res = target_write_u32(target, ESP32_TIMG1WDT_CFG0, 0);
 459         if (res != ERROR_OK) {
 460                 LOG_ERROR("Failed to write ESP32_TIMG1WDT_CFG0 (%d)!", res);
 461                 return res;
 462         }
 463         /* RTC WDT */
 464         res = target_write_u32(target, ESP32_RTCWDT_PROTECT, ESP32_WDT_WKEY_VALUE);
 465         if (res != ERROR_OK) {
 466                 LOG_ERROR("Failed to write ESP32_RTCWDT_PROTECT (%d)!", res);
 467                 return res;
 468         }
 469         res = target_write_u32(target, ESP32_RTCWDT_CFG, 0);
 470         if (res != ERROR_OK) {
 471                 LOG_ERROR("Failed to write ESP32_RTCWDT_CFG (%d)!", res);
 472                 return res;
 473         }
 474         return ERROR_OK;
 475 }
 476
 477 static int esp32_on_halt(struct target *target)
 478 {
 479         return esp32_disable_wdts(target);
 480 }
 481
 482 static int esp32_arch_state(struct target *target)
 483 {
 484         return ERROR_OK;
 485 }
 486
 487 static int esp32_virt2phys(struct target *target,
 488         target_addr_t virtual, target_addr_t *physical)
 489 {
 490         if (physical) {
 491                 *physical = virtual;
 492                 return ERROR_OK;
 493         }
 494         return ERROR_FAIL;
 495 }
 496
 497
 498 /* 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
 499  * 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
 500  * esp32 flashbootstrap command to set a level, and this routine will make sure the tdi line will return to
 501  * that when the jtag port is idle. */
 502
 503 static void esp32_queue_tdi_idle(struct target *target)
 504 {
 505         struct esp32_common *esp32 = target_to_esp32(target);
 506         static uint32_t value;
 507         uint8_t t[4] = { 0, 0, 0, 0 };
 508
 509         if (esp32->flash_bootstrap == FBS_TMSLOW)
 510                 /* Make sure tdi is 0 at the exit of queue execution */
 511                 value = 0;
 512         else if (esp32->flash_bootstrap == FBS_TMSHIGH)
 513                 /* Make sure tdi is 1 at the exit of queue execution */
 514                 value = 1;
 515         else
 516                 return;
 517
 518         /* Scan out 1 bit, do not move from IRPAUSE after we're done. */
 519         buf_set_u32(t, 0, 1, value);
 520         jtag_add_plain_ir_scan(1, t, NULL, TAP_IRPAUSE);
 521 }
 522
 523 static int esp32_target_init(struct command_context *cmd_ctx, struct target *target)
 524 {
 525         return esp_xtensa_smp_target_init(cmd_ctx, target);
 526 }
 527
 528 static const struct xtensa_debug_ops esp32_dbg_ops = {
 529         .queue_enable = xtensa_dm_queue_enable,
 530         .queue_reg_read = xtensa_dm_queue_reg_read,
 531         .queue_reg_write = xtensa_dm_queue_reg_write
 532 };
 533
 534 static const struct xtensa_power_ops esp32_pwr_ops = {
 535         .queue_reg_read = xtensa_dm_queue_pwr_reg_read,
 536         .queue_reg_write = xtensa_dm_queue_pwr_reg_write
 537 };
 538
 539 static const struct esp_xtensa_smp_chip_ops esp32_chip_ops = {
 540         .reset = esp32_soc_reset,
 541         .on_halt = esp32_on_halt
 542 };
 543
 544 static int esp32_target_create(struct target *target, Jim_Interp *interp)
 545 {
 546         struct xtensa_debug_module_config esp32_dm_cfg = {
 547                 .dbg_ops = &esp32_dbg_ops,
 548                 .pwr_ops = &esp32_pwr_ops,
 549                 .tap = target->tap,
 550                 .queue_tdi_idle = esp32_queue_tdi_idle,
 551                 .queue_tdi_idle_arg = target
 552         };
 553
 554         struct esp32_common *esp32 = calloc(1, sizeof(struct esp32_common));
 555         if (!esp32) {
 556                 LOG_ERROR("Failed to alloc memory for arch info!");
 557                 return ERROR_FAIL;
 558         }
 559
 560         int ret = esp_xtensa_smp_init_arch_info(target, &esp32->esp_xtensa_smp, &esp32_xtensa_cfg,
 561                 &esp32_dm_cfg, &esp32_chip_ops);
 562         if (ret != ERROR_OK) {
 563                 LOG_ERROR("Failed to init arch info!");
 564                 free(esp32);
 565                 return ret;
 566         }
 567         esp32->flash_bootstrap = FBS_DONTCARE;
 568
 569         /* Assume running target. If different, the first poll will fix this. */
 570         target->state = TARGET_RUNNING;
 571         target->debug_reason = DBG_REASON_NOTHALTED;
 572         return ERROR_OK;
 573 }
 574
 575 COMMAND_HELPER(esp32_cmd_flashbootstrap_do, struct esp32_common *esp32)
 576 {
 577         int state = -1;
 578
 579         if (CMD_ARGC < 1) {
 580                 const char *st;
 581                 state = esp32->flash_bootstrap;
 582                 if (state == FBS_DONTCARE)
 583                         st = "Don't care";
 584                 else if (state == FBS_TMSLOW)
 585                         st = "Low (3.3V)";
 586                 else if (state == FBS_TMSHIGH)
 587                         st = "High (1.8V)";
 588                 else
 589                         st = "None";
 590                 command_print(CMD, "Current idle tms state: %s", st);
 591                 return ERROR_OK;
 592         }
 593
 594         if (!strcasecmp(CMD_ARGV[0], "none"))
 595                 state = FBS_DONTCARE;
 596         else if (!strcasecmp(CMD_ARGV[0], "1.8"))
 597                 state = FBS_TMSHIGH;
 598         else if (!strcasecmp(CMD_ARGV[0], "3.3"))
 599                 state = FBS_TMSLOW;
 600         else if (!strcasecmp(CMD_ARGV[0], "high"))
 601                 state = FBS_TMSHIGH;
 602         else if (!strcasecmp(CMD_ARGV[0], "low"))
 603                 state = FBS_TMSLOW;
 604
 605         if (state == -1) {
 606                 command_print(CMD,
 607                         "Argument unknown. Please pick one of none, high, low, 1.8 or 3.3");
 608                 return ERROR_FAIL;
 609         }
 610         esp32->flash_bootstrap = state;
 611         return ERROR_OK;
 612 }
 613
 614 COMMAND_HANDLER(esp32_cmd_flashbootstrap)
 615 {
 616         struct target *target = get_current_target(CMD_CTX);
 617
 618         if (target->smp) {
 619                 struct target_list *head;
 620                 struct target *curr;
 621                 foreach_smp_target(head, target->smp_targets) {
 622                         curr = head->target;
 623                         int ret = CALL_COMMAND_HANDLER(esp32_cmd_flashbootstrap_do,
 624                                 target_to_esp32(curr));
 625                         if (ret != ERROR_OK)
 626                                 return ret;
 627                 }
 628                 return ERROR_OK;
 629         }
 630         return CALL_COMMAND_HANDLER(esp32_cmd_flashbootstrap_do,
 631                 target_to_esp32(target));
 632 }
 633
 634 static const struct command_registration esp32_any_command_handlers[] = {
 635         {
 636                 .name = "flashbootstrap",
 637                 .handler = esp32_cmd_flashbootstrap,
 638                 .mode = COMMAND_ANY,
 639                 .help =
 640                         "Set the idle state of the TMS pin, which at reset also is the voltage selector for the flash chip.",
 641                 .usage = "none|1.8|3.3|high|low",
 642         },
 643         COMMAND_REGISTRATION_DONE
 644 };
 645
 646 extern const struct command_registration semihosting_common_handlers[];
 647 static const struct command_registration esp32_command_handlers[] = {
 648         {
 649                 .chain = esp_xtensa_smp_command_handlers,
 650         },
 651         {
 652                 .name = "esp32",
 653                 .usage = "",
 654                 .chain = smp_command_handlers,
 655         },
 656         {
 657                 .name = "esp32",
 658                 .usage = "",
 659                 .chain = esp32_any_command_handlers,
 660         },
 661         COMMAND_REGISTRATION_DONE
 662 };
 663
 664 /** Holds methods for Xtensa targets. */
 665 struct target_type esp32_target = {
 666         .name = "esp32",
 667
 668         .poll = esp_xtensa_smp_poll,
 669         .arch_state = esp32_arch_state,
 670
 671         .halt = xtensa_halt,
 672         .resume = esp_xtensa_smp_resume,
 673         .step = esp_xtensa_smp_step,
 674
 675         .assert_reset = esp_xtensa_smp_assert_reset,
 676         .deassert_reset = esp_xtensa_smp_deassert_reset,
 677         .soft_reset_halt = esp_xtensa_smp_soft_reset_halt,
 678
 679         .virt2phys = esp32_virt2phys,
 680         .mmu = xtensa_mmu_is_enabled,
 681         .read_memory = xtensa_read_memory,
 682         .write_memory = xtensa_write_memory,
 683
 684         .read_buffer = xtensa_read_buffer,
 685         .write_buffer = xtensa_write_buffer,
 686
 687         .checksum_memory = xtensa_checksum_memory,
 688
 689         .get_gdb_arch = xtensa_get_gdb_arch,
 690         .get_gdb_reg_list = xtensa_get_gdb_reg_list,
 691
 692         .add_breakpoint = esp_xtensa_breakpoint_add,
 693         .remove_breakpoint = esp_xtensa_breakpoint_remove,
 694
 695         .add_watchpoint = esp_xtensa_smp_watchpoint_add,
 696         .remove_watchpoint = esp_xtensa_smp_watchpoint_remove,
 697
 698         .target_create = esp32_target_create,
 699         .init_target = esp32_target_init,
 700         .examine = xtensa_examine,
 701         .deinit_target = esp_xtensa_target_deinit,
 702
 703         .commands = esp32_command_handlers,
 704 };