Enable using OpenOCD for interactive debugging of simulated Caliptra …

…core (#72) * Added third-party code for JTAG DPI and TCP server necessary for communication with OpenOCD Signed-off-by: Maciej Kurc <[email protected]> * Integrated the JTAG DPI interface with the testbench Signed-off-by: Maciej Kurc <[email protected]> * Added a dummy infinite_loop test to exercise interactive JTAG connections Signed-off-by: Maciej Kurc <[email protected]> * Added OpenOCD interface and target scripts Signed-off-by: Maciej Kurc <[email protected]> * Increased TCP buffer size Signed-off-by: Maciej Kurc <[email protected]> * Added debugging capability to JTAG DPI via optional ASCII art waveform display Signed-off-by: Maciej Kurc <[email protected]> * Enable debugging in Caliptra testbench Signed-off-by: Maciej Kurc <[email protected]> * Updated the infinite loop program, tweaked OpenOCD config. Signed-off-by: Maciej Kurc <[email protected]> * Interactive debugging test in CI Signed-off-by: Maciej Kurc <[email protected]> * Updated OpenOCD config and test script Signed-off-by: Maciej Kurc <[email protected]> * Updated Interactive test CI flow Signed-off-by: Maciej Kurc <[email protected]> * Added a test that dumps core registers and compares them with a golden reference Signed-off-by: Maciej Kurc <[email protected]> * Set OpenOCD memory access mode to abstract Signed-off-by: Tomasz Michalak <[email protected]> * jtagdpi: Fix typo in README Signed-off-by: Tomasz Michalak <[email protected]> * Added a delay to the GDB script to give the simulation time to react Signed-off-by: Maciej Kurc <[email protected]> * Added FST waveform dump capability to Verilated simulation Signed-off-by: Maciej Kurc <[email protected]> * Set RISC-V abstract access in OpenOCD target config as default, limited number of parallel jobs when building verilated simulation Signed-off-by: Maciej Kurc <[email protected]> * Added tests for memory and peripheral access via JTAG (to the CI as well) Signed-off-by: Maciej Kurc <[email protected]> * Tweaked JTAG simulation CI script Signed-off-by: Maciej Kurc <[email protected]> * Add possibility to control Caliptra debug lock at the makefile invocation level Signed-off-by: Maciej Kurc <[email protected]> * Unlocked debugging in interactive simulation CI Signed-off-by: Maciej Kurc <[email protected]> * Switched to OpenOCD fork in CI Signed-off-by: Maciej Kurc <[email protected]> * Adjusted the infinite_loop test to fit in the build system for the tests. Signed-off-by: Maciej Kurc <[email protected]> * Added a makefile option to enforce reset on CPU Signed-off-by: Maciej Kurc <[email protected]> * Added OpenOCD config files for the case when the CPU is held in reset Signed-off-by: Maciej Kurc <[email protected]> * Separated bash utility functions for interactive JTAG debugging tests Signed-off-by: Maciej Kurc <[email protected]> * Added OpenOCD without GDB test to the CI Signed-off-by: Maciej Kurc <[email protected]> * Removed leftover comments. Signed-off-by: Maciej Kurc <[email protected]> --------- Signed-off-by: Maciej Kurc <[email protected]> Signed-off-by: Tomasz Michalak <[email protected]> Co-authored-by: Tomasz Michalak <[email protected]>
chipsalliance · Jun 26, 2023 · 90d0882 · 90d0882
1 parent 965a7b4
commit 90d0882
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diff --git a/.github/scripts/gdb_test.sh b/.github/scripts/gdb_test.sh
@@ -0,0 +1,87 @@
+#!/bin/bash
+#
+# This script runs Verilator RTL simulation and OpenOCD in background, invokes
+# the supplied test command and shuts everything down.
+
+SIM_LOG=`realpath sim.log`
+OPENOCD_LOG=`realpath openocd.log`
+
+set +e
+
+if [ "$#" -lt 1 ]; then
+    echo "Usage: gdb_test.sh <command> [args ...]"
+    exit 1
+fi
+
+# Utils
+source `dirname ${BASH_SOURCE[0]}`/utils.sh
+
+terminate_all () {
+    terminate ${OPENOCD_PID}
+    terminate ${SIM_PID}
+}
+
+print_logs () {
+    echo -e "${COLOR_WHITE}======== Simulation log ========${COLOR_OFF}"
+    cat ${SIM_LOG} || true
+    echo -e "${COLOR_WHITE}======== OpenOCD log ========${COLOR_OFF}"
+    cat ${OPENOCD_LOG} || true
+}
+
+echo -e "${COLOR_WHITE}======== Launching interactive simulation ========${COLOR_OFF}"
+
+# Start the simulation
+echo -e "Starting simulation..."
+obj_dir/Vcaliptra_top_tb >"${SIM_LOG}" 2>&1 &
+SIM_PID=$!
+
+# Wait
+wait_for_phrase "${SIM_LOG}" "CLP: ROM Flow in progress..."
+if [ $? -ne 0 ]; then
+    echo -e "${COLOR_RED}Failed to start the simulation!${COLOR_OFF}"
+    print_logs
+    terminate_all; exit -1
+fi
+echo -e "Simulation running and ready (pid=${SIM_PID})"
+
+# Launch OpenOCD
+echo -e "Launching OpenOCD..."
+cd ${CALIPTRA_ROOT}/tools/scripts/openocd && openocd -d2 -f board/caliptra-verilator.cfg >"${OPENOCD_LOG}" 2>&1 &
+OPENOCD_PID=$!
+
+# Wait
+wait_for_phrase "${OPENOCD_LOG}" "Listening on port 3333 for gdb connections"
+if [ $? -ne 0 ]; then
+    echo -e "${COLOR_RED}Failed to start OpenOCD!${COLOR_OFF}"
+    print_logs
+    terminate_all; exit -1
+fi
+echo -e "OpenOCD running and ready (pid=${OPENOCD_PID})"
+
+# Wait a bit
+sleep 1s
+
+# Run the test
+echo -e "${COLOR_WHITE}======== Running test '$@' ========${COLOR_OFF}"
+
+bash -c "$(printf ' %q' "$@")"
+EXITCODE=$?
+
+if [ ${EXITCODE} -eq 0 ]; then
+    echo -e "${COLOR_GREEN}[PASSED]${COLOR_OFF}"
+else
+    echo -e "${COLOR_RED}[FAILED]${COLOR_OFF}"
+fi
+
+sleep 1s
+
+# Terminate
+echo -e "${COLOR_WHITE}Terminating...${COLOR_OFF}"
+terminate_all
+
+# Display logs
+print_logs
+
+# Honor the exitcode
+exit ${EXITCODE}
+
diff --git a/.github/scripts/openocd_test.sh b/.github/scripts/openocd_test.sh
@@ -0,0 +1,68 @@
+#!/bin/bash
+#
+# This script runs Verilator RTL simulation in background and invokes OpenOCD
+# to perform JTAG access test
+
+SIM_LOG=`realpath sim.log`
+OPENOCD_LOG=`realpath openocd.log`
+
+set +e
+
+if [ "$#" -lt 1 ]; then
+    echo "Usage: openocd_test.sh [openocd args ...]"
+    exit 1
+fi
+OPENOCD_ARGS=$@
+
+# Utils
+source `dirname ${BASH_SOURCE[0]}`/utils.sh
+
+print_logs () {
+    echo -e "${COLOR_WHITE}======== Simulation log ========${COLOR_OFF}"
+    cat ${SIM_LOG} || true
+    echo -e "${COLOR_WHITE}======== OpenOCD log ========${COLOR_OFF}"
+    cat ${OPENOCD_LOG} || true
+}
+
+echo -e "${COLOR_WHITE}======== Launching interactive simulation ========${COLOR_OFF}"
+
+# Start the simulation
+echo -e "Starting simulation..."
+obj_dir/Vcaliptra_top_tb >"${SIM_LOG}" 2>&1 &
+SIM_PID=$!
+
+# Wait
+wait_for_phrase "${SIM_LOG}" "CLP: ROM Flow in progress..."
+if [ $? -ne 0 ]; then
+    echo -e "${COLOR_RED}Failed to start the simulation!${COLOR_OFF}"
+    print_logs
+    terminate ${SIM_PID}; exit -1
+fi
+echo -e "Simulation running and ready (pid=${SIM_PID})"
+
+# Wait a bit
+sleep 5s
+
+# Run the test
+echo -e "${COLOR_WHITE}======== Running OpenOCD test '$@' ========${COLOR_OFF}"
+cd ${CALIPTRA_ROOT}/tools/scripts/openocd && openocd -d2 ${OPENOCD_ARGS} >"${OPENOCD_LOG}" 2>&1
+EXITCODE=$?
+
+if [ ${EXITCODE} -eq 0 ]; then
+    echo -e "${COLOR_GREEN}[PASSED]${COLOR_OFF}"
+else
+    echo -e "${COLOR_RED}[FAILED]${COLOR_OFF}"
+fi
+
+sleep 1s
+
+# Terminate
+echo -e "${COLOR_WHITE}Terminating...${COLOR_OFF}"
+terminate ${SIM_PID}
+
+# Display logs
+print_logs
+
+# Honor the exitcode
+exit ${EXITCODE}
+
diff --git a/.github/scripts/utils.sh b/.github/scripts/utils.sh
@@ -0,0 +1,49 @@
+#!/bin/bash
+
+# Colors
+COLOR_OFF='\033[0m'
+COLOR_RED='\033[31m'
+COLOR_GREEN='\033[32m'
+COLOR_WHITE='\033[1;37m'
+
+# Waits until the given phrase appears in a log file (actively written to)
+# Usage: wait_for_phrase <log_file> <phrase>
+wait_for_phrase () {
+
+    # Check if the log exists
+    sleep 1s
+    if ! [ -f "$1" ]; then
+        echo -e "${COLOR_RED}Log file '$1' not found!${COLOR_OFF}"
+        return -1
+    fi
+
+    # Wait for the phrase
+    DEADLINE=$((${EPOCHSECONDS} + 30))
+    while [ ${EPOCHSECONDS} -lt ${DEADLINE} ]
+    do
+        # Check for the phrase
+        grep "$2" "$1" >/dev/null
+        if [ $? -eq 0 ]; then
+            return 0
+        fi
+
+        # Sleep and retry
+        sleep 1s
+    done
+
+    # Timeout
+    return -1
+}
+
+# Terminates a process. First via SIGINT and if this doesn't work after 10s
+# retries with SIGKILL
+# Usage: terminate <pid>
+terminate () {
+
+    local PID=$1
+
+    # Gently interrupt, wait some time and then kill
+    /bin/kill -s SIGINT  ${PID} || true
+    sleep 10s
+    /bin/kill -s SIGKILL ${PID} || true
+}