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#!/bin/sh
#
# Unified OpenOCD script for RIOT
#
# This script is supposed to be called from RIOTs make system,
# as it depends on certain environment variables. An OpenOCD
# configuration file must be present in a the boards dist folder.
#
# Any extra command line arguments after the command name are passed on the
# openocd command line after the configuration file name but before any other
# initialization commands.
#
# Global environment variables used:
# OPENOCD: OpenOCD command name, default: "openocd"
# OPENOCD_CONFIG: OpenOCD configuration file name,
# default: "${RIOTBOARD}/${BOARD}/dist/openocd.cfg"
#
# The script supports the following actions:
#
# flash: flash a given hex file to the target.
# hexfile is expected in ihex format and is pointed to
# by HEXFILE environment variable
#
# options:
# HEXFILE: path to the hex file that is flashed
# PRE_FLASH_CHECK_SCRIPT: a command to run before flashing to
# verify the integrity of the image to be flashed. HEXFILE is
# passed as an argument to this command.
#
# flash-elf: flash a given ELF file to the target.
#
# options:
# ELFFILE: path to the ELF file that is flashed
# PRE_FLASH_CHECK_SCRIPT: a command to run before flashing to
# verify the integrity of the image to be flashed. ELFFILE is
# passed as an argument to this command.
#
# debug: starts OpenOCD as GDB server in the background and
# connects to the server with the GDB client specified by
# the board (DBG environment variable)
#
# options:
# GDB_PORT: port opened for GDB connections
# TCL_PORT: port opened for TCL connections
# TELNET_PORT: port opened for telnet connections
# TUI: if TUI!=null, the -tui option will be used
# ELFFILE: path to the ELF file to debug
#
# debug-server: starts OpenOCD as GDB server, but does not connect to
# to it with any frontend. This might be useful when using
# IDEs.
#
# options:
# GDB_PORT: port opened for GDB connections
# TCL_PORT: port opened for TCL connections
# TELNET_PORT: port opened for telnet connections
#
# reset: triggers a hardware reset of the target board
#
#
# @author Hauke Peteresen <hauke.petersen@fu-berlin.de>
# @author Joakim Nohlgård <joakim.nohlgard@eistec.se>
# default GDB port
_GDB_PORT=3333
# default telnet port
_TELNET_PORT=4444
# default TCL port
_TCL_PORT=6333
# default path to OpenOCD configuration file
_OPENOCD_CONFIG=${RIOTBOARD}/${BOARD}/dist/openocd.cfg
# default OpenOCD command
_OPENOCD=openocd
#
# a couple of tests for certain configuration options
#
test_config() {
if [ -z "${OPENOCD}" ]; then
OPENOCD=${_OPENOCD}
fi
if [ -z "${OPENOCD_CONFIG}" ]; then
OPENOCD_CONFIG=${_OPENOCD_CONFIG}
fi
if [ ! -f "${OPENOCD_CONFIG}" ]; then
echo "Error: Unable to locate OpenOCD configuration file"
echo " (${OPENOCD_CONFIG})"
exit 1
fi
}
test_hexfile() {
if [ ! -f "${HEXFILE}" ]; then
echo "Error: Unable to locate HEXFILE"
echo " (${HEXFILE})"
exit 1
fi
}
test_elffile() {
if [ ! -f "${ELFFILE}" ]; then
echo "Error: Unable to locate ELFFILE"
echo " (${ELFFILE})"
exit 1
fi
}
test_ports() {
if [ -z "${GDB_PORT}" ]; then
GDB_PORT=${_GDB_PORT}
fi
if [ -z "${TELNET_PORT}" ]; then
TELNET_PORT=${_TELNET_PORT}
fi
if [ -z "${TCL_PORT}" ]; then
TCL_PORT=${_TCL_PORT}
fi
}
test_tui() {
if [ -n "${TUI}" ]; then
TUI=-tui
fi
}
#
# now comes the actual actions
#
do_flash() {
test_config
test_hexfile
if [ -n "${PRE_FLASH_CHECK_SCRIPT}" ]; then
sh -c "${PRE_FLASH_CHECK_SCRIPT} '${HEXFILE}'"
RETVAL=$?
if [ $RETVAL -ne 0 ]; then
echo "pre-flash checks failed, status=$RETVAL"
exit $RETVAL
fi
fi
# flash device
sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
${OPENOCD_EXTRA_INIT} \
-c 'tcl_port 0' \
-c 'telnet_port 0' \
-c 'gdb_port 0' \
-c 'init' \
-c 'targets' \
-c 'reset halt' \
${OPENOCD_PRE_FLASH_CMDS} \
-c 'flash write_image erase \"${HEXFILE}\"' \
-c 'reset halt' \
${OPENOCD_PRE_VERIFY_CMDS} \
-c 'verify_image \"${HEXFILE}\"' \
-c 'reset run' \
-c 'shutdown'" &&
echo 'Done flashing'
}
do_flash_elf() {
test_config
test_elffile
if [ -n "${PRE_FLASH_CHECK_SCRIPT}" ]; then
sh -c "${PRE_FLASH_CHECK_SCRIPT} '${ELFFILE}'"
RETVAL=$?
if [ $RETVAL -ne 0 ]; then
echo "pre-flash checks failed, status=$RETVAL"
exit $RETVAL
fi
fi
# flash device
sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
${OPENOCD_EXTRA_INIT} \
-c 'tcl_port 0' \
-c 'telnet_port 0' \
-c 'gdb_port 0' \
-c 'init' \
-c 'targets' \
-c 'reset halt' \
${OPENOCD_PRE_FLASH_CMDS} \
-c 'flash write_image erase \"${ELFFILE}\"' \
-c 'reset halt' \
${OPENOCD_PRE_VERIFY_CMDS} \
-c 'verify_image \"${ELFFILE}\"' \
-c 'reset run' \
-c 'shutdown'" &&
echo 'Done flashing'
}
do_debug() {
test_config
test_elffile
test_ports
test_tui
# setsid is needed so that Ctrl+C in GDB doesn't kill OpenOCD
[ -z "${SETSID}" ] && SETSID="$(which setsid)"
# temporary file that saves OpenOCD pid
OCD_PIDFILE=$(mktemp -t "openocd_pid.XXXXXXXXXX")
# cleanup after script terminates
trap "cleanup ${OCD_PIDFILE}" EXIT
# don't trap on Ctrl+C, because GDB keeps running
trap '' INT
# start OpenOCD as GDB server
${SETSID} sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
${OPENOCD_EXTRA_INIT} \
-c 'tcl_port ${TCL_PORT}' \
-c 'telnet_port ${TELNET_PORT}' \
-c 'gdb_port ${GDB_PORT}' \
-c 'init' \
-c 'targets' \
-c 'halt' \
-l /dev/null & \
echo \$! > $OCD_PIDFILE" &
# connect to the GDB server
${DBG} -q ${TUI} -ex "tar ext :${GDB_PORT}" ${ELFFILE}
# will be called by trap
cleanup() {
OCD_PID="$(cat $OCD_PIDFILE)"
kill ${OCD_PID}
rm -f "$OCD_PIDFILE"
exit 0
}
}
do_debugserver() {
test_config
test_ports
# start OpenOCD as GDB server
sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
${OPENOCD_EXTRA_INIT} \
-c 'tcl_port ${TCL_PORT}' \
-c 'telnet_port ${TELNET_PORT}' \
-c 'gdb_port ${GDB_PORT}' \
-c 'init' \
-c 'targets' \
-c 'reset halt'"
}
do_reset() {
test_config
# start OpenOCD and invoke board reset
sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
${OPENOCD_EXTRA_INIT} \
-c 'tcl_port 0' \
-c 'telnet_port 0' \
-c 'gdb_port 0' \
-c 'init' \
-c 'reset run' \
-c 'shutdown'"
}
#
# parameter dispatching
#
ACTION="$1"
shift # pop $1 from $@
case "${ACTION}" in
flash)
echo "### Flashing Target ###"
do_flash "$@"
;;
flash-elf)
echo "### Flashing Target ###"
do_flash_elf "$@"
;;
debug)
echo "### Starting Debugging ###"
do_debug "$@"
;;
debug-server)
echo "### Starting GDB Server ###"
do_debugserver "$@"
;;
reset)
echo "### Resetting Target ###"
do_reset "$@"
;;
*)
echo "Usage: $0 {flash|debug|debug-server|reset} [extra OpenOCD initialization arguments]"
;;
esac