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   1 /* SPDX-License-Identifier: GPL-2.0-or-later */
   2
   3 /***************************************************************************
   4  *   ESP32-S3 target API for OpenOCD                                       *
   5  *   Copyright (C) 2020 Espressif Systems Ltd.                             *
   6  ***************************************************************************/
   7
   8 #ifdef HAVE_CONFIG_H
   9 #include "config.h"
  10 #endif
  11
  12 #include <helper/time_support.h>
  13 #include <target/target.h>
  14 #include <target/target_type.h>
  15 #include <target/smp.h>
  16 #include <target/semihosting_common.h>
  17 #include "assert.h"
  18 #include "esp_xtensa_smp.h"
  19
  20 /*
  21 This is a JTAG driver for the ESP32_S3, the are two Tensilica cores inside
  22 the ESP32_S3 chip. For more information please have a look into ESP32_S3 target
  23 implementation.
  24 */
  25
  26 /* ESP32_S3 memory map */
  27 #define ESP32_S3_IRAM_LOW               0x40370000
  28 #define ESP32_S3_IRAM_HIGH              0x403E0000
  29 #define ESP32_S3_IROM_MASK_LOW          0x40000000
  30 #define ESP32_S3_IROM_MASK_HIGH         0x40060000
  31 #define ESP32_S3_DRAM_LOW               0x3FC88000
  32 #define ESP32_S3_DRAM_HIGH              0x3FD00000
  33 #define ESP32_S3_RTC_IRAM_LOW           0x600FE000
  34 #define ESP32_S3_RTC_IRAM_HIGH          0x60100000
  35 #define ESP32_S3_RTC_DRAM_LOW           0x600FE000
  36 #define ESP32_S3_RTC_DRAM_HIGH          0x60100000
  37 #define ESP32_S3_RTC_DATA_LOW           0x50000000
  38 #define ESP32_S3_RTC_DATA_HIGH          0x50002000
  39 #define ESP32_S3_EXTRAM_DATA_LOW        0x3D000000
  40 #define ESP32_S3_EXTRAM_DATA_HIGH       0x3E000000
  41 #define ESP32_S3_SYS_RAM_LOW            0x60000000UL
  42 #define ESP32_S3_SYS_RAM_HIGH           (ESP32_S3_SYS_RAM_LOW + 0x10000000UL)
  43 #define ESP32_S3_RTC_SLOW_MEM_BASE      ESP32_S3_RTC_DATA_LOW
  44
  45 /* ESP32_S3 WDT */
  46 #define ESP32_S3_WDT_WKEY_VALUE       0x50D83AA1
  47 #define ESP32_S3_TIMG0_BASE           0x6001F000
  48 #define ESP32_S3_TIMG1_BASE           0x60020000
  49 #define ESP32_S3_TIMGWDT_CFG0_OFF     0x48
  50 #define ESP32_S3_TIMGWDT_PROTECT_OFF  0x64
  51 #define ESP32_S3_TIMG0WDT_CFG0        (ESP32_S3_TIMG0_BASE + ESP32_S3_TIMGWDT_CFG0_OFF)
  52 #define ESP32_S3_TIMG1WDT_CFG0        (ESP32_S3_TIMG1_BASE + ESP32_S3_TIMGWDT_CFG0_OFF)
  53 #define ESP32_S3_TIMG0WDT_PROTECT     (ESP32_S3_TIMG0_BASE + ESP32_S3_TIMGWDT_PROTECT_OFF)
  54 #define ESP32_S3_TIMG1WDT_PROTECT     (ESP32_S3_TIMG1_BASE + ESP32_S3_TIMGWDT_PROTECT_OFF)
  55 #define ESP32_S3_RTCCNTL_BASE         0x60008000
  56 #define ESP32_S3_RTCWDT_CFG_OFF       0x98
  57 #define ESP32_S3_RTCWDT_PROTECT_OFF   0xB0
  58 #define ESP32_S3_SWD_CONF_OFF         0xB0
  59 #define ESP32_S3_SWD_WPROTECT_OFF     0xB4
  60 #define ESP32_S3_RTCWDT_CFG           (ESP32_S3_RTCCNTL_BASE + ESP32_S3_RTCWDT_CFG_OFF)
  61 #define ESP32_S3_RTCWDT_PROTECT       (ESP32_S3_RTCCNTL_BASE + ESP32_S3_RTCWDT_PROTECT_OFF)
  62 #define ESP32_S3_SWD_CONF_REG         (ESP32_S3_RTCCNTL_BASE + ESP32_S3_SWD_CONF_OFF)
  63 #define ESP32_S3_SWD_WPROTECT_REG     (ESP32_S3_RTCCNTL_BASE + ESP32_S3_SWD_WPROTECT_OFF)
  64 #define ESP32_S3_SWD_AUTO_FEED_EN_M   BIT(31)
  65 #define ESP32_S3_SWD_WKEY_VALUE       0x8F1D312AU
  66
  67 #define ESP32_S3_TRACEMEM_BLOCK_SZ    0x4000
  68
  69 /* ESP32_S3 dport regs */
  70 #define ESP32_S3_DR_REG_SYSTEM_BASE                0x600c0000
  71 #define ESP32_S3_SYSTEM_CORE_1_CONTROL_0_REG       (ESP32_S3_DR_REG_SYSTEM_BASE + 0x014)
  72 #define ESP32_S3_SYSTEM_CONTROL_CORE_1_CLKGATE_EN  BIT(1)
  73
  74 /* ESP32_S3 RTC regs */
  75 #define ESP32_S3_RTC_CNTL_SW_CPU_STALL_REG (ESP32_S3_RTCCNTL_BASE + 0xBC)
  76 #define ESP32_S3_RTC_CNTL_SW_CPU_STALL_DEF 0x0
  77
  78 struct esp32s3_common {
  79         struct esp_xtensa_smp_common esp_xtensa_smp;
  80 };
  81
  82 /* Reset ESP32-S3's peripherals.
  83  * 1. OpenOCD makes sure the target is halted; if not, tries to halt it.
  84  *    If that fails, tries to reset it (via OCD) and then halt.
  85  * 2. OpenOCD loads the stub code into RTC_SLOW_MEM.
  86  * 3. Executes the stub code from address 0x50000004.
  87  * 4. The stub code changes the reset vector to 0x50000000, and triggers
  88  *    a system reset using RTC_CNTL_SW_SYS_RST bit.
  89  * 5. Once the PRO CPU is out of reset, it executes the stub code from address 0x50000000.
  90  *    The stub code disables the watchdog, re-enables JTAG and the APP CPU,
  91  *    restores the reset vector, and enters an infinite loop.
  92  * 6. OpenOCD waits until it can talk to the OCD module again, then halts the target.
  93  * 7. OpenOCD restores the contents of RTC_SLOW_MEM.
  94  *
  95  * End result: all the peripherals except RTC_CNTL are reset, CPU's PC is undefined,
  96  * PRO CPU is halted, APP CPU is in reset.
  97  */
  98
  99 const uint8_t esp32s3_reset_stub_code[] = {
 100 #include "../../../contrib/loaders/reset/espressif/esp32s3/cpu_reset_handler_code.inc"
 101 };
 102
 103 static int esp32s3_soc_reset(struct target *target)
 104 {
 105         int res;
 106         struct target_list *head;
 107         struct xtensa *xtensa;
 108
 109         LOG_DEBUG("start");
 110         /* In order to write to peripheral registers, target must be halted first */
 111         if (target->state != TARGET_HALTED) {
 112                 LOG_DEBUG("Target not halted before SoC reset, trying to halt it first");
 113                 xtensa_halt(target);
 114                 res = target_wait_state(target, TARGET_HALTED, 1000);
 115                 if (res != ERROR_OK) {
 116                         LOG_DEBUG("Couldn't halt target before SoC reset, trying to do reset-halt");
 117                         res = xtensa_assert_reset(target);
 118                         if (res != ERROR_OK) {
 119                                 LOG_ERROR(
 120                                         "Couldn't halt target before SoC reset! (xtensa_assert_reset returned %d)",
 121                                         res);
 122                                 return res;
 123                         }
 124                         alive_sleep(10);
 125                         xtensa_poll(target);
 126                         bool reset_halt_save = target->reset_halt;
 127                         target->reset_halt = true;
 128                         res = xtensa_deassert_reset(target);
 129                         target->reset_halt = reset_halt_save;
 130                         if (res != ERROR_OK) {
 131                                 LOG_ERROR(
 132                                         "Couldn't halt target before SoC reset! (xtensa_deassert_reset returned %d)",
 133                                         res);
 134                                 return res;
 135                         }
 136                         alive_sleep(10);
 137                         xtensa_poll(target);
 138                         xtensa_halt(target);
 139                         res = target_wait_state(target, TARGET_HALTED, 1000);
 140                         if (res != ERROR_OK) {
 141                                 LOG_ERROR("Couldn't halt target before SoC reset");
 142                                 return res;
 143                         }
 144                 }
 145         }
 146
 147         if (target->smp) {
 148                 foreach_smp_target(head, target->smp_targets) {
 149                         xtensa = target_to_xtensa(head->target);
 150                         /* if any of the cores is stalled unstall them */
 151                         if (xtensa_dm_core_is_stalled(&xtensa->dbg_mod)) {
 152                                 LOG_TARGET_DEBUG(head->target, "Unstall CPUs before SW reset!");
 153                                 res = target_write_u32(target,
 154                                         ESP32_S3_RTC_CNTL_SW_CPU_STALL_REG,
 155                                         ESP32_S3_RTC_CNTL_SW_CPU_STALL_DEF);
 156                                 if (res != ERROR_OK) {
 157                                         LOG_TARGET_ERROR(head->target, "Failed to unstall CPUs before SW reset!");
 158                                         return res;
 159                                 }
 160                                 break;  /* both cores are unstalled now, so exit the loop */
 161                         }
 162                 }
 163         }
 164
 165         LOG_DEBUG("Loading stub code into RTC RAM");
 166         uint8_t slow_mem_save[sizeof(esp32s3_reset_stub_code)];
 167
 168         /* Save contents of RTC_SLOW_MEM which we are about to overwrite */
 169         res = target_read_buffer(target, ESP32_S3_RTC_SLOW_MEM_BASE, sizeof(slow_mem_save), slow_mem_save);
 170         if (res != ERROR_OK) {
 171                 LOG_ERROR("Failed to save contents of RTC_SLOW_MEM (%d)!", res);
 172                 return res;
 173         }
 174
 175         /* Write stub code into RTC_SLOW_MEM */
 176         res = target_write_buffer(target,
 177                 ESP32_S3_RTC_SLOW_MEM_BASE,
 178                 sizeof(esp32s3_reset_stub_code),
 179                 esp32s3_reset_stub_code);
 180         if (res != ERROR_OK) {
 181                 LOG_ERROR("Failed to write stub (%d)!", res);
 182                 return res;
 183         }
 184
 185         LOG_DEBUG("Resuming the target");
 186         xtensa = target_to_xtensa(target);
 187         xtensa->suppress_dsr_errors = true;
 188         res = xtensa_resume(target, 0, ESP32_S3_RTC_SLOW_MEM_BASE + 4, 0, 0);
 189         xtensa->suppress_dsr_errors = false;
 190         if (res != ERROR_OK) {
 191                 LOG_ERROR("Failed to run stub (%d)!", res);
 192                 return res;
 193         }
 194         LOG_DEBUG("resume done, waiting for the target to come alive");
 195
 196         /* Wait for SoC to reset */
 197         alive_sleep(100);
 198         int64_t timeout = timeval_ms() + 100;
 199         bool get_timeout = false;
 200         while (target->state != TARGET_RESET && target->state != TARGET_RUNNING) {
 201                 alive_sleep(10);
 202                 xtensa_poll(target);
 203                 if (timeval_ms() >= timeout) {
 204                         LOG_TARGET_ERROR(target,
 205                                 "Timed out waiting for CPU to be reset, target state=%d",
 206                                 target->state);
 207                         get_timeout = true;
 208                         break;
 209                 }
 210         }
 211
 212         /* Halt the CPU again */
 213         LOG_DEBUG("halting the target");
 214         xtensa_halt(target);
 215         res = target_wait_state(target, TARGET_HALTED, 1000);
 216         if (res == ERROR_OK) {
 217                 LOG_DEBUG("restoring RTC_SLOW_MEM");
 218                 res = target_write_buffer(target, ESP32_S3_RTC_SLOW_MEM_BASE, sizeof(slow_mem_save), slow_mem_save);
 219                 if (res != ERROR_OK)
 220                         LOG_TARGET_ERROR(target, "Failed to restore contents of RTC_SLOW_MEM (%d)!", res);
 221         } else {
 222                 LOG_TARGET_ERROR(target, "Timed out waiting for CPU to be halted after SoC reset");
 223         }
 224
 225         return get_timeout ? ERROR_TARGET_TIMEOUT : res;
 226 }
 227
 228 static int esp32s3_disable_wdts(struct target *target)
 229 {
 230         /* TIMG1 WDT */
 231         int res = target_write_u32(target, ESP32_S3_TIMG0WDT_PROTECT, ESP32_S3_WDT_WKEY_VALUE);
 232         if (res != ERROR_OK) {
 233                 LOG_ERROR("Failed to write ESP32_S3_TIMG0WDT_PROTECT (%d)!", res);
 234                 return res;
 235         }
 236         res = target_write_u32(target, ESP32_S3_TIMG0WDT_CFG0, 0);
 237         if (res != ERROR_OK) {
 238                 LOG_ERROR("Failed to write ESP32_S3_TIMG0WDT_CFG0 (%d)!", res);
 239                 return res;
 240         }
 241         /* TIMG2 WDT */
 242         res = target_write_u32(target, ESP32_S3_TIMG1WDT_PROTECT, ESP32_S3_WDT_WKEY_VALUE);
 243         if (res != ERROR_OK) {
 244                 LOG_ERROR("Failed to write ESP32_S3_TIMG1WDT_PROTECT (%d)!", res);
 245                 return res;
 246         }
 247         res = target_write_u32(target, ESP32_S3_TIMG1WDT_CFG0, 0);
 248         if (res != ERROR_OK) {
 249                 LOG_ERROR("Failed to write ESP32_S3_TIMG1WDT_CFG0 (%d)!", res);
 250                 return res;
 251         }
 252         /* RTC WDT */
 253         res = target_write_u32(target, ESP32_S3_RTCWDT_PROTECT, ESP32_S3_WDT_WKEY_VALUE);
 254         if (res != ERROR_OK) {
 255                 LOG_ERROR("Failed to write ESP32_S3_RTCWDT_PROTECT (%d)!", res);
 256                 return res;
 257         }
 258         res = target_write_u32(target, ESP32_S3_RTCWDT_CFG, 0);
 259         if (res != ERROR_OK) {
 260                 LOG_ERROR("Failed to write ESP32_S3_RTCWDT_CFG (%d)!", res);
 261                 return res;
 262         }
 263         /* Enable SWD auto-feed */
 264         res = target_write_u32(target, ESP32_S3_SWD_WPROTECT_REG, ESP32_S3_SWD_WKEY_VALUE);
 265         if (res != ERROR_OK) {
 266                 LOG_ERROR("Failed to write ESP32_S3_SWD_WPROTECT_REG (%d)!", res);
 267                 return res;
 268         }
 269         uint32_t swd_conf_reg = 0;
 270         res = target_read_u32(target, ESP32_S3_SWD_CONF_REG, &swd_conf_reg);
 271         if (res != ERROR_OK) {
 272                 LOG_ERROR("Failed to read ESP32_S3_SWD_CONF_REG (%d)!", res);
 273                 return res;
 274         }
 275         swd_conf_reg |= ESP32_S3_SWD_AUTO_FEED_EN_M;
 276         res = target_write_u32(target, ESP32_S3_SWD_CONF_REG, swd_conf_reg);
 277         if (res != ERROR_OK) {
 278                 LOG_ERROR("Failed to write ESP32_S3_SWD_CONF_REG (%d)!", res);
 279                 return res;
 280         }
 281         return ERROR_OK;
 282 }
 283
 284 static int esp32s3_on_halt(struct target *target)
 285 {
 286         return esp32s3_disable_wdts(target);
 287 }
 288
 289 static int esp32s3_arch_state(struct target *target)
 290 {
 291         return ERROR_OK;
 292 }
 293
 294 static int esp32s3_virt2phys(struct target *target,
 295         target_addr_t virtual, target_addr_t *physical)
 296 {
 297         if (physical) {
 298                 *physical = virtual;
 299                 return ERROR_OK;
 300         }
 301         return ERROR_FAIL;
 302 }
 303
 304 static int esp32s3_target_init(struct command_context *cmd_ctx, struct target *target)
 305 {
 306         return esp_xtensa_smp_target_init(cmd_ctx, target);
 307 }
 308
 309 static const struct xtensa_debug_ops esp32s3_dbg_ops = {
 310         .queue_enable = xtensa_dm_queue_enable,
 311         .queue_reg_read = xtensa_dm_queue_reg_read,
 312         .queue_reg_write = xtensa_dm_queue_reg_write
 313 };
 314
 315 static const struct xtensa_power_ops esp32s3_pwr_ops = {
 316         .queue_reg_read = xtensa_dm_queue_pwr_reg_read,
 317         .queue_reg_write = xtensa_dm_queue_pwr_reg_write
 318 };
 319
 320 static const struct esp_xtensa_smp_chip_ops esp32s3_chip_ops = {
 321         .reset = esp32s3_soc_reset,
 322         .on_halt = esp32s3_on_halt
 323 };
 324
 325 static const struct esp_semihost_ops esp32s3_semihost_ops = {
 326         .prepare = esp32s3_disable_wdts
 327 };
 328
 329 static int esp32s3_target_create(struct target *target, Jim_Interp *interp)
 330 {
 331         struct xtensa_debug_module_config esp32s3_dm_cfg = {
 332                 .dbg_ops = &esp32s3_dbg_ops,
 333                 .pwr_ops = &esp32s3_pwr_ops,
 334                 .tap = target->tap,
 335                 .queue_tdi_idle = NULL,
 336                 .queue_tdi_idle_arg = NULL
 337         };
 338
 339         struct esp32s3_common *esp32s3 = calloc(1, sizeof(struct esp32s3_common));
 340         if (!esp32s3) {
 341                 LOG_ERROR("Failed to alloc memory for arch info!");
 342                 return ERROR_FAIL;
 343         }
 344
 345         int ret = esp_xtensa_smp_init_arch_info(target,
 346                 &esp32s3->esp_xtensa_smp,
 347                 &esp32s3_dm_cfg,
 348                 &esp32s3_chip_ops,
 349                 &esp32s3_semihost_ops);
 350         if (ret != ERROR_OK) {
 351                 LOG_ERROR("Failed to init arch info!");
 352                 free(esp32s3);
 353                 return ret;
 354         }
 355
 356         /* Assume running target. If different, the first poll will fix this. */
 357         target->state = TARGET_RUNNING;
 358         target->debug_reason = DBG_REASON_NOTHALTED;
 359         return ERROR_OK;
 360 }
 361
 362 static const struct command_registration esp32s3_command_handlers[] = {
 363         {
 364                 .usage = "",
 365                 .chain = esp_xtensa_smp_command_handlers,
 366         },
 367         {
 368                 .name = "esp32",
 369                 .usage = "",
 370                 .chain = smp_command_handlers,
 371         },
 372         {
 373                 .name = "arm",
 374                 .mode = COMMAND_ANY,
 375                 .help = "ARM Command Group",
 376                 .usage = "",
 377                 .chain = semihosting_common_handlers
 378         },
 379         COMMAND_REGISTRATION_DONE
 380 };
 381
 382 /** Holds methods for Xtensa targets. */
 383 struct target_type esp32s3_target = {
 384         .name = "esp32s3",
 385
 386         .poll = esp_xtensa_smp_poll,
 387         .arch_state = esp32s3_arch_state,
 388
 389         .halt = xtensa_halt,
 390         .resume = esp_xtensa_smp_resume,
 391         .step = esp_xtensa_smp_step,
 392
 393         .assert_reset = esp_xtensa_smp_assert_reset,
 394         .deassert_reset = esp_xtensa_smp_deassert_reset,
 395         .soft_reset_halt = esp_xtensa_smp_soft_reset_halt,
 396
 397         .virt2phys = esp32s3_virt2phys,
 398         .mmu = xtensa_mmu_is_enabled,
 399         .read_memory = xtensa_read_memory,
 400         .write_memory = xtensa_write_memory,
 401
 402         .read_buffer = xtensa_read_buffer,
 403         .write_buffer = xtensa_write_buffer,
 404
 405         .checksum_memory = xtensa_checksum_memory,
 406
 407         .get_gdb_arch = xtensa_get_gdb_arch,
 408         .get_gdb_reg_list = xtensa_get_gdb_reg_list,
 409
 410         .add_breakpoint = esp_xtensa_breakpoint_add,
 411         .remove_breakpoint = esp_xtensa_breakpoint_remove,
 412
 413         .add_watchpoint = esp_xtensa_smp_watchpoint_add,
 414         .remove_watchpoint = esp_xtensa_smp_watchpoint_remove,
 415
 416         .target_create = esp32s3_target_create,
 417         .init_target = esp32s3_target_init,
 418         .examine = xtensa_examine,
 419         .deinit_target = esp_xtensa_target_deinit,
 420
 421         .commands = esp32s3_command_handlers,
 422 };